Tool stockers and machine tools having tool stockers

Abstract

This tool stocker is designed for use in machine tools equipped with a tool magazine containing multiple tool pots, and provides a space-saving design that allows for the exchange of numerous tools between the tool magazine and the tool stocker. [Solution] The tool stocker 30, which is arranged in a machine tool 10 having a machine pot 23 on which a tool 1 can be attached and detached, is arranged in a vertical plane 3 adjacent to the machine tool 10 and includes a plurality of fixed grippers 33 for gripping the tool 1, an intermediate pot 57 that can move in the vertical direction Y, left-right direction X and front-back direction Z when viewed toward the vertical plane 3 and exchanges the tool 1 with the fixed grippers 33, a gripper base 65 arranged between the machine pot 23 and the vertical plane 3 and rotating between a first angle 93 and a second angle 94, a forward-reverse slider 71 arranged to move back and forth on the gripper base 65, and an intermediate gripper 73 arranged on the forward-reverse slider 71 that exchanges the tool 1 with the intermediate pot 57 at an intermediate exchange position 85 and exchanges the tool 1 with the machine pot 23 at an exchange position 81.

Description

[[Technical Field]]

[0001] The present invention relates to a tool stocker disposed in a machine tool and a machine tool including the tool stocker. [[Background Art]]

[0002] A machine tool including a tool magazine having a plurality of vertically arranged tool pots is known (for example, Japanese Patent No. 7016928). A supply and discharge device for attaching and detaching tools to and from a tool magazine is also known (Japanese Utility Model Laid-Open Publication No. 5838 of 1994). [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0003] An object of the present invention is to provide a tool stocker which is disposed in a machine tool having a tool magazine with a plurality of tool pots, is space-saving, and allows a large number of tools to be exchanged with the tool magazine. [[Means for Solving the Problem]]

[0004] A first aspect of the present invention provides: a tool stocker disposed in a machine tool including a machine pot to / from which a tool can be attached / detached, the tool stocker comprising: a plurality of fixed grippers arranged in a vertical plane adjacent to the machine tool, the plurality of fixed grippers gripping the tool; an intermediate pot that is movable in the up-down direction, the left-right direction, and the front-back direction when viewed toward the vertical plane, and exchanges the tool with the fixed grippers; a gripper base disposed between the machine pot and the vertical plane, the gripper base rotating between a first angle and a second angle; an advancing / retracting slider disposed on the gripper base so as to be capable of advancing and retracting; an intermediate gripper disposed on the advancing / retracting slider, the intermediate gripper exchanging the tool with the intermediate pot located at an intermediate exchange position, and exchanging the tool with the machine pot located at an exchange position; which is the tool stocker.

[0005] A second aspect of the present invention is, The machine frame and A machine pot with detachable tools, A tool stocker arranged in the aforementioned machine tool, A plurality of fixed grippers arranged in a vertical plane adjacent to the machine tool, comprising a plurality of fixed grippers for gripping the tool, When viewed from the aforementioned vertical plane, the intermediate pot can move in the vertical, left-right, and front-back directions, and exchanges the tool with the fixed gripper, A gripper base positioned on the machine frame, the gripper base positioned between the machine pot and the vertical plane, and rotating between a first angle and a second angle, A reciprocating slider is positioned on the gripper base so as to be able to move back and forth, An intermediate gripper positioned on the forward / backward slider, which exchanges the tool with the intermediate pot in the intermediate exchange position and the tool with the machine pot in the replacement position, A tool stocker having, It is a machine tool that has [a certain feature].

[0006] Machine tools include, for example, machining centers, hobbing machines, and boring machines. Machine tools may be vertical machine tools. Machine tools may have an automatic tool changer. The automatic tool changer has a magazine. The magazine has multiple machine pots. The magazine is rotary or chain-operated. The magazine may have a tool change position and a replacement position. The automatic tool changer may change tools between a machine pot in the tool change position and the spindle. An intermediate gripper may change tools between a machine pot in the replacement position and the spindle. The automatic tool changer may have a lifter. The lifter may be positioned in the replacement position. The lifter raises and lowers the machine pot in the replacement position.

[0007] Preferably, in the left-right direction, the position of the gripper base (the position of the rotation center) is at the same position as the central axis of the intermediate pot at the intermediate replacement position. Preferably, the intermediate replacement position is the position of the intermediate pot when the X frame is in the Y movement position, the intermediate pot is at the height of the machine pot, and the intermediate pot is at its retracted end.

[0008] The tool is a rotary tool. The tool may have a tool holder and a cutting tool. The tool holder may have a tapered shank. The tool holder may have a grooved flange.

[0009] Fixed grippers and intermediate grippers may hold a grooved flange by clamping it. Fixed grippers and intermediate grippers have a clothespin-like structure. Fixed grippers and intermediate grippers may have a pair of claws. The pair of claws has a gripping portion and is arranged to swing. The gripping portion is biased toward the tool. Fixed grippers and intermediate grippers grip the tool with the pair of claws. Fixed grippers may be positioned except near the X frame at the Y movement position. Fixed grippers and intermediate grippers may grip the tool with the cutting tool facing downward. In this case, the axis of rotation of the tool extends along the vertical direction. Intermediate pots may hold the tool with the cutting tool facing downward. The intermediate gripper may have a first tool confirmation sensor. The first tool confirmation sensor can detect whether or not the intermediate gripper is gripping a tool. The intermediate pot may have a second tool confirmation sensor. The second tool confirmation sensor can detect whether the intermediate pot is holding a tool.

[0010] The tool stocker may be positioned adjacent to the side of the machine tool. The tool stocker may be connected to the machine tool. The tool stocker may have a stocker frame. The frame may have columns and shelves. The frame may have a safety cover. The safety cover may have a transport opening. The transport opening is located at the Y-movement position. The intermediate gripper can exchange tools with the intermediate pot through the transport opening. The stocker frame may be connected to the machine tool. The stocker frame may be connected to the machine frame of the machine tool. Shelves may be positioned on the columns. Fixed grippers and X-guides may be positioned on the frame. Fixed grippers may be positioned on the shelves. X-guides may be positioned on the columns. At the Y-movement position, the fixed grippers may be omitted. The Y-movement position may face the gripper base. In the left-right direction, the Y-movement position is the same as the position of the gripper base (position of the rotation center). The tool stocker may have a rotary table. The gripper base may be placed on the rotary table. The rotary table rotates the gripper base. The rotary table may be placed on the machine frame. The rotary table may be placed on the stocker frame.

[0011] The tool stocker may have an X-rack extending in the left-right direction. The tool stocker may have an X-motor positioned on an X-frame and an X-pinion connected to the X-motor and meshing with the X-rack.

[0012] The tool stocker may have a Y rack positioned on an X frame and extending vertically. The tool stocker may also have a Y motor positioned on the Y frame and a Y pinion connected to the Y motor and meshing with the Y rack. [Effects of the Invention]

[0013] According to the tool stocker of the present invention, it is installed in a machine tool having a tool magazine with multiple tool pots, and allows for the exchange of a large number of tools between the tool magazine and the tool stocker in a space-saving manner. [Brief explanation of the drawing]

[0014] [Figure 1] Perspective view of the machine tool and tool stocker according to the embodiment [Figure 2] View in the direction of arrow II in FIG. 1 [Figure 3] View in the direction of arrow III in FIG. 2 [Figure 4] Perspective view showing the X-frame and the vicinity thereof according to the embodiment [Figure 5] Perspective view showing the intermediate gripper and tool magazine according to the embodiment [Figure 6] Perspective view showing the usage state of the tool stocker according to the embodiment MODE FOR CARRYING OUT THE INVENTION

[0015] As shown in FIG. 1, the tool stocker 30 of the embodiment is disposed adjacent to the side surface 10b of a machining center (machine tool) 10. Hereinafter, the tool stocker 30 and the machining center 10 will be described as viewed toward the side surface 10b of the machining center 10. The left-right direction (downward in FIG. 1) is referred to as the X direction. The vertical direction (obliquely upper right in FIG. 1) is referred to as the Y direction. The front-rear direction (obliquely lower right in FIG. 1) is referred to as the Z direction.

[0016] As shown in FIGS. 1 and 2, the machining center 10 includes a frame (machine frame) 11, a splash guard 12, a column 13, a spindle head 15, a spindle 16, a table 17, and an ATC (automatic tool changer) 20. The splash guard 12 has a carry-in port 12a and a first transfer port 12b (see FIG. 2). The splash guard 12 covers the entire machining center 10. The carry-in port 12a is disposed on the front face 10a. The first transfer port 12b is disposed on the side surface 10b. The column 13 is fixed to the frame 11. The spindle head 15 is disposed on the column 13. The spindle head 15 moves in the front-rear direction (Z direction) and the vertical direction (Y direction). The spindle 16 is rotatably disposed on the spindle head 15. The table 17 moves in the left-right direction (X direction).

[0017] As shown in Figures 5 and 6, tool 1 has a tapered shank 1a and a cutting tool 1b. The tapered shank 1a has a grooved flange 1c. Tool 1 is stored in an ATC 20 or a tool stocker 30.

[0018] The ATC20 has a magazine 21 and a lifter 27. The magazine 21 has a machine pot 23. The machine pot 23 has a tapered hole 23a and a knob 25. The knob 25 is located on the upper surface of the machine pot 23. The tapered hole 23a is in close contact with the tapered shank 1a. The tool 1 is detachable from the machine pot 23. The machine pot 23 can be raised and lowered relative to the magazine 21. The ATC20 changes the tool 1 between the machine pot 23 and the spindle 16 at the tool change position 84 (see Figure 2).

[0019] The lifter 27 is positioned at the replacement position 81. The lifter 27 has a lifting cylinder 27a and a claw portion 27b. The lifting cylinder 27a moves the claw portion 27b back and forth between the upper end 83 and the lower end 82. When the claw portion 27b is at the lower end 82, the magazine 21 can rotate. At this time, the knob 25 passes over the claw portion 27b. When the mechanical pot 23 is at the replacement position 81, the claw portion 27b can rise. At this time, the claw portion 27b grips the knob 25, and the mechanical pot 23 rises.

[0020] As shown in Figures 1 to 3, the tool stocker 30 includes a frame (stocker frame) 31, a safety cover 32, a plurality of fixed grippers 33, a pair of X guides 35, an X rack 37, an X frame 39, an X motor 41, an X pinion 42, a pair of Y guides 43, a Y rack 45, a Y frame 47, a Y motor 49, a Y pinion 50, a pair of Z guides 53, a pot bracket 55, an intermediate pot 57, a pot cylinder 59, a pot lever 61, and an intermediate transfer machine 62.

[0021] The length 30c of the tool stocker 30 is approximately the same as the length 10c of the machining center 10. For example, the right end of the tool stocker 30 is located at the same position as the right end of the machining center 10. The width 30d of the tool stocker 30 is significantly narrower than the width 10d of the machining center 10. For example, the width 30d is 10% to 25% of the width 10d. The tool stocker 30 has the same height as the machining center 10. The portion of the tool stocker 30 facing the intermediate transfer machine 62 is defined as the Y-movement position 91.

[0022] The frame 31 has a base 31a, a support column 31b, and multiple shelves 31c. The support column 31b is erected on the base 31a. The shelves 31c are supported by the support column 31b. The shelves 31c have a width of about 25% of the width 30d. The shelves 31c are positioned towards the front of the tool stocker 30. The multiple shelves 31c are arranged almost equally in the Y direction. Note that at the Y movement position 91, the shelves 31c may be omitted. Also, at the Y movement position 91, the rear portion of the shelf 31c may be cut out as a notch 31d.

[0023] The safety cover 32 is fixed to the support column 31b. The safety cover 32 is box-shaped. The safety cover 32 covers the entire surface of the tool stocker 30. Together with the splash guard 12, the safety cover 32 covers the tool stocker 30 and the drive unit of the machining center 10. The safety cover 32 has a second transport opening 32a. The second transport opening 32a is positioned facing the first transport opening 12b. The safety cover 32 may also cover the space between the first transport opening 12b and the second transport opening 32a.

[0024] The fixed grippers 33 are fixed to the shelf 31c. Multiple fixed grippers 33 are evenly spaced in the left-right direction. However, no fixed grippers 33 are present at the Y movement position 91. The fixed grippers 33 grip the grooved flange 1c. The fixed grippers 33 hold the tool 1 such that the cutting tool 1b faces downward in the vertical direction. Multiple fixed grippers 33 are arranged in the vertical direction (Y) and left-right direction (X) toward the side surface 10b. The tools 1 held by the fixed grippers 33 are arranged on the vertical plane 3. The vertical plane 3 extends along the side surface 10b in the vertical direction (Y) and left-right direction (X). The vertical plane 3 is located near the front of the tool stocker 30.

[0025] The X-guide 35 is fixed to the support column 31b. The X-guide 35 extends along the X direction. The pair of X-guides 35 are positioned at the upper and lower ends of the tool stocker 30. The X-rack 37 is fixed to the support column 31b. The X-rack 37 extends along the X direction. In the vertical direction, the X-rack 37 is positioned in the center between the pair of X-guides 35. The X-guide 35 and X-rack 37 extend to the left and right ends of the tool stocker 30. The X-guide 35 and X-rack 37 are positioned at the rear end of the tool stocker 30.

[0026] As shown in Figure 4, the X-frame 39 is plate-shaped and extends in the Y direction. The X-frame 39 is positioned in front of the X-guide 35. Guided by the X-guide 35, the X-frame 39 reciprocates in the X direction. The X-frame 39 has an exchange window 39a. The exchange window 39a is located in the center of the X-frame 39 and extends over most of the X-frame 39. The X-motor 41 is located in the center of the exchange window 39a. The X-pinion 42 is connected to the X-motor 41 and rotated by the X-motor 41. The X-pinion 42 meshes with the X-rack 37.

[0027] The Y-guide 43 extends in the Y direction. The Y-guide 43 is positioned in front of the left and right ends of the X-frame 39. The Y-rack 45 extends in the Y direction. The Y-rack 45 is positioned at the right end of the X-frame 39. The Y-guide 43 and Y-rack 45 extend to the upper and lower ends of the X-frame 39.

[0028] The Y-frame 47 is box-shaped with openings to the front and bottom. The Y-frame 47 is positioned in front of the Y-guide 43. Guided by the Y-guide 43, the Y-frame 47 reciprocates in the Y-direction. The Y-motor 49 is positioned at the right end of the Y-frame 47. The Y-pinion 50 is connected to the Y-motor 49 and rotated by the Y-motor 49. The Y-pinion 50 meshes with the Y-rack 45. The Z guide 53 extends in the Z direction. The Z guide 53 is positioned on the Y frame 47. The pot bracket 55 is U-shaped and is positioned on the Z guide 53. The pot bracket 55 has a cam follower 55a. The cam follower 55a rotates about the Y direction. The pot bracket 55 supports the intermediate pot 57.

[0029] The intermediate pot 57 has a tapered hole 57a (see Figure 5), a laser-passing hole 57b, and a second tool confirmation sensor 58. The intermediate pot 57 holds the tool 1. The tapered hole 57a is in close contact with the tapered shank 1a. The laser-passing hole 57b penetrates the intermediate pot 57 in the Z direction. The second tool confirmation sensor 58 is a through-type laser sensor. The second tool confirmation sensor 58 has a light emitter and a light receiver. The light emitter emits a laser beam through the laser passage hole 57b to the light receiver. When the tool 1 is mounted on the intermediate pot 57, the laser is blocked. As a result, the second tool confirmation sensor 58 detects that the tool 1 has been mounted. The Y-frame 47 can move in the Y direction only in the vicinity of the Y-movement position 91.

[0030] The pot cylinder 59 is positioned on the upper surface of the Y frame 47. The pot lever 61 is connected to the pot cylinder 59. The pot cylinder 59 rotates the pot lever 61 about the lever rotation axis 59a. The pot lever 61 reciprocates between a third angle 89 and a fourth angle 90. The pot lever 61 has a long groove 61a. The long groove 61a may be an elongated hole that penetrates the pot lever 61. The long groove 61a extends radially with respect to the lever rotation axis 59a. The cam follower 55a rolls within the long groove 61a. When the pot cylinder 59 rotates the pot lever 61 to a third angle 89, the pot bracket 55 is guided by the Z guide 53 and moves to the forward end 86. At this time, the intermediate pot 57 is located in the vertical plane 3. When the pot cylinder 59 rotates the pot lever 61 to a fourth angle 90, the pot bracket 55 moves to the retracted end 87.

[0031] In Figures 2 and 3, the X-frame 39 is at the Y-movement position 91, the intermediate pot 57 is at the height of the machine pot 23, and the intermediate pot 57 is at the retracted end 87. The position of the intermediate pot 57 at this time is defined as the intermediate replacement position 85.

[0032] As shown in Figures 2, 5, and 6, the intermediate transfer machine 62 includes a rotary table 63, a gripper base 65, a pair of forward and backward guides 67, a forward and backward slider 71, a first tool confirmation sensor 74, an intermediate gripper 73, a forward and backward cylinder 69, and a connecting plate 72.

[0033] The rotary table 63 is fixed to the frame 31. The rotary table 63 is located behind the frame 31. The rotary table 63 is positioned between the vertical plane 3 and the magazine 21. The rotary table 63 has a top plate 63b. The rotary table 63 rotates the top plate 63b around the table rotation axis 63a. The table rotation axis 63a extends in the vertical direction. In the X direction, the table rotation axis 63a is in the same position as the central axis of the intermediate pot 57 at the intermediate exchange position 85. The gripper base 65 is positioned on the top plate 63b. The gripper base 65 is rectangular in shape. The rotary table 63 rotates the gripper base 65 between a first angle 93 and a second angle 94. The rotary table 63 may also be fixed to the frame 11.

[0034] The forward / backward guide 67 is positioned on the upper surface of the gripper base 65. The forward / backward slider 71 is positioned on the upper surface of the forward / backward guide 67. The forward / backward slider 71 moves forward and backward in a direction perpendicular to the table rotation axis 63a, guided by the forward / backward guide 67.

[0035] As shown in Figure 5, the intermediate gripper 73 is positioned at the tip of the reciprocating slider 71. The intermediate gripper 73 is substantially identical to the fixed gripper 33, except that the intermediate gripper 73 has a laser passage hole 73a. The laser passage hole 73a penetrates the intermediate gripper 73. The first tool confirmation sensor 74 is positioned on the forward / backward slider 71. The first tool confirmation sensor 74 is a through-type laser sensor. The first tool confirmation sensor 74 emits a laser from the emitter to the receiver through the laser passage hole 73a. When the intermediate gripper 73 grips the tool 1, the laser is blocked. As a result, the first tool confirmation sensor 74 detects the tool 1.

[0036] The reciprocating cylinder 69 is positioned on the upper surface of the gripper base 65. The rod (not shown) of the reciprocating cylinder 69 is connected to the reciprocating slider 71 by a connecting plate 72. As the reciprocating cylinder 69 extends and retracts, the reciprocating slider 71 moves back and forth between the forward end 96 and the retracted end 95.

[0037] As shown in Figures 2 and 5, the gripper base 65 rotates when the retraction slider 71 is at its retracted end 95. The retraction slider 71 can move forward and backward when the X-frame 39 is at the Y-movement position 91 and the gripper base 65 is at the first angle 93. At this time, the retraction slider 71 and the intermediate gripper 73 pass through the first transport opening 12b, the second transport opening 32a, and the exchange window 39a. When the retraction slider 71 is at its forward end 96, the intermediate gripper 73 exchanges the intermediate pot 57, which is at the intermediate exchange position 85, with the tool 1. As shown in Figures 2 and 6, the forward / backward slider 71 can move forward and backward when the gripper base 65 is at the second angle 94. When the forward / backward slider 71 is at the forward end 96, the intermediate gripper 73 exchanges the machine pot 23 and the tool 1, which are at the swapping position 81.

[0038] Next, we will explain how to transfer tool 1 from tool stocker 30 to magazine 21. As shown in Figures 2 and 3, the tool stocker 30 drives the X-frame 39 and Y-frame 47. This moves the empty intermediate pot 57 above the tool 1 which is gripped by the fixed gripper 33. Next, the pot cylinder 59 advances the intermediate pot 57 to its forward end 86. Then, the Y-frame 47 is lowered to mount the tool 1 onto the intermediate pot 57. Next, the pot cylinder 59 advances the intermediate pot 57 to its retracted end 87. As a result, the tool 1 is released from the fixed gripper 33 and held in the intermediate pot 57.

[0039] Next, the X-frame 39 moves to the Y-movement position 91. Then, the tool stocker 30 lowers the Y-frame 47, moving the intermediate pot 57 to the intermediate replacement position 85.

[0040] Next, as shown in Figure 5, the reciprocating cylinder 69 moves the reciprocating slider 71 to the retracted end 95. Then, the rotary table 63 positions the gripper base 65 at the first angle 93. Next, the reciprocating cylinder 69 moves the reciprocating slider 71 to the forward end 96. The intermediate gripper 73 then grips the tool 1 held by the intermediate pot 57 at the intermediate exchange position 85. Next, the tool stocker 30 raises the Y-frame 47 to release the tool 1 from the intermediate pot 57. This transfers the tool 1 from the intermediate pot 57 to the intermediate gripper 73.

[0041] Next, the forward / backward slider 71 moves to its retracted end 95. Then, the rotary table 63 positions the gripper base 65 at a second angle 94.

[0042] Next, as shown in Figure 6, the machining center 10 rotates the magazine 21 to position the empty machine pot 23 at the replacement position 81. The machining center 10 then moves the machine pot 23 to the upper end 83 using the lifter 27.

[0043] Next, the forward / backward slider 71 moves to the forward end 96. Then, the lifter 27 moves the machine pot 23 to the lower end 82. At this point, the tool 1 is mounted on the machine pot 23. Next, the forward / backward slider 71 moves to the backward end 95. At this point, the intermediate gripper 73 releases the tool 1. This transfers the tool 1 to the machine pot 23.

[0044] Next, we will explain how to transfer tool 1 from magazine 21 to tool stocker 30. First, as shown in Figures 2 and 6, the lifter 27 moves the machine pot 23 to the lower end 82. Next, the machining center 10 moves the machine pot 23, with the tool 1 to be transported attached, to the replacement position 81.

[0045] Next, the tool stocker 30 moves the forward / backward slider 71 to the retracted end 95. Then, the rotary table 63 rotates the gripper base 65 to a second angle 94. Next, the forward / backward slider 71 moves to the forward end 96. Then, the intermediate gripper 73 grips the tool 1. Next, the lifter 27 moves the machine pot 23 to the upward end 83. This transfers the tool 1 from the machine pot 23 to the intermediate gripper 73. Then, the lifter 27 moves the machine pot 23 to the downward end 82.

[0046] Next, as shown in Figures 4 and 5, the forward / backward slider 71 moves to the retracted end 95. Then, the rotary table 63 rotates the gripper base 65 to a first angle 93. Next, the pot cylinder 59 moves the intermediate pot 57 to the retracted end 87. The X frame 39 moves to the Y movement position 91. Then, the Y frame 47 moves, moving the intermediate pot 57 above the intermediate replacement position 85. At this point, the lower end of the intermediate pot 57 is higher than the upper end of the tool 1 gripped by the intermediate gripper 73.

[0047] Next, as shown in Figure 5, the forward / backward slider 71 moves to the forward end 96. At this time, the forward / backward slider 71, the intermediate gripper 73, and the tool 1 pass through the first transport port 12b, the second transport port 32a, and the exchange window 39a. Then, the tool 1 gripped by the intermediate gripper 73 is positioned below the intermediate pot 57.

[0048] Next, the Y-frame 47 moves downward, causing the intermediate pot 57 to descend to the intermediate exchange position 85. Then, tool 1 is mounted on the intermediate pot 57. Next, the reciprocating cylinder 69 moves the reciprocating slider 71 to its retracted end 95. This transfers tool 1 from the intermediate gripper 73 to the intermediate pot 57.

[0049] Next, as shown in Figures 1 and 2, the X-frame 39 and Y-frame 47 move, moving the tool 1 behind the empty fixed gripper 33. Then, the pot cylinder 59 moves the intermediate pot 57 to the forward end 86. At this point, the fixed gripper 33 grips the tool 1. Next, the Y-frame 47 moves upward. At this point, the tool 1 is released from the intermediate pot 57. This transfers the tool 1 from the intermediate pot 57 to the fixed gripper 33.

[0050] In this embodiment, the tool stocker 30 is positioned adjacent to the side surface 10b of the machining center 10. It extends in a long, narrow shape along the side surface of the machining center 10. Therefore, the increase in the contact area due to the placement of the tool stocker 30 is suppressed.

[0051] The intermediate pot 57 can move freely in the XY direction. Therefore, a large number of fixed grippers 33 can be arranged in the XY direction. This improves the number of tools 1 that can be stored relative to the contact area. The intermediate pot 57 can also move in the Z direction between the forward end 86 and the retracted end 87. When the intermediate pot 57 is at the forward end 86, it is located on the vertical plane 3. When the intermediate pot 57 is at the retracted end 87, the tool 1 attached to the intermediate pot 57 moves away from the fixed gripper 33. This allows the fixed gripper 33 and the intermediate pot 57 to exchange the tool 1.

[0052] The fixed gripper 33 is not positioned at the Y-movement position 91. Therefore, even if the Y-frame 47 moves in the Y-direction when the X-frame 39 is at the Y-movement position 91, the Y-frame 47 does not interfere with the fixed gripper 33 or the tool 1 that the fixed gripper 33 grips.

[0053] The intermediate pot 57 at the intermediate exchange position 85 and the machine pot 23 are at the same height. Therefore, the intermediate transfer machine 62 can be constructed using only rotational motion and forward / backward motion. The driving means for the intermediate transfer machine 62 are a rotary table 63 and a forward / backward cylinder 69. This allows the intermediate transfer machine 62 to be easily constructed. Furthermore, the tool 1 can be exchanged between the intermediate pot 57 and the intermediate gripper 73 simply by moving the intermediate pot 57 up and down and moving the forward / backward slider 71 forward and backward. Also, the tool 1 can be exchanged between the intermediate gripper 73 and the machine pot 23 simply by moving the machine pot 23 up and down and moving the forward / backward slider 71 forward and backward.

[0054] The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are covered by the present invention. The embodiments described above are preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed herein, and these are included in the technical scope described in the appended claims. [Explanation of Symbols]

[0055] 1 tool 3 vertical plane 10 Machine tools 23 Mechanical pot 30 Tool Storage 33 Fixed Gripper 57 Intermediate pot 65 Gripper stand 69 Advance / Detour Slider 73 Intermediate Gripper 81 Replacement position 85 Intermediate replacement position 93 First Angle 94 Second Angle

Claims

1. A tool stocker positioned in a machine tool having a machine pot on which tools can be attached and detached, A plurality of fixed grippers arranged in a vertical plane adjacent to the machine tool, comprising a plurality of fixed grippers for gripping the tool, When viewed from the aforementioned vertical plane, the intermediate pot can move in the vertical, left-right, and front-back directions, and exchanges the tool with the fixed gripper, A gripper base is positioned between the machine pot and the vertical plane and rotates between a first angle and a second angle, A reciprocating slider is positioned on the gripper base so as to be able to move back and forth, An intermediate gripper positioned on the forward / backward slider, which exchanges the tool with the intermediate pot in the intermediate exchange position and the tool with the machine pot in the replacement position, A tool stocker.

2. The aforementioned mechanical pot is movable in the vertical direction, When the mechanical pot moves to the lower end, the tool is attached, When the machine pot moves to the upper end, the tool is removed and moved away from the tool. The tool stocker according to claim 1.

3. The intermediate gripper grips the tool attached to the intermediate pot in the intermediate replacement position when the gripper base is at the first angle and the forward / backward slider is moving forward. The intermediate gripper grips the tool mounted on the machine pot when the gripper base is at the second angle and the forward / backward slider is moving forward. The tool stocker according to claim 1 or 2.

4. The aforementioned intermediate replacement position is located at the same height as the mechanical pot at the lower end. A tool stocker according to any one of claims 1 to 3.

5. The intermediate pot moves in the front-rear direction between the vertical plane and the intermediate exchange position. A tool stocker according to any one of claims 1 to 4.

6. The aforementioned X-guide extending in the left-right direction, An X-frame positioned on the X-guide and extending in the vertical direction, the X-frame reciprocating on the X-guide, The X-frame is arranged and includes the Y-guide extending in the vertical direction, A Y-frame positioned in the Y-guide and reciprocating in the vertical direction, A Z-guide is positioned in the Y-frame and extends in the front-rear direction, It further possesses, The intermediate pot is positioned in the Z guide and moves in the front-rear direction. A tool stocker according to any one of claims 1 to 5.

7. The X-frame has an exchange window through which the intermediate gripper and the tool gripped by the intermediate gripper can pass when it is in the intermediate exchange position. The tool stocker according to claim 6.

8. A cam follower connected to the aforementioned intermediate potentiometer, The aforementioned Y-frame is arranged to include a pot cylinder, which is a rotary cylinder, A pot lever having a long groove on which the cam follower rolls, connected to the pot cylinder, and rotating between a third angle and a fourth angle, wherein in the front-rear direction, when the pot lever is at the third angle, the intermediate pot is advanced toward the vertical plane, and when the pot lever is at the fourth angle, the intermediate pot is retracted to the intermediate replacement position, The tool stocker according to claim 6 or 7, further comprising the following:

9. The machine frame and A machine pot with detachable tools, A tool stocker arranged in the aforementioned machine tool, A plurality of fixed grippers arranged in a vertical plane adjacent to the machine tool, comprising a plurality of fixed grippers for gripping the tool, When viewed from the aforementioned vertical plane, the intermediate pot can move in the vertical, left-right, and front-back directions, and exchanges the tool with the fixed gripper, A gripper stand positioned on the machine frame, the gripper stand positioned between the machine pot and the vertical plane, and rotating between a first angle and a second angle, A reciprocating slider is positioned on the gripper base so as to be able to move back and forth, An intermediate gripper positioned on the forward / backward slider, which exchanges the tool with the intermediate pot in the intermediate exchange position and the tool with the machine pot in the replacement position, A tool stocker having, A machine tool having

Images