Tool changer for machine tools and manufacturing system

Abstract

A tool changer for a machine tool has an operating unit with an operating robot and a supply position for exchangeable tool magazines, the operating robot carrying a tool gripper, the tool magazines being designed as vertical disc magazines with a vertical axis of rotation. The tool magazines are detachably placed onto a rotary table at the supply position, the rotary table bringing the tool magazines into a rotary position desired for tool exchange, in which the tool gripper of the operating unit can reach a selected tool position in the tool magazine. The operating unit is designed for exchanging tools between the tool magazine and a tool holder in the working space of the machine tool. The operating unit and the tool magazine are arranged in an equipment unit of the tool changer, which can be connected to the working space of the machine tool by a lockable equipment interface. The operating robot is designed for the tool gripper to pass through the equipment interface into the working space in order to exchange tools there. A manufacturing system has a machine tool and a tool changer.

Description

Technical Field

[0001] This invention relates to a tool changing device for a machine tool and a manufacturing system having at least one machine tool and a tool changing device. In various aspects, the invention relates to a compactly designed machine tool and its integration into a manufacturing system and equipment for cutting operations. A compactly designed machine tool is, for example, a machine tool with a working space of less than 250mm × 250mm × 250mm. Background Technology

[0002] In the exemplary configuration, the machine tool's working space is less than 200mm × 200mm × 200mm. In the exemplary configuration, the machine tool's working space is less than 150mm × 150mm × 150mm. In the exemplary configuration, the machine tool's working space is less than 100mm × 100mm × 100mm. In the exemplary configuration, the machine tool's working space is less than 75mm × 75mm × 75mm. These expressions specifically relate to the feasible feed rates (travel paths) along the X, Y, and Z axes. The working space can be designed as a cube. However, a cuboid structural space is also possible, where the travel paths in the X, Y, and Z axes are not uniform. For example, machine tools designed in this way are suitable for precision machining, such as in the manufacturing of watches and jewelry. Needless to say, other applications are also possible, such as in medical technology and precision technology.

[0003] Machine tools and equipment for cutting operations are known. A manufacturing apparatus is known from US2019 / 0084102A1, comprising a plurality of compactly designed machine tools arranged stacked and side-by-side within a common housing, and additionally, a robot for changing tools and / or changing workpieces, the robot being horizontally movable on a vertically movable rod. The apparatus includes an integrated storage device for tools that can move with the robot.

[0004] EP1985411A1 discloses a machine tool having a tool spindle, a workpiece holder, and an operating robot designed for changing workpieces or tools. The operating robot is not designed to directly replace tools with the tool spindle. Instead, it is equipped with a horizontally movable transfer slide that transfers tools between the operating robot and the tool spindle.

[0005] DE29821047U1 discloses a machine tool with a tool changer having a multi-axis robot having multiple articulated axes and being able to move along a horizontal linear axis between at least one tool reservoir and the machine tool's spindle head for tool changing. At least one tool reservoir is arranged in a fixed position and cannot be moved during tool changing.

[0006] It has been shown that, for example, with compactly designed machine tools, the required components can be manufactured with high precision and efficiency, even if the external dimensions of the machine tool are relatively small.

[0007] However, some studies have shown that in automation, the unique boundary conditions of compactly designed machine tools need to be considered. On the one hand, transfer systems, operating units, and the like cannot be designed to be compact in any arbitrary way. Even if this is technically feasible, in practice, there are usually certain minimum dimensions for transfer systems, operating units, robots, grippers, etc.

[0008] This could make the actual machine tool (or its workspace) very small relative to the automation technology (operation technology, conveying systems, etc.). Furthermore, the automation technology (e.g., robots with grippers) must interact with the machine tool within its structural space (potentially its workspace) to be able to move workpieces and, if necessary, tools.

[0009] It has also been shown that even for compact machine tools, direct visual monitoring by the operator is often desirable. Similar to larger machine tools, they typically require an entrance (door) with panes. In automated systems, this means that this area (the "front" of the machine tool) is precisely where automation technology cannot be used.

[0010] It has also been shown that compact machine tools are typically designed to be smaller than standard automation technologies. This imposes specific requirements on the automation of compact machine tools. Furthermore, it opens up new possibilities for automation and connectivity that might be impossible with traditional machine tools. Summary of the Invention

[0011] The object of this invention is to provide a tool changing device for machine tools, which is particularly suitable for compact machine tools. For compactly designed machine tools, the tool changing device should take into account the most specific frame conditions. With the help of the tool changing device, manufacturing systems that achieve partial or even highly automated production should be possible even with limited structural space. This relates, for example, to tool changing. The tool changing device should also provide as much storage capacity as possible, enabling the machine tool to operate at least temporarily and autonomously.

[0012] Finally, within the scope of this invention, a manufacturing system comprising a machine tool and a tool changer capable of automatic tool changing and, when necessary, automatic workpiece replacement should also be provided. The tool changer should include as many tool storage locations as possible. Overall, the manufacturing system should be compact and operator-friendly.

[0013] According to a first aspect, the present invention relates to a tool changing device for a machine tool with a particularly compact design, comprising the following components:

[0014] An operating unit for an operating robot equipped with a tool gripper, and

[0015] The supply position for a replaceable tool magazine, which is designed as an upright disc magazine with a vertical axis of rotation.

[0016] The tool magazine is detachably placed on a turntable at the supply position. This turntable allows the tool magazine to rotate to the desired position for tool changing, in which the selected tool position in the tool magazine can be achieved by the tool gripper of the operating unit.

[0017] The operating unit is designed to change tools between the tool magazine and the tool holder in the machine tool's workspace.

[0018] The operating unit and tool storage are located within the tool changer's equipment unit, which can be connected to the machine tool's workspace via a lockable equipment interface.

[0019] The robot is designed to move a tool gripper through the equipment interface into the workspace for tool changing.

[0020] In this way, machine tools can be upgraded to enable automatic tool changing. At least in the exemplary configuration, the operating unit is suitable for a compactly designed machine tool.

[0021] For example, small workpieces can be machined using machine tools with correspondingly small workspaces. This has a generally positive impact on structural space requirements (floor area). However, if smaller machine tools, especially those with smaller structural spaces, are used, it is advantageous to minimize the interaction between the robot's operating unit and the workspace.

[0022] This could involve configurations where the operating robot enters the machine tool's workspace only for tool changing purposes. If a tool change is not currently being performed, the operating robot is completely removed from the workspace according to these configurations.

[0023] In an exemplary design, the first loading interface can be closed by a door, so that the workspace is fully separated from the tool changing device when no tool change occurs.

[0024] According to an exemplary design, the operating robot is designed to move, at least together with a tool gripper, through an equipment interface into the machine tool's workspace in order to deliver or receive tools directly from or from the tool holder.

[0025] The manipulating robot can move far enough into the workspace using a tool gripper to change tools there. This includes, for example, delivering the required tools to the tool holder and receiving tools no longer needed from the tool holder. Since the manipulating robot is not installed in the workspace, the workspace is not occupied by the manipulating robot if there is no tool change and the manipulating robot has moved out of the workspace with the tool gripper.

[0026] In this exemplary design, the operating robot is positioned within a cell, which may also be referred to as an equipment cell. The equipment cell is compact and located adjacent to the machine tool's workspace. An equipment interface connects the workspace to the equipment cell as needed.

[0027] According to an exemplary design, the tool magazine has at least two overlapping planes, each plane having multiple tool positions. This increases the tool magazine's capacity to hold tools. For example, each plane consists of a storage tray. The tray-type magazine design simplifies the positioning of tools or tool positions for delivery between the tool magazine and the operating unit. Selected tool positions can be positioned by indexing rotation about the vertical longitudinal axis of the tool magazine. For example, each plane has at least ten circularly distributed tool positions. In an exemplary design, more than 15 circularly distributed tool positions are arranged on each layer. In an exemplary design, 20 circularly distributed tool positions are arranged on each layer.

[0028] According to another exemplary design, the tool reservoir has at least three overlapping planes, each plane having multiple tool positions distributed around a rotation axis along the same diameter. At least in the exemplary design, these planes are horizontally oriented and vertically offset from each other.

[0029] This allows for a further increase in the capacity of the tool storage compartment. In the exemplary design, each of at least three overlapping planes is formed by a storage tray. In the exemplary design, the storage trays each have the same diameter. With this configuration, the storage compartment is not designed in the form of a platform.

[0030] According to another exemplary design, the tool magazine is designed to be rigid in itself, wherein overlapping planes are torsionally connected to each other via a common center. For example, the center is formed by a central profile (e.g., a central tube) having an axial extension along the longitudinal axis of the tool magazine. Two or more overlapping planes are arranged axially offset from each other along the longitudinal axis and are connected to each other, for example, via the central profile. The operating unit can reach these planes radially. However, the central profile achieves high rigidity, and the planes can each extend in an annular shape like a protruding flange.

[0031] According to another exemplary design, the tool storage has a placement surface on a turntable, the placement surface extending longitudinally along the tool storage and spaced apart from the lower end of the tool storage by at least 30% of its longitudinal extension.

[0032] In this manner, the tool magazine is not placed on the turntable with its lower end resting on it. The lower end is the end of the tool magazine that faces the ground when it is vertically oriented in the supply position. The turntable is joined to the tool magazine in at least sections along the axial direction. The tool magazine is centrally supported. In this way, any potential tilting tendency can be minimized.

[0033] According to another exemplary design, the placement surface is arranged within the central profile of the tool holder, and the tools are distributed around the central profile within the tool holder. In this way, the tool holder with the central profile can be mounted on a turntable. This arrangement provides anti-tilt protection and, if necessary, centering when the placement surface and the associated support surfaces on the turntable are adapted to the internal space of the central profile.

[0034] According to another exemplary design, the tool magazine has a handle for manual operation, particularly for manually changing the tool magazine. This handle is, for example, designed as a shank located at the upper end of the tool magazine.

[0035] Especially in the case of compactly designed machine tools, small-sized cutting tools can be used. For example, there are HSK tool holders (HSK: Hollow Shank Taper) with hollow shank outer diameters of 40mm, 32mm, 25mm, and even 15mm. For particularly compact machine tools, there are also even smaller tool holders with hollow tapered shanks, for example, with a nominal diameter of 15mm. The (operating) diameter of the tool housed in such a tool holder can be, for example, 4mm to 12mm, but can also be significantly smaller. These miniaturized tools are lightweight. Therefore, even in the presence of multiple planes with multiple tool positions, the tool magazine can be moved manually.

[0036] Because the tool magazine is designed to provide a considerable tool capacity, it is relatively rare to need to change or replace it. The process can then be performed manually using a handle.

[0037] According to another exemplary design, at least one sensor is provided at the supply location for detecting the presence of the tool magazine and / or for detecting the presence of a tool in its tool position within the tool magazine. On one hand, this can refer to mere presence (the tool position being occupied or unoccupied). Needless to say, other information can also be detected if necessary.

[0038] According to another exemplary design, a tool holder is designed to hold tools in a suspended manner, wherein the tools, particularly within the tool holder, are covered on the upper side. The advantage of this is that it protects the tools in the tool holder from contamination from above. This can refer to chips, other wear, coolant / lubricant residue, etc. The plane of the tool holder, designed as a disc-type holder, covers the tools suspended below it.

[0039] When a tool is suspended in its housing, the shank with the cutting edge is oriented vertically or substantially vertically downward. In other words, in the case of a suspended housing, even in the case of a vertical machine, the orientation of the tool in the tool magazine is roughly equivalent to the orientation of the tool in the machine tool spindle.

[0040] In the exemplary design, the tool is accommodated at the tool position via a profile that also serves to hold the tool on the tool holder (tool spindle). The advantage of this is that tool transfer via the operating unit is achieved through another profile, which does not interfere with accommodating the tool in the tool magazine or the accommodating the tool on the machine tool's tool holder. For example, the tool can be accommodated at the tool position via a tapered hollow shank. In this way, good centering and, if necessary, locking to secure the position can be achieved.

[0041] According to another exemplary design, the tool reservoir has a vertically downward oriented tool position, and the tool holder can be inserted into the tool position by an axial insertion movement.

[0042] The tool position is designed in a pouch or sac-like shape and is positioned below the corresponding disc of the disc-type storage compartment. According to this embodiment, the tool position has a downwardly opening recess into which the tool can be inserted. The tool is inserted into and removed from the recess vertically via a lifting motion. Within the recess, the tool can be secured in its support by force-locking and / or profile-locking. The tool gripper of the operating unit can utilize the external operating profile of the tool, such as the external gripper groove of a hollow shank cone.

[0043] According to another exemplary design, the manipulating robot has a vertically oriented translational lifting axis and at least one vertically oriented pivot axis. In the exemplary design, the manipulating robot has exactly one vertically oriented pivot axis and exactly one additional vertically oriented rotation axis for a tool gripper. The tool magazine is located on a turntable, so a selected tool position can be moved to a defined delivery position, which the manipulating robot can reach even with very few degrees of freedom.

[0044] Manipulating robots with multiple pivot axes that are parallel to each other are often referred to as SCARA robots. Vertical orientation of the pivot axes enables movement within a plane. Additional lifting axes allow for lifting movements perpendicular to the horizontal plane.

[0045] In this way, the required degrees of freedom of movement for tool changing between the tool magazine and the tool holder are provided. When changing tools in the machine tool's workspace, at least the robot's tool gripper extends into the machine tool's workspace through the equipment interface (equipment opening). The robot can completely withdraw from the machine tool's workspace. The equipment opening can be closed by a door, specifically a sealed one.

[0046] According to another exemplary design, the tool gripper is designed as a multi-grip gripper, such as a triple gripper or a quadruple gripper. Needless to say, three or more tool gripper supports are also possible. Therefore, the tool gripper has multiple supports for the tool, which are designed, for example, as gripper forks, to hold the tool between the two arms.

[0047] The tool gripper can laterally reach the tool housed in the tool magazine and grasp it through its gripper grooves. The operating robot can then selectively move the tool vertically (e.g., lower the tool) to release it from its tool position. Afterward, the operating robot can move the tool horizontally and vertically. The process of inserting the tool into an empty tool position in the tool magazine is performed in reverse.

[0048] According to another exemplary design, the tool gripper serves as a foreground storage for providing two or more different tools close to the tool spindle. The tool gripper itself can act as a tool storage with at least a small capacity. In the case of a dual gripper design, the tool gripper can remove a tool from the machine tool's tool post and replace it with a new tool. In a triple gripper design, at least two tools can be provided in addition to the idle gripper. The number of tools provided can increase accordingly with the increase of the number of grippers in a multi-grip gripper.

[0049] Overall, tool changing can be accelerated further. In the exemplary design, the multi-gripper, which serves as a foreground storage, is also positioned outside the workspace during workpiece machining. However, the multi-gripper can be quickly moved into the workspace for tool changing there.

[0050] According to another exemplary design, the tool magazine can be changed in parallel with the main time, wherein at least one additional tool can be replaced during the tool magazine replacement and / or by means of a tool gripper. In other words, the tool magazine can be changed while machining the workpiece. As long as a multi-gripper is used in the operating unit, at least one additional tool can be retained by the operating unit itself for replacement in the absence of a tool magazine.

[0051] According to another exemplary design, the tool holder at the supply location serves as a back-end storage, through which the tool gripper changes tools. This approach further optimizes tool changing. A tool gripper designed as a multi-gripper can readily prepare frequently used tools, and then the gripper is used as a front-end tool holder. Tool transfer between the tool holder and the tool holder is indirectly performed via the operating unit.

[0052] According to another exemplary design, the tool storage has at least one location for a workpiece device in the area on its upper side for securing the workpiece to the workpiece rack of the machine tool, wherein the at least one workpiece device can be transferred between the equipment unit and the workspace by an operating robot with a device gripper.

[0053] In this manner, in addition to tool capacity, the tool magazine can also provide at least one receiving position for a device used to secure the workpiece to the workpiece gripper. The workpiece device can be replaced using an operating unit. According to another exemplary design, at least one sensor for detecting the presence of the workpiece device on the tool magazine is provided at the supply position.

[0054] According to another exemplary design, the at least one workpiece device can be placed vertically on a tool storage bin, wherein the device gripper is adapted to the gripper groove of the at least one workpiece device.

[0055] At least one workpiece device can be placed on the upper side of the tool magazine. The device gripper is constructed as an end effector in the manipulator robot and can be moved into the machine tool's workspace by means of the manipulator robot.

[0056] The device gripper has at least one gripper for accommodating the workpiece device. The operating unit is designed, for example, to place the tool gripper within the tool changer, and alternatively, to use the device gripper as an end effector. The tool device can then be changed. It is conceivable to use a combined gripper that functions as both a tool gripper and a device gripper.

[0057] According to another aspect, the present invention relates to a combination of a tool changing device according to the invention and a machine tool according to the invention. A machine tool capable of automatic tool changing due to the tool changing device may also be called a machining center.

[0058] Furthermore, the present invention relates to a manufacturing system for cutting processes, particularly for manufacturing precision mechanical parts, comprising the following components:

[0059] At least one machine tool with a particularly compact design, designed for multi-axis machining and having a tool holder and a workpiece holder that can move relative to each other along at least three axes.

[0060] The tool holder and workpiece holder are located on the rear side of the machine tool's working space, and

[0061] At least one tool changer in the construction described herein is laterally connected to the working space of the machine tool.

[0062] In this way, the machine tool can operate at least partially automatically, with the cutting tools being changed partially or fully automatically.

[0063] Therefore, at least in the exemplary design, the front of the workspace is open and accessible to the operator. The front can also be referred to as the operator's side. The front and rear sides are arranged opposite each other. The lateral surfaces of the workspace can be used for operations (workpiece change, tool change). This approach achieves a compact structural design.

[0064] The tool changer is adjacent to the machine tool's working space, for example, arranged at a short distance laterally. The operating unit corresponds to the tool changer, not the machine tool itself. This means that for machine tools with only a relatively small working space, no complex intervention or adjustments are required.

[0065] The operating unit can reach the tool holder for tool changing. As long as the operating unit is also used for changing workpieces, it can be moved to the workpiece holder to place the workpiece securing device there.

[0066] For example, a manufacturing system may include multiple tool magazines, one of which is located at the tool changer's supply position. Other tool magazines may be externally mounted to the tool changer. In this way, a large number of tools can be changed in a single step by replacing the tool magazine (modular mounting).

[0067] In the exemplary design, the manufacturing system includes a shared housing, and may even include a shared frame for the machine tool and tool changer if necessary. However, an interface is provided between the machine tool's workspace and the tool changer's equipment unit, which can be closed if necessary.

[0068] It goes without saying that the features mentioned above and those to be explained below can be used not only in the given combinations, but also in other combinations or individually, without departing from the scope of the invention. Attached Figure Description

[0069] Other features and advantages of the present invention will become apparent from the following description and explanation of several embodiments with reference to the accompanying drawings. Wherein:

[0070] Figure 1 A perspective view of the machine tool is shown;

[0071] Figure 2A perspective view of a manufacturing system having a machine tool and a tool changer connected thereto is shown, with the machine tool and tool changer arranged together within a housing;

[0072] Figure 3 The manufacturing system is based on Figure 2 A partial perspective view, showing the tool changer unit and the machine tool's workspace door open from the operator's perspective;

[0073] Figure 4 Showing according to Figure 3 A perspective view of the components of the tool changing device;

[0074] Figure 5 A perspective view showing the supply location of the tool magazine;

[0075] Figure 6 A partial perspective view of the tool magazine is shown;

[0076] Figure 7 A partial sectional view is shown of the cutting tools, tool holders, and tool positions within the tool magazine to illustrate the tool's location within the magazine; and

[0077] Figure 8 A partial perspective view of a workpiece assembly with its associated gripper is shown. Detailed Implementation

[0078] Figure 1 An exemplary construction of a machine tool 10, with a compact design suitable for producing precision mechanical parts, is illustrated using a perspective view. The machine tool 10 includes a frame 12, which in this embodiment includes a lower frame 14 supporting a frame assembly 16. Significant forces generated during machining are absorbed by the frame assembly 16. The lower frame 14 serves as a support for the frame assembly 16. Figure 1 In the designation, the control device of the machine tool 10 is also indicated by 18. The control device 18 controls the components and functions of the machine tool 10 to process the workpiece in a desired manner. Control by means of external equipment is also possible.

[0079] The machine tool 10 also includes a motion mechanism 20, which is designed as a multi-axis motion mechanism. Figure 1 The Cartesian coordinate system XYZ is shown for illustrative purposes. The XYZ coordinate system includes an X-axis (lateral), a Y-axis (depth direction), and a Z-axis (height direction). In this embodiment, the X and Y axes are horizontal axes. In this embodiment, the Z-axis is a vertical axis. The XYZ axes are orthogonal to each other. The XYZ coordinate system is primarily used to illustrate and explain the components and functions of the machine tool 10. It goes without saying that other coordinate systems can also be used for these purposes. Therefore, the XYZ coordinate system should not be construed as limiting. Those skilled in the art can readily perform the conceptual steps required to convert to other coordinate systems.

[0080] In this embodiment, the motion mechanism 20 includes various components that are directly or indirectly supported on the frame assembly 16. This ensures a shorter force transmission path and high rigidity. Figure 1 The workspace is marked with 24, in which the processing is carried out using machine tool 10.

[0081] The machine tool 10 also includes a workpiece holder (also referred to as a workpiece receptacle) 30 for accommodating at least one workpiece to be processed. A tool spindle 32 is also provided. The tool spindle 32 includes a tool holder 34 designed to accommodate a tool 36. The tool 36 can be rotated to process the workpiece held by the workpiece holder 30.

[0082] In this embodiment, the workpiece holder 30 is situated on a single-sided guided cantilever 40, which houses a pivot drive or rotary drive 42 for the workpiece holder 30. The axis of rotation provided in this manner may also be referred to as the C-axis. The cantilever 40 is connected to a linear drive 46 via another pivot drive 44, which in turn is supported on the frame assembly 16. The pivot drive 44 provides a axis of rotation that may be referred to as the B-axis. The linear drive 46 provides a axis of translation that may be referred to as the Y-axis.

[0083] The tool spindle 32 is connected to the frame assembly 16 via linear drivers 50 and 52. Linear driver 50 provides a translation axis, also referred to as the Z-axis. Linear driver 52 provides a translation axis, also referred to as the X-axis. The two linear drivers 50 and 52 form a cross slide driver. In this embodiment, the two translation axes (X, Z) correspond to the tool spindle 32 or the tool. The translation axis (Y) corresponds to the workpiece holder 30 or the workpiece. Furthermore, in this embodiment, the two rotational axes / pivot axes (B, C) correspond to the workpiece holder 30 or the workpiece. Other types of correspondences are also possible and related to the machine kinematics scheme.

[0084] In summary, the machine tool 10 provides a compact working space 24. This results in a small overall size, light weight, and low energy demand for the machine tool 10. However, due to the structural rigidity, high precision and high cutting power can be guaranteed. Since the workpiece holder 30 and tool holder 34 are arranged directly or indirectly on the frame assembly 16 and the lower frame 14 of the frame 12 and supported on the rear side of the working space 24, the working space 24 is easily accessible. Thus, in principle, three sides (the front and two side surfaces) can be used for horizontal access to the working space 24.

[0085] Figure 2 A perspective view is used to illustrate the construction of manufacturing system 60, which accommodates, for example, according to... Figure 1The machine tool 10 is designed according to the embodiment shown. The manufacturing system 60 is placed on the frame 62. The manufacturing system 60 includes a housing 64, which is designed as a cabinet type in this embodiment, and surrounds the machine tool 10.

[0086] According to Figure 2 In an exemplary embodiment, the manufacturing system 60 includes a lower component 68 and an upper component 70 disposed on the lower component 68. The upper component 70 houses a machine tool 10. An equipment unit 74 is arranged adjacent to the machine tool 10 and houses components for changing cutting tools and / or for changing workpieces. Figure 1 A door 78 is provided, allowing operators access to the machine tool 10, and particularly to its workspace 24. A door 80 is also provided, allowing operators access to the equipment unit 74. Doors 78 and 80 are housed within the upper component 70 of a cabinet-type enclosure 64. Doors 78 and 80 typically include observation windows, which facilitate operation and monitoring of the manufacturing system 60.

[0087] To operate the manufacturing system 60, a control panel 82 is provided, which is located near door 78 or door 80. Figure 2 In the design shown, the operator can easily observe and operate the manufacturing system 60 through the front side 84 (also referred to as the operator's side). This involves the machine tool 10 and its workspace 24. However, it also involves the equipment unit 74 and the control panel 82. The control panel 82 is typically adjustable in a pivotable and / or other manner to achieve good ergonomics. When observing the machine tool 10 through the front side 84, the equipment unit 74 is laterally adjacent to and connected to the workspace 24 of the machine tool 10. In this way, good visibility through the front side 84 is also ensured.

[0088] Figure 3 A magnified view is used to show the components of equipment unit 74. Figure 3 In the illustration, the door 78 of the machine tool 10 and the door 80 of the equipment unit 74 are shown in an open state. The corresponding interior spaces are visible.

[0089] With door 78 open, machine tool 10 can be accessed via front side 84. The rear side, opposite to front side 78, is designated 86. In this embodiment, workpiece holder 30 and tool holder 34 are supported on rear side 86. This ensures easy access. Machine tool 10 is arranged within housing 64 with its working space 24. Working space 24 has a loading interface 90 on one side and an equipment interface 92 on the opposite side. Loading interface 90 can be used, for example, for automated workpiece changing. Equipment interface 92 is used, for example, for changing cutting tools. In an exemplary configuration, equipment interface 92 is also used for changing the tooling device used to hold the workpiece.

[0090] In this manner, the compact structural space of the machine tool 10 and the limited working space 24 are taken into account. Furthermore, defined openings are provided through which the working space 24 can be accessed for automatic workpiece changing (loading interface 90) and automatic tool changing (equipment interface 92). The front side 84 is not used for this purpose or is used only sparingly. The operator can still easily reach the front side 84.

[0091] According to Figure 3 In one embodiment, the equipment interface 92 has an opening that can be closed by a door 94. The door 94 can be opened as needed to open the opening of the equipment interface 92. In another embodiment, the door 94 is designed as a vertically movable lift door (gate).

[0092] Equipment unit 74 is a component of tool changer 100. Tool changer 100 refers to... Figure 3 and Figure 4 As shown. The tool changing device 100 includes a supply position 102 for a tool storage bin 104. In an embodiment, the tool storage bin 104 is a vertically oriented disc-shaped bin. The supply position 102 is used to accommodate and rotate the tool storage bin 104 within the equipment unit 74. The tool storage bin 104 provides multiple or a large number of tools in the equipment unit 74, which can be replaced in the workspace 24 for equipping the tool holder 34 of the machine tool 10.

[0093] The tool changer 100 also includes an operating unit 108 with an operating robot 110. The task of the operating unit 108 is to transfer tools between the tool storage 104 and the tool holder 34. In an exemplary configuration, the operating unit 108 is also used to transfer workpiece devices between the equipment unit 74 and the workspace 24.

[0094] exist Figure 3 In this context, the manipulating robot 110 has an end effector in the form of a tool gripper 112. The manipulating robot 110 includes a base 114 capable of vertical movement along a lifting axis 116 (see [link to documentation]). Figure 4 See also: Figure 3 The winning bidder was the 118th grade lifting actuator. The resulting lifting motion... Figure 4 The double arrow, labeled 122, is shown in the diagram. The manipulating robot 110 also has a pivot arm 130 that can pivot about a rotation axis 132, see the diagram illustrating rotational motion. Figure 4 The curved double arrow 134 is shown. The pivot arm 130 is supported on the base 114 and can move along the lifting axis 116 via the base 114. In the example configuration, the manipulator 110 is designed as a horizontally articulated arm robot capable of vertical movement. The pivot axis 132 is vertically oriented. Therefore, the pivot arm 130 moves along a horizontal trajectory during pivoting motion. For example, the manipulator 110 is designed as a SCARA robot.

[0095] exist Figure 3 and Figure 4 In the illustrated embodiment, the pivot arm 130 is rigid and pivotally supported on the base 114 via a single pivot axis 132. In this way, the required number of degrees of freedom and actuators can be reduced. The pivot arm 130 (in top view) is generally S-shaped. In this way, the pivot arm 130, on which the tool gripper 112 is housed, is movable through the (open) equipment interface 92 to allow tool changing using the tool holder 34 of the machine tool 10. Needless to say, a configuration with an additional (particularly vertically oriented) pivot axis is also conceivable.

[0096] The tool gripper 112 is mounted on one end of the pivot arm 130 away from the base 114. The tool gripper 112 can rotate about the rotation axis 138, see [reference needed]. Figure 4 The curved double arrow 140 in the image. The tool gripper 112 includes one or more gripper seats 142 for receiving a tool. The gripper seats 142 are generally forked to receive a tool between two arms / fork tips. The tool gripper 112 is specifically designed as a multi-grip tool with at least two gripper seats 142 for receiving tools. In an embodiment, the tool holder 112 has a total of four gripper seats 142, which are arranged 90° offset about the axis of rotation 138. Designing the tool gripper 112 as a multi-grip tool reduces tool change time because the tool gripper 112 does not need to move multiple times between the tool storage 104 and the tool holder 34 through the equipment interface 92 to replace one tool on the tool holder with another.

[0097] The supply position 102 carries the tool reservoir 104. The tool reservoir 104 is mounted on a base 148 at the supply position 102. At the supply position 102, a pivot actuator 150 is configured for the tool reservoir 104. In this way, the tool reservoir 104 can rotate about a rotation axis 152. This enables targeted tool supply and takes into account the simplified design of the operating robot 110, which has only one pivot axis 132.

[0098] In one embodiment, the tool storage compartment 104 has three overlapping planes 156, 158, and 160. Each of planes 156, 158, and 160 is generally designed in a disc-like or annular shape. According to... Figure 4 In this embodiment, the disk diameters of planes 156, 158, and 160 are the same. Planes 156, 158, and 160 respectively support multiple or a large number of tool positions 164. According to... Figure 4In this embodiment, three overlapping planes 156, 158, and 160 are provided, each with 20 tool positions 164. This should not be construed as limiting. The tool positions 164 are distributed in a circular pattern around the rotation axis 152 or around the center 168 of the tool reservoir 104.

[0099] The tool magazine 104 can be selectively rotated (indexed) to provide a selected tool position 164 at the delivery location for tool changing using the tool gripper 112 of the manipulator 110. The manipulator 110 can move vertically via the lifting axis 116 to reach one of planes 156, 158, and 160.

[0100] The tool magazine 104 is rigidly designed. In other words, planes 156, 158, and 160 are rigid relative to each other and cannot be twisted or otherwise moved relative to each other. Planes 156, 158, and 160 are securely connected to each other via a center 168. The tool magazine 104 resembles a shelf with storage sections of the same diameter. In particular, when used in a compact machine tool 10, the tool magazine 104 is designed to be sufficiently compact and lightweight, despite its considerable capacity. This allows for manual replacement of the tool magazine 104. Replacement of the tool magazine 104 is simplified by a handle 172 on the upper side 178 of the tool magazine 104. The operator can use the handle 172 to raise the tool magazine 104 and remove it from the equipment unit 74 (see...). Figure 3 and Figure 5 The tools are lifted out of the container. In this way, modular assembly can be carried out, providing a large number of tools in a single assembly process.

[0101] In the exemplary configuration, the replacement of the tool magazine 104 can be performed in parallel with the master time. Advantageously, the equipment interface 92 can be sealed shut by the door 94. If the tool gripper 112 is designed as a multi-gripper, tool replacement can still be performed when necessary, even when the tool magazine 104 is not present, because the tool gripper 112 can store at least one tool.

[0102] In the exemplary configuration, the tool holder 104 serves as a back-end holder, while the tool gripper 112 is designed as a multi-gripper and serves as a front-end holder. This can further speed up tool changes and reduce overall machining time.

[0103] In the exemplary configuration, the tool holder 104 is also used to accommodate and provide at least one workpiece device 182. For this purpose, in an embodiment, a receiving position 180 is arranged on the upper side 178 of the tool holder 104, and this receiving position is designed to accommodate the workpiece device 182. The workpiece device 182 facilitates the accommodating and securing of workpieces on the workpiece holder 30 of the machine tool 10. According to... Figure 4In one embodiment, a total of six receiving positions 180 are provided on the upper side 178 of the (upper) plane 160, wherein one of the receiving positions 180 is equipped with a workpiece device 182.

[0104] According to Figure 4 In this embodiment, sensors 190, 192, and 194 are also provided for detecting the occupancy status of the tool magazine 104. For example, sensors 190, 192, and 194 are designed to detect the presence of a tool in one of the tool positions 164 when the tool magazine 104 rotates and the monitored tool position 164 passes the sensors 190, 192, and 194. Sensor 190 is used to monitor plane 156. Sensor 192 is used to monitor plane 158. Sensor 194 is used to monitor plane 160. Another sensor 196 is also provided for detecting the occupancy status of the receiving position 180 on the upper side 178. In this way, the presence of the workpiece device 182 in the tool magazine 104 can be monitored. The end opposite to the upper side 178 of the tool magazine 104 is referred to as the lower end 184.

[0105] Figure 5 The tool magazine 104 is shown in a state where it has been lifted from the supply position 102. The dashed line indicates the state where it is positioned at the supply position 102. In this embodiment, a sensor 198 is provided at the supply position 102 to detect the presence of the tool magazine 104.

[0106] Supply position 102 provides a turntable 202 for tool holder 104, allowing the positioned tool holder 104 to rotate about a rotation axis 152 in a defined manner. Tool holder 104 has a placement surface 206 (in... Figure 5 (Seen only in dashed lines), the tool holder 104 can be placed on the support surface 204 of the turntable 202 using this placement surface. Additionally, in this embodiment, a pin 208 is provided at the turntable 202 to ensure centering. The pin 208 penetrates the support surface 204. In this embodiment, the placement surface 206 is annular and fits the support surface 204. A recess 210 is provided in the placement surface 206, into which the pin 208 engages when the tool holder 104 is placed on the turntable 202.

[0107] The tool holder 104 is mounted on a pointed rotary table 202. The rotary table 202 is supported by a support surface 204 within a central profile 212 constructed in the center 168 of the tool holder 104. The central profile 212 is generally designed as a tubular profile. The rotary table 202 extends into the central profile 212. Figure 5In the diagram, double arrow 214 indicates the longitudinal extension of the tool holder 104 along the rotation axis 152. Double arrow 216 indicates the insertion dimension of the turntable 202. Therefore, the tool holder 104 is not merely placed on the turntable 202 with its lower end 184; rather, the turntable 202 extends into the central profile 212 with an insertion dimension 216. This increases the stability and anti-tilting properties of the tool holder 104, and improves overall operational safety.

[0108] Figure 6 A partial perspective view of the tool storage compartment 104 is shown below. It can be seen that tool positions 164 are oriented downwards on planes 160 and 158, respectively. Tool positions 164 are distributed around a tubular central profile 210. Planes 158 and 160 each include a disc 220, for example, designed as an annular disk. Discs 220 cover tool positions 164 from above. Tools can be suspended and vertically oriented at tool positions 164.

[0109] Figure 7 The arrangement of the tool 224 fixed to the tool position 164 is illustrated with a partially sectional (partial) diagram. A disc 220, one of planes 156, 158, and 160, carries the downwardly (suspended) oriented tool position 164. Tool position 164 includes a pouch 228, and within the pouch 228 is a pin 230 that accommodates a spring-loaded locking element 232.

[0110] The cutting tool 224 includes a tool holder 234 with a hollow shank 236. Using the hollow shank 236, the cutting tool 224 can be inserted into and centered within the pouch 228 of the cutting tool position 164. A locking element 232 can engage with a locking recess 238, thereby suspending and securing the cutting tool 224 in the cutting tool position 164. In this way, the cutting tool 224, housed in the cutting tool reservoir 104, is protected from above by the corresponding disc 220 and pouch 228. At least in the exemplary configuration, this orientation corresponds to the orientation of the cutting tool 224 within the tool holder 34 of the machine tool 10.

[0111] The insertion or removal of the tool 224 is achieved through the tool gripper 112 (in Figure 7 (Shown in a half-sectional view). The tool gripper 112 has one or more gripper seats 142. The gripper seats 142 can be moved by horizontal movement 246 into gripper recesses 240 on the tool shank 234 of the tool 224. The horizontal movement 246 is provided via the operating robot 110, for example via a combined movement of pivot axis 132 and rotation axis 138, see [reference]. Figure 4The process of inserting or removing the tool from the tool position 164 is achieved via a lifting motion 244, provided that the tool 224 and the tool position 164 are coaxially aligned, and this lifting motion is provided via the lifting axis 116 of the manipulator 110. The tool gripper 112 has an interface 250 for receiving it on the pivot arm 130 of the manipulator 110.

[0112] Figure 8 An example configuration of the device gripper 260 is shown. The device gripper is designed to operate a workpiece device 182, which can be accommodated in a receiving position 180 on the upper side 178 of the tool reservoir 104. The workpiece device 182 has a gripper groove 262 into which a gripper seat 264 of the device gripper 260 can engage. The workpiece device 182 can then be lifted from its receiving position 180 and moved into the machine tool's workspace 24, or vice versa. See also: Figure 3 and Figure 4 .

[0113] exist Figure 8 In the illustrated configuration, in addition to the gripper seat 264 for the workpiece device 182, the device gripper 260 also includes a gripper seat 266 designed for manipulating the cutting tool 224. In this embodiment, the device gripper 260 is therefore designed as a hybrid gripper and is designed to operate both the workpiece device 182 and the cutting tool 224. The device gripper 260 has an interface 270 for accommodating on the pivot arm 130 of the operating robot 110.

[0114] In this embodiment, the interfaces 250 and 270 of the tool gripper 112 and the device gripper 260 are designed for detachable mounting to the pivot arm 130 of the operating robot 110. In this way, the operating robot 110 can change the grippers 112 and 260 as needed within the equipment unit 74.

Claims

1. A tool changer (100) for a machine tool (10), the tool changer comprising: An operating unit (108) with an operating robot (110) carrying a tool gripper (112), and A supply position (102) for a replaceable tool magazine (104), the tool magazine being designed as an upright disc magazine with a vertical axis of rotation (152), wherein, The tool holder (104) is detachably placed on a turntable (202) at a supply position (102), the turntable generating a desired rotational position of the tool holder (104) for tool changing, in which the tool gripper (112) of the operating unit (108) can reach a selected tool position (164) in the tool holder (104). The operating unit (108) is designed to change tools (224) between the tool holder (34) in the tool storage (104) and the working space (24) of the machine tool (10). The operating unit (108) and the tool storage (104) are arranged in the equipment unit (74) of the tool changer (100), which can be connected to the working space (24) of the machine tool (10) through a lockable equipment interface (92). The operating robot (110) is designed to drive the tool gripper (112) through the equipment interface (92) into the workspace (24) for tool changing (224) within the workspace, and The tool storage compartment (104) has a placement surface (206) on which the tool storage compartment (104) is placed on a support surface (204) on the turntable (202), and the placement surface (206) is spaced apart from the lower end (184) of the tool storage compartment (104) by at least 30% of the longitudinal extension (214) of the tool storage compartment (104).

2. The tool changing device (100) according to claim 1, wherein, The tool storage compartment (104) has at least two overlapping planes (156, 158, 160), each plane having multiple tool positions (164).

3. The tool changing device (100) according to claim 1, wherein, The tool storage compartment (104) has at least three overlapping planes (156, 158, 160), each plane having multiple tool positions (164).

4. The tool changing device (100) according to claim 2, wherein, The tool positions (164) are distributed around the axis of rotation (152) along the same diameter in the overlapping planes (156, 158, 160).

5. The tool changing device (100) according to claim 2, wherein, The tool storage compartment (104) is rigidly designed, and the overlapping planes (156, 158, 160) are torsionally connected to each other through a common center (168).

6. The tool changing device (100) according to claim 1, wherein, The placement surface (206) is arranged within the central profile (212) of the tool storage compartment (104), and the tool positions (164) are arranged in the tool storage compartment (104) in a manner distributed around the central profile (212).

7. The tool changing device (100) according to claim 1, wherein, The tool storage compartment (104) has a handle (172) for manual operation.

8. The tool changing device (100) according to claim 7, wherein, The handle (172) is used to manually change the tool magazine (104).

9. The tool changing device (100) according to claim 1, wherein, The tool storage compartment (104) is designed to hold the tool (224) in a suspended manner.

10. The tool changing device (100) according to claim 9, wherein, The cutting tool (224) is covered from above in the cutting tool storage compartment (104).

11. The tool changing device (100) according to claim 9, wherein, The tool storage compartment (104) has a vertically downward oriented tool position (164), and the tool holder (238) of the tool (224) can be inserted into the tool position by axial insertion movement.

12. The tool changing device (100) according to claim 1, wherein, The operating robot (110) includes a vertically oriented translational lifting axis (116) and at least one vertically oriented pivot axis (132).

13. The tool changing device (100) according to claim 1, wherein, The tool gripper (112) is designed as a multi-grip gripper.

14. The tool changing device (100) according to claim 13, wherein, The tool gripper (112) is designed as a triple gripper or a quadruple gripper.

15. The tool changing device (100) according to claim 13, wherein, The tool gripper (112) serves as a front-end storage for providing two or more different tools (224) close to the tool spindle.

16. The tool changing device (100) according to claim 13, wherein, The tool holder (104) can be changed in parallel with the master time, and during the change of the tool holder (104), at least one other tool (224) can be put on and / or taken off by the tool gripper (112).

17. The tool changing device (100) according to claim 13, wherein, The tool storage compartment (104) serves as a back-end storage compartment at the supply position (102), and the tool gripper (112) uses the back-end storage compartment to change the tool (224).

18. The tool changing device (100) according to claim 1, wherein, The tool storage compartment (104) has at least one receiving position (180) for a workpiece device (182) in the area of ​​its upper side (178) for fixing the workpiece to the workpiece holder (30) of the machine tool (10), and at least one workpiece device (182) can be transferred between the equipment unit (74) and the workspace (24) by the operating robot (110) using the device gripper (260).

19. The tool changing device (100) according to claim 18, wherein, The at least one workpiece device (182) can be placed upright on the tool storage (104), and the device gripper (260) is adapted to the gripper groove (262) of the at least one workpiece device (182).

20. A manufacturing system for cutting processes, comprising: At least one machine tool (10), the at least one machine tool being designed for multi-axis machining and having a tool holder (34) and a workpiece holder (30), the tool holder and the workpiece holder being movable relative to each other along at least three axes, wherein the tool holder (34) and the workpiece holder (30) are arranged on the rear side (86) of the working space (24) of the machine tool (10), and According to claim 1, the tool changing device (100) is connected laterally to the working space (24) of the machine tool (10).

21. The manufacturing system (60) according to claim 20, wherein, At least the machine tool (10) is designed to be compact.

22. The manufacturing system (60) according to claim 20, wherein, The manufacturing system (60) is configured to manufacture precision mechanical parts.

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