Tool changing device for use on a machine tool and machine tool with such a tool changing device

Abstract

Tool changing device for use on a machine tool (100) comprising a tool-carrying work spindle (130) and a tool magazine (200) with one or more rotatable magazine wheels (210, 220) with circumferentially arranged tool holders (210a, 210b, 220a, 220b), comprising: - a first manipulator (310) for removing tools from each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200), - a second manipulator (320) for exchanging a tool mounted on the work spindle (130), and - an intermediate storage device (330) with one or more tool holders (331, 332, 333, 334), wherein the first manipulator (310) is configured to move linearly between each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) and the intermediate storage (330) and to transfer a tool removed from one of the one or more rotatable magazine wheels (210, 220) to the intermediate storage (330), and wherein the second manipulator (320) is configured to transfer a tool received on the work spindle (130) to the intermediate storage (330) by means of a rotary or pivoting movement and to exchange a tool received on the intermediate storage (330) on the work spindle (130) when the work spindle (130) is positioned at a tool change position of the machine tool (100), and wherein the intermediate storage (330) comprises a rotary or pivoting drive (336) such that the one or more tool holders (331, 332, 333, 334) of the intermediate storage (330) are jointly rotatable or pivotable about a rotation axis of the intermediate storage (330), and wherein the rotation axis of the intermediate storage (330) is aligned or alignable parallel to a rotation axis of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200).

Description

[0001] The present invention relates to a tool changing device for use on a machine tool, in particular with a vertically aligned work spindle and / or for changing tools on a work spindle that is vertically aligned at least in the tool changing position, and to a machine tool with such a tool changing device. background

[0002] Tool-changing devices for use on machine tools are known in the prior art. For example, see EP 2 750 828 B1, which describes a tool-changing device of this type.

[0003] EP 2 750 828 B1 shows a tool changing device for use on a machine tool with a horizontally aligned work spindle, wherein a tool can be removed by means of a manipulator from a tool magazine which has one or more tool magazine wheels (so-called wheel magazine) and can be used on the work spindle or can be exchanged with a tool used on the work spindle.

[0004] Furthermore, reference is made to WO 2006 / 050 551 A2, which describes a system for loading and unloading a machine tool using a matrix magazine designed to store tools and an intermediate storage unit positioned between the matrix magazine and the machine tool for the short-term provision of these tools. A tool change is realized by an initial transfer of a tool from the tool magazine to the intermediate storage unit or back through a first adapter that is movable in at least two directions and pivots the tool vertically, and a second transfer of the tool from the intermediate storage unit to the machine tool and back through a second adapter that is provided with at least one pivoting movement.

[0005] It is an object of the present invention to further develop the tool changing device, in particular with regard to increased scope of application on different machine tools or machine tool types, efficient or time-saving tool changing and / or extended functionality. Summary of the invention

[0006] To achieve the above-mentioned object, a tool changing device for use on a machine tool is proposed according to claim 1. Dependent or subordinate claims relate to preferred exemplary embodiments.

[0007] According to one aspect of the invention, a tool changing device for use on a machine tool is proposed, which comprises a tool-carrying work spindle and a tool magazine with one or more rotatable magazine wheels with circumferentially arranged tool holders.

[0008] According to preferred expedient embodiments, the tool changing device comprises a first manipulator for removing tools from each of the one or more rotatable magazine wheels of the tool magazine, a second manipulator for exchanging a tool held on the work spindle and / or an intermediate storage device with one or more tool holders.

[0009] According to preferred expedient embodiments, the first manipulator is configured to move linearly between at least one or preferably each of the one or more rotatable magazine wheels of the tool magazine and the intermediate storage device and, in particular, preferably to transfer a tool removed from one of the one or more rotatable magazine wheels to the intermediate storage device (in particular at a transfer position of the first manipulator at the intermediate storage device or a first transfer position of the intermediate storage device for the first manipulator).

[0010] According to preferred expedient embodiments, the second manipulator is configured to transfer a tool received on the work spindle to the intermediate storage unit by means of a rotary or pivoting movement (in particular at a transfer position of the second manipulator on the intermediate storage unit or a second transfer position of the intermediate storage unit for the second manipulator) and to exchange a tool received on the intermediate storage unit at the work spindle, in particular when the work spindle is positioned at a tool change position of the machine tool.

[0011] According to preferred expedient embodiments, the first manipulator comprises a gripper section for gripping a tool and / or a linearly, in particular horizontally, movable manipulator carriage.

[0012] According to preferred expedient embodiments, the first manipulator is configured to remove, with the gripper section, a tool received on a tool holder of one of the one or more rotatable magazine wheels of the tool magazine at a transfer position of the corresponding magazine wheel, to move with the movable manipulator carriage to the intermediate storage unit and / or to transfer or insert the tool removed at the transfer position of the corresponding magazine wheel to a tool holder of the intermediate storage unit at a first transfer position of the intermediate storage unit.

[0013] According to preferred expedient embodiments, the first manipulator is configured to remove a tool received on the tool holder of the intermediate storage device at the first transfer position of the intermediate storage device with the gripper section, to move it with the movable manipulator carriage to one of the one or more rotatable magazine wheels of the tool magazine and / or to transfer or insert the tool removed at the transfer position of the intermediate storage device to the tool holder of the corresponding magazine wheel at the transfer position of the corresponding magazine wheel.

[0014] According to preferred expedient embodiments, the second manipulator comprises a tool change pivot arm pivotable about a pivot axis, in particular a vertically aligned or vertically alignable pivot axis, in particular with two gripper sections arranged at opposite ends of the tool change pivot arm for gripping respective tools.

[0015] According to preferred expedient embodiments, the second manipulator is configured to remove a tool held on the work spindle at the tool change position of the work spindle with one of the gripper sections of the tool change swivel arm and / or to transfer or insert the tool removed from the work spindle to a tool holder of the intermediate storage at a second transfer position of the intermediate storage with a pivoting movement of the tool change swivel arm.

[0016] According to preferred expedient embodiments, the second manipulator is configured to remove a tool from a tool holder of the intermediate storage unit at the second transfer position with one of the gripper sections of the tool change swivel arm and / or to transfer or insert a tool from a tool holder of the intermediate storage unit at the second transfer position with a pivoting movement of the tool change swivel arm on the work spindle at the tool change position of the work spindle.

[0017] According to preferred expedient embodiments, the intermediate storage device comprises a rotary or pivoting drive, particularly preferably such that the one or more tool holders of the intermediate storage device can be rotated or pivoted, preferably together, about a rotation axis of the intermediate storage device.

[0018] According to preferred expedient embodiments, the rotation axis of the intermediate storage device is aligned horizontally, particularly preferably parallel to a travel direction of the first manipulator.

[0019] According to preferred expedient embodiments, the rotation axis of the intermediate storage device is aligned or alignable parallel to a rotation axis of the one or more rotatable magazine wheels of the tool magazine.

[0020] According to preferred expedient embodiments, the intermediate storage device is configured to rotate or pivot one, several or each of the one or more tool holders of the intermediate storage device into a transfer position of the first manipulator in order to transfer a tool to or from the first manipulator.

[0021] According to preferred expedient embodiments, the tool holder of the intermediate storage positioned in the transfer position of the first manipulator is aligned with the horizontal tool holder axis (tool holder direction).

[0022] According to preferred expedient embodiments, the intermediate storage device is configured to rotate or pivot one, several or each of the one or more tool holders of the intermediate storage device into a transfer position of the second manipulator in order to transfer a tool to or from the second manipulator.

[0023] According to preferred expedient embodiments, the tool holder of the intermediate storage positioned in the transfer position of the second manipulator is aligned with the vertical tool holder axis.

[0024] According to preferred expedient embodiments, the intermediate storage device is configured to rotate or pivot one, several, or each of the one or more tool holders of the intermediate storage device from the transfer position of the first manipulator to the transfer position of the second manipulator and / or to rotate or pivot one, several, or each of the one or more tool holders of the intermediate storage device from the transfer position of the second manipulator to the transfer position of the first manipulator. In particularly expedient embodiments, the pivot or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator is 90°.

[0025] According to preferred practical embodiments, the intermediate storage unit has two or more tool holders arranged circumferentially on the intermediate storage unit, preferably with a radial mounting direction relative to the rotation or pivot axis of the intermediate storage unit. The tool holders can preferably be arranged in pairs at an angular spacing that corresponds to the quotient of 360° and the total number of circumferentially arranged tool holders on the intermediate storage unit, e.g., 180° for two tool holders, 120° for three tool holders, 90° for four tool holders, 72° for five tool holders, etc.

[0026] It is particularly useful if the angular distance between two tool holders or between pairs of adjacent tool holders on the intermediate storage corresponds to the swivel or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator.

[0027] According to preferred expedient embodiments, the intermediate storage device has two, three or particularly preferably four tool holders, which are preferably arranged in pairs at an angular distance of 90° circumferentially on the intermediate storage device, particularly preferably in embodiments in which the pivoting or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator corresponds to an angle of 90°.

[0028] According to a further aspect, a machine tool is proposed, comprising a tool-carrying work spindle, a tool magazine with one or more rotatable magazine wheels with circumferentially arranged tool holders, and a tool changing device according to one or more of the above aspects and embodiments.

[0029] Further aspects and their advantages as well as advantages and more specific embodiments of the aspects and features described above are described in the following, but in no way limiting, descriptions and explanations of the attached figures. Short description of the characters Fig. 1 shows an exemplary perspective view of a machine tool with a tool changing device according to an embodiment of the invention; Fig. 2A and Fig. 2B show exemplary perspective views of the tool changing device according to the embodiment of the invention corresponding Fig. 1; Fig. 3A to 3H illustrate an example of a tool change on the machine tool with a tool changing device according to Fig. 1; Fig. 4A and Fig. 4B show exemplary perspective views of the tool changing device according to Fig. 2A and Fig. 2B in the system with a tool magazine having a magazine wheel; Fig. 5A and Fig. 5B show exemplary perspective views of the tool changing device according to Fig. 2A and Fig. 2B in the system with a tool magazine having two magazine wheels; Fig. 6A and Fig. 6B show exemplary perspective views of the buffer and the second manipulator of the tool changing device according to Fig. 2A and Fig. 2B; and Fig. 7A and Fig. 7B show exemplary perspective views of the buffer of the tool changing device according to Fig. 2A and Fig. 2B. Detailed description of the figures and preferred embodiments

[0030] Examples and embodiments of the present invention are described in detail below with reference to the accompanying figures. Identical or similar elements in the figures may be designated by the same reference numerals, although sometimes different reference numerals may be used.

[0031] It should be emphasized, however, that the present invention is in no way limited or restricted to the exemplary embodiments and their embodiment features described below, but further comprises modifications of the exemplary embodiments, in particular those which are encompassed by modifications of the features of the described examples or by combination of one or more of the features of the described examples within the scope of protection of the independent claims.

[0032] Fig. 1 shows an exemplary perspective view of a machine tool 100 with a tool changing device 300 according to an embodiment of the invention.

[0033] By way of example, the machine tool 100 is configured with a vertically oriented work spindle 130. However, the present invention is not limited to machine tools with a vertically oriented work spindle. Rather, it is also possible, in further embodiments, to provide a tool changing device according to the invention on machine tools with a vertically oriented work spindle.

[0034] The machine tool 100 comprises, for example, a machine frame 110 with a machine bed 101 that can be set up on a base surface or a workshop floor and a machine stand 102 arranged on the machine bed 101. For example, the machine frame 110 with the machine bed 101 and the machine stand is advantageously designed rigidly as a single, preferably monolithic, base body, so-called monoBLOCK construction.

[0035] A swivel rotary table 140 for clamping workpieces to be machined on the machine tool 100 is arranged on the machine bed 101 of the machine frame 110. The swivel rotary table 140 comprises, for example, a swivel arm 141 pivotably mounted on holding bodies 142 and 143, which is pivotable, for example, about a horizontal pivot axis.

[0036] On the swivel arm 141, for example, a rotary table 144 (rotatable tool table or tool clamping table) is arranged, which is mounted rotatably about an axis perpendicular to the swivel axis of the swivel arm 141, wherein one or more workpieces or one or more workpiece clamping devices for clamping one or more workpieces can be clamped, held or fastened on the rotary table 144.

[0037] The machine tool 100 is designed, for example, as a numerically controlled machine tool, so that the pivoting of the pivot arm 141 (pivot axis) and / or the rotation of the rotary table 144 (rotary axis) can preferably be controlled via the machine control or NC control of the machine tool 100, e.g. on the basis of an NC program or via operation by means of a control panel of the machine tool (not shown).

[0038] The machine tool 100 further comprises, for example, a vertically oriented tool-carrying work spindle 130, which is configured to receive a tool, such as a drilling or milling tool, and to rotate about the vertically oriented spindle axis of the work spindle 130.

[0039] The work spindle 130 is held, for example, on a spindle carrier slide 123 of an axis slide assembly 120. The axis slide assembly 120 is configured, for example, to move the work spindle 130 or, with the work spindle 130, the tool mounted on the work spindle 130 in three spatial directions, ie, in the X direction by means of a controllable X linear axis, in the Y direction by means of a Y linear axis, and in the Z direction by means of a Y linear axis.

[0040] For moving the work spindle 130, the axis slide assembly 120 comprises a Y-slide 121 mounted on the machine stand 102 for linear movement on guides aligned in the Y direction (e.g., horizontally) (see, for example, guide 121a). An X-slide 122 mounted for linear movement in the X direction (e.g., horizontally and, for example, perpendicular to the Y direction) (see, for example, guides 122a and 122b) is held on the Y-slide 121. The spindle support slide 123 (Z-slide) is held on the X-slide 122 and is mounted for linear movement on guides aligned in the Z direction (e.g., vertically) (see, for example, guide 123a).

[0041] The machine tool 100 is designed, for example, as a numerically controlled machine tool, so that the movement of the slides 121, 122 and 123 of the three linear axes in the Y, X and Z directions, respectively, for moving the work spindle 130 in the three spatial directions can preferably be controlled via the machine control or NC control of the machine tool 100, e.g. on the basis of an NC program or via operation by means of a control panel of the machine tool (not shown).

[0042] In summary, the machine tool 100 is embodied, by way of example, as a 5-axis machine tool with three linear feed axes and two swivel or rotary axes. However, the present invention is not limited to 5-axis machine tools; rather, in other exemplary embodiments, additional linear, swivel, and / or rotary axes may also be provided, e.g., for linearly moving the workpiece table and / or for rotating or swiveling the work spindle.

[0043] Furthermore, it is possible to provide fewer than five axes in other embodiments. For example, instead of the swivel rotary table 140, it is possible to provide a simple swivel arm without a rotary table that can swivel about a horizontal swivel axis, a rotary table without a swivel arm that can rotate about a vertical axis, or even a workpiece table that is fixedly mounted on the machine bed.

[0044] By way of example, the machine tool 100 comprises Fig. 1 further comprises a tool magazine 200 for storing or temporarily storing and / or for keeping tools that can be used on the machine tool 100.

[0045] The tool magazine 200 is designed, for example, as a so-called wheel magazine and comprises, for example, two magazine wheels 210 and 220 arranged next to one another, which are preferably rotatable independently of one another about a common horizontal axis of rotation. In further embodiments, only one magazine wheel may be provided, or in other embodiments, three or more magazine wheels arranged next to one another may be provided.

[0046] Each magazine wheel 210 or 220 comprises, for example, a plurality of tool holders 210a, 210b or 220a, 220b (e.g., tool holders) arranged circumferentially around the respective magazine wheel 210 or 220. For example, each of the tool holders 210a, 210b or 220a, 220b is configured to receive a tool or a tool interface (e.g., hollow shank taper, steep taper, and / or Morse taper) of a tool holder.

[0047] In this case, the tools or tool interfaces can preferably be received in the respective tool holders 210a, 210b or 220a, 220b in such a way that the respective tool axis is aligned radially with respect to the respective magazine wheel 210 or 220 and the tools or tool interfaces can be removed radially outwards with respect to the respective magazine wheel 210 or 220 from the respective tool holders 210a, 210b or 220a, 220b or can be inserted radially inwards with respect to the respective magazine wheel 210 or 220 into the respective tool holders 210a, 210b or 220a, 220b.

[0048] The magazine wheels 210 and 220 are, for example, held on a magazine frame 230, which is arranged on a magazine tray 240. Cooling lubricant dripping from the tools held on the magazine wheels 210 and 220 in the tool magazine 200 can advantageously be collected in the magazine tray 240, if necessary for reprocessing.

[0049] A tool changing device 300 according to an embodiment of the invention 300 is shown between the tool magazine 200 and the machine tool 100.

[0050] Fig. 2A and Fig. 2B illustrate exemplary perspective views of the tool changing device 300 according to the embodiment of the invention corresponding Fig. 1.

[0051] Basically, the tool changing device 300 is configured, for example, to automatically exchange tools on the work spindle 130. For example, the tool changing device 300 is configured to remove a tool held in a tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 and insert it into the work spindle 130 or transfer it to the work spindle 130 or exchange it with a tool already held on the work spindle 130.

[0052] Furthermore, the tool changing device 300 is configured, for example, to remove a tool held on the work spindle 130 and to place it on a free tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 or to transfer it to the tool magazine 200.

[0053] Furthermore, the tool changing device 300 can be configured, for example, to remove a tool held on a tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 and to place it on another free tool holder of the same magazine wheel or on a free tool holder of the other magazine wheel, e.g. in order to re-sort the assignment of the tools in the tool magazine.

[0054] EP 2 750 828 B1 already showed a machine tool with a tool magazine with one or more magazine wheels, wherein a tool changing device was provided which could move tools between the respective front magazine locations of the magazine wheels and the work spindle using a manipulator which could be moved between the magazine wheels and the work spindle.

[0055] In contrast to the tool changing device of EP 2 750 828 B1, the tool changing device 300 according to Fig. 1 and Fig. 2A and Fig. 2B is exemplarily equipped with two manipulators 310 and 320 and a tool-holding buffer 330.

[0056] The tool changing device 300 comprises a first manipulator 310 which is configured to remove a tool held in a tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 and to insert it into a tool holder 331 of the intermediate storage device 330.

[0057] For example, the manipulator 310 can also be configured to remove a tool held on a tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 and to place it on another free tool holder of the same magazine wheel or on a free tool holder of the other magazine wheel, e.g. in order to re-sort the assignment of the tools in the tool magazine.

[0058] Furthermore, the first manipulator 310 is configured, for example, to remove a tool held in the intermediate storage 330 and to deposit it on a free tool holder of one of the magazine wheels 210 or 220 of the tool magazine 200 or to transfer it to the tool magazine 200.

[0059] The tool changing device 300 comprises a second manipulator 320 which is configured to remove a tool held in a tool holder of the intermediate storage device 330 and to insert it into the work spindle 130 or to transfer it to the work spindle 130 or to exchange it with a tool already held in the work spindle 130.

[0060] Furthermore, the second manipulator 320 is configured, for example, to remove a tool held on the work spindle 130 and to place it on a free tool holder of the intermediate storage 330 or to transfer it to the intermediate storage 330.

[0061] As in Fig. 1 and also in Fig. 2A and Fig. 2B, the first manipulator 310 is arranged, for example, on a stand section 318 in front of the magazine wheels 210, 220 of the tool magazine 200. For example, the stand section 318 is arranged at the front of the magazine tray 240. Reference numerals 231a and 231b denote frame column sections of the magazine frame 230 of the tool magazine 200.

[0062] Arranged on the column section 318 is a guide element 315, which extends horizontally, for example, with horizontally extending guides 315a and 315b, on which a manipulator carriage 312 is mounted for horizontal movement. Reference numerals 316 and 317 denote the drive motor 316 and a threaded rod 317 of the drive for moving the manipulator carriage 312 along the guides 315a and 315b of the guide element 315.

[0063] At the upper end of the manipulator carriage 312, a tool holder 311 (tool receiving device) is arranged, for example, on the side of which facing the magazine wheels, a tool gripper 314 is arranged. Furthermore, on the side of the tool holder 311 facing away from the magazine wheels, a lifting drive 313 is arranged, for example, which is configured to move or displace the tool gripper 314 in a horizontal lifting movement toward or away from the magazine wheels, e.g., for removing a tool or for inserting a tool into a forward-facing tool holder on the respective magazine wheel.

[0064] By horizontally moving the manipulator carriage 312 of the first manipulator 310, the tool holder 311 or the tool gripper 314 can be moved horizontally, for example, between the magazine wheels 210 and 220 or between each of the magazine wheels and the intermediate storage 330.

[0065] The magazine wheels 210 and 220, for example, have the same wheel diameter and a common or coaxially aligned (horizontal) rotation axis, about which they are preferably rotatable independently of one another. The tool holder 311 or the tool gripper 314 can be moved, in particular, horizontally at the level of the rotation axis of the magazine wheels and parallel to the rotation axis between the magazine wheels 210 and 220 or between each of the magazine wheels and the intermediate storage unit 330.

[0066] The tool holder 311 or the tool gripper 314 is each configured, when positioned in front of the respective magazine wheel, in particular at the level of the rotation axis of the magazine wheels, to remove or insert a tool from the tool holder of the respective magazine wheel, which at that time is pointing forward, is at the level of the rotation axis and is aligned with the horizontal tool axis.

[0067] The tool holder 311 or the tool gripper 314 is also configured, for example, when positioned in front of the intermediate storage 330, in particular at the level of the rotation axis of the magazine wheels, to remove a tool from the tool holder of the intermediate storage 330, which at that time is facing forward, is located at the level of the rotation axis, and is aligned with the horizontal tool axis. This describes an exemplary embodiment of a transfer position of the intermediate storage 330 for the first manipulator 310.

[0068] It should be noted that the intermediate storage 330 is arranged, for example, in such a way that the respective tool holders 210a, 220a and 331 of the magazine wheels 210 and 220 and of the intermediate storage 330, which point forward or towards the first manipulator 310, are located at the level of the rotation axis and are aligned with the horizontal tool axis, are arranged in a common horizontal line running parallel to the rotation axis of the magazine wheels.

[0069] The intermediate storage unit 330 is arranged, attached, and / or secured, for example, to the frame column section 231a of the magazine frame 230 of the tool magazine 200. For example, the intermediate storage unit 330 comprises a rotatable intermediate wheel on which four tool holders 331, 332, 333, and 334 are arranged, for example, circumferentially around the intermediate wheel.

[0070] Here, the four tool holders 331, 332, 333 and 334 are arranged, for example, with respective tool axes or tool holder axes aligned perpendicular to each other at an angular distance of 90° to each other.

[0071] The intermediate wheel of the intermediate storage 330 is, for example, mounted so as to be rotatable about a horizontal axis of rotation, wherein the axis of rotation of the intermediate wheel of the intermediate storage 330 is, for example, aligned parallel to the axis of rotation of the magazine wheels 210 and 220 of the tool magazine 200.

[0072] The intermediate storage 330 is configured, for example, to pivot the tool holder 331 of the intermediate storage 330, which is directed forwards or towards the first manipulator 310, is located at the level of the rotation axis and is aligned with a horizontal tool axis, downwards by 90° and, in particular, to position it with the tool axis of the tool holder 331 of the intermediate storage 330 pointing downwards or vertically aligned.

[0073] However, it is assumed below, by way of example, that four tool holders, each spaced at an angular distance of 90°, is the best embodiment, as this enables the smallest possible diameter of the intermediate wheel in a compact manner, while simultaneously providing intermediate storage capacity for four tools at the same time, while simultaneously providing the best possible freedom of movement for the second manipulator 320 described below or its tool change swivel arm 321, without the risk of collision when swiveling any gripper swivel arms, and without the need for tool holders that can be folded away to the side. In addition, with a swivel orAngle of rotation of the intermediate storage 330 of 90° between the two transfer positions of the first and second manipulators 310 and 320 with an angular distance of 90° between the tool holders on the intermediate storage 330 at both transfer positions at the same time a corresponding tool holder can be positioned so that transfers of tools by the two manipulators 310 and 320 can be carried out efficiently at the same time.

[0074] However, it should be noted that the present invention is not limited to embodiments with four tool holders on the buffer storage unit, spaced 90° apart. Rather, in other embodiments, only one, two, or three tool holders can be provided on the buffer storage unit, possibly also preferably spaced 90° apart.

[0075] Furthermore, five or six or more tool holders can also be provided. In this case, the tool holders can preferably be arranged in pairs at an angular distance that corresponds to the quotient of 360° and the total number of circumferentially arranged tool holders on the intermediate storage device, e.g. 180° for two tool holders, 120° for three tool holders, 90° for four tool holders, 72° for five tool holders, etc. It is particularly expedient if the angular distance between two tool holders or between pairs of adjacent tool holders on the intermediate storage device corresponds to the pivoting or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator, e.g. in the present exemplary embodiment, at a 90° angular distance between two adjacent tool holders.

[0076] Adjacent to the intermediate storage 330, a second manipulator 320 is arranged, for example, which in this exemplary embodiment is attached and / or fastened to the side of the intermediate storage 330. The second manipulator 320 comprises, for example, a tool change pivot arm 321 with respective end-side or opposite outer tool grippers.

[0077] The tool change swivel arm 321 is configured to be pivoted about a pivot axis arranged vertically, for example. A pivot drive 322 is provided for this purpose.

[0078] For a tool change, it is provided that the work spindle 130 is moved to a predetermined tool change position. In this case, it is provided, for example, that the tool change position is arranged adjacent to the intermediate storage 330, in particular such that the work spindle 130 is positioned with the spindle axis pointing downwards and vertically aligned, in particular such that the tool holder of the work spindle 130 is positioned in the tool change position at the same height as the tool axis pointing downwards or vertically aligned at this time (e.g. tool holder 334 in Fig. 1, Fig. 2A and Fig. 2B) positioned tool holder of the intermediate storage 330.

[0079] When the work spindle 130 of the machine tool 100 is positioned at the tool change position or has been moved into this position, the tool change swivel arm 321 is designed to move by a lifting-swivelling movement with a vertical lifting movement and a swivelling movement around the vertical swivel axis (e.g. by 180° in Fig. 1, Fig. 2A and Fig. 2B) to remove the tool held in the lower tool holder 334 of the intermediate storage 330 with one of the grippers of the tool change swivel arm 321 and to insert it on the work spindle 130 (if necessary in conjunction with a further vertical lifting movement to the work spindle 130). This describes an exemplary embodiment of a transfer position of the intermediate storage 330 for the second manipulator 320.

[0080] Conversely, the tool change swivel arm 321 is designed to be moved by a lifting-swivelling movement with a vertical lifting movement and a swivelling movement around the vertical swivel axis (e.g. by 180° in Fig. 1, Fig. 2A and Fig. 2B) to remove the tool held in the work spindle 130 with one of the grippers of the tool change swivel arm 321 and to insert it into the lower tool holder 334 of the intermediate storage unit 330 (if necessary with a further vertical lifting movement to the work spindle 130).

[0081] Due to the design of the tool change swivel arm 321 with two opposing grippers, the above operations can be carried out simultaneously, such that a tool WZ4 held on the lower tool holder 334 of the intermediate storage 330 is exchanged with a tool held on the work spindle 130 in a swivel movement of the tool change swivel arm 321.

[0082] The process of changing tools is explained below using an example. Fig. 3A - 3H show an example of a tool change on the machine tool 100 with the tool changing device 300 according to Fig. 1, Fig. 2A and Fig. 2B.

[0083] In the situation according to Fig. 3A, for example, a tool WZ6 is mounted on the work spindle 130 for the current workpiece machining on the machine tool 100. This tool WZ6 is now to be exchanged, for example, with a tool WZ5 mounted on the first magazine wheel 210 of the tool magazine 200 in a tool holder 210a.

[0084] In Fig. 3A, the corresponding tool holder 210a with the tool WZ5 has already been rotated into the front position at the level of the rotation axis of the magazine wheel 210 (possibly in a previous step of rotating the magazine wheel 210).

[0085] The manipulator carriage 312 with the tool holder 311 has moved to the magazine wheel 210 in such a way that the tool gripper 314 of the first manipulator 310 grips the tool WZ5 (or its tool interface) held in the tool holder 210a; see Fig. 3A.

[0086] In Fig. 3B, the manipulator carriage 312 with the tool holder 311 is moved horizontally and parallel to the rotational axis of the magazine wheel 210 to the intermediate storage 330 of the tool changing device 300. Here, the tool WZ5 was first removed from the now free tool holder 210a of the magazine wheel 210 by means of a horizontal lifting movement and is held in the tool gripper 314 of the first manipulator 310 when the manipulator carriage 312 with the tool holder 311 moves to the magazine wheel 210. By a further lifting movement to the intermediate wheel of the intermediate storage 330, the tool WZ5 can be inserted into the tool holder 331 of the intermediate storage 330, see Fig. 3B.

[0087] Now the intermediate wheel of the intermediate storage 330 is pivoted or rotated by 90°, for example, such that the tool holder 331 with the now received tool WZ5 is aligned with the tool axis vertically downwards; see Fig. 3C. This describes an exemplary embodiment of a rotation of the intermediate storage 330 for pivoting a tool holder of the intermediate storage between the first transfer position of the intermediate storage 330 for the first manipulator 310 into the second transfer position of the intermediate storage 330 for the second manipulator 320. In addition, Fig. 3C the manipulator carriage 312 of the first manipulator 310 is moved back to the magazine wheel 210 merely as an example (optional).

[0088] In this case, it may be advantageous for the tool W5 to be rotated around the tool axis, possibly e.g. by 90°, e.g. by means of a further actuator in the tool holder 331, for improved reception by the tool change swivel arm 321 of the second manipulator 320 at the tool interface holding the tool in the tool holder 331. However, it is also possible for this purpose to place the tools in the tool holders of the magazine wheels in a position rotated around the tool axis compared to the conventional positioning of tool interfaces on the magazine when setting up the magazine.

[0089] In Fig. In 3D, the work spindle 130 with the tool WZ6 to be changed is moved into the tool change position. This can also be done simultaneously with the Fig. 3B and / or Fig. 3C described actions are carried out.

[0090] In Fig. 3E, in the position in which the work spindle 130 is positioned in the tool change position and the tool holder 331 with the tool WZ5 to be changed is aligned on the intermediate storage 330 with the tool axis vertically downwards, the tool change swivel arm 321 of the second manipulator 320 is rotated, for example, by 90° about the vertical swivel axis, such that its opposite grippers respectively grip the tools WZ5 (on the tool holder 331 of the intermediate storage 330) and WZ6 (on the work spindle 130).

[0091] By means of an exemplary lifting and swiveling movement, the tools WZ5 and WZ6 can now be removed simultaneously from the respective tool holder or work spindle by a downward lifting movement and exchanged by a 180° swiveling movement of the tool change swivel arm 321 of the second manipulator 320. After the swiveling movement of the tool change swivel arm 321 of the second manipulator 320, the tool WZ5 is positioned on the work spindle 130 and the tool WZ6 is positioned on the tool holder 331 of the intermediate storage 330, and these can be inserted into the respective tool holder or work spindle by an upward lifting movement of the tool change swivel arm 321 of the second manipulator 320, see Fig. 3F.

[0092] Now the manipulator carriage 312 of the first manipulator 310 can be moved back to the buffer 330 (or alternatively it was Fig. 3B at the intermediate storage 330, possibly parked slightly offset to the right), and the tool holder 331 of the intermediate storage 330 can be rotated back into the horizontal orientation by rotating the intermediate wheel of the intermediate storage 330. Thus, the gripper 314 of the tool holder 311 of the first manipulator 310 can pick up the tool WZ6 held on the tool holder 331; see Fig. 3G.

[0093] By moving the manipulator slide 312 of the first manipulator 310, the tool WZ6 held on the gripper 314 of the tool holder 311 of the first manipulator 310 can be moved to a free magazine location, e.g. to the tool holder 220a of the second magazine wheel 220, as shown by way of example in Fig. 3H shown.

[0094] After the tool change of the tools WZ5 and WZ6 has been completed, the machine tool 100 can then continue machining the workpiece with the tool WZ5 then mounted on the work spindle 130.

[0095] Fig. 4A and Fig. 4B show exemplary perspective views of the tool changing device 300 according to Fig. 2A and Fig. 2B in the system with a tool magazine 200 having a magazine wheel 220. The tool magazine 220 is preferably of modular construction in that it can be expanded with additional magazine wheels, see e.g. Fig. 5A and Fig. 5B.

[0096] The magazine wheel 220 is held, for example, on a magazine frame 232, which is attached to the frame column sections 231a and 231b of the magazine frame 230. The magazine wheel 220 is rotatably mounted, for example, on two rollers 233a and 233b, and the rotation of the magazine wheel 220 can be driven by the drive 234, e.g., in order to position a specific tool holder of the tool holders arranged circumferentially around the magazine wheel 220 (e.g., designed as a tool holder) on the side facing the manipulator 310 at the level of the rotation axis of the magazine wheel 220 for tool removal by or tool transfer from the manipulator 310.

[0097] For example, in Fig. As shown in Figure 4B, the buffer 330 of the tool changing device 300 can be mounted on the column section 231a, optionally with the second manipulator 320 attached thereto. This enables a compact and stable, stationary mounting that is easily adjustable relative to the magazine wheel 220 and can be precisely adjusted.

[0098] Fig. 5A and Fig. 5B show exemplary perspective views of the tool changing device 300 according to Fig. 2A and Fig. 2B in the system with a tool magazine 200 having two magazine wheels 210 and 220, e.g. analog Fig. 1. The tool magazine 200 can be Fig. 4A and Fig. 4B can be easily expanded modularly by arranging an additional magazine wheel 210 on the outside.

[0099] The additional magazine wheel 210 is, for example, held on an additional magazine frame 235, which is attached to the magazine frame 232 and to an optional additional intermediate frame 238 of the magazine frame 230. The magazine wheel 220 is, for example, rotatably mounted on two rollers 236a and 236b, and the rotation of the magazine wheel 210 can be driven by the drive 237, e.g., in order to position a specific tool holder of the tool holders arranged circumferentially around the magazine wheel 210 (e.g., designed as a tool quiver) on the side facing the manipulator 310 at the level of the rotation axis of the magazine wheel 210 for tool removal by or tool transfer from the manipulator 310.

[0100] Fig. 5A shows the tool magazine 200 without tools, i.e. with only free tool holders on the magazine wheels 210 and 220. Fig. Figure 5B shows the tool magazine 200 as an example with tools WZ held or held in the tool holders of the magazine wheels 210 and 220, which are only schematically depicted as cylindrical objects. However, it is clearly visible that all tools WZ are mounted with their tool axes aligned radially to the respective magazine wheel.

[0101] In addition, Fig. 5B that at least one tool holder or magazine location remains free in the inner magazine wheel 220 (ie, facing the machine tool) (see magazine wheel 220 at the level of the manipulator 310). This allows the manipulator 310 to be moved in this position of the magazine wheel 220 according to Fig. 5B can move horizontally through the free space on the magazine wheel 220 to the outer magazine wheel 210 (ie arranged on the side facing away from the machine tool) for tool removal or tool transfer.

[0102] If there are more than two magazine wheels, at least one free space should preferably remain on all inner magazine wheels, with the possible exception of only the outermost magazine wheel, in order to enable the manipulator 310 to move to the outer magazine wheel 210.

[0103] Fig. 6A and Fig. 6B show exemplary perspective views of the buffer and the second manipulator of the tool changing device according to Fig. 2A and Fig. 2B.

[0104] The manipulator 320 is attached, for example, to the intermediate storage 330. The intermediate storage 330 comprises, for example, a fastening section 337 for attachment to the magazine frame 230, e.g., to the frame column section 231a according to Fig. 4B or 5B.

[0105] The intermediate storage 330 comprises, for example, as previously described, four tool holders arranged at an angular distance of 90°, of which the tool holders 331 and 332 and 334 are in Fig. 6A and Fig. 6B. This has the advantage that the tool holders do not have to be designed to be foldable (e.g. as a folding quiver), but can be attached compactly and cost-effectively in a stationary manner to the rotatable intermediate wheel of the intermediate storage 330, and tools can still be easily grasped by the manipulator 320 on the downwardly oriented tool holder 334 or by the manipulator 310 on the forwardly oriented tool holder 331, in particular while easily avoiding any risk of collision when rotating or pivoting any gripping pivot arms.

[0106] The reference numeral 335a denotes an actuator (possibly a pneumatic or hydraulic actuator or also an electromagnetic actuator) for locking or unlocking tools on the forward-facing tool holder 331. The reference numeral 335b (see Fig. 6B) denotes an actuator (possibly a pneumatic or hydraulic actuator or even an electromagnetic actuator) for locking or unlocking tools on the downwardly oriented tool holder 334. The reference numeral 336 denotes a drive for rotating the intermediate wheel or the tool holders of the intermediate storage 330.

[0107] The manipulator 320 comprises the tool change arm 321, which can be pivoted about a vertical pivot axis, with the respective end-side or opposite outer tool grippers 321a and 321b, which can be clamped electromagnetically, hydraulically, or pneumatically. Reference numeral 322 denotes a pivot drive for pivoting the tool change arm 321 about the vertical pivot axis, and reference numeral 323 denotes a drive for a vertical lifting movement of the tool change arm 321.

[0108] Fig. 7A and Fig. 7B show exemplary perspective views of the buffer 330 of the tool changing device 300 according to Fig. 2A and Fig. 2B and also according to Fig. 6A and Fig. 6B according to the previous description. This also shows the intermediate gear housing 338, in which a gear for the rotary movement of the intermediate gear 339 is arranged; see Fig. 7B with example of opened intermediate gear housing 338.

[0109] The intermediate gear housing 338 can be connected to the fastening section 337 in a rotationally and fixed manner via an internal connection. The intermediate gear housing 338 is thus, for example, a non-rotating component on which the rotating intermediate gear 339 can be rotatably mounted. In particular, the intermediate gear 339 can be rotatably mounted at a connection between the fastening section 337 and the intermediate gear housing 338.

[0110] The drive 336 rotates a pinion 338a, which drives a spur gear 338b to rotate the intermediate gear 339 with the tool holders 331 to 334 attached thereto about the horizontal axis of rotation.

[0111] The above embodiments offer several advantages over the tool changing device of EP 2 750 828 B1. Firstly, a compact and cost-effective stationary tool changer (manipulator 320) can be used, which does not have to travel with a tool changer carriage. Secondly, the manipulator 310, which is moved on the carriage 311, can also be designed more compactly and cost-effectively, since it only has to perform a lifting movement but does not require a pivoting mechanism. A simple cylinder actuator can be used here, e.g., instead of controlled axes. Furthermore, the gripper 314 of the manipulator 310, since it does not have to be pivoted, can be designed with a simpler clamping mechanism without active locking. This is also more cost-effective and space-saving.

[0112] Although two manipulators 310 and 320 are used here, the buffer 330 offers the additional advantage of creating additional storage locations (four additional locations in the example), allowing for improved parallel processing. Thus, the next required tools for tool changes can be held at the buffer 330 by the manipulator 320, enabling fast tool changes with very short changeover times. At the same time, simple and efficient setup or reordering at the tool magazine 200 with the manipulator 310 is possible in a time-efficient manner.

[0113] Another advantage is that the tool change can be carried out on a vertical spindle or on a vertically aligned and / or vertically adjustable work spindle.

[0114] Consequently, the compact 5-axis machine concept with swivel rotary table and separate linear axis slide structure (e.g. monoBLOCK design) can be combined with the compact and time-efficient magazine concept with magazine wheels (so-called wheel magazine), while still allowing efficient tool changes with very short changeover times, so that the chip-to-chip time during workpiece machining can be advantageously reduced.

[0115] In addition, the intermediate wheel and the resulting distance between the horizontally aligned tool holder on the intermediate wheel, at which the manipulator 310 removes or transfers tools, and the vertically aligned tool holder on the intermediate wheel, at which the manipulator 320 removes or transfers tools, allow the arrangement of the tool magazine or the associated removal position to be optimally adjusted in terms of height and offset to the arrangement of the tool change position by appropriately selecting the intermediate wheel diameter.

[0116] For example, the magazine wheels can be positioned higher by offsetting the height of the horizontal removal position on the magazine and the tool change position of the work spindle, so that longer tools can be accommodated in the tool magazine (for which there should be enough space on the underside of the magazine wheels).

[0117] By selecting the diameter of the intermediate gear, different tool change position heights can be set for different machines or different machining requirements without having to adjust the mounting of the heavy and oversized magazine gears. This makes design adjustments particularly simple and cost-effective.

[0118] Overall, the manipulators 310 and 320, the travel unit of the manipulator 310 and their substructure can be built more compactly, simply and cost-effectively.

[0119] Another advantage is that the tools held in the buffer are accessible from all sides, unlike those on the magazine wheels (with densely packed tool holders and neighboring magazine wheels that restrict accessibility), so that further functionalities can be added easily, compactly and cost-effectively, e.g. for the integration of additional functions such as tool measurement with cameras, tool diameter measurement or inspection with light barriers, tool breakage control or, if necessary, tool cleaning.

[0120] In summary, the present invention makes it possible to propose an improved tool changing device, in particular with regard to increased application scope on different machine tools or machine tool types, efficient or time-saving tool changing and / or extended functionality.

[0121] Examples and embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying figures. It should be emphasized again that the present invention is in no way limited or restricted to the above-described embodiments and their design features, but rather further encompasses modifications of the embodiments, in particular those encompassed by modifications of the features of the described examples or by combining one or more of the features of the described examples within the scope of the independent claims.

Claims

[1] Tool changing device for use on a machine tool (100) comprising a tool-carrying work spindle (130) and a tool magazine (200) with one or more rotatable magazine wheels (210, 220) with circumferentially arranged tool holders (210a, 210b, 220a, 220b), with: - a first manipulator (310) for removing tools from each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200), - a second manipulator (320) for exchanging a tool mounted on the work spindle (130), and - an intermediate storage device (330) with one or more tool holders (331, 332, 333, 334), wherein the first manipulator (310) is configured to move linearly between each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) and the intermediate storage (330) and to transfer a tool removed from one of the one or more rotatable magazine wheels (210, 220) to the intermediate storage (330), and wherein the second manipulator (320) is configured to transfer a tool received on the work spindle (130) to the intermediate storage (330) by means of a rotary or pivoting movement and to exchange a tool received on the intermediate storage (330) on the work spindle (130) when the work spindle (130) is positioned at a tool change position of the machine tool (100), and wherein the intermediate storage (330) comprises a rotary or pivoting drive (336) such that the one or more tool holders (331, 332, 333, 334) of the intermediate storage (330) are jointly rotatable or pivotable about a rotation axis of the intermediate storage (330), and wherein the rotation axis of the intermediate storage (330) is aligned or alignable parallel to a rotation axis of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200). [2] Tool changing device according to claim 1, characterized by that the first manipulator (310) comprises a gripper section (314) for gripping a tool and a linearly, in particular horizontally, movable manipulator carriage (312). [3] Tool changing device according to claim 2, characterized by , that the first manipulator (310) is configured to remove, with the gripper section (314), a tool received on a tool holder (210a; 220a) of one of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) at a transfer position of the corresponding magazine wheel (210; 220), to move with the movable manipulator carriage (312) to the intermediate storage (330) and to transfer or insert the tool removed at the transfer position of the corresponding magazine wheel (210; 220) to a tool holder (331) of the intermediate storage (330) at a first transfer position of the intermediate storage (330), and / or the first manipulator (310) is configured to remove a tool received on the tool holder (331) of the intermediate storage (330) at the first transfer position of the intermediate storage (330) with the gripper section (314), to move it with the movable manipulator carriage (312) to one of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) and to transfer or insert the tool removed at the transfer position of the intermediate storage (330) to the tool holder (210a; 220a) of the corresponding magazine wheel (210; 220) at the transfer position of the corresponding magazine wheel (210; 220). [4] Tool changing device according to one of the preceding claims, characterized byin that the second manipulator (320) comprises a tool change pivot arm (321) pivotable about a pivot axis, in particular a vertically aligned or vertically alignable pivot axis, with two gripper sections (321a, 321b) arranged at opposite ends of the tool change pivot arm (321) for gripping respective tools. [5] Tool changing device according to claim 4, characterized by , that the second manipulator (320) is configured to remove a tool received on the work spindle (130) at the tool change position of the work spindle (130) with one of the gripper sections (321a, 321b) of the tool change swivel arm (321) and to transfer or insert the tool removed from the work spindle (130) with a pivoting movement of the tool change swivel arm (321) to a tool holder (334) of the intermediate storage (330) at a second transfer position of the intermediate storage (330), and / or the second manipulator (320) is configured to remove a tool from a tool holder (334) of the intermediate storage unit (330) at the second transfer position with one of the gripper sections (321a, 321b) of the tool change pivot arm (321) and to transfer or insert it with a pivoting movement of the tool change pivot arm (321) on the work spindle (130) at the tool change position of the work spindle (130). [6] Tool changing device according to claim 5, characterized by that the rotation axis of the buffer (330) is aligned horizontally. [7] Tool changing device according to claim 6, characterized by in that the intermediate storage device (330) is designed to rotate or pivot each of the one or more tool holders (331, 332, 333, 334) of the intermediate storage device (330) into a transfer position of the first manipulator (310) in order to transfer a tool to and from the first manipulator (310). [8] Tool changing device according to claim 7, characterized by that the tool holder of the intermediate storage (330) positioned in the transfer position of the first manipulator (310) is aligned with the horizontal tool holder axis. [9] Tool changing device according to one of claims 6 to 8, characterized by in that the intermediate storage device (330) is designed to rotate or pivot each of the one or more tool holders (331, 332, 333, 334) of the intermediate storage device (330) into a transfer position of the second manipulator (320) in order to transfer a tool to and from the second manipulator (320). [10] Tool changing device according to claim 9, characterized by that the tool holder of the intermediate storage (330) positioned in the transfer position of the second manipulator (320) is aligned with the vertical tool holder axis. [11] Tool changing device according to claim 7 or 8 and claim 9 or 10, characterized by in that the intermediate storage (330) is configured to rotate or pivot each of the one or more tool holders (331, 332, 333, 334) of the intermediate storage (330) from the transfer position of the first manipulator (310) to the transfer position of the second manipulator (320) and / or to rotate or pivot each of the one or more tool holders (331, 332, 333, 334) of the intermediate storage (330) from the transfer position of the second manipulator (320) to the transfer position of the first manipulator (310). [12] Tool changing device according to one of the preceding claims, characterized by that the intermediate storage (330) has two, three or four tool holders (331, 332, 333, 334), which are each arranged in pairs, in particular at an angular distance of 90°, circumferentially on the intermediate storage (330). [13] Machine tool with: - a tool-carrying work spindle (130), - a tool magazine (200) with one or more rotatable magazine wheels (210, 220) with circumferentially arranged tool holders (210a, 210b, 220a, 220b), and - a tool changing device (300) according to one of the preceding claims.

Images