Tool changer

Abstract

A tool changer (200) is used to change a tool (500) in a machine tool (100). The tool changer has a support structure (210) at which a lifting slide (240) is guided along a vertical lifting direction (Z3). A pivot arm (250) is pivotally mounted on the lifting slide (240) about a vertical pivot axis (C3). A plurality of vertically overlapping tool receptacles (221, 222, 223, 230) form a tool magazine (220). A tool gripper (260) is mounted on the pivot arm (250). The tool gripper grips the tool (500). The tool is then moved between one of the tool receptacles and the tool spindle of the machine tool by a combination of lifting and pivoting movements of the pivot arm (250). Optionally, an additional arm (252) is pivotally mounted on the pivot arm (250). With the help of the additional arm (252), the workpiece clamping mechanism of the machine tool can be changed.

Description

Technical Field

[0001] This invention relates to a tool changer for a machine tool, a machine tool equipped with said tool changer, and applications of such a tool changer. The machine tool can be a gear machining machine, particularly for rolling machining. The tool to be changed can be, in particular, a gear turning tool. Background Technology

[0002] In machine tools, it is often necessary to replace one tool with another, for example, to re-grind worn tools. This is especially true for gear machining machines. For instance, gear turning tools have a limited lifespan and therefore must be replaced periodically. To reduce the cost and time of tool changes, automated tool changers have been proposed in the prior art.

[0003] For example, US20170232564A1 discloses a tool changer for a gear hobbing machine. During tool change, a hob-shaped tool is removed from the hobbing machine's tool head and received by a suspension device. The suspension device transports the tool to a central position via a horizontal transport track and rotates about a vertical axis to a retrieval position, allowing the hob to be retrieved. This tool changer, due to its configuration, is only suitable for machines where the tool's axis of rotation extends horizontally, and only for tools mounted on either side of the tool head. This tool changer is particularly unsuitable for gear turning tools. The tool changer also occupies a significant amount of space.

[0004] US2014106950A1 discloses a tool changer with a gripper mounted on a slider unit having three sliders. Milling tools are vertically suspended in a circulation magazine. Circulation within the magazine occurs in a horizontal plane. The milling tools can be reciprocated between the magazine and the machining head via the tool changer. This tool changer, due to its configuration, is only suitable for tools mounted on both sides of the tool head and is therefore unsuitable for gear turning tools. Furthermore, this tool changer occupies a significant amount of space.

[0005] US2019070682A1 discloses a tool changer that reciprocates a gear turning tool between a circulation magazine and a machining head by means of a horizontal slider. The circulation of the circulation magazine takes place in a vertical plane. This tool changer also occupies a relatively large amount of space.

[0006] US2020130120A1 discloses a tool changer that can also exchange gear turning tools. The tools are stored in a drum-shaped tool magazine. The tool changer has two arms that are pivotable about a horizontal axis. The arms grip and hold the machining tools clamped on the tool spindle and the tools ejected from the tool magazine via gripping sections, and exchange these two types of tools. This tool changer also occupies a relatively large amount of space.

[0007] WO2012027770A2 discloses a tool magazine in which multiple bending tools are placed in overlapping tool receptacles. An articulated arm robot retrieves tools from the tool magazine and transfers them to a bending machine. Use on a gear-making machine is not disclosed.

[0008] US2010173762A1 discloses a tool changer having a liftable, lowerable, and rotatable support column on which dual grippers are mounted. The tool changer transports tools between a tool spindle and a chain magazine that suspends and holds the tools. The tool changer has a complex cam drive mechanism to generate lifting and pivoting motions. The tool changer's construction is relatively complex. Its use on gear-making machines is not disclosed herein. Summary of the Invention

[0009] The object of this invention is to provide a tool changer that is particularly space-saving due to its structure.

[0010] This objective is achieved by the tool changer according to the present invention.

[0011] A tool changer for changing cutting tools in machine tools, especially gear machining machines, is proposed. The tool changer has the following features:

[0012] Load-bearing structure;

[0013] A lifting slider is guided on the supporting structure along a lifting direction that extends vertically in space;

[0014] A pivot arm pivotally mounted on a lifting slider about a pivot axis that extends vertically in space;

[0015] A tool gripper mounted on a pivot arm and constituting a tool gripper for grasping tools; and

[0016] A tool magazine, the tool magazine having multiple vertically overlapping tool receiving sections,

[0017] The tool changer is configured to selectively move a tool held by a tool gripper between one of the tool receptacles and the machine tool spindle or between two different tool grippers in the tool magazine via the lifting and pivoting motion of a combination of pivot arms.

[0018] By forming a tool magazine with multiple vertically overlapping tool holders, a very small space requirement is achieved for the tool magazine. Such a tool magazine can be loaded and unloaded very easily. To this end, the present invention proposes a vertically movable lifting slide, on which a horizontally pivotable pivot arm with a tool gripper is pivotally mounted. This arrangement can be implemented simply and at low cost, while also occupying very little space. Overall, a very compact tool changer is produced, which can be easily and directly integrated into the machine tool by connecting the support structure to the machine tool bed.

[0019] The support structure can particularly include a vertical column configured for mounting on the machine tool bed via its lower end. A lifting slide is then guided at the column along the lifting direction. Preferably, a tool holder is also mounted on this column. However, in an alternative design, it is also possible to fix the tool holder to another element of the support structure.

[0020] To facilitate simple loading of the tool magazine, one of the tool receptacles can be movably mounted on a supporting structure, particularly movable along a horizontal loading direction and / or pivotally mounted on the supporting structure about a vertical loading pivot axis. Specifically, the tool changer can have an outer wall separating the internal space of the tool changer from the external space. The outer wall can then have a tool loading opening for exchanging tools between the internal and external spaces. It is particularly advantageous that the movable tool receptacle can move through the tool loading opening so that it can be accessed from the external space. The remaining tool receptacles can be fixedly connected to the supporting structure.

[0021] The tool changer may have a tool loading door configured to selectively close or release the tool loading opening. The tool loading door may have a status notifier to notify a control device of the open state (open or closed) of the tool loading opening. The control device may be configured to prevent movement of the tool changer within its internal space as long as the tool loading opening is open, and / or to prevent the tool loading door from opening whenever movement is performed within the internal space of the tool changer.

[0022] In a preferred design, the movable tool holder is configured such that the tool changer has a loading linear guide and a loading carriage that is movably guided along a horizontal loading direction via the loading linear guide. The movable tool holder is then mounted on the loading carriage in a manner that allows it to pivot about a vertical loading pivot axis. This combination of linear mobility and pivotability of the movable tool holder results in particularly good accessibility of the tool holder with minimal space requirements.

[0023] Preferably, the tool changer also includes a partition configured to separate the internal space of the tool changer from the machining space of the machine tool. The partition then has a partition opening, and the tool changer has a partition door configured to selectively close or release the partition opening. For this purpose, the partition door can have a corresponding actuator, such as a pneumatic actuator. The partition opening is high enough that the pivot arm and the tool gripper mounted thereon can move through the released partition opening in at least one position of the lifting slide, preferably in specific areas of multiple positions of the lifting slide. Preferably, the partition opening is also high enough that the lifting slide can move a certain distance in the lifting direction when the pivot arm extends through the partition opening. In this way, tool changing and the optional clamping mechanism changing and / or workpiece changing, which will be described in detail below, are simplified.

[0024] The tool changer can also have a reading station, configured such that the tool held by the tool gripper can be moved to the reading station via a combination of lifting and pivoting movements of a pivoting arm to read a machine-readable data carrier on the tool. The data carrier can be, for example, an RFID transponder. The reading station can accordingly be an RFID station with an RFID transceiver. In other embodiments, the data carrier can be an optical data carrier, such as a barcode or QR code, and the reading station can be configured to optically read such an optical data carrier. For this purpose, the reading station can have a corresponding reading device, which includes an optical sensor, such as a camera, and optionally includes a light source, such as an LED light source. Magnetic data carriers or tactilely readable data carriers are also considered.

[0025] To prevent damage to the reading station, it can be spring-loaded. For this purpose, the reading station can have a base with the aforementioned reading device and a spring element disposed therebetween, allowing the reading device to move vertically downward relative to the base against the restoring force generated by the spring element. This prevents damage to the reading device or the corresponding data carrier when the cutter is placed on the reading station. This is particularly advantageous when using cutters of different lengths, and the lengths of the cutters are not known in advance. By spring-loading the reading station, the lifting slider can always move to the same position to read the cutter, regardless of the cutter length. The different cutter lengths are thus compensated for by the spring element.

[0026] The tool changer can also include a tool cleaner. This tool cleaner is preferably configured such that the tool held by the tool gripper can be moved to the tool cleaner via a combination of lifting and pivoting movements of a pivoting arm, so as to clean the tool holder. In particular, the tool cleaner can be mounted on a support structure, especially above the tool receiving portion. If the support structure is a column, then the tool cleaner can be mounted on the upper end of the column.

[0027] To reduce non-productive auxiliary time, the tool gripper can be configured as a multi-gripper with at least two gripper jaw pairs, enabling the tool gripper to hold two or more tools.

[0028] The tool gripper can be rigidly or movably mounted on a pivot arm. In particular, the tool gripper can be pivotally mounted on the pivot arm, for example, about a vertical or horizontal gripper pivot axis, and / or movably mounted, especially linearly movably along the horizontal gripper movement direction.

[0029] The tool holder can also grasp objects other than the cutting tool to perform additional functions. Therefore, the tool changer can, for example, include a conical cleaner configured to be grasped by the tool holder. The conical cleaner can be moved to the tool spindle via a combination of lifting and pivoting movements of pivoting arms to clean its conical receptacle. The tool changer can also include a measuring probe, which can, for example, be configured to measure the radial and end runout of a workpiece clamping mechanism of a machine tool. The measuring probe can then be grasped by the tool holder to move it to a measuring position via a combination of lifting and pivoting movements of pivoting arms. The measuring probe continues to be held by the tool holder in the measuring position, or the measuring probe is received in the measuring position by another component of the machine tool, for example, clamped onto the tool spindle.

[0030] The tool changer can be configured to change not only the tool but also the workpiece. For this purpose, the tool changer can additionally include a workpiece gripper mounted on a pivot arm. The workpiece gripper can move in the same manner as the tool gripper through a combination of lifting and pivoting movements of the pivot arm. The workpiece gripper can then function as a workpiece spindle for receiving workpieces from the workpiece holder and transferring them to the machine tool.

[0031] To generate the combined lifting and pivoting motion of the pivot arm, the tool changer can have a lifting slide driver to drive the lifting slide in the lifting direction and a pivot driver to drive the pivot arm to pivot relative to the lifting slide about a pivot axis. Furthermore, the tool changer can have a control unit that constitutes the means for operating the lifting slide driver, the pivot driver, and the gripper, as well as optional other components of the tool changer. The control unit can be an integrated part of the machine tool's machine control unit; however, it is also contemplated to provide a separate control unit that only operates components of the tool changer and communicates with the actual machine tool control unit. The control unit can particularly include a suitably programmed control computer. This control computer can work in conjunction with appropriate NC axis modules of the individual drives.

[0032] The control device is particularly capable of being configured to control at least one of the following processes:

[0033] a) Grasp the knife with the gripper;

[0034] b) The tool gripped by the gripper moves between one of the tool receptacles and the tool spindle of the machine tool through the lifting and pivoting motion of the combination of pivot arms;

[0035] c) The tool held by the tool gripper moves between two different tool receptacles in the tool magazine via a combination of lifting and pivoting movements of the pivoting arms;

[0036] d) Open and close the partition door; and

[0037] e) The tool gripped by the gripper moves to the reading station through the lifting and pivoting motion of the combination of pivot arms, and the data carrier on the gripped tool is read.

[0038] f) The tool gripped by the gripper moves to the tool cleaner through the lifting and pivoting motion of the combination of pivot arms, and the tool holder of the gripped tool is cleaned by the tool cleaner.

[0039] g) The tool gripper moves relative to the pivot arm; and

[0040] h) The conical cleaner gripped by the gripper moves to the tool spindle via a combination of lifting and pivoting motions of the pivoting arms;

[0041] j) The measuring probe, gripped by the tool gripper, moves to the measuring position through the lifting and pivoting motion of the combination of pivot arms;

[0042] k) The workpiece is gripped by a workpiece gripper, and the workpiece gripped by the workpiece gripper moves between the workpiece holder and the workpiece spindle of the machine tool through the lifting and pivoting motion of the combination of pivot arms.

[0043] In this regard, the present invention also discloses a method for operating a tool changer of the type described above, wherein the method includes the execution of at least one of the processes a) to k) described above.

[0044] In a preferred embodiment, the tool changer is used not only for changing tools but also for changing workpiece clamping devices. For this purpose, the tool changer has an additional arm pivotally mounted on a pivoting arm about a vertically extending additional pivot axis, such that the additional pivot axis of the additional arm and the pivot axis of the pivoting arm extend parallel to each other and spaced apart. The additional arm is preferably detachably locked to the pivoting arm in a rest position to prevent pivoting movement of the additional arm about the additional pivot axis. The additional arm constitutes a workpiece clamping mechanism for securing the machine tool thereon.

[0045] For this purpose, the additional arm can, for example, have a receiving portion for a clamping mechanism retainer. For example, this receiving portion can be designed as a bayonet connection between the additional arm and the clamping mechanism retainer. For this purpose, the receiving portion can be annular, with optional grooves on the inner circumference to establish the bayonet connection. Correspondingly, the workpiece changer can also have a clamping mechanism retainer configured for detachable connection with the additional arm and the workpiece clamping mechanism, such that the workpiece clamping mechanism can be secured to the additional arm via the clamping mechanism retainer. In particular, the workpiece clamping mechanism can be suspended and secured to the additional arm. This achieves the use of a particularly simple and lightweight clamping mechanism retainer, as it does not bear torsional or shear loads.

[0046] The workpiece clamping mechanism can be replaced particularly easily by using an additional arm. External auxiliary mechanisms, such as on-site cranes, mobile crane trolleys, and specialized emergency vehicles with corresponding additional functions, can all be eliminated. This results in significant cost savings and eliminates the space requirements for external auxiliary mechanisms.

[0047] A force sensor can be installed on the additional arm to detect the load on the additional arm in the vertical direction. For example, the housing of the clamping mechanism retainer can be connected to the additional arm via a force sensor. In this way, overloads in the system consisting of the pivot arm and the additional arm can be identified.

[0048] This invention also discloses the application of the above-described type of tool changer for changing workpiece clamping mechanisms on machine tools. The corresponding method includes at least one, preferably all, of the following steps, wherein these steps are not necessarily performed in the given order:

[0049] Perform the lifting and pivoting motion of the combined pivot arm and pivot the additional arm relative to the pivot arm so that the additional arm can be connected to the workpiece clamping mechanism via the clamping mechanism retainer.

[0050] Connect the clamping mechanism retainer to the additional arm and the workpiece clamping mechanism;

[0051] The lifting movement of the lifting slider raises the workpiece clamping mechanism that is fixed to the additional arm by the clamping mechanism retainer.

[0052] The workpiece clamping mechanism, fixed to the clamping mechanism retainer, is pivoted to the external space of the machine tool by pivoting the pivoting arm; and

[0053] By lifting the slider, the workpiece clamping mechanism, which is fixed on the clamping mechanism holder, is placed on the clamping mechanism frame.

[0054] The present invention also relates to a machine tool having a tool changer of the type described above. The machine tool can be a gear machining machine, particularly a gear machining machine for rolling operations. The machine tool has a bed and a tool spindle. The tool spindle is used to drive the tool to rotate about its axis. The tool spindle is preferably pivotally mounted in the machine tool relative to the bed, such that it can be positioned to allow tool changing in a position where the tool axis extends vertically in space. The tool changer is then mounted on the bed such that the tool gripped by the tool holder is moved from one of the tool receptacles of the tool magazine to the tool spindle via a combination of lifting and pivoting movements of pivoting arms.

[0055] In particular, the tool spindle is capable of traveling relative to the bed in at least one direction, which extends transversely to the lifting direction of the lifting slide, in order to selectively bring the tool spindle into a position in which the tool held by the tool gripper can be clamped onto the tool spindle, or into a retracted position in which the tool spindle and the tool clamped thereon are outside the collision profile of the rotational motion of the pivot arm. Preferably, this direction of travel is horizontal. The tool spindle is also capable of traveling in a direction parallel to the lifting direction of the lifting slide.

[0056] The machine tool preferably also includes a workpiece spindle with a workpiece clamping mechanism. The workpiece spindle drives the workpiece clamping mechanism to pivot about the workpiece axis. Preferably, the workpiece axis extends vertically in space. If the machine tool is a gear machining machine for rolling operations, then the machine tool has a machine control device that establishes rolling coupling between the rotational movements of the tool spindle and the workpiece spindle, that is, coupling these movements such that the corresponding rotational speeds have a preset fixed ratio and phase relationship with each other.

[0057] The workpiece spindle is preferably mounted on the machine bed such that the workpiece clamping mechanism can be fixed to the auxiliary arm when the auxiliary arm pivots away from the rest position relative to the pivot arm. For this purpose, the workpiece spindle is preferably travelable relative to the machine bed in at least one direction, which extends transversely to the lifting direction of the lifting slide, so as to bring the tool spindle into a position in which the receiving portion on the auxiliary arm is vertically positioned above the workpiece clamping mechanism located on the workpiece spindle. Preferably, this direction extends horizontally. Preferably, this direction extends orthogonally to the horizontal direction, along which the tool spindle can travel horizontally. Attached Figure Description

[0058] Preferred embodiments of the present invention are described below with reference to the accompanying drawings, which are for illustrative purposes only and are not intended to be limiting. The drawings are shown in schematic perspective views:

[0059] Figure 1A machine tool having a tool changer according to a first embodiment of the present invention in a parking position is shown, wherein the machine tool and the tool changer are shown in a highly simplified form for clarity.

[0060] Figure 2 Show separately Figure 1 Tool changer in the middle;

[0061] Figure 3 Show Figure 2 The tool changer, for clarity, is omitted. Figure 1 and Figure 2 partition;

[0062] Figure 4 The tool changer, viewed from another direction, is shown without a partition;

[0063] Figure 5 The tool changer is shown in the clamped position, without a partition;

[0064] Figure 6 Show Figure 1 A machine tool with a tool changer in the clamping position, but without a partition;

[0065] Figure 7 The tool changer is shown in the transfer position, without a partition;

[0066] Figure 8 The tool changer is shown in the ready position, without a partition;

[0067] Figures 9A to 9D Four views of a portion of the tool changer are shown to illustrate the movement of the tool loading position;

[0068] Figure 10 A cutting tool with a tool holder and an RFID transponder is shown;

[0069] Figure 11 The tool changer is shown in the detection position, without a partition;

[0070] Figure 12 Show Figure 1 Part of the machine tool, it has a conical cleaner housed in a tool gripper;

[0071] Figure 13 Show Figure 1 Another part of the machine tool has a measuring probe housed in a tool gripper;

[0072] Figure 14 A view of the tool changer according to the first embodiment is shown, the view being consistent with... Figure 3Correspondingly, but additionally shown are other components, which are in Figures 1 to 13 The middle part is omitted for clarity;

[0073] Figure 15 Show Figure 14 Detailed view in the XV region;

[0074] Figure 16 A portion of a tool changer according to a second embodiment is shown;

[0075] Figure 17 A tool changer according to a third embodiment is shown, which does not have a partition;

[0076] Figure 18 A portion of a tool changer according to a fourth embodiment is shown;

[0077] Figure 19 A portion of the tool changer according to the fifth embodiment is shown in the first position;

[0078] Figure 20 A portion of the tool changer of the fifth embodiment is shown in the second position;

[0079] Figure 21 Show Figure 1 A machine tool having a tool changer according to the first embodiment, wherein the tool changer is in the clamping mechanism changing position;

[0080] Figure 22 A tool changer according to a first embodiment is shown in the clamping mechanism changing position;

[0081] Figure 23 Show Figure 21 The machine tool and the clamping mechanism that rotates out from the machine's central hub; and

[0082] Figure 24 A portion of a tool changer with a pivoted clamping mechanism is shown in a fourth embodiment. Detailed Implementation

[0083] definition

[0084] Gear machining machine: A machine configured to produce or machine teeth on a workpiece, particularly internal or external teeth on a gear. For example, this can refer to a finishing machine that processes a workpiece with predetermined teeth, especially a hard finishing machine that processes a workpiece with predetermined teeth according to a quenching method.

[0085] Rolling machining: a type of gear machining in which the cutting tool rolls over the workpiece and generates cutting motion thereon. Different rolling machining methods are known, which are distinguished between methods that use geometrically indeterminate cutting edges, such as rolling grinding or rolling honing, and methods that have geometrically defined cutting edges, such as rolling milling, rolling scraping, rolling shaving, or rolling shaping.

[0086] Gear skiving (or hob peeling): Gear skiving is a continuous cutting method used to manufacture axisymmetric periodic structures, employing gear-shaped cutting tools. The gear turning tool ("scraper wheel") has numerous cutting edges on its end face. The tool and workpiece are housed on a rotating spindle. The axes of rotation of the tool and workpiece are offset from each other. The typical rolling motion of the method is achieved through the coupling of the rotational motions of the tool and workpiece about their axes of rotation. Cutting motion is generated during gear skiving through this rolling motion and the axial feed motion of the tool or workpiece along the workpiece axis. This method enables the machining of both external and internal gear teeth.

[0087] Combined lifting and pivoting motions of the pivot arm: This term is intended to indicate not only the lifting motion of the pivot arm (by means of the lifting slider) but also the pivoting motion. These motions can, but do not necessarily, occur simultaneously. The motions can also be performed sequentially, and optionally, in a manner that involves multiple repetitions of alternating lifting and pivoting motions.

[0088] Machine tool equipped with a tool changer according to the first embodiment

[0089] Figure 1 A machine tool 100 having a tool changer 200 according to a first embodiment of the present invention is shown as an example.

[0090] The machine tool 100 shown is particularly suitable for gear machining using the rolling scraping method. However, it is also possible to perform other types of machining, especially other rolling machining methods, using this machine. Figure 1 The machine is shown only schematically in this document. For details of possible specific embodiments of the machine, refer to document CH715794B1, the disclosure of which is incorporated herein by reference in its entirety. Hereinafter, only some essential characteristics of the machine will be set forth to simplify the understanding of the operation of the tool changer 200, which will be described subsequently.

[0091] The machine has a bed 110. The bed 110 is approximately L-shaped in a side view, having a horizontal section 111 and a vertical section 112. A Y-slider 120 is disposed on the horizontal section 111. This Y-slider can move relative to the bed 110 along the Y direction by means of a drive (not shown). The Y direction extends horizontally in space.

[0092] The Y-slider 120 carries the workpiece spindle 130, which has a workpiece clamping mechanism 140. The workpiece clamping mechanism can clamp a workpiece (not shown) onto the workpiece spindle 130. In other words, the Y-slider 120 is used as a workpiece carrier.

[0093] The clamping mechanism 140 is mounted on the workpiece spindle 130, allowing it to be driven by the spindle 130 to rotate around the workpiece axis, the so-called C-axis. The C-axis extends vertically in space, i.e., along the direction of gravity. The C-axis and the Y-direction together form the central intermediate plane of the machine. This intermediate plane contains the C-axis and is independent of the position of the Y-slider 120 along the Y-direction.

[0094] Z-slider 150 is disposed on the vertical section 112 of bed 110. This Z-slider can move relative to bed 110 along the Z direction by means of a drive (not shown). The Z direction extends vertically in space, that is, parallel to the C-axis and perpendicular to the Y-direction.

[0095] X-slider 160 is disposed on Z-slider 150, which carries the tool spindle 170 and thus forms a tool carrier. X-slider 160 is movable relative to Z-slider 150 along the X direction by means of a driver (not shown). The X direction is horizontal in space, i.e., extends perpendicular to the Z and Y directions and thus perpendicular to the mid-plane. Z-slider 150 and X-slider 160 together form a cross slider, which enables the tool spindle 170 mounted thereon to move along mutually perpendicular Z and X directions.

[0096] The tool spindle 170 drives the tool 500, such as a gear turning tool, clamped thereon to rotate about the tool axis, the so-called B-axis. For this purpose, the tool 500 is provided with a tool retainer, which can have a hollow tapered shank, for example, according to DIN 69893-1:2011-04 or DIN 69893-6:2003-05 standards, for connection to the tool spindle. By means of the tool retainer, the tool 500 is clamped in the clamping mechanism of the tool spindle 170.

[0097] The tool spindle 170 can pivot about a so-called A-axis relative to the X-slider 160 by means of a driver (not shown). The A-axis is perpendicular to the B-axis, parallel to the X-axis, and perpendicular to the intermediate plane. The A-axis intersects the B-axis. The pivot plane containing the B-axis extends parallel to the intermediate plane.

[0098] Control device 180 is used to control the machine. Specifically, control device 180 controls the pivot drive about axis A, the spindle drive for the tool and workpiece axes B and C, and the drive for linear movement along the X, Y, and Z directions. Control device 180 works in conjunction with a control panel (not shown) that allows the operator to input control commands into control device 180 and receive status notifications.

[0099] For feasible design schemes of the actuators and guides for the movement of Y slider 120, Z slider 150 and X slider 160 and the pivoting motion of the tool spindle 170 around axis A, and for other structural details, see reference CH715794B1.

[0100] Machining workpieces

[0101] In order to pass according to Figure 1 For machining a workpiece, the Y-slider 120 first moves against the Y direction into the workpiece changing position. In this position, the last workpiece to be machined is removed from the clamping mechanism 140 manually or by means of a workpiece loader (not shown), and the workpiece to be machined is placed on and clamped by the clamping mechanism 140. Then, the Y-slider 120 moves into the machining position along the Y direction. If the workpiece has pre-set teeth, the tooth grooves of the workpiece are measured by a centering device (not shown) to determine the angular positions of these tooth grooves. Then, the Z-slider 150 and X-slider 160 move into a position in which the tool 500 engages with the workpiece. Here, the tool spindle 170 is in an angular position about the A-axis, which is particularly related to the tilt angle of the workpiece. Now, the workpiece is rolled in the usual manner. Here, the tool 500 and the workpiece rotate at a defined speed ratio. This forced coupling is performed electronically by the control device 180. Axial feed along the workpiece axis is achieved by the movement of the Z-slider 150. The radial feed of the tool relative to the workpiece axis can be changed by the movement of the X slider and / or Y slider. Control of these movements is also performed by the control device 180.

[0102] After a period of time, the cutting edge of tool 500 becomes worn to the point that tool 500 must be replaced with a freshly refractory tool. For this purpose, tool changer 200, which will be described below, is used.

[0103] Construction of tool changer

[0104] Tool magazine and tool loading location

[0105] The tool changer 200 of machine tool 100 is in Figure 2The tool changer is shown separately. The tool changer has a support structure in the form of a vertical column 210, on which multiple (three in this case) tool receptacles 221, 222, 223 are fixedly and overlappingly arranged. These immovable tool receptacles are also referred to below as "tool storage locations".

[0106] Below the lowest, immovable tool holder 223, another tool holder 230 is provided. This tool holder is horizontally movable relative to the column 210, particularly horizontally movable, and pivotable about a vertical axis. The movable tool holder 230 is used to transfer tools between the internal and external spaces of the tool changer 200. The movable tool holder is also referred to hereinafter as the "tool loading position." The following will be combined with... Figure 7 , 8 The construction and function of the tool loading position are explained in detail in sections 9A to 9D. Of course, the tool loading position can also be set in a position between the non-movable tool holders so that it is at an ergonomic height for the operator.

[0107] Each tool receiver 221, 222, 223, and 230 is configured to accommodate a tool 500. For this purpose, the tool receiver has a shape complementary to the shape of the corresponding area of ​​the tool. In this example, the tool receiver is configured as a horizontal plate with an approximately semi-circular groove. This groove accommodates a cylindrical tool area with a reduced diameter. A flange of a larger diameter tool holder forms an annular support surface through which the tool is placed on the plate in the area surrounding the groove. Of course, other forms of tool receivers are also possible.

[0108] Position sensors (not shown) on each tool holder 221, 222, 223, and 230 identify whether the tool 500 is placed in the relevant tool holder and notify the control device 180 accordingly. The position sensors can be, for example, simple mechanical switches that are actuated by a tool placed in the relevant tool holder. Figure 2 In the example, the three immovable tool accompanies (tool storage locations) are each occupied by a tool 500, while the movable tool accompanies 230 (tool loading location) are not occupied.

[0109] Tool receiving sections 221, 222, 223 and 230 form a tool magazine 220 so that a limited number of tools (up to four tools in this case) are ready directly in the machine tool 100.

[0110] partition

[0111] The partition 300 separates the tool changer 200 from the machining space of the machine tool 100. The partition 300 is used to separate the internal space of the tool magazine 200 from the machining space of the machine tool 100, thereby protecting the internal space of the tool changer 200 from contamination by cooling lubricant and / or chips.

[0112] The partition 300 includes a vertically extending partition wall 310. Adjacent to the lower end of the partition wall 310 is a baffle 340 extending obliquely downward into the machining space of the machine tool 100, through which cooling lubricant and / or chips can flow toward a chip conveyor (not shown) on the underside of the bed 110. A partition opening 320 is formed in the vertical partition wall 310, which can be closed by a vertically movable partition door 330. An actuator (not shown), such as a pneumatic actuator well known in the prior art, is used to generate the opening and closing motion. Control of this actuator is performed by a control device 180.

[0113] The safety switch informs the control device 180 of the status (open / closed) of the partition door 330. This prevents the workpiece from being processed in the machine tool while the partition door 330 is open, and prevents the pivot arm 250 from moving through the partition opening 320 when the partition door 330 is closed.

[0114] The outer wall with a tool loading door

[0115] An outer wall 400 is provided on the side of the tool magazine opposite to the partition 300, which laterally separates the tool changer 200 from the external space. A tool loading opening 410 is formed in the outer wall 400, which can be closed by a tool loading door 420. In this example, the tool loading door 420 is pivotally mounted on the outer wall 400. In this example, the tool loading door is manually opened and closed.

[0116] The outer wall 400 laterally faces the external space, defining the clearance of the machine tool 100. The tool loading door 420 protects the operator of the machine tool 100 from injury by the moving parts of the tool changer 200. The tool loading door 420 can be equipped with a status notification device that informs the control device 180 of the status (open or closed) of the tool loading door 420. The control device 180 ensures that as long as the tool loading door 420 is open, the moving parts of the workpiece changer do not perform any movement, and prevents the tool loading door 420 from opening under other circumstances.

[0117] RFID station

[0118] An RFID station 600 is located in the area between the partition 300 and the outer wall 400, and is protected from cooling lubricant and chips. (See below for details.) Figure 10 and 11 The structure and function of RFID station 600 are described in detail.

[0119] Lifting the pivot arm on the slider

[0120] exist Figure 3 The figure shows a tool changer 200 without the partition 300. In this figure, it can be seen that... Figure 2 Other components of the tool changer are concealed by the partition wall 310.

[0121] Specifically, a lifting slider 240 can be seen, which is vertically movably guided at column 210. The lifting slider 240 carries a pivot arm 250, which is pivotable about a vertical axis via a pivot bearing 251. This axis is also referred to hereinafter as the "C3 axis". The C3 axis extends adjacent to column 210 in the region between column 210 and the machining space of machine tool 100, or between column 210 and partition 300.

[0122] The tool gripper 260, shown only schematically, is mounted on the free end of the pivot arm 250. The tool gripper performs the function of grasping the tool 500 placed in one of the tool receptacles 221, 222, 223, 230 and moving it to another location. For this purpose, the tool gripper has two... Figure 3 The gripper claws, not shown separately, are movable toward each other, and through the gripper claws, the tool gripper grasps the tool holder of the tool 500 at its flange.

[0123] Below the pivot arm 250 is an additional arm 252, the function of which will be discussed later. Figures 19 to 22 Detailed explanation. The additional arm 252 is non-functional during normal operation and is locked to the pivot arm 250 in the stationary position.

[0124] Operation of the tool changer

[0125] according to Figures 1 to 13 The operation of the tool changer 200 will now be explained in detail.

[0126] Middle position ( Figure 1 )

[0127] exist Figure 1 In this position, the lifting slider 240 and the pivot arm 250 are in the intermediate position, as they would normally be during tool changer operation. In this position, the pivot arm 250 and the gripper 260 are completely within the internal space of the tool changer, which is bounded by the partition 300 and the outer wall 400. In this position, the partition door 330 can be closed to protect the tool changer from contamination when machining workpieces on the machine tool 100.

[0128] Retrieve tools from the tool library ( Figures 2 to 4 )

[0129] To retrieve a tool from one of the tool receptacles 221, 222, 223, or 230, the tool gripper 260 moves to the relevant tool 500 by means of a pivot arm 250 and a lifting slider 240. This is in Figures 2 to 4 The description focuses on the immovable tool holder at its lowest position. The tool gripper 260 grasps the relevant tool. Then, the pivot arm 250 is slightly raised and pivots towards the partition wall 310 until the tool is vertically positioned above the RFID station 600. In this position, the pivot arm 250 with the tool gripper 260 and the tool held therein can move up and down without collision along the Z3 direction via the movement of the lifting slider 240. During this time, the partition door 330 remains closed.

[0130] Then, the tool can be placed in another tool holder, moved toward the RFID station 600, or moved toward the tool spindle 170 by the corresponding movement of the lifting slider 240 and the pivot arm 250.

[0131] Transfer to tool spindle ( Figure 5 and 6 )

[0132] To move the tool 500 to the tool spindle 170, the tool is removed from one of the tool receptacles as previously described and positioned by means of the lifting slider 240, in which the tool is located directly behind the partition door 330. The partition door 330 is opened, and the pivot arm 250 pivots through the partition opening 320 into the machining space of the machine tool 100 until the tool 500 held on the pivot arm 250 is directly below the tool spindle 170. For this purpose, the tool spindle 170 has been positioned by means of the Z slider 150 and X slider 160 and pivoted about the A-axis into a vertical orientation. Figure 5 and Figure 6 The diagram illustrates the resulting positions of the tool spindle 170, the lifting slide 240, and the pivot arm 250. These positions are also referred to below as the "clamping positions".

[0133] By moving the Z slider 150 and / or the lifting slider 240, the tool 500 is now positioned relative to the tool spindle 170 such that it can be clamped onto the tool spindle 170 by means of a tool clamping mechanism not shown.

[0134] After the tool is clamped onto the tool spindle 170, the tool gripper 260 opens, and the pivot arm 250 pivots toward the back of the machine. The tool spindle 170 is now removed from the collision area with the pivot arm 250 via the X-slider 160. The pivot arm 250 can now pivot back into the internal space of the tool changer 200 without collision. The partition door 330 is then closed again. The workpiece can now be machined with the newly clamped tool 500.

[0135] In order to remove the tool 500 from the tool spindle 170 again and move it into the tool magazine 220, the process is carried out in the opposite direction.

[0136] Load new tools into the tool magazine. Figure 7 , 8 (and 9A to 9D)

[0137] exist Figure 7 , 8 The diagrams in 9A to 9D illustrate the transfer of tools to the external space of the machine and the loading of the tool magazine with new tools. To transfer tool 500 from the internal space of the tool changer 200 to the external space, the relevant tool is placed on the movable tool receiving portion 230 (“tool loading position”) by the corresponding movement of the lifting slider 240 and the pivot arm 250. During this period, the tool loading door 420 is closed. This situation is described in... Figure 7 The diagram below illustrates this. The corresponding positions of the lifting slider 240 and the pivot arm 250 are also referred to as "transfer positions" in the following text.

[0138] Now, the tool gripper 260 is opened, and the pivot arm 250 pivots away from the associated tool 500. The movable tool receiver 230 is in its initial position, in which it is vertically and precisely positioned below the immovable tool receivers 221, 222, and 223. This situation is... Figure 8 The diagram below illustrates this. The current position of the pivot arm 250 and the tool receiving section 230 is also used as the parking position, which is the position occupied by the tool changer during the operating interval.

[0139] Figures 9A to 9D The diagram illustrates how the movable tool holder 230 moves from its initial position to its loading position. The same portions of the tool changer are shown in the accompanying drawings.

[0140] exist Figure 9A In the middle, the movable tool receiving part 230 is in its initial position, and the tool loading door 420 is closed.

[0141] Now, the tool loading gate 420 is opened, releasing the tool loading opening 410. The movable tool receiving portion 230 remains in its initial position. This is in Figure 9B The diagram illustrates how the movable tool holder 230 moves relative to the post 210, via the retainer 235 (see Figure 235). Figure 9C The linear guide 231 is fixedly connected to the column 210. This linear guide is also referred to hereinafter as a loading linear guide or an X4 linear guide. In the X4 linear guide 231, the running track 232 is movably guided along the horizontal direction X4. A plate 233 is mounted on the running track 232. The running track 232 and the plate 233 together form a carriage, which is movably guided in the X4 linear guide 231 and is hereinafter referred to as a loading carriage. A movable tool holder 230 is pivotally mounted on the plate 233 via a pivot bearing 234. The pivot bearing 234 defines a pivot axis C4 extending vertically in space (see...). Figure 9C Therefore, the pivot bearing is also called a loading pivot bearing. The loading pivot bearing 234 enables the movable tool holder 230 to pivot relative to the loading carriage in a horizontal pivot plane.

[0142] Now, the loading carriage, along with the movable tool holder 230 and the tool 500 mounted thereon, is manually pulled through the tool loading opening 410 into the external space of the machine tool. The intermediate position generated by the movable tool holder 230 is... Figure 9C The diagram below illustrates this. In this intermediate position, the open side of the groove in the movable tool holder 230 points towards the interior of the machine tool.

[0143] Finally, the movable tool holder 230 is additionally manually pivoted about the loading pivot axis C4, such that the open side of the recess in the movable tool holder 230 faces the operator. Figure 9D The diagram illustrates the tool loading position created by the tool holder 230. In this position, the operator can easily remove the tool 500 and place a new tool in the tool holder 230.

[0144] To load a new tool into the tool changer, the above steps are performed in reverse order. To ensure that the tool is accommodated in the tool changer in a predetermined orientation around its pivot axis, a locating element can be present on the movable tool receiving portion 230, which works in conjunction with a complementary structure on the tool. For example, the tool can have an orientation notch (“German angle”) according to DIN 69893-1:2011-4, and a complementary locating pin can be present on the movable tool receiving portion 230.

[0145] After the movable tool holder 230 and the new tool are pushed into the internal space of the tool changer, the new tool can be transferred to the non-movable tool holders 221, 222, 223 in the manner previously described. Preferably, the tool is first detected at the RFID station 600, as will be described in detail below.

[0146] In the previous example, the movement of the movable tool holder 230 was performed manually. However, it is also conceivable to perform these movements in a manner controlled by a corresponding actuator. In particular, it is conceivable to perform automatic tool exchange between the movable tool holder 230 and an external tool magazine. For this purpose, an external actuator can remove a tool from the movable tool holder 230 and load a new tool into it. In this case, the tool loading gate 420 can be omitted.

[0147] Alternatively, the movable tool holder 230 may be designed in a manner different from the example described above. For example, it may be considered to mount the movable tool holder 230 on a pivot arm and pivot it through the tool loading opening 410 into the external space by means of the pivot arm.

[0148] If there is a tool-loading door 420, it can also be constructed as a sliding door instead of a pivot door.

[0149] Detecting knives via RFID stations ( Figure 10 and 11 )

[0150] The cutting tool 500 can be equipped with an RFID transponder, such as in Figure 10 As shown in the diagram. Figure 10 An exemplary cutting tool 500 is shown. The cutting tool 500 includes a tool holder 510. At its upper end, the tool holder 510 is provided with a hollow tapered shank (HSK) 511 of type A according to DIN 69893-1:2011-04 or type F according to DIN 69893-6:2003-05. At its outer circumference, the tool holder 510 has an orientation notch 513 ("German angle") as already mentioned in DIN 69893-1:2011-4. At its lower end, a rolling scraper wheel 520 with end-side cutting edges 521 is connected to the tool holder 510. The tool holder 510 and the rolling scraper wheel 520 together form the cutting tool 500 of this disclosure.

[0151] The rolling scraper wheel 520 is equipped with an RFID transponder 522 (“RFID tag”). The RFID transponder is located radially inward and centrally on the underside of the rolling scraper wheel in an area where the cutting edge 521 of the rolling scraper wheel is disposed. The rolling scraper wheel can be identified one-to-one by means of the RFID transponder, and alternatively, other characteristics of the rolling scraper wheel can be stored in the transponder.

[0152] In order to read the RFID transponder 522 via the RFID workstation 600, the lifting slider 240 moves downward until the tool 500 held by the tool gripper 260 contacts the upper side of the RFID workstation 600. This situation occurs in... Figure 11 As shown in the figure. This position of the lifting slider 240 and the pivot arm 250 is also referred to below as the "detection position".

[0153] RFID station 600 carries RFID transceiver 630 on its upper side (in Figure 4 As can be seen, in Figure 11 (The RFID transceiver is obscured by the cutting tool), the RFID transceiver reads the RFID transponder 522. A one-to-one identifier for the rolling scraper wheel 520 is stored in the RFID transponder 522. This is read by the RFID transceiver 630 and forwarded to the control device 180. The control device 180 uses the one-to-one identifier to retrieve method-related characteristics of the rolling scraper wheel 520 from a database and uses these characteristics to control the machining process. These characteristics may include, for example, the tool's construction and geometry data; and data on the tool's usage to date, such as the number of regrinding operations and the number of workpieces machined since the last regrinding. Alternatively, this data may also be stored directly in the RFID transponder 522 and similarly read by the RFID transceiver 630. The RFID transceiver 630 may also be configured to write information to the RFID transponder 522.

[0154] To prevent damage to the RFID transceiver 630 and its associated RFID transponder 522, the RFID workstation 600 is configured with springs. For this purpose, the RFID transceiver 630 is mounted on a transceiver housing 620, which is vertically and movably guided on a base 610 via a guide rail 611. The base 610 is fixedly connected to the bed 110. A spring element 640 acts between the transceiver housing 620 and the base 610, and is compressed when the transceiver housing 620 moves downward at the guide rail 611. This generates a restoring force acting on the transceiver housing 620. Preferably, the movement of the transceiver housing 620 relative to the base 610 is damped to prevent vibration. For example, a pneumatic spring, known per se, can be used as the spring element 640, which generates both a restoring force and a damping effect. The spring-loaded design of the RFID station 600 makes it feasible to read tools of different lengths via the RFID station 600 without damaging the RFID transceiver 630 or its associated RFID transponder 522, even when the length of the tool is unknown.

[0155] The detection of the tool 500 by the RFID station 600 is preferably performed immediately after a new tool is loaded into the tool changer. Alternatively, this detection can also be performed when the tool is transferred to the tool spindle 170.

[0156] Another RFID transponder 512 is disposed in the circumferential area of ​​the tool holder 510. The RFID transponder is located in the mounting space of the data carrier as defined in DIN 69893-1:2011-04. This RFID transponder allows for one-to-one identification of the tool holder, and optionally allows for the storage of other characteristics of the tool holder in the transponder. A second RFID transceiver (not shown) can be used to read the RFID transponder 512 in the tool holder 510. This transceiver can be integrated into or disposed near the tool gripper 260, for example, below the tool gripper.

[0157] By reading information from the two RFID transponders 512 and 522, the tool 500 can be identified one-to-one, and the correct combination of the rolling scraper 520 and the tool holder 510 can be checked.

[0158] Instead of RFID transponders 512 and 522, another type of machine-readable data carrier, such as optically readable code, can be provided at the tool holder 510 and / or the rolling scraper wheel 520. Correspondingly, instead of RFID stations, corresponding matching reading stations can be provided, which include, for example, optical reading devices for the data carrier, rather than RFID transceivers.

[0159] Applications for other objects ( Figure 12 and 13 )

[0160] exist Figure 12 and 13 The diagram illustrates that objects different from the tool 500 can be accommodated in the tool gripper 260.

[0161] Therefore, in Figure 12 In the example, a conical cleaner 530 for the tapered receptacle in the tool spindle 170 is housed in a tool gripper 260. A commercially available conical cleaner could be used here, mounted on an interface that mates with the tool gripper 260. The conical cleaner 530 is gripped by the tool gripper 260 and moved to the tool spindle 170 by means of a pivot arm 250 and a lifting slider 240 and introduced into the slowly rotating tapered receptacle. A brush could also be used instead of a conical cleaner, for example.

[0162] exist Figure 13 In the example, the measuring probe 540 is housed in the tool holder 260. This measuring probe is capable of performing general measurement and inspection functions. The measuring probe can be equipped with a mechanism for wireless signal transmission. For example, the radial runout and end runout of the workpiece clamping mechanism 140 can be measured by the measuring probe 540. For this purpose, the measuring probe 540 is moved to the workpiece clamping mechanism 140 by means of a pivot arm 250 and a lifting slider 240. Alternatively, the measuring probe 540 can also be installed in the tool spindle 170 or in another location on the machine tool 100.

[0163] Instead of the conical cleaner 530 or the measuring probe 540, other objects can also be gripped by the tool holder 260. When not in use, these other objects can be placed in one of the tool holders.

[0164] Lifting slider guidance and drive, pivot arm drive, tool gripper, and additional arm locking ( Figure 14 and 15 )

[0165] For clear reasons, in Figure 1-13 Some components of the tool changer are not shown in the diagram. These components are... Figure 14 and 15 Explanation with Chinese diagrams.

[0166] The lifting slider 240 is guided by two parallel guide rails 241 in a manner known per se, the guide rails being fixedly connected to the post 210. The lifting slider is driven by a lifting slider driver 242. This lifting slider driver generates rotational motion, which is converted into lifting motion of the lifting slider 240 via a ball screw transmission mechanism 243, also known per se.

[0167] The pivoting motion of the pivot arm 250 about the C3 axis is performed by means of a pivot actuator 256, which is known in itself and is mounted on the lifting slider 240.

[0168] Locking device 257 secures the additional arm 252 to the pivot arm 250. This locking device can be configured, for example, as a spring-loaded pin that extends through the pivot arm 250 into an opening in the additional arm 252 in the locked position and is pulled out in the released position such that the pin allows the additional arm 252 to pivot relative to the pivot arm 250.

[0169] exist Figure 15 The tool gripper 260 can be seen more precisely in the image. The tool gripper 260 is a known dual-jaw gripper having a pair of gripper jaws 261, 262 that can move pneumatically or electrically toward each other to grip the tool. The shapes of the gripper jaws 261, 262 are matched to the external shape of the area of ​​the tool to be received by the tool gripper. In particular, the gripper jaws 261, 262 are configured such that the tool gripped by the gripper jaws is shape-fitted and secured to prevent it from falling. For example, the tool holder 510 can be provided with a type A hollow tapered shank (HSK) according to DIN 69893-1:2011-04 or a type F hollow tapered shank according to DIN 69893-6:2003-05. This hollow tapered shank has a flange with a surrounding gripping groove. The gripper claw can then have an inwardly projecting protrusion that engages in the gripping groove.

[0170] Drive unit 242, pivot actuator 256 and tool gripper 260 are controlled by control unit 180 (see Figure 1 ) control.

[0171] Of course, other types of guides, drives, grippers, and locking devices, different from those in this example, can also be considered.

[0172] Second implementation method ( Figure 16 )

[0173] exist Figure 16 The diagram illustrates a second embodiment of the tool changer. The difference between the tool changer of the second embodiment and the tool changer of the first embodiment lies only in the design of the tool gripper 260 and the method of mounting it on the pivot arm 250.

[0174] In the second embodiment, the tool gripper 260 is configured as a dual gripper. For this purpose, the tool gripper 260 has two pairs of gripper claws 261, 262 or 261', 262'. The gripper claw pairs 261', 262' extend in the opposite direction to the gripper claw pairs 261, 262. The tool gripper 260 is mounted on a pivot body 263 with an integrated pivot actuator at the free end of the pivot arm 250. Through this pivot body 263, the tool gripper can pivot between 0° and 360° about the vertical axis C6. This allows the positions of the gripper claw pairs 261, 262 and 261', 262' to be interchanged.

[0175] By configuring the gripper 260 as a dual gripper, it becomes feasible to remove the worn tool 500' from the tool spindle 170 and replace it with a freshly ground tool 500, without requiring the pivot arm 250 to move multiple times through the partition opening 320. For this purpose, the gripper jaws 261, 262 retrieve the freshly ground tool 500 from the tool magazine in the manner previously described. The gripper jaws 261', 262' remain empty at this point. The tool 500 is now transferred to the tool spindle 170 via the pivot arm 250 through the partition opening 320 in the manner previously described. The gripper jaws 261', 262' now receive the worn tool 500' from the tool spindle 170. The tool gripper 260 pivots 180°, and the gripper jaws 261, 262 transfer the freshly ground tool 500 to the tool spindle 170. The pivot arm 250 now pivots back into the internal space of the tool changer 200.

[0176] In this way, non-productive auxiliary time during tool changes can be reduced.

[0177] The gripper claw can also be with Figure 16 Different settings are provided, and the tool gripper can be used with... Figure 16 It is connected to the pivot arm 250 in different ways. For example, the gripper claw pairs can be arranged side by side on the same side of the tool gripper 260. More than two gripper claw pairs can also be provided.

[0178] Third implementation method ( Figure 17 )

[0179] exist Figure 17The diagram illustrates a third embodiment of the tool changer. In this third embodiment, the tool gripper 260 is configured as a double gripper, as in the second embodiment, and is pivotable about a vertical pivot axis C6 relative to the pivot arm 250. The immovable tool receptacles 221, 222, and 223 are now configured as double receptacles, meaning they can accommodate two tools side-by-side. To insert or receive a tool into one of the tool receptacles, the tool gripper 260 can enter the corresponding pivot position. In this way, the capacity of the tool magazine 220 can be doubled with minimal additional space requirements.

[0180] Additionally, the tool changer of the third embodiment may optionally also include a workpiece gripper 270, which constitutes a workpiece clamping mechanism 140 for receiving a workpiece 800 from the workpiece holder 280 and transferring it to the workpiece spindle 130 at a corresponding position on the pivot arm 250. The control device 180 can therefore have a corresponding control program.

[0181] In this example, the workpiece gripper 270 is also configured as a dual gripper to minimize non-productive auxiliary time during workpiece changeovers. However, the workpiece gripper 270 can of course also be configured as a single gripper. The single gripper can also be combined with a single gripper for the cutting tool.

[0182] An optional tool cleaner 700 is installed at the upper end of column 201. The tool cleaner is used to clean the tool 500 (see...). Figure 10 The tool cleaner 700 removes cooling lubricant and chips from the hollow tapered shank 511 of the tool holder 510. Therefore, the workpiece cleaner is also called a tapered cleaner. The tool cleaner 700 is configured such that the tool 500 held by the gripper 260 can be easily moved to the tool cleaner by means of the lifting slider 240 and the pivot arm 250. In this example, the tool cleaner 700 is positioned above the immovable tool receptacles 221, 222, 223, but this is not mandatory.

[0183] Of course, a knife cleaner can also be included in one of the other embodiments described herein. Suitable knife cleaners are known in the prior art and are commercially available.

[0184] Fourth implementation method ( Figure 18 )

[0185] exist Figure 18 The diagram illustrates a fourth embodiment of the tool changer. In this embodiment, the tool gripper 260 is linearly movable relative to the pivot arm 250 along the Y3 direction. For this purpose, the tool gripper 260 is mounted on a gripper slider 265, which is movable relative to the pivot arm 250 along the Y3 direction under the control of a gripper slider driver 266.

[0186] In this example, direction Y3 is substantially parallel to the longitudinal direction of pivot arm 250. However, it can also extend at any angle to that direction.

[0187] In this embodiment, the tool gripper can also be configured as a dual gripper, as described in conjunction with the second and third embodiments. The tool gripper can then be mounted on the gripper slider 265 via a pivot. However, the pivot can also be omitted, for example, if the gripper claws are arranged side-by-side.

[0188] Fifth implementation method ( Figure 19 and 20 )

[0189] exist Figure 19 and 20 The diagram illustrates a fifth embodiment of the tool changer. In this embodiment, the tool gripper 260 is mounted on a pivot 267 with an integrated actuator, which enables the tool gripper 260 to pivot 90° relative to the pivot arm 250 about a horizontal pivot axis C8 in a controlled manner. Therefore, the tool 500 can be placed in the tool receptacles 221, 222, 223, 224, and 230 in a horizontal orientation rather than a vertical orientation. Accordingly, the tool receptacles are configured to accommodate one tool 500 in each orientation in which the tool axis extends horizontally. By placing the tools horizontally, the space requirement is greatly reduced when the tools are long.

[0190] Clamping mechanism replacement ( Figures 21 to 23 )

[0191] The tool changer 200 not only automatically changes the tools on the tool spindle 170, but also assists the operator when changing the workpiece clamping mechanism 140. This is... Figures 21 to 23 The illustration is based on the first embodiment.

[0192] For clamping mechanism replacement, the aforementioned additional arm 252 is pivotally mounted on the free end of the pivot arm 250 below the tool gripper 260 via a pivot bearing 253. During normal operation, the additional arm 252 and the pivot arm 250 are locked in a stationary position. A locking device 257, previously described, is used for this purpose. The stationary position is monitored by a sensor (not shown) to prevent damage to the machine during normal operation. The additional arm 252 can be unlocked for clamping mechanism replacement, allowing it to be manually pivoted in the horizontal plane about a vertical additional pivot axis C5 relative to the free end of the pivot arm 250. The additional pivot axis C5 is spaced apart from the pivot axis C3 of the pivot arm 250. A bayonet-type receiving portion 254 for the clamping mechanism retainer 255 is present at the free end of the additional arm 252.

[0193] To perform the clamping mechanism change, the Z slider 150 first travels fully upward along the positive Z direction, and the X slider 160 travels fully to the left along the negative X direction, i.e., away from the tool changer 200, to avoid collisions with the pivot arm 250 and the auxiliary arm 252. The Y slider 120 travels fully forward along the negative Y direction to allow the operator as good access as possible to the Y slider. Then, the lifting slider 240 and the pivot arm 250 enter the... Figure 21 and 22 In the illustrated position, the operator now releases the lock of the additional arm 252 and manually pivots the additional arm 252 out of the rest position. The operator places the clamping mechanism retainer 255 on the receiving portion 254 and manually brings the additional arm 252 in. Figure 21 and 22 In this position, the clamping mechanism retainer 255 is now directly above the clamping mechanism 140. This position is also known as the clamping mechanism change position.

[0194] By moving the slider downwards, the clamping mechanism retainer 255 is now placed on the clamping mechanism 140. The clamping mechanism retainer 255 is then connected to the clamping mechanism 140, for example by a screw connection, and released from the workpiece spindle 130. By moving the slider 240 upwards, the clamping mechanism 140 is lifted from the workpiece spindle 130 and rotated forward from the machining space center of the machine tool 100 by means of the additional arm 252. The resulting extraction position is... Figure 23 The diagram illustrates this. The clamping mechanism 140 can now be placed on a clamping mechanism frame, such as a carriage (not shown), by lifting the downward movement of the slider 240.

[0195] To prevent unintentional pivoting of the additional arm 252, a locking device can be provided on the pivot bearing 253, which locks the additional arm 252 in one or more selected locking positions. This locking device can be designed such that the additional arm 252 pivots away from these locking positions only after a specific release torque about the additional pivot axis C5 has been overcome. For this purpose, the locking device can, for example, have spring-loaded members that engage in recesses in the control plate of the pivot bearing in the locking positions. Alternatively, a manually operable clamping device can be provided to secure the additional arm 252 in any pivot position, or the pivot bearing 253 can be configured to resist pivoting movement with a certain frictional force, thereby preventing unintentional pivoting of the additional arm 252.

[0196] To prevent damage to the clamping mechanism 140 when the clamping mechanism retainer 255 is placed on the clamping mechanism 140, the clamping mechanism retainer 255 can be configured to be spring-loaded along the Z direction.

[0197] Although the clamping mechanism replacement has been described according to the first embodiment, the clamping mechanism replacement can be performed in a very similar manner in all other embodiments.

[0198] Variations with force sensors ( Figure 24 )

[0199] The receiving portion 254 of the clamping mechanism retainer 255 can be mounted on the additional arm 252 via the force sensor 258. This is in Figure 24 The diagram illustrates this. Force sensor 258 measures the force generated by the weight of the clamping mechanism 140 suspended on pivot bearing 253. Force sensor 258 transmits a signal indicating the determined force to control device 180. Therefore, control device 180 can identify overloads in the system consisting of pivot arm 250 and auxiliary arm 252, warn the operator accordingly, and, if necessary, stop the tool changer from continuing operation. It can also issue a warning, for example, in cases where the connection between clamping mechanism 140 and workpiece spindle 130 is not properly released, preventing clamping mechanism 140 from being removed.

[0200] Suitable force sensors are known in the prior art and are commercially available.

[0201] Although Figure 24 The force sensor in the illustration is illustrated in conjunction with the fourth embodiment, but the force sensor can also be used in any other embodiment.

[0202] Other variations

[0203] Of course, other variations of the tool changer described above are possible without departing from the scope of the invention.

[0204] Therefore, it is conceivable, for example, to construct the load-bearing structure differently from what has been shown previously. For example, it is conceivable to provide two parallel columns instead of a single column 210 as the load-bearing structure, wherein one of these columns is equipped with a tool holder, while the other column is used to guide the lifting slider.

[0205] List of reference numerals

[0206] 100 machine tools

[0207] 110 Bed Body

[0208] 111 Horizontal section

[0209] 112 Vertical Section

[0210] 120 Y slider

[0211] 130 Workpiece Spindle

[0212] 140 Workpiece clamping mechanism

[0213] 150 Z slider

[0214] 160 X slider

[0215] 170 Tool Spindle

[0216] 171 Conical Receiving Section

[0217] 180 control device

[0218] 200 Tool Changer

[0219] 210 bars

[0220] 220 Tool Magazine

[0221] 221-224 Non-movable tool holder (tool storage location)

[0222] 230 Movable tool holder (tool loading position)

[0223] 231 X4 - Guidance Section

[0224] 232 X4 - Running Track

[0225] 233 board

[0226] 234 Pivot Bearing

[0227] 235 Holding element

[0228] 240 Lift slider

[0229] 241 guide rail

[0230] 242 Lifting Slider Driver

[0231] 243 Ball screw transmission mechanism

[0232] 250 pivot arm

[0233] 251 Pivot Bearing

[0234] 252 Additional Arm

[0235] 253 Pivot Bearing

[0236] 254 Reception Department

[0237] 255 Clamping Mechanism Retainer

[0238] 256 Pivot Driver

[0239] 257 Locking device for the auxiliary arm

[0240] 258 Force Sensor

[0241] 260 Knife Grabber

[0242] 261, 262 Gripper claws

[0243] 261', 262' Gripper claws

[0244] 263 Pivot bearing with a drive

[0245] 265 Grabber Slider

[0246] 266 Grabber Slider Driver

[0247] 267 Pivot body with actuator

[0248] 270 Workpiece Gripper

[0249] 280 workpiece holder

[0250] 300 partition

[0251] 310 partition wall

[0252] 320 partition opening

[0253] 330 Partition Door

[0254] 340 baffle

[0255] 400 outer wall

[0256] 410 Tool loading opening

[0257] 420 Tool Loading Door

[0258] 500, 500' cutting tools

[0259] 510 Tool Holder

[0260] 511 Hollow Conical Handle

[0261] 512 RFID transponder

[0262] 513 Orientation notch (“German angle”)

[0263] 520 Rolling Scraper Wheel

[0264] 521 Blade

[0265] 522 RFID transponder

[0266] 530 Cone Cleaner

[0267] 540 measuring probe

[0268] 600 RFID stations

[0269] 610 base

[0270] 611 guide rail

[0271] 620 Vertical Carriage

[0272] 630 RFID transceiver

[0273] 640 Spring Element

[0274] 700 Knife Cleaner

[0275] 800 workpieces

[0276] Linear axes of X, Y, and Z axes of machine tools

[0277] A. Pivot axis of the tool spindle

[0278] B. Tool axis

[0279] C. Workpiece axis

[0280] Z3 lifts the linear axis of the slider.

[0281] Linear axis of the Y3 gripper slider

[0282] C3 Pivot axis of the pivot arm

[0283] X4 Direction of movement of the movable tool holder

[0284] C4 Pivot axis of the movable tool holder

[0285] C5 Additional pivot axis of the additional arm

[0286] The vertical pivot axis of the C6 tool gripper

[0287] C7 Vertical pivot axis of the workpiece gripper

[0288] The horizontal pivot axis of the C8 tool gripper

Claims

1. A tool changer (200) for changing a tool (500) in a machine tool (100), comprising: Load-bearing structure (210); A lifting slider (240) is guided on the support structure (210) along a lifting direction (Z3) that extends vertically in space; A pivot arm (250) is pivotally mounted on the lifting slider (240) about a pivot axis (C3) extending vertically in space; A knife gripper (260) is mounted on the pivot arm (250) and configured to grip a knife (500); and The tool magazine (220) has multiple vertically overlapping tool receiving sections (221, 222, 223, 230). The tool changer (200) is configured to allow a tool (500) gripped by the tool gripper (260) to move selectively between one of the tool receptacles (221, 222, 223, 230) and the tool spindle (170) of the machine tool (100) or between two different tool receptacles (221, 222, 223, 230) of the tool magazine (220) via a lifting and pivoting motion of the combination of the pivot arms (250). The supporting structure (210) includes a vertical column that forms a support for mounting on the bed (110) of the machine tool (100) via its lower end. The lifting slider (240) is guided along the lifting direction (Z3) on the vertical column, characterized in that, The tool receiving parts (221, 222, 223, 230) are mounted on the vertical column.

2. The tool changer (200) according to claim 1, wherein one of the tool accommodating portions (230) is movably mounted on the support structure (210) to facilitate loading of the tool magazine (220).

3. The tool changer (200) according to claim 2, comprising: an outer wall (400) separating the internal space of the tool changer (200) from the external space, The outer wall has a tool loading opening (410) for exchanging tools (500) between the inner space and the outer space, and The movable tool receiving portion (230) is movable through the tool loading opening (410).

4. The tool changer (200) according to claim 2, comprising: Loading linear guide (231); and A loading carriage (232, 233) is movably guided on the loading linear guide (231) along a horizontal loading direction (X4). The movable tool holder (230) is pivotally mounted on the loading carriage (232, 233) about a vertical loading pivot axis (C4).

5. The tool changer (200) according to claim 1, further comprising a partition (300) configured to separate the internal space of the tool changer (200) from the machining space of the machine tool (100), The partition (300) has a partition opening (320). The tool changer (200) has a partition door (330) configured to selectively close or release the partition opening (320), and The tool gripper (260) mounted on the pivot arm (250) is movable through the partition opening (320) in at least one position of the lifting slider (240).

6. The tool changer (200) according to claim 1 further comprises a reading station (600) for reading a machine-readable data carrier (521) on the tool (500). The reading station (600) is configured such that the tool (500) held by the tool gripper (260) can be moved to the reading station (600) by a combination of lifting and pivoting motion of the pivot arm (250) in order to read the data carrier (521) on the tool (500).

7. The tool changer (200) according to claim 6, wherein the reading station (600) has a base (610), a reading device (630) for reading the data carrier (521) and a spring element (640) disposed between the base and the reading device, such that the reading device (630) can move vertically downward relative to the base (610) against the restoring force generated by the spring element (640).

8. The tool changer (200) according to claim 1, further comprising a tool cleaner (700). The tool cleaner (700) is configured such that a tool (500) held by the tool gripper (260) can be moved to the tool cleaner (700) by a combination of lifting and pivoting motion of the pivot arm (250) in order to clean the tool holder (510) of the tool (500).

9. The tool changer (200) according to claim 1, wherein the tool gripper (260) is configured as a multi-gripper with at least two gripper claw pairs (261, 262; 261', 262') to grip two or more tools (500, 500').

10. The tool changer (200) according to claim 1, wherein the tool gripper (260) is movably mounted on the pivot arm (250).

11. The tool changer (200) according to claim 1, further comprising: A conical cleaner (530) for cleaning the conical housing (171) of the tool spindle (170), wherein the conical cleaner (530) is gripped by the tool gripper (260) so that the conical cleaner can be moved to the tool spindle (170) by a combination of lifting and pivoting movements of the pivot arm (250); and / or A measuring probe (540), wherein the measuring probe (540) can be gripped by the tool gripper (260) so that the measuring probe can be moved to the measuring position by a combination of lifting and pivoting motion of the pivot arm (250).

12. The tool changer (200) according to claim 1, further comprising a workpiece gripper (270) mounted on the pivot arm (250) and constituting a workpiece spindle (130) for receiving a workpiece (800) from the workpiece holder (280) and transferring it to the machine tool (100).

13. The tool changer (200) according to claim 1, further comprising: A lifting slider driver (242) is provided to drive the lifting slider (240) to perform lifting motion along the lifting direction (Z3); A pivot actuator (256) is provided to drive the pivot arm (250) to pivot about the pivot axis (C3) relative to the lifting slider (240); and A control device (180) is configured to operate the lifting slider driver (242), the pivot driver (256), and the tool gripper (260).

14. The tool changer (200) according to claim 13, wherein the control device (180) is configured to cause at least one of the following processes: a) Grasp the knife (500) by the knife gripper (260); b) The lifting and pivoting motion of the combination of the pivot arms (250) causes the tool (500) held by the tool gripper (260) to move between one of the tool receptacles (221, 222, 223, 230) and the tool spindle (170) of the machine tool (100); c) The lifting and pivoting motion of the combination of the pivot arms (250) causes the tool (500) held by the tool gripper (260) to move between two different tool receptacles (221, 222, 223, 230) of the tool magazine (220); d) Opening and closing the partition door (330), wherein the tool changer (200) further has a partition (300) configured to separate the internal space of the tool changer (200) from the machining space of the machine tool (100), wherein the partition (300) has a partition opening (320), and wherein the partition door (330) is configured to selectively close or release the partition opening (320). e) The lifting and pivoting motion of the combination of the pivot arms (250) moves the tool (500) held by the tool gripper (260) to the reading station (600) and reads the data carrier (521) on the gripped tool (500). f) The lifting and pivoting motion of the combination of the pivot arms (250) moves the knife (500) held by the knife gripper (260) to the knife cleaner (700), and the knife holder (510) of the gripped knife (500) is cleaned by the knife cleaner (700). g) Move the tool gripper (260) relative to the pivot arm (250), h) The conical cleaner (530) held by the tool gripper (260) is moved to the tool spindle (170) by the lifting and pivoting motion of the combination of the pivot arms (250). j) The measuring probe (540) held by the tool gripper (260) is moved to the measuring position by the lifting and pivoting motion of the combination of the pivot arms (250); as well as k) The workpiece (800) is gripped by the workpiece gripper (270), and the workpiece (800) gripped by the workpiece gripper (270) is moved between the workpiece holder (280) and the workpiece spindle (130) of the machine tool (100) by a combination of lifting and pivoting motion of the pivot arm (250).

15. The tool changer (200) according to claim 1, further comprising: An additional arm (252) is pivotally mounted on a pivot arm (250) about a vertically extending additional pivot axis (C5), such that the additional pivot axis (C5) of the additional arm (252) and the pivot axis (C3) of the pivot arm (250) extend parallel to each other and spaced apart. The additional arm (252) constitutes a workpiece clamping mechanism (140) for fixing the machine tool (100) to the additional arm.

16. The tool changer (200) according to claim 15, further comprising: A clamping mechanism retainer (255) is releasably connected to the additional arm (252) and the workpiece clamping mechanism (140) such that the workpiece clamping mechanism (140) can be fixed to the additional arm (252) via the clamping mechanism retainer (255).

17. The tool changer (200) according to claim 15, wherein a force sensor (258) is provided on the additional arm (252) to detect the load in the vertical direction of the additional arm (252).

18. The tool changer (200) according to claim 2, wherein the tool receiving portion (230) is movably mounted on the support structure (210) along a horizontal loading direction (X4) and / or pivotally mounted about a vertical loading pivot axis (C4).

19. The tool changer (200) of claim 3, wherein the tool changer (200) has a tool loading door (420) configured to selectively close or release the tool loading opening (410).

20. The tool changer (200) according to claim 10, wherein the tool gripper (260) is pivotally mounted on the pivot arm (250) about a vertical gripper pivot axis (C6) or about a horizontal gripper pivot axis (C8), and / or The tool gripper (260) is linearly movable on the pivot arm (250) along the horizontal gripper movement direction (Y3).

21. The tool changer (200) according to claim 15, wherein the additional arm (252) is lockable to the pivot arm (250) in a rest position to prevent the additional arm (252) from pivoting about the additional pivot axis (C5).

22. A machine tool (100) comprising: Bed frame (110); The tool spindle (170) drives the tool (500) to rotate about the tool axis (B); and The tool changer (200) according to any one of claims 1 to 21. The tool changer (200) is mounted on the bed (110) such that the lifting and pivoting motion of the combination of the pivot arms (250) allows the tool (500) held by the tool gripper (260) to move from one of the tool receptacles (221, 222, 223, 230) to the tool spindle (170).

23. The machine tool (100) according to claim 22, wherein the tool spindle (170) is pivotally disposed in the machine tool (100) such that the tool spindle can enter a position in which the tool axis (B) extends vertically in space.

24. The machine tool (100) according to claim 22, further comprising a workpiece spindle (130) having a workpiece clamping mechanism (140). The tool changer (200) is configured according to any one of claims 15 to 17 or 21, and The workpiece spindle (130) is mounted on the bed (110) such that when the auxiliary arm (252) pivots away from the rest position relative to the pivot arm (250), the workpiece clamping mechanism (140) can be fixed on the auxiliary arm.

25. The tool changer (200) according to any one of claims 15 to 17 or 21 is used for changing the workpiece clamping mechanism (140) on a machine tool (100).

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