Tool storage as linear storage

Abstract

Magazine storage (54) for storing a large number of tools (16) for quick access via automated tool changing devices, characterized by the fact the magazine storage (54) contains a plurality of flat, essentially vertically mounted carriers (10) for receiving (18) tools (16), wherein the supports (10) are arranged one behind the other and parallel to each other with a distance from each other which is limited only by the maximum storage depth of the tools (16) stored on a support (10), wherein the supports (10) are mounted in guide devices (12) provided for later movement parallel to their own plane, wherein a motor drive (96) is provided which is electrically connected to a control logic, wherein the control logic controls access to a specific, individually selectable tool (16), and wherein, when a tool (16) is selected, the drive (96) moves laterally out of the series arrangement the carrier (10) in which the selected tool (16) is held.

Description

STATE OF THE ART

[0001] The present invention is in the field of mechanical engineering and relates to a magazine storage device for storing a plurality of tools that are provided for quick access via automated tool changing devices.

[0002] Such a device is known from German patent DE 4 325 774 C2. This patent discloses two so-called rack magazines, each of which can accommodate a plurality of tools in several rows arranged one below the other and parallel to each other. The two rack magazines are also arranged parallel to each other, with the access surfaces for accessing the tools facing each other inside, leaving a space between them in which a robot can be positioned, allowing automated, selective access to all tools. The rack magazine must be located in the immediate vicinity of the machine tool that requires the various tools.

[0003] The above-mentioned rack magazine is suitable for a relatively small number of required tools, approximately between 20 and 50. It is a relatively small, machine-oriented tool storage system and will be referred to simply as a "small system" below. However, if significantly more tools are required, such as 500 for one machine, another 500 for another, and, for example, 1,000 for a third machine, then the above-mentioned rack magazine is too small. Since it is virtually impossible to expand without having to accept long robot paths, this tool storage system is of very limited use.

[0004] For such applications, the state of the art offers the solution of using a central magazine that stores the very large number of tools required - 2000 in the above example - and that is operated by a shuttle system that serves three satellite tool stores, each of which is located close to the machine tools that use it. The satellite stores used here can be the shelf storage systems mentioned above or similar ones. This central magazine with shuttle - hereinafter referred to as the "large system" for simplicity - is a robot-based system that preemptively fills and empties all of the tools required for the production process within a predefined time window for all of the satellite stores involved, so that the required tool is always available close to the machine tool at the right time, with a certain degree of redundancy and reliability.

[0005] German Patent Application DE 39 25 568 A1 discloses a production system for machining medium and large parts. This system also uses a "shuttle system" in the form of a so-called transport trolley that transports a complete rack for tools or tool accessories, movable on rails.

[0006] Such a "large system" and its programming entails high costs during initial setup, but is also error-sensitive. If a defect occurs in the shuttle system, the operation of all the machines it supplies could be interrupted. This is precisely why the "large system" must be carefully programmed and robust. It also requires intensive maintenance. The decision as to when a company should switch from a small system to a large one is also not an easy one to make from a business perspective.

[0007] The object of the invention is therefore to improve the tool storage and tool changing systems mentioned above so that the disadvantages mentioned above can be largely avoided. ADVANTAGES OF THE INVENTION

[0008] The subject matter of the invention with the features of claim 1 solves this problem. The subclaims contain advantageous developments and improvements of the respective subject matter of the invention.

[0009] As can be seen from this, the tools are stored in several flat sliding shelves arranged parallel to one another, each of which has as its essential component a flat support, preferably a sheet metal plate, which serves as a support for strips with the tool holders. These flat, preferably flat supports are preferably rectangular in shape, stand vertically when in use and have guides on the top and bottom by means of which they can be moved parallel to their own plane. These supports are referred to below as "sliding shelves". The strips that hold the tool holders are arranged one below the other in "rows". For example, one strip contains ten holders for ten corresponding tools.A sliding rack, for example, can accommodate more or fewer racks depending on the tool storage height. For example, four racks mounted parallel to and below each other on the flat support can accommodate 40 tools.

[0010] The sliding shelves are arranged as close together and parallel to one another as possible, forming a "back-to-back stack" to achieve the highest possible storage density for the tools. They can be mounted hanging and / or upright in corresponding sliding guides and can be moved by a motor using a suitable drive. The lower sliding guides are attached to a suitable base plate, the upper ones to a fixed cover plate. The base plate and cover plate can preferably be part of a fixed frame that surrounds the back-to-back stack of flat supports. When a sliding shelf is pushed out of the stack, the sliding shelf passes through the outer contour of the stack on one of its sides. The frame must allow this by not having a fixed wall surface there, but preferably two parallel columns that connect the cover plate to the base plate of the frame.

[0011] Preferably, several sliding shelves are arranged parallel to one another and close together in a shelving module of standardized depth, which can be transported as a whole. In this case, the shelving module forms the aforementioned frame. The number of sliding shelves accommodated in a shelving module depends on the storage depth required by the tools. For small tools with a shallow storage depth of approximately 10 cm, for example, eight sliding shelves can be accommodated in a shelving module, while for larger tools with a storage depth of approximately 20 cm, only four sliding shelves can be accommodated. The aforementioned sliding guides are then provided in a cover plate and a base plate of the frame and are thus integrated into the shelving module. A shelving module then contains, for example, receptacles for 40 x 8 = 320 tools.

[0012] Preferably, according to a further aspect of the invention, a shelving module can also be constructed as a so-called double shelving module. Two consecutive arrangements of sliding shelves are arranged to the right and left of an intermediate space, which has approximately the same width as the sliding shelves and is intended for loading and unloading. Such a double shelving module is shown in the Fig. 3A, Fig. 3B and Fig. 4. The sliding guides of the individual shelves are provided in a shared base section and a shared cover section, which are securely connected to each other by two vertically positioned side frame sections. These sections are preferably made of sheet metal and form a completely enclosed structure along the right-left, top-bottom and bottom edges. The two side surfaces of the double shelving module, located in the direction of travel for loading and unloading, remain free, also allowing for the possible connection of additional double shelving modules of the same design.

[0013] Furthermore, several rack modules—for example, six—or the double rack modules described above can be arranged one behind the other and parallel to each other in a "back-to-back" arrangement. If some rack modules contain fewer but larger tools, such a "back-to-back" arrangement of six rack modules can accommodate approximately 1,000 tools, for example. A back-to-back arrangement of double rack modules can accommodate approximately 2,000 tools and store them close to the machine, allowing for fast and efficient automated access. This achieves a storage density for the tools that is currently unique in the state of the art.

[0014] When a specific tool is required, the corresponding sliding rack is selected, pushed sideways out of the stack so that the tool is freely accessible, and picked up by a loading and unloading robot, or more generally by an automated device, referred to here as a "loading and unloading handler." The loading and unloading handler then transports the tool to the machine tool that requested the tool, or to an intermediate handling system or another automated guided vehicle (AGV) that distributes the tools among the machines.

[0015] The loading and unloading handling essentially consists of a rail structure that forms a linear guide axis for movement along the "one behind the other" arrangements of shelving modules - whether next to one such arrangement or between two such arrangements -, furthermore of one or two drives for retracting a sliding shelf, referred to here as "infeed", a robot or a so-called vertical handling device, i.e. an automated device that can move a gripper arm for the tool in vertical and horizontal directions. The rail structure preferably has predefined coupling elements for coupling to corresponding counterparts, which are provided on the inner, lateral surfaces of the shelving modules or, in the case of the aforementioned double shelving modules, on the free end faces. This ensures that the rail structure and the shelving modules are always correctly aligned with one another.This is necessary for the automated retraction of individual sliding shelves.

[0016] The actual movement of a sliding shelf is carried out by an electric motor-driven retraction mechanism, which is fixed, for example, to the bottom of a base of the loading and unloading handling system.

[0017] A practical design for a two-way feed mechanism includes an electric motor-driven drive chain that encircles two gears, which in turn are located on the outside right and left of the base of the loading and unloading system. The drive chain has a respective "driver pin" for the stack to the right and the stack to the left of the gap, which can engage in a suitable receptacle provided for this purpose on the lower edge of each sliding rack when the drive pin is being moved out of the deflection on the laterally arranged gear. The further movement of the chain then causes the pin - engaged with the sliding rack - to pull the sliding rack out of the stack and into the free gap, so that the gripper arm on the loading and unloading system can access the desired tool.The two gear wheels attached to the side of the loading and unloading handling system can be arranged with their axes perpendicular to the shelf levels, or alternatively with vertically aligned axes.

[0018] This retraction mechanism can preferably be arranged on both sides of the loading and unloading system, i.e., at the front and rear in the travel direction. This shortens the length of the entire system because the loading and unloading system does not have to move out of the space between the stacks to reach the outer sliding racks.

[0019] Those skilled in the art will recognize that this sliding rack arrangement according to the invention can achieve a very high tool density, allowing large numbers of tools to be placed close to the machines intended for use and made automatically accessible. This eliminates the need for a "large system" with a central magazine and shuttle service, as described above.

[0020] The tool magazine according to the invention can also be expanded as needed, or dismantled again when demand is lower, simply by adding or removing shelf modules. This does not change the basic storage structure for the tools or the basic access control through loading and unloading. It is therefore easily adaptable to the respective operational needs.

[0021] The distribution of tools among the respective sliding racks can be designed very flexibly based on diameter or length and the resulting storage depth. For example, tools with a large storage depth can preferably be arranged on a common sliding rack to keep the total distance between the sliding racks of a module as small as possible and thus achieve a high tool density. Different tool holder types and sizes can also be attached to the bars that support the tool holders. This makes the tool storage system according to the invention very flexible in use. DRAWINGS

[0022] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. Fig. 1 A shows a sliding shelf according to the invention with roller suspension individually in perspective from diagonally above, Fig. 1B in a frontal view and Fig. 1 C in a lateral view. Fig. 2A and Fig. 2B show configuration examples with different tool formats Fig. 3A and B show double shelf modules with partially extended sliding shelf 10 ( Fig. 3A) and retracted shelf ( Fig. 3B). Fig. Figure 4 shows an exposed top view of a double shelf module, with a sliding shelf of the left stack being shown pushed freely into the free space between the stacks for access by the loading and unloading handling. Fig. 5 shows a schematic frontal view of a handling system with a robot in front of an extended sliding shelf in a magazine formed from double shelf modules. Fig. 6 shows a perspective view obliquely from above of a linear tool storage according to the invention with ten double shelf modules arranged one behind the other, each containing several sliding shelves, as well as a robot located at the beginning of the intermediate space for accessing the stored tools. Fig. 7A shows a longitudinal rail adapted according to the invention for moving a handling device movable thereon, which in turn carries a vertically movable handling unit, Fig. 7B shows a variation with a robot as a vertically movable handling unit. Fig. 8 shows a chain drive on the handling unit for moving a sliding shelf as well as the engagement points of the sliding shelves schematically in perspective from above. Fig. 9A and Fig. 9B show schematically and simplified details of the chain drive used according to the invention in an oblique plan view from the front. Fig. 10 shows a manual loading unit for atypical access by the robot to tools that are not stored in one of the sliding racks. DESCRIPTION OF THE EMBODIMENTS

[0023] In the figures, the same reference symbols denote the same or functionally identical components.

[0024] Fig. 1 A shows a sliding shelf 10 according to the invention with roller suspension 12 individually in perspective from diagonally above, Fig. 1B in a frontal view and Fig. 1 C in a lateral view.

[0025] A rectangular plate 14 made of 6.0 mm thick powder-coated sheet metal forms the support for tools 16, which are to be stored in the rack and kept ready for use. The tools 16 are located in suitable tool holders 18, which in turn are attached to the sheet metal plate in the form of support strips 20, parallel to one another and horizontally. The strips 20 are preferably attached by screwing.

[0026] Fig. 2A and Fig. 2B shows two exemplary configurations with different tool formats. The sliding shelf in Fig. 2A contains seven parallel support rails 20 for tools 16, which are relatively short and have a relatively large diameter. The sliding shelf in Fig. 2B contains four parallel arranged receiving bars 20 for tools 16, which are longer and have a smaller diameter than the Fig. 2A. Since the tool bars are preferably detachably connected to the sheet metal plate, the sliding shelves can be equipped with tool bars and tools in a very flexible manner.

[0027] Fig. 3A and B show, according to the invention, a double shelf module 30 with partially extended sliding shelf 10A ( Fig. 3A) and retracted sliding shelf 10 ( Fig. 3B).

[0028] Two consecutive arrangements of sliding shelves 10 are arranged to the right and left of an intermediate space 32, which has approximately the same width as the sliding shelves 10 and is intended for loading and unloading. The sliding guides of the individual sliding shelves are provided in a cover part 34, which is used jointly for all the sliding shelves located therein and is stably connected to one another by two vertically standing lateral frame parts 36. The frame parts 36 are connected to a base part 38, which thereby forms a common base surface. Preferably, the aforementioned parts 34, 36, 38 are made of powder-coated sheet metal with a thickness of approximately 8.0 mm and form a construction that is closed all the way around on the right-left-top-bottom. The two side surfaces of the double shelf module lying in the direction of travel for loading and unloading remain free, also for the possible coupling of further double shelf modules of the same design.

[0029] The sliding shelves are fixed at their upper edge in their position relative to the direction of movement of the handling equipment and suspended from the cover section 34. In this example, this is done by means of a roller suspension consisting of double rollers. The rollers run on support rails that are screwed into the cover section 34. In this example, the support rails are sturdy C-profile sheets that are open at the bottom and have grooves on the C-legs that correspond to the width of the rollers. The support rails can be configured in various positions depending on the required storage depth of the tools and can be screwed into the most suitable location. The corresponding hole pattern in the cover section 34 specifies these different positions.

[0030] The sliding shelves are freely suspended and are mounted on guides 39 at their respective lower edges (details in Fig. 8) is fixed against unwanted swinging back and forth in the direction of travel of the handling, and via a spring-loaded locking element (not shown) which engages upwards from the base part 38 into a recess on the lower edge of each sliding shelf (not shown) and leaves the locking position against the spring pressure when the sliding shelf is extended as desired, and is secured against unwanted rolling out into the intermediate space 32 which must be kept free.

[0031] Fig. Figure 4 shows a top view of a double shelving module 30, with a sliding shelf 10 of the left stack 40 shown in the free space 32 between the stacks, freely accessible for loading and unloading. The drive for moving the shelves 10 is explained below. Fig. 4 it is clearly visible that the sliding shelves 10 are arranged close together in order to minimize unnecessary space requirements of the linear storage magazine.

[0032] Fig. Figure 5 shows a schematic front view of a handling device 50 with a robot 52 in front of an extended sliding shelf 10A in a tool magazine formed from double shelf modules 30. The handling device 50 is movable on a guide structure 70 in the longitudinal direction through the intermediate space 32, details of which will be explained with reference to Fig. 7. The guide structure 70 is in turn attached to the base parts 38 of each module 30, allowing the handling device 52 to move precisely within the space 32 without touching the sliding shelves. Sheet metal plates 56 are provided on the right and left sides of the front of the magazine to provide even greater stability to the magazine as a whole and, for occupational safety reasons, to prevent injuries associated with robot access.

[0033] Fig. Figure 6 shows, in a perspective view obliquely from above, a linear tool storage unit 54 (here also referred to as a tool magazine or magazine) according to the invention with ten consecutively arranged double rack modules 30, each containing several sliding racks 10, as well as a partial view of a robot 52 located at the beginning of the intermediate space, including a handling unit 50 for accessing the stored tools. A sliding rack 10A is shown in a solid line and, in its place, occupies the entire width of the intermediate space 32. Each sliding rack 10 is loaded from the front via a revolving door during machining.

[0034] With common reference to the Fig. 5 and Fig. 6, the double shelving modules 30 rest seamlessly against one another with their end faces. They are screwed together at several points to form a stable unit. The base parts 38 of the double shelving modules 30 are preferably provided with adjustable feet (not shown) on which they can be securely and wobble-freely fixed to the floor. Since the double shelving modules 30 preferably all have the same outline and holes in the same places, they can be easily coupled together. The handling unit 50 can be moved along the entire path in the space 32 through the magazine.

[0035] Fig. 7A shows, in a perspective view obliquely from above, a guide structure 70 adapted according to the invention for moving a handling device 50 which can be moved thereon and which in turn carries a vertically movable handling unit 72. Fig. 7B shows a variation with a robot 52 as a vertically movable handling unit.

[0036] The guide structure 70 contains several base plates 74 connected at their ends, which are screwed to the base plate of the frame of each storage module. Guide rails 81 and a rack 83 for the drive are screwed to the base plates 74.

[0037] The handling unit 52 or 72 is provided with axes at the front, center, and rear in the direction of movement, on which gears are mounted on the outside. The gears each engage with matching toothed rails 81, which in turn are firmly connected to the guide structure 70. One of the at least three axes is driven by a suitable servo motor. The servo motor is connected via a control connection to a controller in which the control of the movement of the handling unit is programmed. The controller controls the axes of the handling system and has an interface to the logic that manages the positions of the individual sliding shelves. The handling unit 52 or 72 can thus be positioned with millimeter precision. This enables precise pre-positioning of the handling unit 52 or 72 for the targeted gripping of a specific one of the sliding shelves 10.

[0038] Along the left side of each base plate 74 runs an edge plate 82 in the form of a U-profile, in which the energy chain commonly used in linearly movable handling systems is mounted.

[0039] Fig. Figure 8 shows a chain drive 96 on the handling unit for moving a sliding shelf 10, as well as the engagement points of the sliding shelves, schematically viewed from above. The chain drive is arranged below the sliding shelves 10 and is pre-positioned via the linear axis defined by the guide structure 70.

[0040] Fig. 9A and Fig. 9B show schematically and simplified details of the chain drive 96 used according to the invention in an oblique plan view from the front, Fig. 9A at the moment of threading the driving pin 92 into the groove 94 of the sliding shelf 10 shown at the front, Fig. 9B a short time later, when the sliding shelf 10 has been pulled out by about a quarter of its path.

[0041] With common reference to the Fig. 8, Fig. 9A and Fig. 9B, the sliding shelves 10 are pulled out or pushed in by a chain drive 96. For this purpose, a simplified chain 86 is clamped between two deflection gears 90, also shown in simplified form, fixed to the edge of a base plate 88 of the handling system 50. The chain links can thus move along a linear path between the gears 90 and along a semicircular path when passing over their deflection.

[0042] Although the present invention has been described above using a preferred embodiment, it is not limited thereto but can be modified in many ways.

[0043] Finally, the features of the subclaims may be combined essentially freely with each other and not by the order in the claims, provided that they are independent of each other.

Claims

[1] Magazine storage (54) for storing a plurality of tools (16) for quick access via automated tool changing devices, characterized by the fact that the magazine storage (54) contains a plurality of flat, substantially vertically mounted supports (10) for receiving (18) tools (16), wherein the supports (10) are arranged one behind the other and parallel to each other at a distance from each other which is only limited by the maximum storage depth of the tools (16) stored on a support (10), wherein the supports (10) are mounted so as to be laterally movable parallel to their own plane in guide devices (12) provided for this purpose, wherein a motor drive (96) is provided which is electrically connected to a control logic, wherein the control logic controls access to a specific, individually selectable tool (16), and wherein upon selection of a tool (16), the drive (96) moves the carrier (10) in which the selected tool (16) is received laterally out of the series arrangement. [2] Magazine storage (54) according to claim 1, wherein a handling device (50, 52, 72) on a base plate (88) is provided laterally next to the successive arrangement of the supports (10), which is movable along the successive arrangement on the base plate (88), wherein the handling device (50, 52, 72) has the motor drive (96) for moving a carrier (10), and wherein a coupling element (92) is provided on the drive for holding access to a carrier (10), and wherein a coupling counterpart (94) matching the coupling element (92) is provided on each of the supports (10). [3] Magazine storage (54) according to one of the preceding claims, wherein the drive (96) contains a chain (86) or a belt with a driver element (92) as a coupling element, and the carriers (10) have a suitably arranged engagement point with a coupling counterpart (94). [4] Magazine storage (54) according to one of the preceding claims, wherein two consecutive arrangements of carriers (10) are provided parallel to one another, which form an intermediate space (32) between them, in which a handling device (50, 52, 72) can be moved. [5] Magazine storage (54) according to the preceding claim, wherein a common cover part (34) is provided for both consecutive arrangements of supports (10), which carries the guide devices (12). [6] Magazine storage (54) according to the preceding claim, wherein the guide devices (12) contain support rails and rollers movable therein. [7] Magazine storage (54) according to the preceding claim 4, wherein a common drive mechanism (96) is provided for both consecutive arrangements of carriers (10). [8] Magazine storage (54) according to claim 2, wherein the handling device (50, 52, 72) has a respective motor drive (96) for moving a carrier (10) at both end sections located in the direction of travel.

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