Tool changing system and procedure

Abstract

Tool change system (100, 300), including: a tool magazine (720) configured to store at least one tool (120) received at a tool loading station (710); a tool transporter (130) is set up to transport a tool (120) from the tool loading station (710) or the tool magazine (720) to a tool transfer position of an automatic tool changer (ATC) (110) and to hold the tool (120) at the tool transfer position during an automatic tool change operation; and the automatic tool changer (110), containing a tool holder (200) configured to hold the tool (120) at the tool transfer position during the automatic tool change operation when the tool transporter (130) is not positioned at the tool transfer position; and a tool changer (112) is set up to provide the tool (120) at the tool transfer position to a tool change position of a machine during the automatic tool change process. characterized by the fact that the tool holder (200) is set up to move to and from the tool transfer position.

Description

Background of the invention; Field of the invention

[0001] The embodiments described herein generally relate to a method, a durable, computer-readable storage medium, and a tool-changing system. More specifically, embodiments of the present disclosure relate to a method, a durable, computer-readable storage medium, and a machine tool-changing system. background

[0002] In a machining center, a variety of different tools may be required on a single machine to machine a workpiece. If the machine is set up to use only one tool at a time, the tool must be changed on the machine during different machining stages. However, providing the necessary tool to the machine takes time and thus increases the time required to complete the machining operation. Patent documents EP 1 175 958 B1, DE 102 36 342 A1, and DE 602 07 140 T2 describe tool changing systems and methods according to the prior art. Summary of the invention

[0003] According to one embodiment of the present disclosure, a tool changing system is provided. The tool changing system comprises a tool magazine, a tool transporter, and an automatic tool changer (ATC). The automatic tool changer comprises a tool holder and a tool changer. The tool magazine is configured to store at least one tool received at the tool loading station. The tool transporter is configured to transport a tool from the tool loading station or the tool magazine to a tool transfer position of the automatic tool changer and to hold the tool at the tool transfer position during an automatic tool change operation. The tool holder is configured to hold the tool at the tool transfer position during the automatic tool change operation if the tool transporter is not positioned at the tool transfer position.The tool changer is configured to position the tool at the tool transfer position during the automatic tool change process. The tool holder is configured to move to and from the tool transfer position.

[0004] Furthermore, according to one embodiment of the present disclosure, a method for a tool changing system is provided, comprising a tool magazine, a tool transporter, and an automatic tool changer for changing tools on a machine. The method involves transporting a tool with the tool transporter from a tool loading station or the tool magazine to a tool transfer position of the automatic tool changer. The tool magazine is configured to store at least one tool received at the tool loading station. The tool holder holds the tool at the tool transfer position during an automatic tool change operation when the tool transporter is positioned at the tool transfer position.A tool holder of the automatic tool changer holds the tool at the tool transfer position during the automatic tool change process if the tool transporter is not positioned at the tool transfer position. A tool changer of the automatic tool changer positions the tool at a tool change position on the machine during the automatic tool change process. The tool holder is configured to move to and from the tool transfer position.

[0005] Furthermore, according to one embodiment of the present disclosure, a permanent, computer-readable storage medium is created which stores a program which, when executed by a computer, causes the computer to perform the above-described method for operating a tool-changing system. Brief description of the drawing

[0006] A more complete assessment of the invention and many of its associated advantages is easily achieved, as it is better understood by reference to the following detailed description, considered in conjunction with the accompanying drawing, wherein: Fig. 1 represents an exemplary tool changing system; Fig. 2 represents a tool holder of the automatic tool changer according to certain embodiments of the present disclosure; Fig. 3 represents an exemplary first view of a tool changing system according to certain embodiments of the present disclosure; Fig. 4 represents an exemplary second view of the tool changing system according to certain embodiments of the present disclosure; Fig. 5 represents an exemplary third view of the tool changing system according to certain embodiments of the present disclosure; Fig. 6 represents an exemplary fourth view of the tool changing system according to certain embodiments of the present disclosure; Fig. 7 represents a machining center according to certain embodiments of the present disclosure; Fig. 8 represents an exemplary procedure carried out by the tool changing system; Fig. 9 represents an exemplary procedure that is carried out for an automatic tool change operation; Fig. 10 represents an exemplary computer. Detailed description

[0007] While this invention is susceptible to embodiment in many different forms, certain embodiments are shown in the drawing and are described in detail, with the understanding that the present disclosure of such embodiments is to be understood as an example of the principles and is not intended to limit the invention to the specific embodiments shown and described. In the following description, the same reference numbers are used to describe the same, similar, or corresponding parts in the different views of the drawing.

[0008] The terms "one" or "an," as used here, are defined as one or more than one. The term "multiple," as used here, is defined as two or more than two. The terms "one further," as used here, are defined as at least one second or more. The terms "including," "containing," and / or "with," as used here, are defined as comprehensive (i.e., open language). The term "program" or "computer program," or a similar term as used here, is defined as a sequence of instructions designed to be executed on a computer system.A “program” or “computer program” may include a subroutine, a program module, a script, a function, a procedure, an object method, an object implementation in an executable application, an applet, a servlet, source code, object code, a shared library / dynamic load library and / or any other sequence of instructions designed to run on a computer system.

[0009] References throughout this document to “an embodiment,” “certain embodiments,” “an implementation,” “an example,” or similar terms mean that a feature, structure, or property described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, the occurrence of such expressions at various points in this entire description does not always refer to the same embodiment. Furthermore, the particular features, structures, or properties may be combined without restriction in any suitable manner in one or more embodiments.

[0010] The term "or," as used here, is to be understood inclusively, meaning any other or any combination. Therefore, "A, B, or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." An exception to this definition occurs only when a combination of elements, functions, steps, or operations is inherently mutually exclusive.

[0011] Fig. Figure 1 represents an exemplary tool changing system 100. The tool changing system 100 includes an automatic tool changer (ATC) 110 and a tool transporter 130. The automatic tool changer 110 includes a tool changer 112. The tool changer 112 is configured to transfer a tool 120 and / or a tool depot 125 from a tool transfer position of the automatic tool changer 110 to a tool changing position of a machine, and / or to transfer another tool or tool depot from the tool changing position to the tool transfer position. Exemplary tools include cutting tools, such as drills, milling cutters, turning tools, etc. Other cutting tools can include, for example, anything used on a milling or turning machine to remove material from or shape a workpiece. Additional tool examples include special tools, such as grinding tools, sensor devices (e.g.,Working touch sensors, working cleaning brushes, or partial cleaning fans. The tool depot is set up to store one or more tools.

[0012] In one embodiment, the tool changer 112 is a double-arm assembly that rotates to move one or more tools between the tool transfer and tool change positions. The double-arm assembly 112 comprises a first arm 114a and a second arm 144b. Fig. Figure 1 represents the first arm 114a at a tool change position and the second arm 114b at a tool transfer position according to certain embodiments of the present disclosure.

[0013] In one embodiment, the tool changer 112 includes a different number of arms (e.g., one arm). In other embodiments, the tool changer 112 moves the one or more tools between the tool transfer and tool change positions using other methods, such as a conveyor belt assembly, along linear guides, etc.

[0014] In certain embodiments, the tool changer 112 moves in one or more different directions to allow the tool 120 and / or tool repository 125 to be moved from and / or placed at the tool transfer position. For example, the tool changer 112 is configured to move along an axis parallel to its axis of rotation. In one embodiment, the tool changer 112 uses this movement to remove and / or insert the tool 120 in the tool repository 125, or both the tool 120 and the tool repository 125. Furthermore, in another embodiment, the tool changer 112 uses this movement to remove and / or insert the tool 120 and / or tool repository 125 at the machine, or otherwise to position the tool and / or tool repository 125 at the tool change position.In another embodiment, the machine itself moves to remove and / or insert the tool and / or tool depot 125 on the machine.

[0015] In one embodiment, if a tool and / or tool repository is located at the tool change position on the machine (e.g., attached to a spindle of the machine), the tool changer 112 rotates until the first arm 114a is positioned at the tool change position, with the first arm 114a holding the tool and / or tool repository on the machine. Holding can be achieved by gripping, clamping, or any other method of securing the tool and / or tool repository to the machine on the first arm 114a. In one embodiment, the tool changer 112 is configured to move along an axis parallel to the axis of rotation of the tool changer 112 in order to remove the tool and / or tool repository from the machine and / or to insert the tool and / or tool repository onto the machine.The tool changer 102 is then rotated so that the tool and / or tool depot held by the first arm 114a is positioned for the tool transfer position.

[0016] Similarly, when the tool 120 and / or tool depot 125 is to be provided to the machine, the tool changer 112 rotates such that the second arm 114b is positioned at the tool transfer position, with the second arm 114b holding the tool 120 and / or tool depot 125. In one embodiment, the second arm holds the tool 120 and / or tool depot 125 in the same way as the first arm 114a holds the tool 120 and / or tool depot 125 on the machine. However, in other embodiments, each of the first arm 114a and the second arm 114b is designed with a variety of different methods for holding a tool and / or tool depot in order to allow for holding tools and / or tool depots of different shapes and / or sizes.

[0017] Furthermore, in one embodiment, the tool changer 112 is configured to move along an axis parallel to the axis of rotation of the tool changing device 112 in order to remove or insert the tool 120 and / or tool depot 125 at the tool transfer position. The tool changer 112 is then rotated so that the tool 120 and / or tool depot 125, held by the second arm 114b, is moved to the tool changing position.

[0018] The tool transporter 130 is configured to transport the tool 120 and / or tool depot 125 to and from the tool transfer position. In certain embodiments, the tool transporter 130 is also configured to transport the tool 120 and / or tool depot 125 between an operator tool loading station (also referred to as a tool setup station) and / or a tool magazine (e.g., a rack magazine). When the tool transporter 130 transports the tool 120 and / or tool depot 125 to the tool transfer position, it holds the tool 120 and / or tool depot 125 at the tool transfer position until the tool changer 112 holds the tool 120 and / or tool depot 125 to be moved to the tool change position.Therefore, the tool transporter 130 is unable to perform any further task until the tool 120 and / or tool depot 125 is held by the tool changer 112 and / or is positioned for the tool change position.

[0019] Certain embodiments of the present disclosure provide a tool holder for the automatic tool changer. The tool holder of the automatic tool changer enables the tool transporter 130 to perform one or more other tasks after the tool 120 has been transported to the tool change position. That is, the tool holder of the automatic tool changer allows the tool transporter 130 to be used for multiple tasks while reducing downtime in machine operation.

[0020] The tool holder of the automatic tool changer enables the Tool Transporter 130 to perform other tasks, such as moving one or more tools between the operator tool loading station and the tool magazine, moving a tool between the tool transfer position and the operator tool loading station, moving a tool between the tool transfer position and the tool magazine, rearranging one or more tools in the tool magazine, moving tools to an RFID chip reading station, moving tools to a tool cleaning station, etc. This allows the machine to reduce tool change times during normal operation and minimize waiting times when the operator needs to load tools or perform other tasks.

[0021] For example, during normal operation, the tool transporter 130 moves tools from storage positions in the tool magazine or the operator tool loading station to the tool transfer position. When the operator makes a request requiring the tool transporter 130 (e.g., when the operator requests that tools be moved from the storage positions to the operator tool loading station), the tool holder of the automatic tool changer becomes active and clamps the tool 120 and / or tool depot 125 into place. In another embodiment, the tool holder of the automatic tool changer becomes active when it is needed for an automatic tool change operation. When the machine calls for a tool change, the automatic tool changer can continue indexing when the machine is ready and does not need to wait for the tool transporter 130 to return.Once the automatic tool changer cycle is complete, the tool transporter 130 exchanges the tool in the tool transfer position, if one is present, for the next tool and resumes one or more other tasks (e.g., loading / unloading the operator tool setup station). When these other tasks are completed, the tool transporter 130 returns to the tool transfer position to hold the next tool and, if necessary, deactivates the tool holder of the automatic tool changer.

[0022] In one embodiment, the tool holder of the automatic tool changer is only used if an operator requests that the tool transporter 130 load / unload one or more tools and / or tool depots from a tool loading station. That is, in one embodiment, the machine is operated without using the tool holder of the automatic tool changer unless the operator needs to load / unload one or more tools into the operator tool loading station.

[0023] Fig. Figure 2 represents a tool holder 200 of the automatic tool changer according to an embodiment of the present disclosure. The tool holder 200 of the automatic tool changer includes a base 210 configured to support a tool 120 and / or a tool repository 125. In one embodiment, the base 210 is formed from a single casting. Furthermore, in certain embodiments, the base 210 supports the tool repository 125, which contains the tool 120.

[0024] A block 230, pointing towards the base 210, is driven by a drive device 240 (e.g., a pneumatic cylinder, electric motor, etc.) to move along a linear guide 250. The drive device 240 propels the block 230 towards the base 210 until the tool 120 and / or tool repository 125 is held between the base 210 and the block 230.

[0025] In certain embodiments, the tool 120 and / or tool repository 125 is provided with a fitting for alignment purposes. For example, the tool repository 125 may include a fitting 260b. Furthermore, in one embodiment, a corresponding fitting 260a may be provided on the block 230. The fitting may be T-shaped or in any other form that facilitates the alignment of the tool 120 and / or tool repository 125.

[0026] In one embodiment, the tool holder 200 of the automatic tool changer further includes taper pins 270a, 270b to set a mounting position after the tool holder 200 of the automatic tool changer has first been mounted on the automatic tool changer 110. The taper pins 270a, 270b can be located at various positions on the tool holder 200 of the automatic tool changer. The taper pins 270a, 270b are designed to facilitate removal and remounting of the tool holder 200 of the automatic tool changer for maintenance. Different embodiments of the tool holder 200 of the automatic tool changer can include any number of taper pins, including zero. Furthermore, other methods can be used for mounting the tool holder 200 of the automatic tool changer and for facilitating its maintenance.

[0027] Fig. Figure 3 presents a first exemplary view of a tool changing system 300 according to certain embodiments of the present disclosure. Similar to the one in Fig. The tool changing system 100 shown in Figure 1 comprises the tool changing system 300, which includes an automatic tool changer 110, a tool changer 112 comprising a first arm 114a and a second arm 114b, and a tool transporter 130. The tool changing system 300 further includes the tool holder 200 of the automatic tool changer. In one embodiment, the tool holder 200 of the automatic tool changer is attached to the automatic tool changer 110. In other embodiments, the tool holder 200 of the automatic tool changer is held by a separate base, a plinth, or a component, for example, of a machining center, which contains the tool changing system 300. Fig. Figure 3 shows an exemplary view in which the tool 120 and / or tool depot 125 is transported to or from the tool transfer position by the tool transporter 130. The tool 120 and / or tool depot 125 is held by a holding device 132 (e.g., a clamp).

[0028] The tool holder 200 of the automatic tool changer is located in a position that allows the transfer of the tool 120 and / or tool depot 125 between the tool holder 200 of the automatic tool changer and the tool transporter 130 and / or between the tool holder 200 of the automatic tool changer and the tool changer 112. The position is chosen such that the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125 at the tool transfer position. In certain embodiments, the tool holder 200 of the automatic tool changer is located at the tool transfer position of the automatic tool changer 110. In other embodiments, the tool holder 200 of the automatic tool changer is configured to move to and from the tool transfer position.

[0029] Fig. Figure 4 shows a second exemplary view of the tool changing system 300, in which the tool transporter 130 holds the tool 120 and / or tool depot 125 at the tool transfer position. Fig. Figure 5 shows a third exemplary view of the tool changing system 300, in which the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125, and the tool transporter 130 has moved away from the tool transfer position. Depending on the embodiment, the tool holder 200 of the automatic tool changer can be active whenever a tool is present and the tool transporter 130 is not positioned at the tool transfer position, or only for a fraction of the time. For example, the tool holder 200 of the automatic tool changer can be active only during an automatic tool change operation or for the time required for the tool changer 112 to move the tool 120 and / or the tool holder 125 away from the tool transfer position.

[0030] As in Fig. As shown in Figure 4, in one embodiment the block 230 of the tool holder 200 of the automatic tool changer is obstructed by the holding device 132 on the tool transporter 130. Accordingly, the tool transporter 130 must move away from the tool transfer position before the tool holder 200 of the automatic tool changer can hold the tool 120 and / or tool depot 125. However, in other embodiments, the tool transporter 130 and the tool holder 200 of the automatic tool changer are configured to hold different areas of the tool 120 and / or tool depot 125. In these embodiments, the tool transporter 130 does not need to move away before the tool holder 200 of the automatic tool changer can hold the tool 120 and / or tool depot 125.Thus, for example, the tool changing system 300 can be configured such that the tool transporter 130 does not release the tool 120 and / or tool depot 125 until the tool 120 and / or tool depot 125 is held by the tool holder 200 of the automatic tool changer. Furthermore, as described above, in certain embodiments the tool holder 200 of the automatic tool changer is only active for a predetermined time before and / or after an automatic tool changing process.

[0031] Fig. Figure 6 shows a fourth exemplary view of the tool changing system 300, in which the tool 120 and / or tool depot 125 is held by the tool holder 200 of the automatic tool changer, and the tool changer 112 has rotated into a position to allow the tool 120 and / or tool depot 125 to be picked up for transfer to the tool changing position of the machine. In one embodiment, the tool changer 112 holds the tool 120 and moves along an axis parallel to the axis of rotation of the tool changer 112 and in a direction away from the automatic tool changer 110 to remove the tool 120 from the tool depot 125. In another embodiment, both the tool 120 and the tool depot 125 are removed. The tool changer 112 then rotates 180 degrees to position the tool 120 for the tool changing position.In one embodiment, after rotating 180 degrees, the tool changer moves along an axis parallel to the axis of rotation of the tool changer 112 in order to position the tool 120 for the tool change position.

[0032] In one embodiment, the automatic tool change process comprises one or a combination of picking up the tool 120 and / or tool repositories 125 from the tool transfer position, removing the tool 120 and / or tool repositories 125 from the tool transfer position, transferring the tool 120 and / or tool repositories 125 to the tool change position, and placing the tool 120 and / or tool repositories 125 into the tool change position or onto the machine. Furthermore, or alternatively, in another embodiment, the automatic tool change process comprises one or more steps for transferring a tool from the tool change position or the machine to the tool transfer position.

[0033] Fig. Figure 7 represents an exemplary machining center 700, which incorporates the tool changing system 300 according to certain embodiments of the present disclosure. In certain embodiments, the machining center 700 is a machining center with computer numerical control (CNC) (e.g., with a certain method for changing a tool on the spindle) or a machining center of another type, including a horizontal or vertical machining center, lathes (e.g., with turrets with milling function), mill-turn machines, or any other machine in which a tool changing device of the type of automatic tool changer can be used. The machining center 700 is divided into an operator tool loading station 710, a tool magazine 720, and a machining station 730.Furthermore, a control unit 740 is set up to control one or more operations and / or processes carried out by the machining center 700.

[0034] In one embodiment, the operator tool loading station 710, the tool magazine 720, and the tool transporter 130 are part of a magazine system. In another embodiment, the automatic tool changer 110 and the tool holder 200 are also part of a magazine system.

[0035] The operator tool loading station 710 is configured to receive and / or provide one or more tools and / or tool depots to / from an operator of the machining center 700. In one embodiment, the operator tool loading station 710 includes four slots into which tools and / or tool depots can be inserted or removed. The four slots are accessible by opening a door on the machining center 700. In another embodiment, the operator tool loading station 710 includes a rotating wall. The wall has two sides, with only one side accessible to an operator at any given time and the other side accessible to the tool transporter 130. When the wall is rotated 180 degrees, the wall on the inside of the machining center 700 is rotated outwards, allowing the operator to add or remove tools and / or tool depots to / from the operator tool loading station 710.

[0036] The tool magazine 720 is designed to store one or more tools and / or tool depots in the machining center 700. In one embodiment, the tool magazine 720 has a rack arrangement. In other embodiments, the tool magazine 720 is any type or combination of a ring, chain, rack arrangement, etc., depending on factors such as the tool capacity required for the machining center 700. In one embodiment, the tool magazine 720 contains a plurality of slots into which the tool 120 and / or tool depot 125 is inserted for storage.

[0037] In one embodiment, the machining station 730 includes the automatic tool changer 110, the tool holder 200 of the automatic tool changer, and the machine that uses one or more tools (e.g., the tool 120). As described above, the tool transporter 130 is configured to transport one or more tools and / or tool depots between the operator tool loading station 710, the tool magazine 720, and the machining station 730. In one embodiment, the tool transporter 130 moves along a linear guide or via another transport or guiding device in the machining center 700.

[0038] Fig. Figure 8 presents an exemplary operating procedure for a tool changing system, such as the one described in Fig. 3. Tool changing system 300 shown. In one embodiment, the control unit 740 is configured to control the operations and / or processes carried out in the exemplary method. In other embodiments, a combination of different control units can be used to control the operations and / or processes.

[0039] In step S805, the tool transporter 130 transports a tool 120 and / or tool depot 125 required by the machine for machining a workpiece from the operator tool loading station 710 or the tool magazine 720 to a tool transfer position of the automatic tool changer 110. In step S810, the tool transporter 130 holds the tool 120 and / or tool depot 125 at the tool transfer position. In another embodiment, the tool transporter 130 can place the tool 120 and / or tool depot 125 on a tool tray (e.g., the base 210). In step S815, it is determined whether the tool transporter 130 is required to perform another task. In one embodiment, this determination is made by the controller 740.As described above, examples of the other tasks include moving one or more tools between the operator tool loading station 710 and the tool magazine 720, providing another tool to the tool transfer position, rearranging one or more tools in the tool magazine 720, moving tools to an RFID chip reading station, moving tools to a tool cleaning station, etc. Alternatively or additionally, it is determined whether the tool transporter 130 is at or within a specified distance of the tool transfer position.

[0040] For example, in one embodiment, the controller 740 is configured to control the tool transporter 130 to retrieve a second tool and / or tool depot from the operator tool loading station 710 or the tool magazine after it has transported a first tool and / or tool depot to the tool transfer position. Furthermore, the controller 740 controls the tool transporter 130 to transport the second tool and / or tool depot to the tool transfer position. The controller 740 controls the tool transporter 130 such that the second tool and / or tool depot arrives at the tool transfer position some time after the automatic tool changer 110 has moved the first tool and / or tool depot away from the tool transfer position.For example, if the automatic tool changer 110 is providing the first tool and / or tool depot for the machine, or if the first tool and / or tool depot is about to be moved to the tool change position.

[0041] In another example, the control unit 740 is set up to control the tool transporter 130, to retrieve a second tool and / or tool depot from the operator tool loading station 710 or the tool magazine, and to transport the second tool and / or tool depot to the tool magazine 720.

[0042] If the tool transporter 130 does not need to perform any further task, step S820 determines whether the tool 120 and / or tool depot 125 held by the tool transporter 130 is to be positioned for the tool change position of the machine. If the tool 120 and / or tool depot 125 is not to be positioned for the tool change position of the machine, the process returns to step S815. However, if the tool 120 and / or tool depot 125 is to be positioned for the tool change position of the machine, the tool changer 112 positions the tool 120 and / or tool depot 125 for the tool change position. For example, the controller 740 controls the tool changer 112 to remove the tool 120 from the tool depot 125 and rotate it so that the tool 120 is moved to the tool change position of the machine.In another example, the control unit 740 controls the tool changer 112 to remove the tool depot 125 containing the tool 120.

[0043] If the tool transporter 130 needs to perform another task, it moves away from the tool transfer position in step S830 to perform that task. Subsequently, when the tool transporter 130 reaches a predetermined distance from the tool transfer position, the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125 at the tool transfer position. For example, the controller 740 controls the block drive 240 to drive the block 230 toward the base 210 until the tool 120 and / or tool depot 125 is held between the base 210 and the block 230. In another embodiment, the tool holder 200 of the automatic tool changer does not hold the tool 120 and / or tool depot 125 until a predetermined time before or when an automatic tool change operation is initiated.

[0044] As described above, in one embodiment the holding device 132 of the tool transporter 130 prevents the block 230, the tool 120, and / or the tool depot 125 from holding it. Accordingly, the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125 after the tool transporter 130 has moved away from the tool transfer position. However, in other embodiments, if the block 230 is not obstructed by the holding device 132, the tool transporter 130 does not need to move away from the tool transfer position before the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125. For example, the tool holder 200 of the automatic tool changer can hold the tool 120 and / or tool depot 125 before the tool transporter 130 releases the tool 120 and / or tool depot 125 or moves away from the tool transfer position.

[0045] After the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125 in step S835, a determination is made as to whether the tool 120 and / or tool depot 125 is to be moved to a tool change position of the machine (i.e., whether an automatic tool change operation is to be initiated). If the tool 120 and / or tool depot 125 is to be moved to the tool change position, the tool changer 112 moves the tool 120 and / or tool depot 125 to the tool change position in step S845. As described above, in one example, the controller 740 controls the tool changer 112 to remove the tool 120 from the tool depot 125 and rotate so that the tool 120 is moved to the tool change position of the machine.

[0046] If the tool 120 and / or tool depot 125 is not positioned at the machine's tool change position, the sequence proceeds to step S850; at this point, it is determined whether the tool transporter 130 has returned to the tool transfer position or to a predetermined distance from the tool transfer position. If the tool transporter 130 is not at the tool transfer position or at a predetermined distance from the tool transfer position, the sequence returns to step S840. However, if the tool transporter 130 is at the tool transfer position or at the predetermined distance from the tool transfer position, the sequence proceeds to step S855; at this point, the tool holder 200 of the automatic tool changer releases the tool 120 and / or tool depot 125.As described above, in one embodiment, the tool holder 200 of the automatic tool changer holds the tool 120 and / or tool depot 125 only for one automatic tool change operation. Therefore, step S855 is skipped if the tool holder 200 of the automatic tool changer does not hold the tool 120 and / or tool depot 125. In step S860, the tool transporter 130 holds the tool and / or tool depot. In another embodiment, the tool transporter 130 does not hold the tool and / or tool depot until a predetermined time before or when an automatic tool change operation is initiated.

[0047] As described above, in one embodiment, the holding device 132 of the tool transporter 130 prevents the block 230, the tool 120, and / or the tool depot 125 from being held. Accordingly, the tool holder 200 of the automatic tool changer must release the tool 120 and / or tool depot 125 before the tool transporter 130 can hold the tool 120 and / or tool depot 125 at the tool transfer position. However, in other embodiments, if the block 230 is not obstructed by the holding device 132, the tool transporter 130 does not need to wait until the tool holder 200 of the automatic tool changer releases the tool 120 and / or tool depot 125. For example, the tool holder 200 of the automatic tool changer can release the tool 120 and / or tool depot 125 after the tool transporter 130 holds the tool and / or tool depot or moves to the tool transfer position.

[0048] In certain embodiments, the tool holder 200 of the automatic tool changer includes one or more sensors to confirm the position of the block 230. In one embodiment, the position information is used to determine whether the tool 120 and / or tool depot 125 is held by the tool holder 200 of the automatic tool changer. In another embodiment, the position information is used to determine whether the tool holder 200 of the automatic tool changer is in an open or closed state. Examples of the one or more sensors include a proximity sensor.

[0049] In one embodiment, the tool transporter 130 moves away from the automatic tool changer 110 after it has placed the tool 120 and / or tool depot 125 on a tool support (e.g., the base 210) located at the tool transfer position. In other embodiments, the controller 740 controls the tool transporter 130 to move away from the automatic tool changer 110 after it has confirmed that the tool 120 and / or tool depot 125 is held by the tool holder 200 of the automatic tool changer. In certain embodiments, the controller 740 performs this determination based on one or more sensors.

[0050] Furthermore, in certain embodiments, the automatic tool changer 110 and / or the tool holder 200 of the automatic tool changer includes one or more tool and / or tool depot detection sensors 602, as for example in Fig. Figure 6 shows that in one embodiment, the one or more sensors include a limit switch that is installed in the tool holder 200 of the automatic tool changer. However, it should be noted that other types of switches or sensors (e.g., proximity sensor, image sensor, etc.) can be used to detect the tool 120 and / or tool depot 125. Furthermore, the one or more tool and / or tool depot detection sensors can be installed at various different locations in the machining center 700.

[0051] Fig. Section 9 describes an operating method for a tool changing system, such as the tool changing system 300, when it initiates an automatic tool changing process according to certain embodiments of the present disclosure. The method can be used independently of the one described in Fig. 8 methods shown or in connection with Fig. 8 is performed, for example, when in steps S820 and / or S845 the tool is positioned for the tool change position of a machine. In one embodiment, the control 740 is configured to control the operations and / or processes performed in this method. In other embodiments, a combination of different control systems can be used to control the operations and / or processes.

[0052] In step S905, the control 740 determines whether an automatic tool change process should be initiated. For example, the control 740 determines whether a tool and / or tool depot should be provided at the tool transfer position to the tool change position of the machine (e.g., as in steps S820 and / or S840), whether the machine requires a tool change, etc.

[0053] In one embodiment, the controller 740 waits until it has determined that the automatic tool change process is to be initiated. When the controller 740 determines that the automatic tool change process is to be initiated, it proceeds to step S910 and determines whether the tool transporter 130 is at the tool transfer position. In another embodiment, the controller 740 waits until a predetermined time before initiating the automatic tool change process (e.g., at least the minimum time required to activate the tool holder 200 of the automatic tool changer and for it to hold the tool and / or tool depot) to determine whether the tool transporter 130 is at the tool transfer position.

[0054] If the controller 740 determines that the tool transporter 130 is at the tool transfer position, in step S915 the tool changer 112 positions the tool 120 and / or tool depot 125 at the tool change position. If the tool / tool ​​depot 125 is not held by the tool transporter 130, the controller 740 instructs the tool transporter 130 to hold the tool and / or tool depot 125 before instructing the tool changer 112 to perform the transfer. If the controller 740 determines that the tool transporter 130 is not at the tool transfer position, in step S920 the controller 740 instructs the tool holder 200 of the automatic tool changer to hold the tool 120 and / or tool depot 125.The tool changer 112 positions the tool 120 and / or tool depot 125 at the tool change position in step S925, after the tool holder of the automatic tool changer is holding the tool 120 and / or tool depot 125. In one embodiment, the controller 740 instructs the tool changer 112 to position the tool 120 and / or tool depot at the tool change position after it has confirmed that the tool holder 200 of the automatic tool changer is holding the tool 120 and / or tool depot 125 (e.g., using one or more of the position sensors described above).

[0055] Depending on the embodiment, the tool transporter 130 and / or the tool holder 200 of the automatic tool changer holds the tool 120, the tool depot 125 containing the tool 120, or the tool depot 125 and the tool 120. In one embodiment, when the tool transporter 130 and / or the tool holder 200 of the automatic tool changer holds the tool depot 125 containing the tool 120, the tool changer 112 transfers only the tool 120 from the tool transfer position to the tool change position. The tool changer 112 can also transfer another tool from the tool change position to the tool depot 125.In other embodiments, when the tool 120 or the tool 120 and the tool depot 125 are held by the tool transporter 130 and / or the tool holder 200 of the automatic tool changer, the tool transporter 130 and / or the tool holder 200 of the automatic tool changer are provided with a fit in such a way that the tool 120 or the tool 120 and the tool depot 125 can be removed from the tool transporter 130 and / or the tool holder 200 of the automatic tool changer while they are in the holding position.

[0056] In step S930, the tool holder 200 of the automatic tool changer releases the tool depot 125 as needed. Depending on the embodiment, the tool holder 200 of the automatic tool changer releases the tool depot 125: at the end or at a predetermined time, before or after the automatic tool change process ends, when the tool transporter 130 returns, etc. As described above, in one embodiment, the tool depot 125 is held at the tool transfer position by a tool holder (e.g., the base 210) if the tool depot 125 is not held by the tool transporter 130 and / or the tool holder 200 of the automatic tool changer. Furthermore, in another embodiment, a tool holder is also provided at the tool change position.

[0057] Fig. Figure 10 is a block diagram showing an example of a hardware arrangement of a computer 1000 which may be set up to perform one or a combination of the functions of the machining center 700, such as the control 740.

[0058] As in Fig.As shown in Figure 10, the computer 1000 contains a central processing unit (CPU) 1002, a read-only memory (ROM) 1004, and random-access memory (RAM), which are interconnected via one or more buses 1008. The one or more buses 1008 are further connected to an input / output interface 1010. The input / output interface 1010 is connected to an input area 1012, which may consist of a keyboard, mouse, microphone, remote control, etc. The input / output interface 1010 is also connected to an output area 1014, which may consist of an audio interface, video interface, display, speaker, etc.; and to a recording area 1016, which may consist of a hard disk, non-volatile memory, or other persistent computer-readable storage medium. with a communication area of ​​1018, which is provided by a network interface, a modem, a USB interface, a FireWire interface, etc.is formed; and a drive 1020 for driving movable data carriers 1022, such as a magnetic disk, an optical storage disk, a magneto-optical storage disk, a semiconductor memory, etc.

[0059] According to one embodiment, the CPU 1002 loads a program stored in the recording area 1016 into the RAM 1006 via the input / output interface 1010 and the bus, and then executes a program that is set up to provide the functionality of one or a combination of the functions of the machining center 700, such as the controller 740.

[0060] Experts will recognize, upon reviewing the above teachings, that certain exemplary embodiments, such as the use of the 740 controller, rely on the use of a programmed processor. However, embodiments of the present disclosure are not limited to such exemplary embodiments, since other embodiments could be implemented using equivalent hardware components, such as special-purpose hardware and / or custom-designed processors. Similarly, general-purpose computers, microprocessor-based computers, microcontrollers, optical computers, analog computers, custom-designed processors, application-specific circuits, and / or custom hard-wired logic could be used to construct alternative equivalent embodiments.

[0061] Experts will recognize, upon considering the above teachings, that the operations and processes, such as those performed by the controller 740, and associated data used to implement certain of the embodiments described above, may be implemented using disk storage as well as other forms of storage, such as persistent storage devices, including, for example, read-only memory (ROM), random-access memory (RAM), network storage devices, optical storage elements, magnetic storage elements, magneto-optical storage elements, flash memory, core memory, and / or other equivalent volatile and non-volatile storage technologies, without deviating from certain embodiments of the present disclosure. The term "permanent" does not imply that information cannot be lost by removal of the power supply or other effects.Such alternative storage devices should be considered equivalent.

[0062] Certain embodiments described herein are implemented, or may be implemented, using one or more programmed processors that execute programming instructions comprehensively described above in flowchart form and that can be stored on any suitable electronic or computer-readable storage medium. However, those skilled in the art will understand, upon considering the present disclosure, that the operations described above can be implemented in any number of variations and in many suitable programming languages ​​without departing from embodiments of the present disclosure. For example, the sequence of certain operations performed can often be varied, additional operations can be added, or operations can be deleted without departing from certain embodiments of the present disclosure. Such variations are considered and regarded as equivalent.

[0063] While certain illustrative embodiments have been described, it is obvious that many alternatives, modifications, permutations and variations will become apparent to those skilled in the art in light of the foregoing description.

Claims

[1] Tool changing system (100, 300), comprising: a tool magazine (720) configured to store at least one tool (120) received at a tool loading station (710); a tool transporter (130) configured to transport a tool (120) from the tool loading station (710) or the tool magazine (720) to a tool transfer position of an automatic tool changer (ATC) (110) and to hold the tool (120) at the tool transfer position during an automatic tool change operation; and the automatic tool changer (110), comprising a tool holder (200) configured to hold the tool (120) at the tool transfer position during the automatic tool change operation when the tool transporter (130) is not positioned at the tool transfer position; and a tool changer (112) configured to provide the tool (120) at the tool transfer position to a tool change position of a machine during the automatic tool change process characterized by , that the tool holder (200) is arranged to move to and from the tool transfer position. [2] The tool changing system (100, 300) according to claim 1, wherein the tool holder (200) is configured to hold the tool (120) at the tool transfer position when the tool transporter (130) is not positioned at the tool transfer position and the automatic tool changing operation is not performed. [3] Tool changing system (100, 300) according to claim 1, further comprising: a controller (740) configured to determine whether the tool transporter (130) is positioned at the tool transfer position when the automatic tool change operation is to be initiated, wherein the controller (740) is configured to instruct the tool holder (200) to hold the tool (120) based on the determination of whether the tool transporter (130) is positioned at the tool transfer position. [4] Tool changing system (100, 300) according to claim 1, further comprising: a tool rest (210) arranged to support the tool (120) at the tool transfer position, wherein the tool holder (200) is configured to hold the tool (120) at the tool transfer position when the tool transporter (130) is not positioned at the tool transfer position, and only during the automatic tool change process. [5] Tool changing system (100, 300) according to claim 1, wherein the tool transporter (130) is a robot configured to transport the at least one tool (120) between the tool loading station (710), the tool magazine (720) and the tool transfer position. [6] Tool changing system (100, 300) according to claim 1, wherein the tool transporter (130) is configured to transport a tool depot (125) containing the tool (120) from the tool magazine (720) to the tool transfer position. [7] Tool changing system (100, 300) according to claim 1, wherein the tool holder (200) is configured to hold a tool depot (125) containing the tool (120) at the tool transfer position. [8] Tool changing system (100, 300) according to claim 1, wherein the tool magazine (720) is a machine tool rack magazine. [9] A method for operating a tool changing system (100, 300) comprising a tool magazine (720), a tool transporter (130) and an automatic tool changer (ATC) (110) for changing tools (120) on a machine, the method comprising: Transporting a tool (120) with the tool transporter (130) from a tool loading station (710) or the tool magazine (720) to a tool transfer position of the automatic tool changer (110), wherein the tool magazine (720) is configured to store at least one tool (120) received at the tool loading station (710); Holding the tool (120) by the tool holder (200) at the tool transfer position during an automatic tool change operation when the tool transporter (130) is positioned at the tool transfer position; Holding the tool (120) by a tool holder (200) of the automatic tool changer (110) at the tool transfer position during the automatic tool change process when the tool transporter (130) is not positioned at the tool transfer position; and Providing the tool (120) by a tool changer (112) of the automatic tool changer (110) to a tool change position of the machine during the automatic tool change process characterized by , that the tool holder (200) is arranged to move to and from the tool transfer position. [10] The method of claim 9, wherein the step of holding by the tool holder (200) comprises: Holding the tool (120) by the tool holder (200) of the automatic tool changer (110) at the tool transfer position when the tool transporter (130) is not positioned at the tool transfer position and the automatic tool change operation is not performed. [11] The method of claim 9, further comprising: Determining by a controller (740) whether the tool transporter (130) is positioned at the tool transfer position when the automatic tool change process is to be initiated; and Instructing the tool holder (200) by the controller (740) to hold the tool (120) based on the determination of whether the tool transporter (130) is positioned at the tool transfer position. [12] The method of claim 10, further comprising: Moving the tool transporter (130) away from the tool transfer position to perform another task. [13] The method of claim 10, wherein the step of holding by the tool holder (200) comprises: Holding the tool (120) by the tool holder (200) of the automatic tool changer (110) at the tool transfer position when the tool transporter (130) is not positioned at the tool transfer position and the automatic tool change operation is not performed. [14] The method of claim 9, further comprising: Supporting the tool (120) by a tool rest (210) at the tool transfer position, wherein the step of holding the tool (120) includes holding the tool (120) by the tool holder (200) at the tool transfer position when the tool transporter (130) is not positioned at the tool transfer position, and only during the automatic tool change process. [15] The method of claim 9, further comprising: Transporting one or more of the at least one tool (120) by the tool transporter (130) from the tool loading station (710) to the tool magazine (720), wherein the tool transporter (130) is a robot configured to transport the at least one tool (120) between the tool loading station (710), the tool magazine (720) and the tool transfer position. [16] The method of claim 9, wherein the step of transporting comprises: Transporting a tool depot (125) containing the tool (120) by the tool transporter (130) from the tool magazine (720) to the tool transfer position. [17] The method of claim 9, wherein the step of holding by the tool holder (200) comprises: Holding a tool depot (125) containing the tool (120) by the tool holder (200) at the tool transfer position. [18] The method of claim 9, wherein the tool magazine (720) is a machine tool rack magazine. [19] A permanent computer-readable storage medium storing a program which, when executed by a computer, causes the computer to perform a method of operating a tool changing system (100, 300) including a tool magazine (720), a tool transporter (130) and an automatic tool changer (ATC) (110) for changing tools (120) on a machine, the method comprising: Transporting a tool (120) with the tool transporter (130) from a tool loading station (710) or the tool magazine (720) to a tool transfer position of the automatic tool changer (110), wherein the tool magazine (720) is configured to store at least one tool (120) received at the tool loading station (710); Holding the tool (120) by the tool holder (200) at the tool transfer position during an automatic tool change operation when the tool transporter (130) is positioned at the tool transfer position; Holding the tool (120) by a tool holder (200) of the automatic tool changer (110) at the tool transfer position during the automatic tool change process when the tool transporter (130) is not positioned at the tool transfer position; and Providing the tool (120) by a tool changer (112) of the automatic tool changer (110) to a tool change position of the machine during the automatic tool change process characterized by , that the tool holder (200) is arranged to move to and from the tool transfer position.

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