Tool storage device and workpiece processing system

Abstract

The purpose of the present invention is to shorten processing time by reducing the time required for tool changes while ensuring a wide space around a workpiece. Provided is a tool storage device comprising: a housing capable of accommodating one or more tools below a workpiece mounting surface on which a workpiece to be machined can be fixed; and a tool holding part which is provided so as to be capable of being accommodated inside the housing, and which detachably holds a tool. The tool holding part is capable of placing at least one tool held by the tool holding part at a position where the tool can be removed from the outside of the housing.

Description

Tool storage device and workpiece processing system

[0001] The present disclosure relates to a tool storage device and a workpiece processing system.

[0002] Conventionally, in a machine tool, in order to replace a worn tool or change the type of tool, a tool changer is provided at the tip of the spindle, and a tool magazine is arranged within the operating range of the spindle (see, for example, Patent Document 1). The tool magazine has an openable and closable magazine cover, houses a plurality of tools for replacement inside, and is arranged at a position different from the processing table on which the workpiece is placed.

[0003] Japanese Patent Application Laid-Open No. 2012-148382

[0004] Since the tool magazine houses a large number of tools for replacement, it has a large installation area and occupies a large space spatially. In particular, when the tool magazine is arranged close to the workpiece to be processed in order to shorten the time required for tool change, the space around the workpiece is narrowed by the tool magazine. Therefore, there is a need for a tool storage device and a workpiece processing system that can shorten the time required for tool change while securing a wide space around the workpiece and shorten the processing time.

[0005] One aspect of the present disclosure includes a housing capable of accommodating one or more tools below a workpiece mounting surface on which a workpiece to be machined can be fixed, and a tool holding portion provided so as to be accommodable inside the housing and removably holding the tool, wherein the tool holding portion can be arranged at a position where at least one of the held tools can be taken out from the outside of the housing. This is a tool storage device.

[0006] Another aspect of the present disclosure is a workpiece processing system including a robot, a processing device attached to the tip of the robot, and the tool storage device, wherein the processing device includes an automatic tool changer that can hold the tool replaceably.

[0007] This is a perspective view showing a workpiece processing system according to one embodiment of the present disclosure. This is a perspective view showing a tool storage device according to one embodiment of the present disclosure with the tools exposed. This is a perspective view showing a modified workpiece processing system of Figure 1, which includes a separate tool holder. This is a perspective view showing a modified tool storage device of Figure 2 with one tool holder protruding. This is a perspective view showing a tool storage device of Figure 4 with the other tool holder protruding. This is another modification of the tool storage device of Figure 2, which shows one tool holder protruding. This is a perspective view showing a tool storage device of Figure 6 with the other tool holder protruding. This is another modification of the tool storage device of Figure 2, which shows a tool storage device with the tool holder rotated to expose half of the tools. This is a perspective view showing a tool storage device of Figure 8 with all the tools exposed. This is a partial side view of a modified tool storage device of Figure 2, showing a tool holder and window that hold multiple tools spaced apart in the width direction. This is a partial side view showing a modified tool storage device similar to Figure 10. This is a perspective view of a modified tool storage device of Figure 2, which has a turntable-shaped tool holder. Figure 2 is a perspective view showing a modified example of the tool storage device.

[0008] A tool storage device 1 and a workpiece processing system 100 according to one embodiment of the present disclosure will be described below with reference to the drawings. As shown in Figure 1, the workpiece processing system 100 according to this embodiment comprises a robot 20, a processing device 30 attached to the tip of the robot 20, and a tool storage device 1. The workpiece processing system 100 also includes a control device 80 connected to the robot 20, the processing device 30, and the tool storage device 1, which controls the robot 20, the processing device 30, and the tool storage device 1 by command signals.

[0009] Robot 20 is, for example, a vertical six-axis articulated robot installed on the floor surface, which is the surface to be installed. Specifically, robot 20 comprises a base 21 installed on the floor surface, a slewing body 22 rotatably supported relative to the base 21 about a vertical first axis, and a first arm 23 rotatably supported relative to the slewing body 22 about a horizontal second axis. Robot 20 also comprises a second arm 24 rotatably supported relative to the first arm 23 about a third axis parallel to the second axis, and a three-axis wrist unit 25 attached to the tip of the second arm 24. Figure 1 illustrates a vertical six-axis articulated robot, but any type of robot can be used depending on the payload capacity, operating range, etc.

[0010] The processing device 30 is fixed to the flange at the tip of the wrist unit 25 of the robot 20 and is a device that performs machining operations such as drilling or end milling on the workpiece W using a tool 50. The processing device 30 comprises a housing 31 fixed to the flange, a motor 32 fixed to the housing 31 for rotationally driving the tool 50, and an ATC (automatic tool changer) 33 housed in the housing 31 for interchangeably holding the tool 50. The processing device 30 may also be equipped with a cutting fluid supply device that supplies cutting fluid to the cutting edge 51 and the workpiece W when machining the workpiece W with the tool 50. The cutting fluid supply device may be located in a place other than the processing device 30.

[0011] The tool 50 has a cutting edge 51 at its cylindrical tip and a tapered shank 52 at its base for attachment and detachment by the ATC 33. The tool 50, held at its base by the ATC 33, is positioned so that the cutting edge 51 at its tip protrudes from the housing 31, and is positioned at any position and orientation within the operating range of the robot 20 by the robot's movement. This allows the tool 50 to be brought close to each surface of the workpiece W located outside the robot 20 from any direction, and to be moved in any direction to perform machining on the workpiece W.

[0012] As shown in Figure 1, the tool storage device 1 according to this embodiment is a jig that includes, for example, a box-shaped housing 2 installed on the floor, and a workpiece mounting surface 3 on the upper surface of the housing 2 to which a workpiece W can be fixed. Although Figure 1 shows a state in which a rectangular parallelepiped-shaped workpiece W is fixed to the workpiece mounting surface 3, the workpiece W may be of any shape, and furthermore, the method of fixing it to the workpiece mounting surface 3 may also be arbitrary.

[0013] The housing 2 is formed in the shape of a hollow box with a closable internal space, and has a window 5 on one side that can be opened and closed by a shutter 4. By opening the shutter 4, the window 5 can connect the internal space of the housing 2 to the external space, and by closing the shutter 4, the internal space can be isolated from the external space. The housing 2 may be equipped with a sensor (not shown) that detects the opening and closing of the window 5 by the shutter 4.

[0014] The tool storage device 1 includes a tool holding section 6 capable of accommodating tools 50 in its internal space. The tool holding section 6 is formed in the shape of a rectangular flat plate extending horizontally, as shown in Figure 2, for example, and has a plurality of holding holes 7 that penetrate in the thickness direction of the plate. The holding holes 7 are spaced apart horizontally, and by fitting the tip of the tool 50 into each holding hole 7, the tapered shank 52 provided on the base end of the tool 50 can be held upwards to prevent it from tipping over. The plurality of holding holes are positioned so that a processing device 30 placed close to one tool 50 for mounting by the ATC 33 does not interfere with other parts of the surrounding area or other tools 50.

[0015] Furthermore, a photoelectric sensor (sensor) 8 is fixed to the tool holding section 6, as shown in Figure 2. The photoelectric sensor 8 comprises a light-emitting section 9 and a light-receiving section 10, which are spaced apart in the longitudinal direction of the tool holding section 6. When a beam emitted from the light-emitting section 9 is incident on the light-receiving section 10, an object can be detected by placing an object in a position that obstructs the beam. That is, when the ATC 33 holds the tool 50, the holding of the tool 50 by the ATC 33 can be confirmed by operating the robot 20 so that the tip of the tool 50 moves along a path that obstructs the beam. Conversely, after the tool 50 that was being held by the ATC 33 is placed in the tool holding section 6, the non-holding of the tool 50 by the ATC 33 can be confirmed by having the robot 20 perform the same operation as described above.

[0016] The tool storage device 1 includes a linear motion mechanism (holding unit drive mechanism) 13 that moves the tool holding unit 6 and positions at least one tool 50 held in the tool holding unit 6 in a position where it can be removed from outside the housing 2. As shown in Figure 2, the linear motion mechanism 13 includes a guide rail 14 that supports the tool holding unit 6 so that it can move in a straight line, and an actuator (for example, an air cylinder, etc.) 15 that moves the tool holding unit 6, which is supported by the guide rail 14, back and forth in the longitudinal direction of the guide rail 14. A shutter 4 is fixed to one end of the tool holding unit 6.

[0017] From the state shown in Figure 1, the actuator 15 moves the tool holder 6 in a direction that protrudes outward from the housing 2, causing the shutter 4 to move and the window 5 to open. The tool holder 6, which was housed in the internal space of the housing 2, is then positioned in a location (second position) that exposes it to the external space of the housing 2. As a result, the tool 50 and the photoelectric sensor 8 held in the tool holder 6 are exposed to the external space of the housing 2.

[0018] Conversely, the operation of the actuator 15 moves the tool holder 6 in a direction that retracts it into the housing 2, thereby positioning the tool holder 6 in a location (first position) where it is housed within the internal space of the housing 2. As a result, the tool 50 and photoelectric sensor 8 mounted on the tool holder 6 are housed within the internal space of the housing 2. At this time, the shutter 4 fixed to the tool holder 6 also moves, closing the window 5.

[0019] According to this embodiment, with the workpiece W placed on the workpiece mounting surface 3 of the housing 2, before the start of machining of the workpiece W, the actuator 15 of the tool storage device 1 is activated by a command signal from the control device 80. As a result, the window section 5, which was closed by the shutter 4, is opened, and the tool holding section 6 is positioned in the external space of the housing 2.

[0020] Then, in response to a command signal from the control device 80, the robot 20 is activated, and the ATC 33 installed in the machining device 30 holds one of the tools 50 mounted in the tool holding unit 6. Specifically, it holds the tool 50 that is suitable for the machining to be performed.

[0021] Then, with the tool holding section 6 protruding into the external space of the housing 2, the control device 80 activates the photoelectric sensor 8 and moves the robot 20 so that the tip of the tool 50 passes through a path that blocks the beam emitted from the light-emitting section 9 of the photoelectric sensor 8. The control device 80 confirms that the tool 50 is held by the ATC 33 when the light-receiving section 10 detects the blocking of the beam. After the holding of the tool 50 is confirmed, the control device 80 stops the operation of the photoelectric sensor 8 and activates the actuator 15 of the tool storage device 1 based on a command signal. As a result, the tool holding section 6 is housed in the internal space of the housing 2 and the window section 5 is closed by the shutter 4.

[0022] In this state, the robot 20 and the machining device 30 are activated by command signals from the control device 80, and machining of the workpiece W is performed by the tool 50 while cutting fluid is supplied by the cutting fluid supply device.

[0023] Thus, according to this embodiment, the replacement tools 50 are housed inside the housing 2 that mounts the workpiece W, and the tool holder 6 is exposed outside the housing 2 as needed, eliminating the need to separately arrange a tool magazine. In other words, since the replacement tools 50 are arranged using the space below the workpiece W, it is possible to prevent the space around the robot 20 and workpiece W from being occupied by a tool magazine that has a large footprint and volume.

[0024] When machining the workpiece W, the replacement tool 50 is housed in the internal space of the housing 2 and the window 5 is closed by the shutter 4, thereby protecting the tool 50 from the cutting fluid supplied during machining and the chips generated during machining. Also, when not machining, the replacement tool 50 is exposed to the external space of the housing 2, so in this case as well, the tool 50 is not exposed to cutting fluid or chips.

[0025] Furthermore, since the replacement tool 50 is inserted into and removed from the housing 2 below the workpiece W, tool changes by the ATC 33 can be performed at a position close to the workpiece W, thereby shortening the machining cycle time. In addition, a photoelectric sensor 8 is attached to the tool holder 6, which is inserted into and removed from the housing 2 by the operation of the actuator 15. This allows the photoelectric sensor 8 to be housed in the internal space of the housing 2 during machining, protecting it from cutting fluid and chips, and to be placed in the external space when changing tools that are not being machined.

[0026] In this embodiment, the housing 2 is configured as a rectangular box shape, but it is not limited to this. It may be configured as any shape as long as it has a workpiece mounting surface 3 on its upper surface and can be positioned below the workpiece W. Also, a window 5 that can be opened and closed by a shutter 4 is provided on one side of the housing 2, and the tool holder 6 is inserted and removed through this window 5, but the window 5 may be provided on two or more sides.

[0027] Furthermore, although the example shows the tool holder 6 and shutter 4 being provided as a single unit, they may be provided separately. Also, in Figure 2, the example shows two tools 50 being held in a single row with a gap in the length direction of the tool holder 6, but three or more tools 50 may be held, or multiple rows may be arranged in the width direction of the tool holder 6. Alternatively, the tools 50 may be arranged in a staggered pattern.

[0028] Furthermore, as shown in Figure 3, a tool rest (replacement tool holder) 60 may be separately placed within the operating range of the robot 20, in an area unaffected by chips and cutting fluid during machining of the workpiece W, to detachably hold a replacement tool 70 that can be replaced with at least one tool 50 held in the tool holder 6. As the tool 50 wears down with use, when the tool life approaches its end, the robot 20 is moved to the tool rest 60 and the replacement tool 70 is installed. This allows for tool changes without human intervention, and as a result, the automated operation time can be extended.

[0029] Furthermore, in this embodiment, one window 5 is provided on one side of the housing 2, but as shown in Figures 4 and 5, two or more window 5 may be provided. Each window 5 allows for the insertion and removal of replacement tools 50 held in separate tool holders 6, thereby increasing the variety and number of replaceable tools 50. In Figures 4 and 5, a photoelectric sensor 8 is attached to each tool holder 6 that is inserted and removed from each window 5.

[0030] Furthermore, as shown in Figures 6 and 7, multiple tool holders 6a and 6b may be provided to be retractable from a single window 5 on one side. In the example shown in Figures 6 and 7, a slider 11 equipped with a photoelectric sensor 8 is movably positioned between the two tool holders 6a and 6b, separate from the two tool holders 6a and 6b. For example, two actuators 15 are provided corresponding to the two tool holders 6a and 6b, and each tool holder 6a and 6b is moved back and forth by separate actuators 15, while the slider 11 equipped with the photoelectric sensor 8 is constantly subjected to a force in the direction of being pulled into the internal space of the housing 2, for example by a spring (not shown). Also, a shutter 12 fixed to one end of the slider 11 is configured to engage with the shutters 4 fixed to each tool holder 6a and 6b from the outside.

[0031] As a result, as shown in Figure 6, when one tool holder 6a is extended into the external space, the shutter 4 of the tool holder 6a engages with the shutter 12 of the slider 11, and the photoelectric sensor 8 is also moved into the external space and exposed. When the tool holder 6a is retracted into the internal space, the slider 11 is also pulled into the internal space by a spring. As shown in Figure 7, the slider 11 operates similarly when extending or retracting the other tool holder 6b. This makes it possible to use a common photoelectric sensor 8 for detecting whether the tool 50 is held or not for both tool holders 6a and 6b.

[0032] In this embodiment, a linear motion mechanism 13 that moves the tool holder 6 linearly is exemplified as the tool holder drive mechanism. Alternatively, as shown in Figures 8 and 9, a tool holder drive mechanism that rotates the semicircular tool holder 6, to which the shutter 4 is fixed, 180° around the vertical axis X may be used. This also allows the tool 50 held in the tool holder 6 to be moved back and forth between a first position where it is housed in the internal space of the housing 2 and a second position where it is exposed to the external space.

[0033] Furthermore, in this embodiment, a cylindrical tool 50 is held vertically in a horizontal, flat tool holder 6. In this case, for example, as shown in Figure 10, if two tools 50 are held horizontally spaced apart in the width direction of the tool holder 6, the processing device 30 attempting to grip one tool 50 will come very close to the other tool 50. To avoid this, increasing the spacing between the tools 50 would increase the width of the tool holder 6 and the width of the window 5.

[0034] Alternatively, as shown in Figure 11, by inclining the upper surface of the tool holding portion 6 in a direction that is diagonally outward in the width direction, adjacent tools 50 in the width direction can be held in a position that is separated from each other toward the base end. This makes it possible to increase the distance between the processing device 30 that is trying to grip one tool 50 and the other tools 50 without changing the width dimensions of the tool holding portion 6 and the window portion 5.

[0035] Furthermore, in this embodiment, an example was given in which the tool holder 6 is moved linearly between a first position and a second position. Alternatively, as shown in Figure 12, a circular turntable-shaped tool holder 6 that can be rotated around a vertical axis may be used in the internal space of the housing 2. Multiple tools 50 are held in the tool holder 6 at intervals in the circumferential direction. In this case, the window 5 only needs to be provided from the side to the top surface of the housing 2. The window 5 may be configured to be openable and closable by a shutter (not shown).

[0036] This eliminates the need to secure separate space for a tool magazine by housing the replacement tool 50 below the workpiece W to be machined. Furthermore, by closing the window 5 with a shutter (not shown) during machining, cutting fluid and chips can be prevented from falling onto the replacement tool 50. When replacing the tool 50, the tool holder 6 is rotated to align the tool 50 to be replaced with the window 5, and the tool 50 can be replaced by a machining device 30 brought close from vertically above.

[0037] Furthermore, in this embodiment, a tool holder 6 that holds the tool 50 is moved to a position where it can be removed from outside the housing 2 by a tool holder drive mechanism 13. Alternatively, the tool holder 6 may be fixed inside the housing 2 without the tool holder drive mechanism 13.

[0038] In this case, the tool holding unit 6 only needs to move the processing device 30 held by the robot 20 to a position where the tool 50 held inside the housing 2 can be taken out from outside the housing 2.

[0039] Furthermore, if the tool 50 and the tool holder 6 are positioned below the workpiece mounting surface 3, it is possible to minimize exposure to cutting fluid and chips, so the sides of the housing 2 may be open. Alternatively, the sides of the housing 2 may be closed by a side wall, and a window 5 may be provided in a part of the side wall that is open only to the extent necessary for removing the tool, or it may be even better to provide a shutter 4 that can open and close the window 5.

[0040] Furthermore, in this embodiment, the tool storage device 1 is shown as constituting a jig, but instead, the tool storage device 1 may be configured separately from the jig 16 having a workpiece mounting surface 16a. For example, as shown in Figure 13, a table-shaped or box-shaped jig 16, separate from the housing 2, may be installed above the housing 2 of the tool storage device 1. In this case as well, the replacement tools 50 can be positioned in a location protected from cutting fluid and chips by the workpiece mounting surface 16a of the jig 16, thereby improving space efficiency.

[0041] While embodiments and modifications of the present disclosure have been described above, the tool storage device 1 and workpiece processing system 100 of the present disclosure are not limited to the embodiments and modifications described above, and various modifications are possible without departing from the spirit of the present disclosure.

[0042] Regarding the above-described embodiments and modifications, the following additional notes are further disclosed. (Supplementary Note 1) A housing capable of accommodating one or more tools is provided below a work mounting surface on which a work to be machined can be fixed, and a tool holding portion that is provided so as to be accommodable inside the housing and removably holds the tool. A tool storage device, wherein the tool holding portion can be disposed at a position where at least one of the held tools can be taken out from outside the housing.

[0043] (Supplementary Note 2) The tool storage device according to Supplementary Note 1, wherein the work mounting surface is provided on the upper surface of the housing.

[0044] (Supplementary Note 3) The tool storage device according to Supplementary Note 1 or Supplementary Note 2, wherein the housing includes a window portion that communicates the inside and outside of the housing.

[0045] (Supplementary Note 4) The tool storage device according to Supplementary Note 3, further including a shutter capable of opening and closing the window portion.

[0046] (Supplementary Note 5) The tool storage device according to Supplementary Note 3 or Supplementary Note 4, wherein the window portion is provided on a side surface of the housing, and a holding portion drive mechanism that is movable between a first position where the tool holding portion holding the tool is disposed inside the housing and a second position where at least one of the tools is disposed outside the housing via the window portion is provided.

[0047] (Supplementary Note 6) A sensor capable of detecting the presence or absence of the tool is fixed to the tool holding portion, and the sensor is accommodated inside the housing in a state where the tool holding portion is disposed at the first position and is disposed outside the housing in a state where the tool holding portion is disposed at the second position. The tool storage device according to Supplementary Note 5.

[0048] (Supplementary Note 7) The tool storage device according to Supplementary Note 5 or Supplementary Note 6, wherein the holding portion drive mechanism is a linear motion mechanism that linearly moves the tool holding portion between the first position and the second position.

[0049] (Supplementary Note 8) The tool storage device according to Supplementary Note 4, wherein the shutter is fixed to the tool holding portion, and the shutter closes the window portion when the tool holding portion is disposed at the first position.

[0050] (Note 9) A workpiece processing system comprising a robot, a processing device attached to the tip of the robot, and a tool storage device described in any one of Notes 1 to 8, wherein the processing device is equipped with an automatic tool changer that holds the tool in an interchangeable manner.

[0051] (Note 10) The workpiece machining system according to Note 9, further comprising a replacement tool holder that removably holds at least one replacement tool interchangeable with at least one of the tools held in the tool holder, at a position different from the tool storage device within the operating range of the robot and at a position not affected by machining during workpiece machining.

[0052] 1 Tool storage device 2 Housing 3, 16a Workpiece mounting surface 4 Shutter 5 Window section 6, 6a, 6b Tool holding section 8 Photoelectric sensor (sensor) 13 Linear motion mechanism (holding section drive mechanism) 20 Robot 30 Machining device 33 ATC (Automatic Tool Changer) 50 Tool 60 Tool stand (replacement tool holding section) 70 Replacement tool 100 Workpiece machining system W Workpiece

Claims

1. A tool storage device comprising: a housing capable of accommodating one or more tools below a workpiece mounting surface capable of fixing a workpiece to be machined; and a tool holding section provided to be housed inside the housing and for removably holding the tools, wherein the tool holding section can be positioned so that at least one of the held tools can be removed from outside the housing.

2. The tool storage device according to claim 1, wherein the workpiece mounting surface is provided on the upper surface of the housing.

3. The tool storage device according to claim 1 or claim 2, wherein the housing is provided with a window portion that connects the inside and outside of the housing.

4. The tool storage device according to claim 3, further comprising a shutter that can open and close the window portion.

5. The tool storage device according to claim 4, wherein the window portion is provided on the side surface of the housing and includes a holding portion drive mechanism that is movable between a first position in which the tool holding portion holding the tool is positioned inside the housing and a second position in which at least one of the tools is positioned outside the housing via the window portion.

6. The tool storage device according to claim 5, wherein a sensor capable of detecting the presence or absence of the tool is fixed to the tool holding portion, the sensor is housed inside the housing when the tool holding portion is positioned in the first position, and is positioned outside the housing when the tool holding portion is positioned in the second position.

7. The tool storage device according to claim 5 or 6, wherein the holding mechanism is a linear motion mechanism that moves the tool holding portion linearly between the first position and the second position.

8. The tool storage device according to claim 5, wherein the shutter is fixed to the tool holding portion, and the shutter closes the window portion when the tool holding portion is positioned in the first position.

9. A workpiece processing system comprising a robot, a processing device attached to the tip of the robot, and a tool storage device according to any one of claims 1 to 8, wherein the processing device includes an automatic tool changer that holds the tool in an interchangeable manner.

10. The workpiece machining system according to claim 9, further comprising a replacement tool holder that removably holds at least one replacement tool interchangeable with at least one of the tools held in the tool holder, at a position different from the tool storage device within the operating range of the robot and at a position not affected by machining during workpiece machining.

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