Tool changer mechanism

Claim 2

In a machine tool, the combination comprising: a frame; a vertical slide secured to the frame for vertical movement thereupon; a spindle housing, having a spindle, mounted upon the vertical slide for horizontal movement, the spindle being adapted to receive and lock a tool therein; a tool changer supporting structure vertically spaced above the spindle housing and directly connected to and supported by the vertical slide so as to extend laterally from the face thereof in cantilever fashion such that the load carried thereby is not transmitted to the spindle housing; a tool storage magazine secured to the sUpporting structure for carrying a plurality of tools and presenting a selected tool to a tool transfer position; a tool transfer arm mounted upon the supporting structure intermediate the magazine and the spindle for rotation about an axis; first and second angularly spaced clamping devices operatively connected to the transfer arm for selective extension and retraction relative to the axis of rotation in mutually transverse directions to respectively grasp and release a tool; first and second actuators respectively operatively connected to the first and second clamping devices for the extension and retraction thereof; and an indexing device operatively connected to the transfer arm for rotating the transfer arm between first, second, third and fourth index positions such that the first clamping device may extend and grasp the selected tool in the transfer position in the first index position, the second clamping device may extend and grasp a used tool in the spindle in the second index position, the selected tool held by the first clamping device is aligned with the spindle in the third index position so as to be insertable therein, and the used tool held by the second clamping device is aligned with the magazine in the fourth index position so as to be insertable therein.

Claim 3

In a machine tool, the combination comprising: a frame; a vertical slide secured to the frame for vertical movement thereupon; a spindle housing, having a spindle, mounted upon the vertical slide for horizontal movement, the spindle being adapted to receive and lock a tool therein; a tool changer supporting structure vertically spaced above the spindle housing and directly connected to and supported by the vertical slide so as to extend laterally from the face thereof in cantilever fashion such that the load carried thereby is not transmitted to the spindle housing; a tool storage magazine secured to the sUpporting structure for carrying a plurality of tools and presenting a selected tool to a tool transfer position; a tool transfer arm mounted upon the supporting structure intermediate the magazine and the spindle for rotation about an axis; first and second angularly spaced clamping devices operatively connected to the transfer arm for selective extension and retraction relative to the axis of rotation in mutually transverse directions to respectively grasp and release a tool; first and second actuators respectively operatively connected to the first and second clamping devices for the extension and retraction thereof; and an indexing device operatively connected to the transfer arm for rotating the transfer arm between first, second, third and fourth index positions such that the first clamping device may extend and grasp the selected tool in the transfer position in the first index position, the second clamping device may extend and grasp a used tool in the spindle in the second index position, the selected tool held by the first clamping device is aligned with the spindle in the third index position so as to be insertable therein, and the used tool held by the second clamping device is aligned with the magazine in the fourth index position so as to be insertable therein.

Claim 4

In a machine tool, the combination comprising: a frame; a vertical slide secured to the frame for vertical movement thereupon; a spindle housing, having a spindle, mounted upon the vertical slide for horizontal movement, the spindle being adapted to receive and lock a tool therein; a tool changer supporting structure vertically spaced above the spindle housing and directly connected to and supported by the vertical slide so as to extend laterally from the face thereof in cantilever fashion such that the load carried thereby is not transmitted to the spindle housing; a tool storage magazine secured to the sUpporting structure for carrying a plurality of tools and presenting a selected tool to a tool transfer position; a tool transfer arm mounted upon the supporting structure intermediate the magazine and the spindle for rotation about an axis; first and second angularly spaced clamping devices operatively connected to the transfer arm for selective extension and retraction relative to the axis of rotation in mutually transverse directions to respectively grasp and release a tool; first and second actuators respectively operatively connected to the first and second clamping devices for the extension and retraction thereof; and an indexing device operatively connected to the transfer arm for rotating the transfer arm between first, second, third and fourth index positions such that the first clamping device may extend and grasp the selected tool in the transfer position in the first index position, the second clamping device may extend and grasp a used tool in the spindle in the second index position, the selected tool held by the first clamping device is aligned with the spindle in the third index position so as to be insertable therein, and the used tool held by the second clamping device is aligned with the magazine in the fourth index position so as to be insertable therein.

Claim 5

The combination of claim 1, wherein the respective clamping axes of the clamping devices are generally parallel to the axis of rotation and define an approximate 90* angle with respect thereto and wherein adjacent index positions define approximate 90* angles.

Claim 6

The combination of claim 1, wherein the transfer arm comprises: a housing; and wherein each of the clamping devices comprise: two fingers pivotally connected to the transfer arm housing for respective movement between extended and retracted positions; and a slider mounted within the transfer arm housing for axial sliding movement between extended and retracted positions, the slider being connected to the fingers and the actuator therefor such that operation of the actuator produces a pivoting of the fingers to their extended positions whereby the fingers may grasp a tool.

Claim 7

The combination of claim 3, wherein each actuator comprises: a piston assembly having its shaft connected to the associated slider; and wherein there is further provided: means to lock each slider in the extended position thereof.

Claim 8

The combination of claim 1, wherein the indexing device comprises: a shaft connected to the transfer arm and mounted upon the supporting structure for rotation about an axis coincident with the axis of rotation of the transfer arm; a pinion coaxially mounted upon the shaft to impart rotation thereto; a rack mounted upon the supporting structure for axial movement, the rack being in meshing engagement with the pinion; and means to displace the rack between four discrete positions respectively corresponding to the index positions of the transfer arm.

Claim 9

The combination of claim 5 wherein the shaft is mounted upon the supporting structure for axial movement such that axial displacements of the shaft produce corresponding inward and outward movements of the transfer arm between an inner position and an outer position whereby: the selected tool may be withdrawn from the magazine by the first clamping device in the first index position by an outward movement of the transfer arm, a used tool in the spindle may be withdrawn therefrom by the second clamping device in the second index position by an outward movement of the transfer arm, the selected tool may be inserted in the spindle in the third index position by an inward movement of the transfer arm, and the used tool may be inserted in the magazine in the fourth index position by an inward movement of the transfer arm; and wherein there is further provided: a third actuator connected to the supporting structure for axially displacing the shaft.

Claim 10

The combination of claim 1, wherein the inDexing device comprises: means to bidirectionally rotate the transfer arm such that the second, third and fourth index positions are successively occupied by the transfer arm during rotation in a predetermined direction from the first index position, and the third, second and first index positions are successively occupied by the transfer arm during rotation in the direction opposite to the predetermined direction.

Claim 11

The combination of claim 7, wherein the transfer arm rotates through an approximate 270* angle in rotating between the first and the fourth index positions, whereby the second clamping device may place the used tool in the tool transfer position when the transfer arm occupies the fourth index position.

Claim 12

In a machine tool comprising a frame, a vertical slide mounted upon the frame for vertical movement, and a spindle housing, including a spindle, mounted upon the vertical slide for horizontal movement; a tool storage magazine comprising a horizontal track extending laterally of the vertical slide; a plurality of coded tool carriers for carrying a plurality of tools mounted in vertical orientation upon the track for movement therearound; means to lower a selected tool carrier at a transfer station on the track to a horizontal tool transfer position where a new tool therein may be withdrawn therefrom or a used tool inserted therein; a tool changer supporting structure vertically spaced above the spindle housing and directly connected to and supported by the vertical slide so as to extend laterally from the face thereof in cantilever fashion, the track being carried upon the supporting structure; a tool transfer arm mounted upon the supporting structure intermediate the transfer position and the spindle for rotation about an axis equidistant from and parallel to the axis of a tool in the transfer position and the axis of the spindle and for outward and inward axial movement along the axis of rotation respectively away from and toward the tool transfer position and the spindle between inner and outer positions; first and second angularly spaced clamping devices operatively connected to the transfer arm for selective extension and retraction relative to the axis of rotation in mutually transverse directions to respectively grasp and release a tool such that outward movements of the transfer arm may withdraw a tool held by a clamping device from the selected tool carrier at the tool transfer position or the spindle and inward movements of the transfer arm may insert a tool held by a clamping device in a tool carrier at the transfer position or the spindle; first and second actuators respectively operatively connected to the first and second clamping devices for the extension and retraction thereof; and an indexing device operatively connected to the supporting structure and the transfer arm for rotating the transfer arm between first, second, third and fourth index positions such that the first clamping device may extend and grasp the new tool in the selected tool carrier in the transfer position and withdraw the new tool from the selected tool carrier by an outward movement of the transfer arm in the first index position, the second clamping device may extend and grasp the used tool in the spindle and withdraw the used tool therefrom by an outward movement of the transfer arm in the second index position, the new tool held by the first clamping device is aligned with the spindle in the third index position so as to be insertable therein by an inward movement of the transfer arm, and the second clamping device is aligned with an empty tool carrier in the tool transfer position in the fourth index position so that the used tool is insertable therein by an inward movement of the transfer arm.

Claim 13

In a machine tool comprising a frame, a vertical slide mounted upon the frame for vertical movement, and a spindle housing, including a spindle, mounted upon the vertical slide for horizontal movement; a tool storage magazine comprising a horizontal track extending laterally of the vertical slide; a plurality of coded tool carriers for carrying a plurality of tools mounted in vertical orientation upon the track for movement therearound; means to lower a selected tool carrier at a transfer station on the track to a horizontal tool transfer position where a new tool therein may be withdrawn therefrom or a used tool inserted therein; a tool changer supporting structure vertically spaced above the spindle housing and directly connected to and supported by the vertical slide so as to extend laterally from the face thereof in cantilever fashion, the track being carried upon the supporting structure; a tool transfer arm mounted upon the supporting structure intermediate the transfer position and the spindle for rotation about an axis equidistant from and parallel to the axis of a tool in the transfer position and the axis of the spindle and for outward and inward axial movement along the axis of rotation respectively away from and toward the tool transfer position and the spindle between inner and outer positions; first and second angularly spaced clamping devices operatively connected to the transfer arm for selective extension and retraction relative to the axis of rotation in mutually transverse directions to respectively grasp and release a tool such that outward movements of the transfer arm may withdraw a tool held by a clamping device from the selected tool carrier at the tool transfer position or the spindle and inward movements of the transfer arm may insert a tool held by a clamping device in a tool carrier at the transfer position or the spindle; first and second actuators respectively operatively connected to the first and second clamping devices for the extension and retraction thereof; and an indexing device operatively connected to the supporting structure and the transfer arm for rotating the transfer arm between first, second, third and fourth index positions such that the first clamping device may extend and grasp the new tool in the selected tool carrier in the transfer position and withdraw the new tool from the selected tool carrier by an outward movement of the transfer arm in the first index position, the second clamping device may extend and grasp the used tool in the spindle and withdraw the used tool therefrom by an outward movement of the transfer arm in the second index position, the new tool held by the first clamping device is aligned with the spindle in the third index position so as to be insertable therein by an inward movement of the transfer arm, and the second clamping device is aligned with an empty tool carrier in the tool transfer position in the fourth index position so that the used tool is insertable therein by an inward movement of the transfer arm.

Claim 14

The combination of claim 9, wherein the indexing device comprises: means to bidirectionally rotate the transfer arm such that the second, third and fourth index positions are successively occupied by The transfer arm during rotation in a predetermined direction from the first index position and the third, second and first index positions are successively occupied by the transfer arm during rotation in the direction opposite to the predetermined direction.

Claim 15

The combination of claim 10, wherein the bidirectional rotating means comprises: a shaft connected to the transfer arm and mounted upon the supporting structure for rotation about and axial movement along an axis coincident with the axis of rotation of the transfer arm; a pinion coaxially mounted upon the shaft to impart rotation thereto; a rack mounted upon the supporting structure for axial movement, the rack being in meshing engagement with the pinion; and means to displace the rack between four discrete positions respectively corresponding to the index positions of the transfer arm.

Claim 16

The combination of claim 11, wherein the rack displacing means comprises: first, second and third indexing piston assemblies operatively connected in series relationship to the rack such that successive extension of the respective shafts thereof causes the transfer arm to successively assume the second, third and fourth index positions, and such that successive retraction of the respective shafts thereof causes the transfer arm to successively assume the third, second and first index positions.

Claim 17

The combination of claim 9, wherein the transfer arm comprises: a housing; and wherein each of the clamping devices comprises: two fingers pivotally connected to the housing for respective movement between extended and retracted positions; and a slider mounted within the transfer arm housing for axial sliding movement between extended and retracted positions, the slider being connected to the fingers and the actuator therefor such that operation of the actuator produces a pivoting of the fingers to their extended positions, whereby the fingers may grasp and hold a tool.

Claim 18

The combination of claim 13, wherein each actuator comprises: a fluid operated piston assembly having its shaft connected to the associated slider; and wherein each of the clamping devices further comprises: means to lock each slider in the extended position thereof.

Claim 19

The combination of claim 9, wherein the indexing device comprises: stop means secured to the supporting structure to mechanically stop the rotation of the transfer arm at the respective index positions.

Claim 20

In a machine tool, the combination comprising: a frame; a vertical slide secured to the frame for vertical movement thereupon; a spindle housing, having a spindle, mounted upon the vertical slide for horizontal movement; means to support a workpiece; means to produce relative horizontal movement between the support means and the spindle housing transverse to the horizontal movement of the spindle housing; a tool storage magazine extending laterally of the face of the vertical slide in vertical spaced relationship to the spindle housing for storing a plurality of tools; a tool transfer mechanism extending laterally of the face of the vertical slide in vertical spaced relationship to the spindle housing for transferring tools between the spindle and the tool storage magazine; and means connecting the tool storage magazine and the tool transfer mechanism to the vertical slide such that the tool storage magazine and the tool transfer mechanism are both supported by the vertical slide in cantilever fashion and so as to permit horizontal movement of the spindle housing with respect to the vertical slide as allows for machining operations when tools are transferred to and from the tool storage magazine.

Claim 21

In a machine tool, the combination comprising: a frame; a vertical slide secured to the frame for vertical movement thereupon; a spindle housing, having a spindle, mounted upon the vertical slide for horizontal movement; means to support a workpiece; means to produce relative horizontal movement between the support means and the spindle housing transverse to the horizontal movement of the spindle housing; a tool storage magazine extending laterally of the face of the vertical slide in vertical spaced relationship to the spindle housing for storing a plurality of tools; a tool transfer mechanism extending laterally of the face of the vertical slide in vertical spaced relationship to the spindle housing for transferring tools between the spindle and the tool storage magazine; and means connecting the tool storage magazine and the tool transfer mechanism to the vertical slide such that the tool storage magazine and the tool transfer mechanism are both supported by the vertical slide in cantilever fashion and so as to permit horizontal movement of the spindle housing with respect to the vertical slide as allows for machining operations when tools are transferred to and from the tool storage magazine.

Claim 22

The combination of claim 1, wherein the tool storage magazine comprises: a plurality of vertical tool carriers for respectively containing the plurality of tools; means to place a selected tool carrier in a horizontal tool transfer position wherein a new tool may be withdrawn therefrom or a used tool inserted therein; and wherein the transfer mechanism comprises: a tool transfer arm mounted for rotation about an axis parallel to and equidistant from the axes of tools in the transfer position and the spindle; and first and second clamping means to selectively radially extend from and retract towards the transfer arm in mutually transverse directions to respectively grasp and release tools in the transfer position and the spindle.

Claim 23

The combination of claim 17, wherein the transfer mechanism further comprises: means to outwardly and inwardly move the transfer arm in an axial manner along the axis of rotation between an inner position proximate the transfer position and the spindle and an outer position remote from the transfer position and the spindle, the outward movement serving to withdraw the new tool from the selected tool carrier or to withdraw the used tool from the spindle, and the inward movement serving to insert the new tool in the spindle or to insert the used tool in its tool carrier; and means to bidirectionally rotate the transfer arm through first, second, third and fourth index positions such that in the first and fourth index positions a tool may be withdrawn from and inserted in a tool carrier and such that in the second and third index positions a tool may be withdrawn from and inserted in the spindle.

Claim 24

The combination of claim 18, wherein the respective arcs defined between the first and second index positions and the third and fourth index positions are equal.

Claim 25

The combination of claim 19, wherein the respective arcs defined between the first and second index positions, the second and third index positions, and the third and fourth index positions are each approximately equal to a 90* angle, and wherein the transverse directions of extension and retraction of the first and second clamping means define an approximate 90* angle.

Claim 28

The method of claim 2, further including: withdrawing the used tool from the tool transfer position to the outer position axially displaced from the tool transfer position; moving the tool carrier of the used tool to the tool transfer position at the transfer station; inserting the used tool in its tool carrier; returning the tool carrier of the used tool to its original position at the transfer station; removing the tool carrier of the used tool from the transfer station; placing a second tool carrier containing a second new tool at the transfer station; moving the second tool carrier to the tool transfer position; withdrawing the second new tool from the second tool carrier to the outer position axially displaced from the tool transfer position; returning the second tool carrier to its original position at the transfer station; returning the second new tool to the tool transfer position during machining of the workpiece by the first new tool; removing the second tool carrier from the transfer station during the second mentioned machining; placing the first tool carrier at the transfer station during the second mentioned machining; terminating the second mentioned machining; rotating the second new tool about the axis of rotation in a second direction opposite to the first direction from the tool transfer position to the further inner intermediate position; withdrawing the first new tool from the spindle to the aligned outer position and simultaneously moving the second new tool from the further inner intermediate position to the further outer intermediate position; rotating the second new tool in the second direction about the axis of rotation from the further outer intermediate position to the outer aligned position and simultaneously rotating the first new tool from the outer aligned position to the outer intermediate position; inserting the second new tool in the spindle and simultaneously moving the first new tool from the outer intermediate position to the inner intermediate position; rotating the first new tool in the second direction about the axis of rotation from the inner intermediate position to the tool transfer position; and beginning machining of the workpiece by the second new tool.

Claim 29

The method of claim 21, wherein the rotating steps each describe approximate 90* arcs.