Tool Transport Device

Abstract

This tool conveying device comprises a movement device, a tool attaching / detaching robot (30), a tool holding device (20), and a control device, and conveys a tool body (TB) between a tool magazine of a machine tool and a tool accommodating device. The tool attaching / detaching robot (30) and the tool holding device (20) are provided on a movement base (15) of the movement device, and the movement device causes the movement base (15) to move between a work position of the tool magazine and a work position of the tool accommodating device. The tool attaching / detaching robot (30) grips the tool body (TB) on the outer surface thereof and conveys the tool body (TB). The tool holding device (20) comprises tool holding members (21, 23) respectively having notch-shaped holding parts (22, 24) formed on a side section thereof. The tool body (TB) is held such that two parallel surfaces to be engaged formed in a direction perpendicular to the axis of the tool body are engaged with the holding parts (22, 24). The holding parts (22, 24) are formed in the tool holding members (21, 23) so as to assume a state of tilting backward away from the tool attaching / detaching robot (30).

Description

[Technical field]

[0001] The present invention relates to a tool transport device that transports tools between a machine tool equipped with a tool magazine that holds a plurality of tools and a tool storage device that stores the plurality of tools. [Background technology]

[0002] A known machine tool equipped with a tool changer having the tool magazine is disclosed in JP 2009-131937 A. This tool changer is disposed near the machine tool and is configured to hold a tool stored in the tool magazine with a tool gripping member and mount it on the spindle of the machine tool, and to hold a tool mounted on the spindle with the tool gripping member and remove it, and then store it in the tool magazine.

[0003] In the field of machine tools, unmanned continuous operation over long periods of time has been planned in recent years, and a wide variety of machining operations have been performed on a single machine tool. Against this background, the number of tools that need to be stored and prepared in the tool magazine has become extremely large. On the other hand, the number of tools that can be stored in the tool magazine is naturally limited due to the problem of the installation space for the tool magazine.

[0004] In view of this, a machining system has been proposed in which a large-capacity tool storage device capable of storing a large number of tools is provided, a plurality of machine tools are arranged around the tool storage device, and a tool transport device is provided for transporting tools between the tool magazines of each machine tool and the tool storage device. According to this machining system, the tools required for each machine tool can be supplied from the tools stored in the large-capacity tool storage device to the tool magazine of the corresponding machine tool as needed, making it possible to realize the above-mentioned long-term unmanned continuous operation and a wide variety of machining with a single machine tool.

[0005] As the tool transport device, a configuration has been proposed in the past that includes, for example, a movable table, a moving device that moves the movable table to a work position set for the tool magazine and a work position set for the tool storage device, a tool attachment / detachment robot and a tool holding member provided on the movable table, and a control device that controls the operation of the moving device and the tool attachment / detachment robot.

[0006] According to this tool transport device, under the control of the control device, the moving platform of the moving device moves between the working positions set for each tool magazine and the working positions set for the tool storage device, and the tool attaching / detaching robot provided on the moving platform takes out and stores tools from the target tool magazine, and similarly takes out and stores tools from the tool storage device. The tool holding member has a notched holding portion formed on its side, and when transporting a tool removed by the tool attaching / detaching robot, the tool is transported by the tool attaching / detaching robot while being held by the holding portion through the opening of the notch. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2009-131937 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, since the holding portion in the above-mentioned conventional tool holding member is configured to hold the tool with its axis aligned vertically, when the vertical vibrations generated when the movable table moves are transmitted to the tool held by the holding portion, the tool is likely to vibrate vertically in sync with the vibrations, and since the frictional stopping force between the tool and the holding portion is weakened by the vibrations, the tool easily moves horizontally and falls off the holding portion. On the other hand, in order to prevent such falling off, it is conceivable to provide the holding portion with a means for holding the tool, but providing such a means gives rise to another problem in that the manufacturing cost of the tool holding member increases.

[0009] Conventionally, when a plurality of holding portions are provided on the tool holding member, these have been provided in a horizontal plane. However, in this type of configuration, a large planar space is required when installing the tool holding member on the movable table, which poses the problem that other devices, which are desirable in a preferred embodiment such as an air blower for cleaning the tools, cannot be installed on the movable table.

[0010] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a tool transport device that can stably hold a tool on a tool holding member and that can make the installation space smaller than before, even for a tool holding member having multiple holding portions. [Means for solving the problem]

[0011] To solve the above problems, the present invention provides: A tool transport device that transports tool bodies between a machine tool having a tool magazine that holds a plurality of tool bodies each composed of a tool and a cylindrical member into which the tool is inserted, and a tool storage device that similarly stores the plurality of tool bodies, a moving device having a moving table and configured to move the moving table to a working position set for the tool magazine and a working position set for the tool storage device; a tool mounting / removal robot and a tool holding member provided on the movable table; A control device for controlling the movement device and the tool attaching / detaching robot, the tool mounting / removal robot is configured to transport the tool body by gripping an outer circumferential portion of the cylindrical member, the tool holding member is disposed within an operating area of ​​the tool attaching / detaching robot, and includes a notched holding portion formed on a side thereof, the holding portion having an opening and at least two parallel inner surfaces facing each other in a vertical direction, The holding portion is configured such that the two inner surfaces thereof are engaged with two parallel engaged surfaces formed on an outer periphery of the cylindrical member in a direction perpendicular to the axis of the cylindrical member, Furthermore, the holding portion is related to a tool transport device formed on the tool holding member so that a plane that is parallel to the arrangement direction of the two inner faces and perpendicular to the two inner faces is inclined backward in a direction away from the tool attaching / detaching robot.

[0012] According to this tool transport device, the tool bodies are transported between, for example, one or more machine tools equipped with a tool magazine that holds a plurality of tool bodies, each of which is composed of a tool and a tubular member into which the tool is inserted, and a tool storage device that also stores a plurality of tool bodies. More specifically, under the control of the control device, the moving platform of the moving device moves between a working position set for each tool magazine and a working position set for the tool storage device, and a tool attaching / detaching robot provided on the moving platform removes and stores the tool body from the target tool magazine, and similarly removes and stores the tool body from the tool storage device. The tool body removed by the tool attaching / detaching robot is attached to a holding part of the tool holding member and transported while being held by the holding part.

[0013] At this time, the tool body is held by the holding part by two parallel engaged surfaces formed on the outer periphery of the tubular member in a direction perpendicular to the axis of the tool body engaging with the two inner surfaces of the holding part. The holding part is parallel to the arrangement direction of the two inner surfaces and is arranged so that the plane perpendicular to the two inner surfaces is inclined backward in a direction away from the tool attaching / detaching robot. Therefore, not only the weight of the tool body but also a moment according to the weight of the tool body acts on the engagement part between the tool body and the holding part. Therefore, even if the vertical vibration generated when the moving table moves is transmitted to the tool held by the holding part, it is difficult for the tool body to vibrate in the vertical direction in a state synchronous with the vertical vibration. Therefore, even if the tool body vibrates, the stopping force due to friction between the tool body and the holding part is maintained, and the tool body is maintained in a state held by the holding part.

[0014] Thus, according to this tool transport device, when a tool body is held in the holding portion of the tool holding member and transported, the tool body can be stably held in the holding portion and transported even if vertical vibrations are transmitted to the holding portion. Therefore, there is no need to take special measures, such as providing a tool gripping means in the holding portion to prevent the tool body from falling off the holding portion, and therefore the tool holding member can be manufactured at low cost.

[0015] In the above tool transport device, the holding portion may be arranged so that, in a plane parallel to the arrangement direction of the two inner faces and perpendicular to the two inner faces, the two inner faces are inclined with the opening facing up with respect to the horizontal. According to this tool holding member, since the holding portion is arranged inclined with the opening facing up, when the tubular member of the tool body is inserted through the opening so that its engaged surface engages with the two inner faces of the holding portion and is held by the holding portion, the tool body receives a biasing force due to its own weight toward the opposite side to the opening of the holding portion (the bottom side), so that even if vertical vibrations generated when the movable table moves are transmitted, the tool body is more effectively prevented from falling off the holding portion due to the vibrations.

[0016] In addition, the tool transport device may have a configuration in which a plurality of the holding parts are arranged at a predetermined interval in the vertical direction. According to the tool transport device of this configuration, since a plurality of holding parts are arranged at a predetermined interval in the vertical direction, a plurality of tool bodies can be held in a manner of stacking upward. Therefore, the planar space required for installing the tool holding member on the movable table can be reduced. Furthermore, by narrowing the installation space, it becomes possible to install other devices, which are desirable in a preferred embodiment, such as an air blowing device for cleaning tools, on the movable table, and the tool transport device can be made multifunctional.

[0017] In the above tool transport device, the tool holding member may be arranged to stand on the movable table in a state inclined backward in a direction away from the tool attaching / detaching robot.

[0018] When the tool holding member is arranged along the vertical direction, when the tool attaching / detaching robot attaches a tool body to the holding part, the higher the holding part is located, the more the arm of the tool attaching / detaching robot needs to be tilted in a direction that escapes (moves away from) the tool holding member, which makes the movement of the tool attaching / detaching robot difficult and, in some cases, a singularity may occur that makes the tool attaching / detaching robot unable to operate.

[0019] Therefore, by tilting the tool holding member backward in a direction away from the tool attachment / detachment robot, even when attaching a tool body to the holding part located above, there is no need to extremely tilt the arm of the tool attachment / detachment robot in a direction away from the tool holding member, and the tool attachment / detachment robot can operate smoothly. Effect of the Invention

[0020] According to the tool transport device of the present invention, when a tool body is held in the holding part of a tool holding member and transported, the tool body can be stably held in the holding part and transported even if vertical vibrations are transmitted to the holding part. Therefore, there is no need to take special measures, such as providing a tool gripping means in the holding part to prevent the tool body from falling off the holding part, and therefore the tool holding member can be manufactured at low cost. [Brief description of the drawings]

[0021] [Figure 1] 1 is a perspective view of a machining system according to an embodiment of the present invention, showing a tool transport device as a main part thereof; [Diagram 2] FIG. 1 is a perspective view of a machining system according to an embodiment of the present invention, showing a tool storage device as a main part thereof; [Diagram 3] 5A to 5C are explanatory diagrams for explaining the operation of the tool attaching / detaching robot according to the embodiment. [Figure 4] 5A to 5C are explanatory diagrams for explaining the operation of the tool attaching / detaching robot according to the embodiment. [Diagram 5] 5A to 5C are explanatory diagrams for explaining the operation of the tool attaching / detaching robot according to the embodiment. [Figure 6] 1A and 1B are views showing a tool body according to the present embodiment, in which (a) is a front view and (b) is a left side view. [Figure 7] FIG. 2 is a partial front view showing the tool holding member according to the embodiment. [Figure 8] 8 is a partial side view showing the tool holding member according to the present embodiment, taken in the direction of an arrow D in FIG. 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

[0023] 1 and 2, the machining system 1 of this example includes a plurality of machine tools M aligned in a row along the AB direction, a tool storage device 5 having a plurality of tool storage racks 6 aligned in a row along the AB direction opposite the row of machine tools M, and a tool transport device 10 disposed between the row of machine tools M and the row of tool storage racks 6 for transporting tool bodies TB between each machine tool M and each tool storage rack 6. The machining system 1 shown in Fig. 1 is extended in the direction of arrow B, and the row of machine tools M and the row of tool storage racks 6 shown in Fig. 2 are disposed on the extension thereof, and naturally, the end of the arrangement exists in the direction of arrow B.

[0024] As shown in Fig. 6, the tool body TB is composed of a tool T and a tool holder TH that holds the tool T. The tool holder TH is made of a cylindrical member and has a storage hole (not shown) that opens on one end face, i.e., the end face on the right side in the figure, and a ball-lock mechanism (not shown) provided in the storage hole (not shown). With its shaft portion inserted into the storage hole (not shown), the tool T is clamped by the ball-lock mechanism (not shown) and held by the tool holder TH. The tool T can be attached to and detached from the tool holder TH by human power.

[0025] The tool holder TH has two two-face widths TH1, TH2 formed across its axis and whose normals are perpendicular to each other, on the outer periphery opposite the opening in the axial direction, and also has a two-face width TH3, which is similarly formed across the axis and is wider than the two-face widths TH1, TH2, on the outer periphery on the opening side in the axial direction.

[0026] The two-face width TH3 is formed so that its normal line is parallel to the normal line of the two-face width TH2, and V-shaped grooves TH4, TH4 are formed on each face of the two-face width TH3 along the axial direction, while engagement grooves TH5, TH5 are formed on each face of the two-face width TH2 along a direction perpendicular to the axis.

[0027] Each of the machine tools M includes a tool magazine TM that stores a plurality of tool bodies TB, and is configured to perform a predetermined machining operation using the tool bodies TB stored in the tool magazine TM. Each of the machine tools M includes a numerical control device (not shown), which numerically controls the motion mechanism and controls the operation of the tool magazine TM. Each of the holding sections provided in the tool magazine TM is provided with a pair of gripping claws made of spring bodies, and the tool body TB is held in each holding section while being clamped by the gripping claws as the gripping claws fit into the V-shaped grooves TH4, TH4.

[0028] The tool storage rack 6 is composed of a plurality of holding frames 8 erected at a predetermined interval along the AB direction, and a frame-shaped support frame 7 supporting the holding frames 8. The holding frame 8 has cutouts (holding portions) provided at a predetermined pitch on both sides thereof and formed to open outward. Each cutout is provided with a pair of gripping claws made of a spring body, and the tool body TB is held in each cutout while being clamped by the gripping claws as the gripping claws fit into the V-shaped grooves TH4, TH4.

[0029] The tool transport device 10 includes a moving device 11 arranged along the AB direction, a movable table 15 transported by the moving device 11, a tool holding device 20 provided on the movable table 15, a tool mounting / detaching robot 30 and an air blowing device 40, and a control device 50 for controlling the operation of the moving device 11, the tool mounting / detaching robot 30 and the air blowing device 40.

[0030] The moving device 11 is arranged in parallel along the AB direction and is composed of a pair of guide rails 14 that guide the movement of the moving table 15, a support base 12 that supports the guide rails 14, and a drive device 13 that moves the moving table 15.

[0031] The driving device 13 is composed of, for example, a rack (not shown) disposed on the support base 12 along the AB direction, a pinion gear (not shown) provided on the moving table 15, and a motor (not shown) that drives the pinion gear (not shown). The pinion gear (not shown) meshes with the rack (not shown), and by rotating the pinion gear (not shown) with the motor (not shown), the moving table 15 is guided by the guide rail 14 and moves along the AB direction due to the meshing relationship between the pinion gear (not shown) and the rack (not shown).

[0032] The position of the movable platform 15 in the AB direction can be detected by a position detector (not shown) consisting of a scale (not shown) arranged on the support base 12 along the AB direction and a reader (not shown) arranged on the movable platform 15 for reading the position of the scale (not shown). The movable platform 15 is driven by the drive unit 13 based on the position information detected by the position detector (not shown) under the control of the control unit 50, and moves to a work position set for each machine tool M and a work position set for each tool storage rack 6. In this example, the position shown in FIG. 1 (end position in the direction of the arrow A) is the home position of the movable platform 15, and is also the work position for the tool magazine TM of the machine tool M arranged at the end of the direction of the arrow A. In addition, a maintenance landing 12a is formed in the support base 12 at this position in a portion corresponding to the tool magazine TM. This landing 12a can be provided in a portion corresponding to each tool magazine TM as necessary.

[0033] The tool attaching / detaching robot 30 is a six-axis articulated robot, and includes a base 31 fixed on the movable table 15, a first arm 32 provided on the base 31, a second arm 33 connected to the first arm 32, a third arm 34 connected to the second arm 33, and a hand 35 provided as an end effector at the tip of the third arm 34, and the hand 35 can be moved to any position in a three-dimensional space and can be made to take any posture under the operational control of the control device 50. The hand 35 is a so-called gripper, and can grip the two-face width TH2 of a tool holder TH constituting the tool body TB.

[0034] As shown in Figures 3 and 4, the tool holding device 20 is provided opposite the tool mounting / detaching robot 30 within the operating area of ​​the tool mounting / detaching robot 30, and is composed of long, plate-like tool holding members 21, 23 arranged in parallel at a predetermined interval, and a frame 25 provided on the movable table 15 for supporting the tool holding members 21, 23 in an upright position (standing position).

[0035] The tool holding members 21, 23 are provided with a plurality of cutouts 22, 24 arranged at a predetermined pitch in the vertical direction and overlapping each other on the right side as viewed from the tool attaching / detaching robot 30, and formed to open outward, and a corresponding pair of cutouts 22, 24 form a holding portion to which the tool body TB is attached. Specifically, the cutouts 22, 24 have two parallel inner surfaces 22a, 22b, 24a, 24b positioned in the vertical direction so as to face each other, and inner surfaces 22c, 24c positioned on the rear side of the opening and extending in the vertical direction, and the tool body TB is held in the cutouts 22, 24 by inserting the parts of the tool holder TH related to the engagement grooves TH5, TH5 into the cutouts 22, 24, and the engagement grooves TH5, TH5 engage with the parallel inner surfaces 22a, 22b, 24a, 24b of the cutouts 22, 24. In FIG. 8, the tool body TB held by the cutout portions 22, 24 is shown by a dashed line.

[0036] In addition, on the side (back side) of the tool holding member 23 opposite the tool mounting / detaching robot 30, a proximity sensor 26 is arranged near each cutout portion 24, and when a tool body TB is attached to each cutout portion 22, 24, the corresponding proximity sensor 26 detects the tool body TB, and the detection signal is transmitted to the control device 50.

[0037] 3, 4 and 8, the tool holding members 21, 23 are inclined backward in a direction away from the tool attaching / detaching robot 30, and are supported by the frame 25 with their upper ends inclined at an angle θ1 in a direction away from the vertical plane VP1, as shown in Fig. 7. As a result, as shown in Fig. 7, the two inner faces 22a, 22b, 24a, 24b forming the cutout portions 22, 24 are parallel to the arrangement direction of the two inner faces 22a, 22b, 24a, 24b, and are inclined at an angle θ1 with respect to the horizontal plane HP with their openings facing up in a plane perpendicular to the two inner faces 22a, 22b, 24a, 24b. Also, as shown in Figure 8, the cutout portions 22, 24 are parallel to the arrangement direction of the two inner surfaces 22a, 22b, 24a, 24b, and the plane perpendicular to the two inner surfaces 22a, 22b, 24a, 24b is inclined at an angle θ2 with respect to the vertical plane VP2.

[0038] Thus, according to the tool holding device 20 of this embodiment, the notches 22, 24 as a plurality of holding parts are arranged at a predetermined interval in the vertical direction, so that a plurality of tool bodies TB can be held in a manner of being stacked upward. Therefore, the planar space required for installing the tool holding members 21, 23 on the movable table 15 can be made smaller than in the past. Furthermore, by narrowing the installation space, it becomes possible to install other devices, which are desirable in a preferred embodiment, such as an air blow device 40 for cleaning the tools T, on the movable table 15, and the tool transport device 10 can be made multifunctional.

[0039] As shown in Figures 1 and 5, the air blow device 40 is provided within the operating area of ​​the tool attaching / detaching robot 30, immediately to the left of the tool holding device 20 when viewed from the tool attaching / detaching robot 30, and includes a housing-like air blow box 41 having an opening 42 on its upper surface, a plurality of nozzles (not shown) provided within the air blow box 41 and discharging pressurized air, a pressurized air supply source (not shown) for supplying pressurized air to the nozzles (not shown) via appropriate piping (not shown), and a control valve provided midway through the piping (not shown).

[0040] The control device 50 is composed of a computer including a CPU, RAM, ROM, etc., and controls the operation of the moving device 11, the tool mounting / dismounting robot 30, the air blow device 40, etc., as described above. The control device 50 operates the tool transport device 10 according to a predetermined operation program, takes out the commanded tool body TB from the commanded tool magazine TM, transports the taken-out tool body TB, and stores it in the commanded tool storage rack 6. Conversely, the control device 50 takes out the commanded tool body TB from the commanded tool storage rack 6, transports the taken-out tool body TB, and stores it in the commanded tool magazine TM.

[0041] Hereinafter, a specific operation will be described in which the tool transport device 10 takes out a designated tool body TB from a designated tool magazine TM and stores it in a designated tool storage rack 6 under the control of the control device 50. Information on the target tool magazine TM, the tool storage rack 6, and the storage position in the tool storage rack 6, as well as operation commands (take-out command and store-in command) are transmitted from a higher-level management device (not shown) to the control device 50. Information on the tool body TB to be taken out and a take-out command are also transmitted from the higher-level management device (not shown) to a numerical control device (not shown) of the machine tool M equipped with the target tool magazine TM, and the numerical control device (not shown) receiving the command and information moves the commanded tool body TB from the tool magazine TM to the set entry / exit position TMa, and then transmits a take-out preparation completion signal to the control device 50.

[0042] As described above, when the control device 50 receives information on the target tool magazine TM, the tool storage rack 6, and the storage position in the tool storage rack 6, as well as the operation command (removal and storage command) from the management device (not shown), the control device 50 first drives the drive device 13 of the movement device 11 to move the moving table 15 to the commanded tool magazine TM, in this example, the work position of the tool magazine TM shown in FIG. 1 (movement operation). The position of the moving table 15 corresponds to the home position. On the other hand, the numerical control device (not shown) of the machine tool M equipped with the target tool magazine TM receives information on the tool body TB to be removed from the upper management device (not shown) and the removal command, and then drives the tool magazine TM to move the commanded tool body TB to the loading / unloading position TMa shown in FIG. 1, and then transmits a removal preparation completion signal to the control device 50.

[0043] When the moving operation is completed and a removal preparation completion signal is received from the corresponding numerical control device (not shown), the control device 50 then drives the tool mounting / removal robot 30 to grip the tool body TB moved to the insertion / removal position TMa of the tool magazine TM by the hand 35 at the end of the tool holder TH and the outer surface corresponding to the two-face width TH2,TH2, and removes it from the tool magazine TM (removal operation), and transmits a removal completion signal to the numerical control device (not shown). Note that, when there are multiple tool bodies TB to be removed instructed by a higher-level management device (not shown), after receiving the removal completion signal from the control device 50, the numerical control device (not shown) moves the tool body TB to be removed next to the insertion / removal position TMa, and then repeats the process of transmitting the removal preparation completion signal to the control device 50.

[0044] Next, the control device 50 drives the tool mounting / removing robot 30 to carry the tool body TB held by the hand 35 into the air blow box 41 through the upper opening 42 of the air blow box 41 (carrying-in operation), and opens the control valve (not shown) for a predetermined time to discharge pressurized air from the nozzles (not shown) (discharging operation). As a result, the cutting chips and coolant liquid adhering to the tool T of the tool body TB are blown away by the discharged air flow, and the tool T is cleaned.

[0045] After the pressurized air has been discharged from the nozzle (not shown) for a predetermined time in the above manner, the control device 50 drives the tool mounting / dismounting robot 30 to remove the tool body TB from the air blow box 41 (removal operation), and then, as shown in Figures 3 and 4, inserts the removed tool body TB into the empty cutout portions 22, 24 of the tool holding device 20, i.e., inserts the portions of the tool holder TH relating to the engagement grooves (engaged surfaces) TH5, TH5 into the cutout portions 22, 24, and engages the engagement grooves TH5, TH5 with the parallel inner surfaces 22a, 22b, 24a, 24b of the cutout portions 22, 24, thereby holding the tool body TB in the tool holding device 20 (temporary placement operation), and closes the control valve (not shown) to stop the discharge of pressurized air from the nozzle (not shown) (stopping operation).

[0046] Furthermore, when there are multiple tool bodies TB to be removed instructed by a higher-level management device (not shown), the control device 50 receives a removal preparation completion signal from the numerical control device (not shown) and then repeatedly executes the removal operation, loading operation, discharge operation, carry-out operation, temporary placement operation and stopping operation for each tool body TB to be removed.

[0047] However, when the tool holding members 21, 23 are arranged along the vertical direction, when the tool body TB is attached to the cutout portions 22, 24 by the tool attaching / detaching robot 30, the first arm 32 of the tool attaching / detaching robot 30 needs to be tilted in a direction away from the tool holding members 21, 23, i.e., in the direction of arrow C in Figures 3 and 4, for the cutout portions 22, 24 that are located higher. This makes it difficult for the tool attaching / detaching robot 30 to move, and in some cases, a singularity may occur that makes the tool attaching / detaching robot 30 unable to operate.

[0048] In this example, the tool holding members 21, 23 are tilted backward at an angle θ2 with respect to the vertical plane VP2 in the direction away from the tool attaching / detaching robot 30. Therefore, when the tool attaching / detaching robot 30 attaches the tool body TB to the cutout portions 22, 24 located above, there is no need to extremely tilt the first arm 32 of the tool attaching / detaching robot 30 in the direction away from the tool holding members 21, 23 (the direction away from the tool body TB (the direction of arrow C in Figures 3 and 4)), and therefore the tool attaching / detaching robot 30 can operate smoothly.

[0049] Once the process of removing the commanded tool body TB from the tool magazine TM has been completed in the manner described above, the control device 50 then drives the drive device 13 of the moving device 11 to move the moving table 15 to the working position of the commanded tool storage rack 6 (transport operation).

[0050] At this time, the tool body TB is held in a stable state by the tool holding device 20 even if vertical vibrations generated when the movable table 15 moves are transmitted thereto. That is, as described above, the tool body TB is held in the cutout portions 22, 24 by the engagement grooves TH5, TH5 of the tool holder TH engaging with the two parallel inner surfaces 22a, 22b, 24a, 24b of the cutout portions 22, 24, and the cutout portions 22, 24 are parallel to the arrangement direction of the two inner surfaces 22a, 22b, 24a, 24b, and the plane perpendicular to the two inner surfaces 22a, 22b, 24a, 24b is inclined backward at an angle θ2 with respect to the vertical plane VP2 in the direction away from the tool mounting / detaching robot 30. Therefore, the tool body TB is held in the cutout portions 22, 24 in a downwardly inclined state with its tip portion positioned downward. Therefore, not only the weight of the tool body TB itself but also a moment corresponding to its weight acts on the engagement portion where the tool body TB engages with the cutout portions 22, 24.

[0051] Therefore, even if the tool body TB held in the notches 22, 24 is subjected to vertical vibrations caused when the movable table 15 moves, the tool body TB is unlikely to vibrate in the vertical direction in sync with the vertical vibrations. Therefore, even if the tool body TB vibrates, the frictional restraining force between the tool body TB and the notches 22, 24 is maintained, and the tool body TB is maintained in a state of being held in the notches 22, 24.

[0052] Furthermore, the two inner surfaces 22a, 22b, 24a, 24b of the cutout portions 22, 24 are parallel to the arrangement direction, and in a plane perpendicular to the two inner surfaces 22a, 22b, 24a, 24b, the cutout portions 22, 24 are inclined at an angle θ1 with respect to the horizontal plane HP with the opening facing up. Therefore, when the tool body TB is inserted through the opening and held in the cutout portions 22, 24 so that the engagement grooves (engaged surfaces) TH5, TH5 of the tool holder TH engage with the two parallel inner surfaces of the cutout portions 22, 24, the tool body TB receives a biasing force due to its own weight toward the opposite side to the openings of the cutout portions 22, 24 (the inner surfaces 22c, 24c side). Therefore, even if vertical vibrations generated when the movable table 15 moves are transmitted, the tool body is more effectively prevented from falling off the holding portion due to these vibrations.

[0053] As described above, according to the tool transport device 10, when the tool body TB is held in the cutout portions 22, 24 of the tool holding members 21, 23 and transported, even if vertical vibrations are transmitted to the cutout portions 22, 24, the tool body TB can be stably held in the cutout portions 22, 24 and transported. Therefore, in order to prevent the tool body TB from falling out of the cutout portions 22, 24, there is no need to take special measures such as providing a tool gripping means in the cutout portions 22, 24, and therefore the tool holding members 21, 23 can be manufactured at low cost.

[0054] The preferred ranges of the angles θ1 and θ2 can be set based on empirical knowledge such as stable transportation of the tool body TB and good operating conditions of the tool mounting / detaching robot 30. For example, the following ranges are preferred: 10°≦θ1≦45° 5°≦θ2≦45°

[0055] When the conveying operation is completed, the control device 50 then drives the tool mounting / detaching robot 30 to store the tool body TB held by the tool holding device 20 in the commanded storage position of the commanded tool storage rack 6 (storing operation). When there are multiple tool bodies TB to be stored, this storing operation is performed for each tool body TB.

[0056] In this manner, the control device 50 removes the commanded tool body TB from the commanded tool magazine TM and stores it in the commanded tool storage rack 6. The control device 50 can also execute a process of removing the commanded tool body TB from the commanded tool storage rack 6 and storing it in the commanded tool magazine TM by the reverse operation. At this time, since it is assumed that the tool body TB in the tool storage rack 6 is kept clean, the execution of the carry-in operation, discharge operation, carry-out operation, and stop operation for cleaning the tool body TB can be omitted.

[0057] As described above in detail, according to the tool transport device 10 of this embodiment, when the tool body TB is held in the cutout portions 22, 24 of the tool holding members 21, 23 and transported, even if vertical vibrations are transmitted to the cutout portions 22, 24, the tool body TB can be stably held in the cutout portions 22, 24 and transported. Therefore, in order to prevent the tool body TB from falling out of the cutout portions 22, 24a, there is no need to take special measures such as providing a tool gripping means in the cutout portions 22, 24, and therefore the tool holding device 20 can be manufactured at low cost.

[0058] Furthermore, in this example, the tool holding members 21, 23 are tilted backward in a direction away from the tool attaching / detaching robot 30. Therefore, when the tool attaching / detaching robot 30 attaches the tool body TB to the cutout portions 22, 24 located above, there is no need to extremely tilt the first arm 32 of the tool attaching / detaching robot 30 in a direction away from the tool holding members 21, 23, and therefore the tool attaching / detaching robot 30 can operate smoothly.

[0059] Although one embodiment of the present invention has been described above, the aspects that the present invention can adopt are not limited to the above example.

[0060] For example, in the above example, the tool holding members 21, 23 are each made of a plate-shaped member for the purpose of reducing weight, but this is not limited to such a configuration. For example, the tool holding members 21, 23 may be made of a single block-shaped member that is integrated with each other.

[0061] In the above example, a plurality of cutout portions 22, 24 are provided, but the present invention is not limited to this configuration, and a configuration in which only one cutout portion 22, 24 is provided may also be used. Even in this configuration, it is preferable that the tool holding members 21, 23 are inclined backward at an angle θ2 with respect to the vertical plane VP2 in a direction away from the tool attaching / detaching robot 30, and it is preferable that the cutout portions 22, 24 are provided in a state in which the two inner faces 22a, 22b, 24a, 24b are parallel to the arrangement direction and in a plane perpendicular to the two inner faces 22a, 22b, 24a, 24b, with the opening facing up, the cutout portions 22, 24 are inclined at an angle θ1 with respect to the horizontal plane HP.

[0062] In the above example, the control device 50 is configured to sequentially execute the carry-in operation, the discharge operation, the carry-out operation, the temporary placement operation, and the stop operation as operations for cleaning the tool body TB, but is not limited to such a configuration, and the control device may be configured to execute the carry-in operation and the discharge operation simultaneously or one of them in advance so as to overlap for a certain time, and then execute the carry-out operation and the stop operation simultaneously or one of them in advance. In this way, the carry-in operation and the discharge operation, and the carry-out operation and the stop operation are executed in an overlapping manner, so that the entire tool body TB can be cleaned more effectively and the processing time for cleaning the tool body TB can be shortened.

[0063] The control device 50 may be configured to rotate the tool body TB about its axis for a predetermined time after the tool mounting / removal robot 30 has carried the tool body TB into the air blow box 31 in the carrying-in operation. Alternatively, the control device 50 may be configured to reciprocate the tool body TB in its axial direction for a predetermined time after the tool mounting / removal robot 30 has carried the tool body TB into the air blow box 31, and may further be configured to execute the rotation operation and the reciprocating operation in any order, or simultaneously. In this way, chips and coolant adhering to the tool body TB can be more effectively removed.

[0064] In the above example, one take-out, transport and storage operation targets one tool magazine TM and one tool storage rack, but the present invention is not limited to this embodiment, and a plurality of tool magazines TM and a plurality of tool storage racks 6 may be the work targets in a single take-out, transport and storage operation. In this case, the commanded tool body TB is taken out by passing through the commanded tool magazines TM in sequence, and then the commanded tool body TB is stored by passing through the commanded tool storage racks 6 in sequence.

[0065] In addition, in the above example, the movable platform 15 is moved on a track formed by the guide rail 14, but this is not limited to a configuration. For example, the movable platform 15 may be placed on an unmanned transport vehicle, and the movable platform 15 may be moved in an unmanned transport vehicle.

[0066] It should be noted that the above-described embodiment is illustrative in all respects and is not restrictive. Modifications and changes are possible for those skilled in the art. The scope of the present invention is indicated by the claims, not the above-described embodiment. Furthermore, the scope of the present invention includes modifications from the embodiments within the scope of the claims and the equivalent scope. [Explanation of symbols]

[0067] 1 Processing system 5 Tool storage device 6 Tool Storage Rack 7 Support Frame 8 Retaining Frame 10 Tool transport device 11. Mobile Devices 12 Support base 13 Drive unit 14 Guide rail 15 Mobile stand 20 Tool holding device 21,23 Tool holding member 22,24 Notch 23 Frame 30 Tool attachment / detachment robot 35 Hands 40 Air blower 41 Air Blow Box 42 Aperture 50 Control device M machine tool TM Tool Magazine T-tool TH Tool Holder TB tool body

Claims

1. A tool transport device that transports tool bodies between a machine tool having a tool magazine that holds a plurality of tool bodies each composed of a tool and a cylindrical member into which the tool is inserted, and a tool storage device that stores the plurality of tool bodies, a moving device having a moving table and configured to move the moving table to a working position set for the tool magazine and a working position set for the tool storage device; a tool mounting / removal robot and a tool holding member provided on the movable table; A control device for controlling the movement device and the tool attaching / detaching robot, the tool mounting / removal robot is configured to transport the tool body by gripping an outer circumferential portion of the cylindrical member, the tool holding member is disposed within an operating area of ​​the tool attaching / detaching robot, and is a notched holding portion formed on a side thereof, the notched holding portion having an opening and at least two parallel inner surfaces facing each other in the vertical direction, and an inner surface along the vertical direction connecting the two parallel inner surfaces, the inner surface being located on the rear side of the opening, The holding portion is configured such that the two inner surfaces thereof are engaged with two parallel engaged surfaces formed on an outer periphery of the cylindrical member in a direction perpendicular to the axis of the cylindrical member, Furthermore, the holding portion is formed on the tool holding member such that a plane that is parallel to an arrangement direction of the two inner faces and perpendicular to the two inner faces and an inner face connecting the two parallel inner faces is inclined backward in a direction away from the tool attaching / detaching robot, a tool transport device characterized in that, within a plane that is parallel to the arrangement direction of the two inner surfaces and perpendicular to the two inner surfaces and the inner surface connecting the two parallel inner surfaces, the two inner surfaces are arranged so that they are inclined with the opening at the top relative to the horizontal.

2. 2. The tool transport device according to claim 1, wherein a plurality of said holding portions are provided at predetermined intervals in the vertical direction.

3. 3. The tool transport device according to claim 1, wherein the tool holding member is uprightly supported on the movable table in a state inclined backward in a direction away from the tool attaching / detaching robot.

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