Note: Descriptions are shown in the official language in which they were submitted.
-. 11463~7
-- 1 --
This invention relates to automatic tool changers
for machine tools, to an improved tool storage arrangement
for such automatic tool changers, and to an improved method
of storing and transferring tools for machine tools.
In the past, many different types of automatic
tool changers for machine tools have been known, such as,
for example, those shown by U.S. Patent No. 3,760,491, issued
to Frank Zankl et al on September 25, 1973, U.S. Patent No.
4,087,901, issued to Earl R. Lohneis et al on May 9, 1978;
and, U.S. Patent No. 4,164,290, issued to Frank Zankl on
August 14, 1979.
Another automatic tool changer for machine tools,
which has certain features in common with the automatic
tool changer of the present invention, is shown by
Canadian Patent 1,120,245, issued March 23, 1982, E. J.
Kielma et al and assigned to the assignee of the present
invention.
The usual practice in the prior art is to provide
in association with the automatic tool changer a tool stor-
- age magazine for-storing a plurality of tools which may be
used during various operations performed by the machine
tool. Typically, such a tool storage magazine may store
seventy tools, and the tool storage magazine is indexed by
a numerical program control to position at a tool transfer
point the various tools required by the machine tool in
operating on a workpiece.
It is often desirable to be able to store tools
having different shank sizes or diameters in the tool stor-
age magazine. Thus, many larger tools have relatively large
shanks, such as, for example, four inch diameter cylindrical
shanks, while other tools which it may be desired to store
in the magazine are much smaller and have correspondingly
smaller tool shanks, such as, for example, No. 50 taper
shanks. The sockets of the tool storage magazine are all
sized to receive the shanks of the larger tools, and hence,
when it was desired in the prior art to store smaller tools
having smaller tool shanks in the same tool magazine, it was
~ T~
'; "
~1463~7
-- 2 --
necessary to provide an adapter on the shank of each of
the small tools in order to adapt the shank of the small
tool to be received in the sockets of the tool magazine.
When the small tools are stored in the tool magazine using
adapters on the shanks thereof, as just explained, only one
small tool may be stored in a given tool receiving socket
of the tool magazine, with the small tool having the adapter
on the shank thereof occupying the same storage space in the
tool magazine as a large tool. Hence, if there are a large
number of small tools to be stored in the same tool storage
magazine which also receives the larger tools, a substantial
portion of the available storage space of the tool magazine
may be occupied by the small tools, which is an inefficient
use of the tool storage magazine. However, prior to the
present invention, no solution has been provided for this
inefficient utilization of the storage space of the tool
magazine when storing small tools in a tool magazine which
is essentially intended for use in storing larger tools.
Accordingly, it is an object of the present
invention to provide an improved tool storage arrangement for
use in conjunction with an automatic tool changer for a
machine tool.
It is a further object of the invention to provide
an improved tool storage arrangement for use in conjunction
wit~ an automatic tool changer for machine tools in which
the tool storage arrangement is more efficient and provides
a significantly increased tool storage capacity as compared
to prior art tool storage arrangements for use with auto-
matic tool changers for machine tools.
It is a further object of the present invention to
provide a tool storage arrangement for use with automatic
tool changers for machine tools in which the tool storage
arrangement is adapted to store tools having shanks of
different peripheral sizes of diameters with significantly
improved space utilization, and with significantly increased
tool storage capacity for a given size tool storage facility
than in prior art tool storage arrangements.
'
..
1146347
-- 3
It is still another object of the invention to
provide a tool storage arrangement for use with automatic
tool changers for machine tools which includes a main tool
storage magazine having tool sockets which are sized to
receive tools having a predetermined shank size or con-
figuration and an auxiliary tool storage magazine having a
shank of said predetermined size or configuration to permit
storage of the auxiliary tool storage magazine in the main
tool storage magazine; and, in which the auxiliary tool
storage magazine has sockets which are sized to receive
tools wi~h shanks having a size or configuration which is
different than said predetermined size or configuration.
In particular the auxiliary tool storage magazine
is for receiving and removably storing a plurality of tools
and the tools or the auxiliary tool storage magazine can be
extracted by a tool changer device.
It is still a further object of thje invention to
provide an improved method for storing and transferring
tools of different shank size for use with a machine tool.
In achievement of these objectives, there is pro-
vided in accordance with the invention, a combined tool
storage and tool change arrangement for use with a machine
tool of the type which includes a power driven rotatable
spindle having a socket which receives a tool shank of a
predetermined size, said tool storage arrangement comprising
a main tool storage magazine for receiving and storing a
plurality of tool members each having a shank of said pre-
determined size, and main tool storage magazine comprising
a plurality of tool receiving sockets sized to respectively
receive a tool having a shank of said predetermined size,
means for moving said main tool storage magazine whereby to
~ present a predetermined tool receiving socket to a first
tool transfex point, an auxiliary tool storage magazine for
receiving and storing a plurality of tools, said auxiliary
tool storage magazine having a shank of said predetermined
size whereby said auxiliary tool storage magazine may be
stored in a socket of said main tool storage magazine, first
: .-
1146347
.
tool transfer means for transferring said auxiliary toolstorage magazine from said main tool storage magazine to
a tool transfer station intermediate said main tool stor-
age magazine and said spindle, and second tool transfer
means for transferring a predetermined tool from said
auxiliary tool storage magazine to said spindle.
Suitably the combined tool storage and tool
changer arrangment includes means for indexing said auxi-
liary tool storage magazine at said tool transfer station
whereby to present a predetermined tool carried by said
auxiliary tool storage magazine to a second tool transfer
point at said tool transfer station. The auxiliary tool
storage magazine is provided with sockets for receiving
tools stored thereon, and the sockets are sized to
receive tools having shanks of a size which is different
than said predetermined size. The spindle is provided
with an adapter to receive a tool having the shank of dif-
ferent size. The adapter itself has a shank of said pre-
determined size, whereby the adapter may be stored in the
main tool storage magazine, and whereby the ~dapter may
be received by the socket of the machine tool spindle.
Further objects and advantages of the invention
will become apparent in connection with the accompanying
drawings in which:
1146347
-- 5 --
Figure 1 is a front elevation view of a hori-
zontal machining center which utilizes an automatic tool
changer and tool storage arrangement in accordance with
the present invention;
Fig. 2 is a top plan view of the machining
center Oc Fig. l;
Fig. 3 is a view taken substantially along
line 3-3 of Fig. 2
Fig. 3A is a view in vertical section of one
of the tool receiving sockets carried by the endless
chains 98 of main tool storage magazine 90;
Fig. 4 is a plan view of the tool change arm
assembly which transfers tools (as defined in the
specification) from the main tool storage magazine to
the tilt unit and vice versa:
Fig. 5 is a view taken in section along the
line 5-5 of Fig. 4;
-
~14~;34~
--6--
Fig. 6 is a fragmentary longitudinal sectional view
taken along line 6-6 of Fig. Ss
Fig. 7 iB a view ta~en in sectlon along line 7-7 of
Fiq. 5;
S Fig. 8 i8 a view in section along line 8-8 of Pig. Ss
Fig. 9 i8 a front elevational view of the tool change
arm as~embl~ of Fig. ~.
Fig. 10 i8 a rear elevational view of the upright
which supports the tool change arm assembly of Fig. ~S
Fig. 11 is a side elevational view of the upright
which supports the tool change arm assembly of Fig. ~s
Fig. 12 is a view partially in vertical elevation
and partially in vertical section of the 90- tilt device,
with the tilt device being shown in phantom in its hori-
zontal tilted positionS
Flg. 12A is an enlarged view in vertical section of
the tllt unlt shown in Fig. 12~
Fig. 13 is an end view of the tilt device of Fig. 12,
with the tilt device being shown in its normally vertical
position corresponding to the full line view of Fig. 12s
Fig. 1~ is a top plan view of the tilt device of Figs.
12 and 13, partially broken away, showing the operating
mechanism for indexing the rotatable small tool carrier or
auxiliary tool storage magazine which is positioned on the
tilt device during Mode II operation ~as defined in the
specification)5(Fig.14 is on the same sheet as Figs.17 and 18);
Fig. 15 is an enlarged fragmentary portion in eleva-
tion of the right-hand end of Fiq~. 1, showing the tool
change arm assembly used for interchanging small tools be-
tween the indexable small tool carrier or auxiliary tool
storage magazine and the machine tool spindle in operative
position preparatory to interchanging small tool~ between
the rotatable small tool carrier and the spindle of the
machlne tools
Fig. 16 is a view of the ~other~ or second tool change
arm of the two selectively operable tool change arms, the
~econd tool change arm beinq used for interchanging larger
-7
diameter tools between the tilt device and the spindle of
the machine tool, the second of the tool change arms be-
ing shown in operative position in readiness to transfer to
the machine tool spindle the adapter which receives the
~hanks of the small tools when the small tools are being
rotatably driven by the machine tool ~pindle;
Fig~ 17 iB a fragmentary plan view, partially broken
away, of the tool change housing adjacent the spindle of
the machining center;
Fig. 18 is a view taken along line 18-18 of Fig. 17;
Fig. 19 is a front elevational view with the front
cover cut away of the tool change assembly which i8 used
to interchange large diameter tools between the ~ilt unit
and the machine tool spindle, with the tool change assembly
being shown in vertical position;
Fig. 20 is a front elevational view with the front
cover cut away of the tool change assembly of Fig. 19 in
its horizontal position;
Fig. 21 is a fragmentary plan view, partially cut away,
of the two selectively operable tool change assemblies which
transfer tools (as defined in the specification] between the
tilt unit and the spindle of the machining center;
Fig. 22 is a view in longitudinal section of the
spindle of the machine tool, and showing the adapter which
receives one small tool mounted on the machine tool spindle
for rotation therewith; and
Fig. 23 i8 a block diagram of the electrical circuits
which control the machine tool, a~d which also control the
automatic tool changer and tool storage arrangement of the
invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring now to the drawing~, and more particularly
to Figs, 1 and 2, which show the general arrangement of the
of the apparatus, there is shown in the front elevational
view of Fig. 1 and in the plan view of Fig. 2 a horizontal
machining center, generally indicated at 10, which is equip-
.
11463~7
--8--
ped with the automatic tool changer and tool storage ar-
rangement of the present invention. The machining center
includes a bed 50 upon which a saddle 52 is slidably moun-
ted on X-axis ways 54 (Fig. 2) . Saddle 52 is driven along
ways 54 by a raok and pinlon drive which consists of a rack
56 (Fig. 2) on bed 50 and two pinions S8 on saddle 52
which are driven by a servo motor 60 through a conventional
speed reduction gear box 62. Motor 60 is selectively ener-
gized by a conventional numerically controlled X-axis servo
sy6tem (not shown) to move saddle 52 to any deslred posi-
tion along the X-axis.
A pair of flexible metallic cover sheets 53 are coup-
led between opposite side edges o~ saddle 52 and a corre~-
ponding pair of storage rollers 55 which are mounted on
opposite ends of bed 50. Cover sheets 53 are both made of
relatively narrow interlocked metal slats 57 (Fig. 2) and
easily roll up on their respective rollers 55. Both rollers
55 are torsion biased away from saddle 52 by motors 59 ~Fig.
1) and maintain a tension in cover sheets 53 at all times
80 that each cover sheet 53 will roll up automatically when
saddle 52 moves toward it, while the opposing cover sheet
53 will be drawn off its roller 55 against the force of the
corresponding motor 59. Cover sheets 53 protect the por-
tions of X-axis ways 54 that are not covered by saddle 52.
A set of Z-axis ways 64, lying in a horizontal plane,
are formed on top of saddle 52 perpendicular to X-axis
ways 54. An upright 66 is slidably mounted on Z-axis ways
64 and is driven therealong by a conventional ballscrew
drive (not shown) which is powered by a servo motor 6B
(Fig. 2) . Motor 68 is selectively energized by a conven-
tional numerically controlled Z-axis servo ~ystem (not
shown) to move upright 66 to any desired position along
the Z-axis.
A ~t of vertical Y~-xis way~ 70 are ~ormed on upriqht
66 perpendicular to both X-axis ways 54 and Z-axis way~ 64.
A ~pindlehead 72 is Ellidably mounted on Y-axis ways 70 and
:~1463~7
g
iB driven therealong by a conventional ballscrew drive ~not
shown) which iB powered by a ~ervo motor 74 ~Fig. 2). Motor
74 is selectively energized by a conventional numerically
controlled Y-axis ~ervo system (not ~hown) to move spindle-
head 72 to any desired vertical p~ition along the Y-axi~.
A hydraulically actuated counterweight 6ystem i8 COUp-
led to spindlehead 72 to take the weight of spindlehead 72
off the ball~crew drive therefor. The counterweight system
include~ two hydraulic piston and cylinder mechani~ms 76
~Fig. 1), two cables 78 which are coupled between the re-
spective hydraulic and piston cylinder mechanisms 76 and
6pindlehead 72, and pulley~ 80 which guide cables 78. Hy-
draulic piston and cylinder mechanism~ 76 apply a ten~ion
to cables 78 which iB approximately equal and opposite to
the weight of spindlehead 72 to take the weight of spindle-
head 72 off the ballscrew drive.
The general arrangment thus far described under ~DE-
SCRIPTION OF THE PREFERRED EMBODIMENT~ i~ substantially the
same as shown and described in the aforementioned U.S. Pat-
ent Application Serial No. 954,438, filed October 25, 1978.
A spindle 82 is rotatably mounted in spindlehead 72
and, as will be explained in more detail later, is sized to
receive a ~large~ tool having a shank of a particular pre-
determined configuration, size, or diameter (hereinafter re-
ferred to in the specification and claims as a ~fiaid prede-
termined size~), such as, for example, a four inch diameter
shank. The words ~large tool~ as used in the Rpecification
and claims are intended to inclu~e any one of the following:
(1) A single tool having a shank of ~aid predetermined
size.
~ 2) A multiple spindle toolhead having a shank of said
predetermined size, said toolhead carrying a plurality of
tools which are being driven simultaneou~ly by gearing car-
ried by the multiple spindle toolhead, a~ shown, for ex-
ample by Fig. 33 of the aforementioned Canadian Patent
1,120 345.
. .
i347
--10--
~ 3) An adapter device in accordance with the invention,
having a built-in tool retention mechanism for holding a
tool having a different shank size than said predetermined
shank size. For example, the tool supported by the adapter
device may be a t50 taper shank tool. The adapter device
itself has a shank of said predetermined size and is moun-
ted on and rotatable with the spindle.
~ 4) An indexable carrier or auxiliary tool storage mag-
azine for supporting a plurality ~such aB BiX) of tools.
The indexable carrier ha~ a shank of said predetermined
size, whereby the carrier may be stored in a socket of the
main tool storage magazine. The tools supported by a par-
ticular indexable rotary carrier hava a shank size d~fferent
than said predetermined size and may be, for example, ~50
taper shank tools. In this case, the tool handling opera-
tions are performed in accordance with Mode II operation
to be described.
It should be noted that main tool storage magazine 90
stores all of the ~large~ tools ~ust described and that
tool receiving sockets 100 of main tool storage magazine 90
are sized to receive the shanks of any of the ~large~ tools
a~ hereinbefore defined, and also that the socket of the
90- tilt device, and also the socket of the machine tool
spindle i8 sized to receive the shank of any of the ~large~
tools, except the indexable carrier 4~0 which has the
proper size shank for spindle 82 but is never transferred
- to the spindle.
It should also be noted that^ in either the case of
~arge~ tools or ~small~ tools, as set forth in the speci-
fication and claims, the term ~tool~ is intended, where ap-
plicable, to include the tool element which operates on the
workpiece, and also the tool shank which is received in a
socket of the main tool ~torage magazine, of the tilt de-
vice, or of the spindle (all in the case of the ~large~
tools), or in one of the sockets of the auxiliary magazine
(in the ca~e of the ~small~ tools), or in the socket of the
~.
~463~7
adapter (also in the case of the ~small~ tools). All of
the tools, whether ~large~ or ~small~ include a grooved
flange which iB adapted to be gripped by the appropriate
tool change arm assembly.
Spindle 82 is driven in its rotary motion by a spindle
motor 84 (Fig. 2) through a set of conventional speed
change gears (not shown) to rotate spindle 82 at a desired
speed in the desired direction to machine a workpiece 86
(Fig. 2) on a conventional worktable 88 po6itioned in front
of bed 50. The details of worktable 88 are omitted since
they are not relevant to the automatic tool changer of the
present invention,
The automatic tool change of the invention includes:
~A) A double-deck main tool storage magazine 90 which
is adapted to store a plurality of any of the ~large~ tools
previously defined, each of the stored ~tools~ having a
shank of said predetermined size or diameter, such as a
four inch diameter cylindrical shank.
Main tool storage magazine 90 includes tool receiving
sockets 100 which are sized to receive the shanks of any of
the ~large~ tools as hereinbefore defined. Since one of the
~tools~ adapted to be received in the sockets 100 of the
main tool storage magazine 90 is the indexable carrier or
auxiliary tool storage magazine 400 which supports a plur-
ality of the~small~ tools 600 (such as #50 taper shank
tools), it therefore follows that main tool storage maga-
zine 90 also serves to ~tore the ~small~ tools as well as
the ~large~ tools since each inde~able carrier or auxiliary
tool storage magazine 400 when stored in main tool magazine
90 is provided with an assortment of ~small~ tools, dif-
ferent auxiliary tool storage magazines 400 carrying dif-
J ferent assortments of ~small~ tools.
(8) A tilt unit, generally indicated at 92, which is
adapted to receive any of the foregoing defined ~large~
tools which have a shank of said predetermined size or di-
ameter. The tilt unit 92 is pivotally mounted to tilt from
~114~3'~7
-12-
a vertical position, in which the tilt unit receives the
tool from the main tool storage magazine 90, to a horlzon-
tal position parallel to the axis of spindle 82, in which
it is in a proper plane to transfer the tool to spindle 82.
Tilt unit 92 is al80 adapted to tilt from a horizontal po~i-
tion back to a vertical position. The tilt unit is adapted
to receive the indexable carrier or auxiliary tool storage
magazine 400. Indexable carrier 400 has a shank of sa~d
predetermined 8ize or diameter which is received ln a 80C-
ket forming part of the tilt unit. A drive means is pro-
vided for rotatably indexing the ~ocket of the tilt unit
and the indexable carrier mounted in the socket, whereby to
present a predetermined one of the tools on the indexable
carrier to a pick-up station or tool transfer point for
transfer to the spindle of the machine tool.
(C) A first tool change arm a~sembly 94, which is adap-
ted to tran~fer any of the foregoing defined ~tools~ desig-
nated at ~ 2), ~3) and (4), namely, the single tool,
the multiple spindle toolhead, the adapter device, and the
indexable small tool carrier or auxiliary tool storage mag-
azine, all of which have a shank of said predetermined di-
ameter, between main tool storage magazine 90 and the tilt
unit 92.
~D) A second tool change arm assembly, generally indi-
cated at 96 and comprising a pair of independently operatedtool change arm assemblies 96A and 96~. Tool change arm
assembly 96A is adapted to transfer any one of the ~tools~
designated at ~1), (2) and ~3) hereinbefore, namely, the
single tool, the multiple spindle toolhead, or the adapter
device, all of which have a shank of said predetermined di-
ameter, rom tilt unit 92 to spindle 82. Tool change as-
sembly 96B is adapted to interchange the smaller diameter
tools, such as the ~50 tapered shank tools, between the in-
dexable carrier or auxiliary tool storage magazine 400 and
adapter device 500 mounted in ~pindle 82.
Main tool storage magazine 90 is a double-deck struc~
.
li4~3'~7
-13-
ture which support~ two endless chains 98 ~Fig. 2) of tool
sockets 100. As best seen in Fig. 3A, each tool socket 100
of the endless chains 98 has a hollow cylindrical body 102
wbich has a central bore 104 which is of a size to receive
a ~large~ tool of any of the types previously defined hav-
ing a shank of said predetermined diameter, such as, for
example, a four inch diameter straight shank.
A flange 106 is formed on the top of body 102 of each
tool socket 100 for supporting the flange 108 on any of the
large toolR whose cylindrical shank ~such as a four inch di-
ameter straight shank) is received in bore 104 of tool soc-
ket 100. As 6een in Figs. 2 and 3, each of the endle~s
chains 98 is guided and driven around a corre6ponding L-
shaped path by means of conventional sprockets lncluding a
drive sprocket 128 ~Figs. 2 and 3) which is driven by a ser-
vo motor through a pinion gear engaging drive sprocket 128.
Idler sprocket 136 tFigs. 2 and 3) carries a plurality of
angularly spaced stop lugs which are spaced apart from each
other circumferentially by an angle corresponding to the
spacing of tool sockets 100. Suitable proximity ~witches
are positioned in the path of the stop lugs carried by the
idler sprocket 136 and produce an output signal whenever one
of the lugs carried by the sprocket passes over it whereby
to count the tool sockets passing the proximity switch, and
thus whereby to determine when a predetermined desired tool
socket is in position to transfer or receive a tool received
in the tool socket.
When the desired tool socket }00 i8 in the predeter-
mined required po6ition to transfer or receive a tool, the
drive motor for the tool supporting endless chain is deen-
ergized and suitable means, which forms no part of the pre-
sent invention, is provided to insure that the desired tool
socket 100 is properly located and oriented at tool transfer
point 473 to tran6fer or receive a tool or other device sup-
ported in the tool socket.
Pig. 3 shows the supporting structure for tool storage
114~i3~7
-14-
magazine 90. The rear portion of tool storage magazine 90
at the right side of Fig. 3, is rollably supported on a ~ta-
tionary rail 162 by rollers 164 which are journaled to a
baae 166. ~ase 166 is at~ached to the lower plate 130 of
the lower deck of tool storage magazine 90. A group of
spaced post~ 168 extend between lower plate 130 of the lower
deck and the lower plate 132 of the upper deck of the tool
storage magazine 90. The front portion of tool ~torage mag-
azine 90 is slidably supported on bases 170 which extend
from the adjacent portion of the X-axis bed 50 (Fig. 1). A
base plate 172 is attached to the adjacent end of saddle 52
and slides over bases 170. The front portion of tool maga-
zine 90 is supported by base plate 172 and thus moves with
saddle 52 over the X-axis bed 50 and bases 170. Base plate
172 also supports tool change arms 94, 96A and 96B, and tilt
unit 92 (see Fig. 2). Upright 66, tool storage magazine 90,
tool change arm assemblies 94, 96A and 96B, and tilt unlt
92 all move as a unit with saddle 52.
Referr~ng to Fig. 2, a first tool change arm assembly
generally indicated at 94 transfers ~large~ tools (such as
the four inch diameter cylindrical shank tools) as previ-
ously defined, from main tool storage magazine 90 to tilt
unit 92. Tilt unit 92 is in the position shown in Fig. 16
of the drawings, with piston and cylinder mechanism 390 in
extended position, when tilt unit 92 receives a tool from
first tool change arm assembly 94.
Referring to Figs. 4 and 5, first tool change arm as-
sembly 94 comprises a tool grippe^r arm 174 which is rota-
tably mounted on a base 176 for rotation about a vertical
axi~ 17B ~Fig. S). Tool gripper arm 174 i6 rotatable from
a forward position, indicated in Fig. 4 by broken outline
174~, to a central position indicated in Fig. 4 by the solid
outline 174~, to a rear position indicated in Fig. 4 by
broken outline 174C. In the rear position, tool gripper
arm 174 picks up a tool from tool storage magazine 90. In
the central position, the tool is placed in tilt unit 92.
i 1~46347
-15-
In the forward position, tool gripper arm 174 i8 clear of
tilt unit 92 80 that the latter can tilt forward. On the
return portion of the cycle, tool gripper arm 174 picks up
a tool from tilt unit 92 in the central poeition and trans-
S fers it to tool ~torage magazine 90 in the rear position.
Tool gripper arm 174 i~ rigidly attached to a vertical
shaft 184 ~Fig. 5) which iB rotatably attached to brackets
186 on base 176 by bearings 188. A horizontal bracXet 190
is rotatably attached to shaft 184 by bearings 192 and is
moved by a hydraulic piston and cylinder mechani~m 194
(Fig. 4) which, in its retracted position, moves arm 17~ to
its forward position, and which in its extended position,
moves arm 174 from its forward po~ition to it~ central posi-
tion. The piston rod l9S of hydraulic piston and cylinder
lS mechanism 194 is connected to bracket 190 by a pivotal con-
nector 196. The other end of hydraulic piston and cylinder
mechanism 194 is pivotally connected to a bracket 198 on
base 176.
A bracket 200 ~Fig. S) i8 attached to a projection 201
of bracket 190 by machine screws 203. aracket 200 provides
a pivotal mounting for another hydraulic piston and cylinder
mechanism 202 which is pivotally coupled between brackets
190 and 200 by trunnions 204 (Pig. 9). The piston rod 206
(Fig. 9) of hydraulic piston and cylinder mechanism 202 i~
pivotally coupled to a bracket 208 (Fig. 5) on tool gripperarm 174 by a pivotal connector 210. Hydraulic piston and
cylinder mechanism 202, when extended, moves arm 174 from
it~ central position 174B (Fig. 4~) to its rear position, in-
dicated by broken outline 174C in Fig. 4. When hydraulic
piston and cylinder mechanism 202 is retracted, it move~ arm
174 from its rear position 174C to its central position, in-
dicated by the solid line position 174B in Fig. 4. A pair
of cam actuated limit switches 212 and 214 (Pigs. 5 and 9)
indicate when arm 174 i8 in the forward, central or rear po-
sition. Limit switch 212 is actuated by cam 216 and limit
switch 214 is actuated by cam 218. Both cams 216 and 218
are mounted on a shaft 219 which is attached to shaft 184.
1~4~ 7
-~6-
A semicircular gripper cavity 220 (Fig. 4) iB formed
in the end of arm 174. A pair of roller~ 222 and a movable
~aw member 224 are movably mounted in arm 174 and ar~ po~i-
tioned around gripper cavity 220 in position to grip the
grooved flange provided on each of the tools to securely
hold the tool in arm 174 for transfer. Movable jaw member
224 is slidable in~lot 226 in arm 174 between an extended
position shown in Fig. 4 and a retracted position (not
~hown) in which jaw member 224 is completely withdrawn into
slot 226. Jaw member 224 i8 moved back and forth between
it~ extended and retracted po~itions by a hydraulic piston
and cylinder mechaniRm 228 which moves a slide 230 in a
310t ~31 ~Fig. 6) crossways of jaw member 224. Slide 230
has a rai&ed cam portion 232 (Fig. 6) which extends at a
45~ angle ~ to the edge of slide 230 and slidably engage~
a cam 810t 234 in jaw 224. Cam slot 234 extends at the same
angle a of 45~ to the edge of ~aw member 224 and interacts
with the rai~ed cam portion 232 of slide 230 to move jaw
member 224 bletween its extended and retracted position.
When hydraulic piston and cylinder mechanism 228 is
extended, ja~w member 224 i8 retracted and when hydraulic
piston and cylinder mechanism 228 is retractedO as shown in
Fig. 6, jaw ~ember 224 is extended.
The tip 236 (Fig. 6) of cam portion 232 and the adja-
cent portion of ~lot 234 are angled at a small angle ~ to
the edge of slide 230 to provide for a reduced rate of move-
ment at the end of the retraction stroke of hydraulic piston
and cylinder mechanism 228 to lock the tool in gripper jaw
c~vity 220~ Movement of cam portion 232 along the edge 236
will continue until jaw ~ember 224 exerts enough pressure
on the tool therein to counteract the retraction Porce of
hydraulic piston and cylinder mechanism 228.
Referring to Figs. 5, 7 and 8, the bottom of slot 226
in tool gripper arm 174 is closed by a cover plate 23~ which
i~ attached to gripper arm 174 by machine screws 240. The
end of 510t 231 iS closed by a cover plate 242 (Fig. 7)
1146347
-17-
which is attached to gripper arm 174 by machine screws 244.
A limit switch 246 (Figs. 5 and 8) is mounted on the bottom
of cover pla~e 23B by machine screws 248. A ~pring loaded
plunger 250 ~Fig, 8) bear6 against the bottom of gripper
S jaw 224 and actuates switch 246 when gripper jaw 224 is in
its retracted position.
Tool gripper base 176 i8 slidably mounted for vertical
movement on an upright 252 (Figs. 4, 10 and 11). A set of
vertical ways 254 ~Pigs. 4, 9 and 11) are formed on upright
252 to guide tbe vertical movement of tool gripper base
176. Two vertical movements are required for base 176. The
first is a short upward movement to lift a tool from the
tool storage socket 100 with which tool gripper arm 174 i~
aligned, along with the complementary short downward move-
ment to lower a tool into the tool storage socket 100. Thesecond vertical movement is a longer upward movement to
raise tool gripper arm 174 from the lower deck of tool stor-
age magazine 90 to the upper deck thereof, along with the
complementary downward movement to lower tool gripper arm
174 from the top deck to the lower deck.
These two movements are obtained by two hydraulic pis-
ton and cylinder mechani6ms 256 and 258 ~ig. 10) which are
connected together in tandem, the base of the longer cylin-
der 258 being connected to and supported by the end of the
piston rod of the shorter piston and cylinder mechanism 256.
The end of the piston rod 260 of the longer piston and cyl-
inder mechanism 258 is attached to a bracket 262 on the top
of tool gripper base 176 by a mac~ine screw 264 (Figs. 9
and 10). Figs. 10 and 11 show the longer piston and cylin-
der mechanism 258 in its fully extended position and the
shorter piston and cylinder mechanism 256 in its fully re-
tracted position. This places tool gripper arm 174 in posi-
tion to pick up a tool from the upper deck of tool storage
magazine 90. After the tool has been gripped by gripper arm
174 it is lifted out of its socket 100 by extension of piston
and cylinder mechani3m 256. ~hen, after tool gripper arm
1146347
-18-
174 has been swung clear of tool storage magazine 90, both
piston and cylinder mechanisms 256 and 258 are retracted to
- drop the tool into tilt unit 92.
With both piston and cylinder mechanisms 256 and 25B
retracted, tool gripper arm 174 is vertically positioned to
grip a tool in the lower deck of tool storage magazine 90.
An extension of piston and cylinder mechanism 256 will then
lift the gripped tool out of its socket 100. The tool grip-
per arm 174 i8 then swung over tilt unit 92 (see Fig. 2)
and piston and cylinder mechanism 256 is retracted to drop
the tool into tilt unit 92.
Four limit switches 266, 268, 270 and 272 ~ig. 11)
are mounted on upright 252 and interact with the ad~acent
edge of tool gripper base 176 to indicate which of the four
possible vertical positions that base 176 is in at any time.
Tool change arm assembly 94 and the associated ~truc-
ture just described ln connection with Figs. 4-11, inclu-
sive, are substantially-the-same-as disclosed in connection -
with Figs. 10-17, inclusive, of the aforementioned Canadian
Patent 1,120,245.
Figs. 12, 13 and 14 show the details of the tilt unit
92 which is adapted to receive a ~large~ tool of any of the
types previously defined from first tool change arm assembly
94. The shank of the tool being transferred, as stored in
main tool storage magazine 90 and as received by first tool
change arm assembly 94, is in a vertical position. After
having received the transferred t~ol from tool change arm
assembly 94, tilt device 92 tilts the tool through an angle
of 90 whereby the shank of the tool is then in a common
horizonta} plane with rotatable spindle 82 of the machine
tool.
Tilt unit 92 comprises a housing 274 having pivotally
connected thereto an arm 276, whieh i8 pivotally attached
to a pair of upstanding triangular sides 278 by trunnion~
280. Triangular sides 278 are bolted to base plate 282.
li463 ~'7
--19--
Housing 274 can be pivotally moved from a vertical po-
sition, shown in solid lines in Pig. 12, to a horizontal
position, shown in broken lines in Fig. 12, by extension and
retraction of two hydraulic piston and cylinder mechanisms
284, which are pivotally connected at one end to base plate
282 and are pivotally connected at the other end to housing
274. Within housing 274 there i8 po~itioned a cup-like
socket generally indicated at socket 290. Within the hol-
low interior of socket 290, there is positioned a collet
clamp 292 of generally hollow cylindrical shape. Rigidly
~ecured to or integral with clamp 292 iB a base portion
294, which i8 fixed to or otherwise secured to a shaft 296.
Shaft 296 passes downwardly through a passage 299 in base
portion 302 of socket 290, sha~t 296 passing below base
portion 302, with shaft 296 being provided at the lower
portion thereof with a shoulder 304 upon whicb are seated a
plurality of Belleville springs 306 which urge shaft 296 in
a downward direction whereby to move collet clamp 292 to
clamped position. A short hydraulic piston and cylinder
mechanism 308 is mounted at the lower end of housing 274
and includes a piston rod 310 which underlies but is not
positively connected to the lower end of shaft 296 carried
by collet clamp 292. When hydraulic piston and cylinder
mechanism 308 is actuated to move piston rod 310 to an e~-
tended position, piston rod 310 bears against the lower end
of shaft 296 of the collet mechanism and moves collet clamp
292 to unclamped position against the force of 8elleville
springs 306. Collet clamp 292 serves to clamp the cylin-
drical shank of any ~large~ tool which may be received by
socket 290.
In the view shown in Fig. 12, shank 402 of indexable
carrier or auxiliary tool storage magazine 400 is shown moun-
ted in socket 29q of tilt device 92. Careier 400 is pro-
vided with a plurality of angularly spaced socketR for re-
ceiving a plurality, such as ~ix, of the individual 6malltools each generally indicated at 600 which are adapted to
114~347
-20-
be transferred by tool change arm assembly 968 to the adap- ¦
ter 500 on spindle 82. Adapter 500 i8 provided with a
built-in small tool retention mechanism as will be ex-
plained in more detail hereinafter. However, socket 290
of tilt device 92 can also receive the shank of any of the
other ~larqe~ tools as hereinbefore defined, including (1)
the shank of a single tool, such as, for example, a tool of
the type illu6trated in Fig. 39 of the aforementioned U.S.
Patent Application Serial No. 954,438 filed October 25,
1978; (2) the shank of a multiple sp~ndle toolhead such as
that shown by Fig. 33 of the aforementioned Canadian
Patent 1,120,245, or (3~ the shan~ of adapter 500 (Fig.
22) for retaining a single "small" tool 600 in spindle
82.
~ flange member 312 of tilt device 92 i~ secured to
the upper end of cylindrical socket member 290 and the
driven member 316 of a Geneva drive mechanism generally in-
dicated at 314 iB secured to or is an integral part of
flange 312. The under surface of flange 312 rests on the
upper end of outer casing or housing 274 of tilt device 92.
Drive member 315 of the Geneva drive mechanism i8 in driv-
ing relation with the Geneva driven member 316. Geneva
drive member 315 is rotatably driven by a single revolution
motor 318. Motor 31B may be operated by any suitable power
means and may be electrically or hydraulically operated for
example.
Geneva mechanisms are well-~nown per se. AB best ~een
in Fig. 14, drive member 315 of ~he Geneva mechanism iB
provided with a pin member 320 which engages angularly
fipaced slots 332 in the outer periphery of the Geneva driYen
member 316, whereby one rotation of drive member 315 indexes
driven member 316 and hence indexable carrier or auxiliary
tool storage magazine 400 by one angular step. Therefore
it can be ~een that if the indexable carrier or auxiliary
tool storage magazine 400 ha~ six angularly spaced ~small~
tools supported thereby, and if the Geneva driven member ~16
.,
114634'7
-21-
iB provided with a corresponding number of slot~ engaged
by pin 320 of Geneva drive membee 315, that each rotation
of Geneva drive member 315 will cause auxiliary tool stor-
age magazine 400 to index through one angular step whereby
to permit indexing a predetermined desired small rotary tool
600 into proper position for transfer to adapter 500 of tool
spindle B2.
During the ~Mode I~ operation of the tool changing
operation, as will be explained hereinafter, when rotary
carrier 400 i8 not mounted on tilt unit 92, the Geneva mech-
anism 314 is not in use and motor 318 i8 deenergized.
In Mode I operation, Geneva drive member 315 is stop-
ped in a ~park~ position ln which edge 315A of Geneva drive
member 315 abuts against edge 316A of Geneva drlven member
316 to thereby stabilize the rotatable socket member 290 to
which Geneva driven member 316 is secured, and to prevent
rotation or other movement of socket member 290 during Mode
I operation.
As best seen in Figs. 1, 2, 15, 16, 17, 18 and 21, two
tool change arm assemblies, respectively generally indicated
at 96A and 96B, are provided to effectuate the interchange
of tools between 90 tilt device 92 and machine tool spindle
82. Tool change arm assembly 96A serves the function of
transferrlng large shank diameter tools between tilt device
92 and spindle 82. Tool transfer arm assembly 96B is used
only in Mode II operation and serves the function of trans-
ferring small shank diameter tools, such as the tS0 taper
shank tools, between indexable ca~rrier or auxiliary tool
storage magazlne 400 mounted in tilt device 92 and adapter
500 carried by spindle 82 for receiving and holding small
diameter tools.
As best seen in Fig~. 17, 18 and 21, tool transfer
arm assemblies 96A and 96B are respectively mounted on and
fixed to coaxial shafts 351 and 353, whereby any axial or
rotary movement of the respective shaft on which it 18
mounted causes a corre~ponding movement of the respective
11463~7
-22-
tool transfer arm assembly 96A or 96B. Shaft 351 i~ the
outer shaft and is positioned coaxially about inner ehaft
353. Outer shaft 351 and inner shaft 353 are capable of
rotating independently of each other.
The two coaxial shafts 351 and 353 are rotatably moun-
ted in an upright 355 by conventional means (not shown) and
both shafts are slidable axially together along their com-
mon longitudinal axis to move both tool transfer arm assem-
blies 96A and 968 between a rear position shown in solid
line in Fig. 21 and a forward position shown in broken lines
in Flg. 21, or vice versa. The two tool transfer arm assem-
blies 96A and 96B, as best seen in Fig. 21, are axially
displaced from each other a short distance along their com-
mon longitudinal axis.
Outer shaft 351 is circumferentially slotted at 357 to
receive a pair of rollers 358 (Fig. 21) which are mounted
on a yoke 361. Yoke 361 is moved axially back and forth
(right and left in Fig. 21) by a hydraulic piston and cyl-
inder mechanism 363 who~e piston rod 365 is rigidly attached
to yoke 361. Any axial movement of yoke 361 causes a cor-
responding axial movement of both outer and inner shafts 351
and 353. In order to insure that both coaxial shafts 351
and 353 move together in an axial dlrectlon, the right-hand
end of inner shaft 353 (relatlve to the vlew of Flg. 21) 18
provlded wlth a clrcumferential groove therein which re-
ceives a snap ring 354 therein. Snap ring 354 pro~ects be-
yond the outer periphery of inner shaft 353 and is received
in a groove defined by a retaine~ 356 mounted at the con-
tiguous outer end of outer shaft 351. This arrangement
cause~ shafts 351 and 353 to move together axially but per-
mits shafta 351 and 353 to rotate angularly independently of
each other. When piston rod 365 is extended, it moves both
tool transfer arm assemblies 96A and 96B to the rear posi-
tion ~hown by solid lines in Fig. 21. When piston rod 365
is retracted, it moves both tool transfer assemblies 96A
and 96B to the forward position ~hown by broken lines in
Fig. 21.
114~347
--23--
A spur gear 367 (Flg. 21) i8 rlgidly attached to inner
shaft 353 contiguous the rear (right-hand in Fig. 21) end
of inner shaft 353 and engages a rack 369 when coaxial
shafts 351 and 353 are in their rear position. Rack 369
is moved linearly by a hydraulic piston and cylinder mech-
anism 371 whose piston rod 373 is attached to rack 369 and
whose cylinder is attached to a bracket 374 on upright 355.
The full stroke of rack 369 rotates inner ~haft 353 through
90 to rotate tool transfer arm 96B from its vertical or
~parked~ position shown in Fig. 16 to its horizontal opera-
tive position shown in Figs. 1 and 15. The vertical posi-
tion of tool transfer arm assembly 96B is the stand-by po-
sition, and the horizontal position thereof is the tool
pick-up or deposit position.
- 15 In a similar manner, a spur gear 376 is rigidly at-
tached to outer shaft 351 and engages a rack 378 when shaft
351 is in its rear position shown in solid line~ in Fig. 21.
Rack 378 is moved linearly by a hydraulic piston and cylin-
der mechanism 380 whose piston rod 382 is attached to rack
378 and whose cylinder is attached to bracket 374 on up-
right-355. Piston and cylinder mechanism 380 and rack 37B
are all 80 dimensioned that one-half of the full stroke of
piston rod 382 causes a 90 movement of outer shaft 351 to
thereby rotate tool change arm assembly 96A from its verti-
cal position ~shown in Figs. 1 and 15) to its horizontal
position ahown in Fig. 16. The vertical position of tool
change arm assembly 96A is the stand-by position and the
horizontal position thereof ifi tne tool pick-up or deposit
position.
When outer ~haft 351 and tool transfer arm assembly
96A are in their forward position, shown by broken lines in
Fig. 21, gear 376 carried by outer shaft 351 is aligned
with a second rack 384 (Fig. 21). The piston rod 386 of
piston and cylinder mechanism 3B5 i~ attached to rack 384
and piston rod 386 and rack 3B4 are 80 dimensioned that the
full stroke of piston rod 3B6 rotates outer shaft 351 and
- ~146347
-24-
tool change arm assembly 96A through lB0 to interchange
the endc of tool change arm assembly 96A. This rotation
through lB0 only occurs when shaft 351 and tool change arm
assembly 96A are in their forward position shown by broken
S lines in Fig. 21. In the axially forward position of shaft
351, the tools supported by tool change arm assembly 96A do
not lie within a retaining socket, either in the spindle
contiguous one end of tool change arm assembly 96A, or in
the socket carried by tilt device 92 contiguous the oppo-
site end of the tool change arm afisembly 96A.
When inner fihaft 353 and tool change or transfer arma~sembly 96B are in their forward position, shown by broken
lines in Fig. 21, gear 367 carried by inner shaft 353 moves
into alignment with rack 378 of piston and cylinder mechan-
lS ism 380. Movement of piston rod 382 to its full stroke
rotates inner shaft 353 and tool change arm assembly 96B
through 180 to interchange the ends thereof in the same
manner as described hereinbefore in connection with tool
change arm assembly 96A.
Tool change arm assembly 96A comprises a tool gripper
arm 298 (Figs. 19 and 20) which is similar to tool gripper
arm 298 of the aforementioned Canadian Patent
1,120,245, as shown in and de-
scribed in connection with FigB. 25 and 26 of that applica-
tion. Tool gripper arm 298 has opposed tool gripper cavi-
ties 344 and 346 which contain rollers 348. Rollers 348
are dimensioned and positioned to fit in a standard grooved
flange on any of the ~large~ too~s as hereinbefore defined.
A pair of rotary tool gripper jaws 350 and 352 are rotatably
attached to arm 298 adjacent to gripper cavities 344 and
346. Tool gripper iawB 350 and 352 have gripping segments
354 and 356, respectively, which are shaped to enter the
grooved flange on the ~large~ tool. Gripper jawB 350 and
352 are spring biased by torsion spring~ (not shown) to urge
gripping segments 354 and 356 away from tool cavities 344
and 346, respectively. The movement of gripping segments
1~6347
- 25 -
354 and 356 away from tool cavities 344 and 346 i8 limited
by the abutment of the straight edges 370 and 372 of grip-
per ~aws 350 and 352 with stop pinB 362 and 364, respec-
tively.
A cam 360 with an open position shown in solid lines
in Pig. 19 and a locked position shown in broken lines in
Fig. 19 is rotatably mounted between gripper ~aws 350 and
352. In the locked position shown in Fig. 20, both gripper
~aws 350 and 352 are rotated toward their respective tool
cavities 344 and 346 to in~ert tool grip segments 35~ and
356 into the grooved flange of tools 366 and 368, respec-
tively. In the position shown in Fig. 20, both tool grip-
per ~aws 350 and 352 are locked in the position shown by
cam 360, which abuts against the straight edges 370 and
372 on ~awB 350 and 352, respectively. This locks tools
- 366 and 368 in tool cavities 344 and 346, respectively.
Cam 360 18 mounted to be able to float laterally to equal-
ize clamping pressure. To release tools 366 and 368, cam
360 must be rotated 90 counterclockwise from the position
shown in Fig. 20 back to the position shown in solid lines
in Pig. 19. This permits tool gripper jaws 350 and 352 to
rotate counterclockwise in Fig. 20 away from tool cavitie~
344 and 346, respectively.
Referring to Figs. 20 and 21, cam 360 is attached to a
shaft 375 ~Fig. 21) which extends through the hollow inter-
ior of inner shaft 353. The rear end of shaft 375 ~on the
right side of Fig. 21) is connected to a hydraulic rotary
actuator 377, such a~ manufacturea~ by the Flo-Tork Company,
Orrville, Ohio. Rotary actuator 377 acts to rotate shaft
375 by 90- clockwise or counterclockwise in response to
electrical signals. The 90- rotation of shaft 375 rotates
cam 360 between its open and locked position as described
previously.
Tool 36fi in Fig. 19 is in spindle B2 while tool 368 is
in tilt unit 92. To exchange tools 366 and 368, upright 66,
saddle 52, and spindlehead 72 are moved by the N.C. axis
~1463~'7
--26--
servo systems to the po~itions shown in P~ig8. 1 and 2. Tool
change arm 298 18 then rotated 90 counterclockwise from
the position shown in Figs. 1 and 19 to the position shown
$n Fig. 20. As tool cavities 344 and 346 approach tools
366 and 368, the latter contact flat edges 378 and 380 of
gripper jaws 350 and 352 and cause them to rotate to move
qripper segments 354 and 356 into the grooved flanges of
the re~pective tools 366 and 368. Gripper segmentB 354 and
356 are then locked in position by rotating cam 360 by 90
counterclockwi~e to the position shown in Pig. 20.
To unloclc gripper jaws 350 and 352, cam 360 i8 rotated
90 clockwise in Fig. 20, which releases gripper ~aws 350
and 352 to rotate away from tools 366 and 368 under the
urging of their respective torsion springs (not shown).
Although the operation of tool change arm 298 ha~ been
described in connection with tools on both ends of the arm,
it will work as well with a single tool at either end of
the arm.
As best seen in Figs. 15 and 16, the 90- tilt device
92 is mounted for axial sliding movement from right to left
~or vice versa) with respect to the views shown in Figs. 1,
2, 15 and 16. The motive power for the axial adjusting
movement of tilt device 92 is provided by a piston and cyl-
inder assembly, generally indicated at 390, including a hy-
draulic cylinder 392 which is suitably anchored at one of
its ends to the stationary structure and a piston rod 394
which is pivotally connected to a member 395 which forms
part of the tilt device structure~. In the position shown
in Fig. 15, piston rod 394 is retracted into cylinder 392,
and the slidably mounted tilt device 92 is at the extreme
right end of its possible path of movement of travel. The
position of tilt device 92 shown in the view of Fig. 15 is
the location of the tilt device when tool change arm assem-
bly 96B which interchanges the ~small~ tool~ between auxili-
ary tool storage magazine 400 and spindle 82 i8 in use.
When tool change arm afisembly 96A which interchanges large
. . ,
1146347
--27--
sise shank tools between tilt unit 92 and spindle B2 i~ ~n
use, slidably movable tilt device 92 is in the position
shown in Fig. 16. In moving from the Fig. 15 position to
the Fig. 16 position, or vice versa, tilt unit 92 moves a
distance equal to the radius of rotary carrier or auxiliary
tool storage magazine 400. The reason for providing this
capability for shifting the tilt device 92 from the posi-
tion ~hown in Fig. 15 corresponding to the retracted po~l-
tion of piston rod 394, and the position shown in Fig. 16
corresponding to the extended position of the piston rod
394 is that the two selectively operable tool transfer arm
assemblies 96A and 96B, which respectively interchange
large diameter shank tools and small diameter shank tools,
are mounted for pivotal movement about a common axis of ro-
tation indicated a~ R in Figs. 15 and 16, and in order that
the two tool change arm assemblies 96A and 96B be in proper
position to grip the grooved flanges of the ~large~ and
~small~ tools, respectively, it is necessary to move the
90- tilt device 92 in the manner just described.
The tool change assembly generally indicated at 96B,
for interchanging small tools, such as the ~50 taper shank
tool, between spindle 82 and lndexable carrier or auxiliary
magazine 400 is similar to the tool change mechan~sm 172
shown in Unlted State~ Patent 3,704,510 issued to Robert X.
Sedgwick et al on December 5, 1972. In view of the fact
that the tool change mechanism 96B is shown in a prior is-
sued patent, it is not believed necessary to show or de-
scribe the tool change mechanism g6B in detail in the pre-
sent application. However, it will be noted, as ~een in
Fig. 21, that shaft 375 has a hollow axial passage there-
through for the entire length of 6haft 375, and a shaft 379
extends through the hollow passage of shaft 375 and has a
pinion (not shown) mounted at the left-hand end thereof
(relative to Fig. 21) to actuate a rack which forms part of
tool change assembly 96B, whereby to actuate tool grips 396
and 397 (Fig. 15).
li46347
-28-
Referring to Fig. 22, there is shown the adapter mem-
ber 500 in assembled relation to machine tool spindle 82.
Adapter 500, as seen in Fig. 22, receives the small tool
600 from indexable carrier or auxiliary tool storage maga-
zine 400. The spindle assembly comprises a cylindrical
~tationary housing 502 for the rotatable spindle 82. A
spindle bearlng retainer 504 is secured to statlonary
spindle housing 502 by bolts 506. A roller bearing a~sem-
bly 50B is interposed between the rotatable spindle B2 and
stationary housing 502. The outer or left-hand end of
spindle 82 is provided with a socket 510 which receives a
collet member 512. Spindle 82 18 provided with a face plate
514 which is bolted to the spindle by bolt members (not
shown). Face plate 514 is keyed to spindle 82 as indicated
at 516. The purpose of key 516 between spindle 82 and face
plate 514 is to relieve ~hearing stress on the bolts which
secure the face plate to the spindle. Another function of
the key 516 is to insure proper orientation of the tool,
~uch as the adapter member 500, which is secured to the
spindle. The adapter 500, as in the case of any other tool
which might be received by spindle 82, is provided with a
large diameter shank 518, such a8 a four inch dia~eter shank
for example. Large diameter shank 518 i~ received by collet
512 in socket 510 at the left-hand end of spindle B2. Shank
518 of adapter 500 is suitably secured to adapter body 520
by bolts 522. A drawrod 524 is in threaded engagement with
collet 512. Drawrod 524 is pulled to the right relative to
the view in Fig. 22 by a suitable~piston and cylinder mech-
anism ~not shown) to theeeby cause collet member 512 at-
tached thereto to tightly grip shank 518 of the tool, such
as adapter member 500, received by spindle 82. When collet
512 is moved into clamping and gripping engagement to adap-
ter shank 518, it not only grip~ the adapter shank, but
also center~ the adapter ~hank relative to the axis of
spindle 82.
To supplement the action of the drawrod 524 just de-
~1463~7
-29-
scribed, a second drawrod or tool retention rod 526 is
tbreaded and keyed to an adapter member 528 whlch, in turn,
is threaded into a second adapter member 530, which is se-
cured to tool shank 518. Adapter 530, in effect, is an
integral part of tool shank 518. Thus, it can be seen that
by pulling to the right (relative to Fig. 22) on tool re-
tention drawrod 526, adapter 500 is pulled up tight against
the face plate 514 of spindle 82.
Adapter 500 is provided with a cylindrical passage 532
therethrough, and in the left-hand end of this passage with
respect to the view of Fig. 22, a taper adapter member 534
is positioned and is provided with a peripheral flange 536
which is bolted to the forward end of adapter 500 by bolts
538. A small tool 600 received from auxiliary tool stor-
age magazine 400 i8 shown positioned in taper adapter 53~.
The following procedure i8 followed to install thetapered shank tool 600 in taper adapter 534:
~ 1) The hydraulic piston-cylinder assembly 540 (Fig.
22) is actuated to couple the previously uncoupled quick-
disconnect ~ember 542 to permit flow of hydraulic fluidfrom a stationary supply source through passages 544A, 544B
and 544C to the back of piston member 546. The oil or other
hydraulic fluid introduced in back of piston member 546
causes piston member 546 to move to the left relative to the
view in Fig. 22 against the biasing force of Belleville
springs 548. Movement of the piston member 546 to the left
relative to the view of Fig. 22 moves collet clamp member
550 to the left to an unclamped position relative to collet
552. Collet clamp 550 is attached to and moves with piston
member 546. When collet clamp 550 has been moved to the
left to the unclamped position as just described by the
movement of piston 546, the flexible collet member 552 ex-
pands radially outwardly into recess 550A of the collet
clamp 550. With the collet 552 expanded radially outwardly
to an open position as just described, tapered shank tool
600 may then be inser~ed into taper adapter 534 until neck
~1463~7
--30--
602 at the inner end of the taper shank tool 600 is re-
ceived by collet 552. When tapered shank tool 600 has thus
been installed in position, the hydraulic fluid is released
from behind piston member 546 by opening a suitable valve
to dump the hydraulic fluid to sump. ~elleville springs
548 will then force piston member 5~6 to the right relatlve
to the view of Fig. 22, pulling collet clamp member 550 to
the right to the position shown in the view of Fig. 22 in
which collet clamp 550 i8 in clamping engagement relative
to tool retention collet 552 to thereby secure tapered
shank tool 600 securely in position in taper adapter 534.
As just explained, hydraulic fluid is applied against
pi~ton 546 to cau~e movement of collet clamp 550 to permit
opening up of collet 552 to either receive a taper ~hank
tool 600 which is to be inserted in taper adapter 534 or to
release a taper shank tool 600 which is already in place in
taper adapter 534. After removing a given taper shank tool
600 from the taper adapter 534 with collet clamp 550 in un-
clamped position, pi~ton 546 is permitted to remain hydraul-
ically pressurized 80 that collet 552 will be in proper un-
clamped condition to receive the next ~small~ tool to be in-
serted into taper adapter 534.
The horizontal machining center and tool change mech-
anism hereinbefore described essentially has two different
modes of oper~tion which may be br~efly summarized as fol-
lows:
Mode I: In this mode of operation, the only tools used
by the machine tool ~pindle 82 a~e the ~large~ tools (as
hereinbefore defined) having the predetermined diameter or
size corresponding to the socket size of the main tool stor-
age magazine 90, to the socket size of tilt device 92, and
to the socket sise of spindle 82 without using adapter 500.
Mode II: In thi~ mode of operation, the indexable ro-
tary carrier of auxiliary tool ~torage magazine 400 (Figs.
12-16, inclusive) i8 mounted on tilt device 92 and ~small~
tools 600 from auxiliary tool storage magazine 400 are trans-
114~;347
-31-
ferred by tool change assembly 96~ to adapter 500 in ma-
chine tool ~pindle 82.
An illustrative tool change cycle in accordance with
Mode I will now be described, assuming that the following
initial conditions prevail:
~ A) Tool No. 1 having ~ shank of said predetermlned
diameter is clamped in spindle 82 and is being used to ma-
chine a workpiece 86 (Fig. 2) on worktable 88.
(B) The empty tool socket 100 for tool No. 1 is at
the tool transfer position in the upper deck of main tool
storage magazine 90.
(C) The next tool to be used, tool No. 2, also having
a ~hank of said predetermined diameter, is in a socket 100
in the upper deck of main tool storage magazine ~0 in a
lS known position.
~ D) Tilt unit 92 is empty and i8 in the vertical posi-
tlon shown in Fig. 16. This i8 the normal position of tilt
unit 92 except when small tools are being interchanged be-
tween rotary carrier 400 and spindle 82 during a portion of
Mode II operation to be described later.
- (E) Tool change arm 17~ of first tool change arm as-
sembly 94 is in the central position opposite the lower
deck of main tool storage magazine 90.
(F) Tool change arm 96A between tilt unit 92 and
spindle B2 is empty on both ends and is in the vertical
rear position.
Under the foregoing initial conditions, the tool change
cycle operating in accordance witfi Mode I will proceed as
follows:
(1) While workpiece 86 is being machined, the motor
which drives the upper deck of main tool storage magazine
90 is energized in the forward direction to move tool soc-
kets 100 past the tool tran~fer position shown at point 478
in Fig. 2.
(2) The number of times that lugs carried by idler
sprocket 136 (Figs. 2 and 3) pass over a proximity switch
1~463~7
--32--
along the path of movement of the lugs and are counted by B
conventional counter determines when the known po~ition of
the tool socket 100 containing the desired tool No. 2 iB at
tool transfer point 478.
(3) When the desired tool No. 2 i~ at tool transfer
point 478, the drive motor for the upper deck of main tool
storage magazine 90 i8 deenergized and the desired tool
socket 100 containing tool No. 2 iB caused to be located at
tool transfer point ~78.
(4) Hydraulic pi~ton and cylinder mechanism 258 (Figs
10 and 11) iB extended to raise tool change arm 174 of the
first tool change arm assembly 94 to the levellof the upper
deck of main tool storage magazine 90.
(5) Hydraulic piston and cylinder mechanism 202 (Pig.
4) i8 extended to move tool change arm 174 to tool transfer
point 478. This places tool cavity 220 ~Fig. 4) around the
V-groove of tool No. 2.
(6) Hydraulic piston and cylinder mechanism 228 (Fig.
4) is retracted to move gripper ~aw 224 into contact with
the V-groove of tool No. 2 to clamp it to arm 174.
(7) Hydraulic piston and cylinder mechanism 256 (Fig~
10 and 11) is extended to lift tool No. 2 out of tool soc-
ket 100.
(8) Hydraulic piston and cylinder mechanism 308 (Fig.
12) is extended to open collet clamp 292 in tilt unit 92.
(9) Hydraulic piston and cylinder mechanism 202 (Fig.
4) is retracted to swing tool No. 2 over tilt socket 290 of
tilt unit 92.
(10) Hydraulic piston and cylinder mechanism 256 (Fig.
lC) is retracted to lower tool No. 2 into tilt socket 290
of tilt unit 92.
~11) Hydraulic piston and cylinder mechanism 228 (Fig.
4) i~ extended to release gripper jaw 224 from tool No. 2.
(12) Hydraulic piston and cylinder mechanism 308 (Fig.
12) is retracted to permit 8elleville springs 306 to close
collet clamp 292 of tilt unit 92.
11463~7
-33-
(13) Hydraulic piston and cylinder mechanism 194 ~Fig.
4) is retracted to swing tool change arm 174 to its forward
position indicated at dotted line 174A in Fig. ~.
(14) Hydraul$c pi~ton and cylinder mechanisms 284
(Figs. 12, 13 and 14) are extended to swing tilt socket
274 of tilt device 92 and tool No. 2 therein to a hori-
zontal poaition.
The foregoing steps 1 through 14 or any desired portion
thereof can be performed while workpiece 86 (Fig. 2) is be-
ing machined by tool No. 1 which was placed in spindle 82
during the preceding tool change. Step 15, however, cannot
be performed until the current machining operation on work-
piece 86 i8 completed.
(lS) The X, Y and Z axes drives for the machine tool
are actuated to bring spindle 82 into the tool change posi-
tion ~hown in Figs. 1 and 2, and rotation of spindle 82 is
stopped.
(16) Hydraulic piston and cylinder mechanism 380 ~Fig.
21) is extended to rotate tool change arm 298 of tool
change assembly 96A by 90 from the vertical to the hori-
zontal position.
(17) Hydraulic rotary actuator 377 (Fig. 21) is rotated
counterclockwise 90- to lock cam 360 (Figs. 19 and 20)
against tool grip jaws 350 and 352.
(18) Drawrod 524 is pushed to the left relative to the
view in Fig. 22 by a suitable hydraulic pi~ton and cylinder
arrangement to thereby release collet member 512 from the
shank of tool No. 1. Also, tool ~etention rod 526 is pushed
to the left relative to the view in Fig. 22 by a suitable
piston and cylinder mechani~m to release tool No. 1 from its
engagement with the face plate 514 of spindle 82. Tool re-
tention rod 526 and adapter member 528 secured thereto (Fig.
22) are then rotated by a suitable means (not shown) carried
by the stationary structure to cause adapter member 528 to
become disengaged from it~ screw-threaded engagement with an
adapter member such as adapter member 530 (Fig. 22) which ia
.
~1463~7
--34--
secured to the ~hank of tool No. 1. This d$~connects tool
retention rod 526 from tool No. 1.
(19) Piston and cylinder mechanism 308 (Pig. 12) is
extended to open collet clamp 292 in tilt unit 92.
(20) Piston and cylinder mechanism 363 (Fig. 21) is
retracted to pull tool No. 1 out of spindle 82 and to pull
tool No. 2 out of tilt socket 290 of tilt device 9~.
(21) Piston and cylinder mechanism 385 (Fig. 21) is
extended to rotate tool change arm 298 of tool change aa-
sembly 96A by 180 to interchange tool No. 1 and tool No. 2.
(22) Plston and cylinder mechani6m 363 (Fig. 21) i8
extended to insert tool No. 2 into spindle 82 and to insert
tool No. 1 into tilt socket 290 of tilt device 92.
(23) Hydraulic rotary actuator 377 (Fig. 21) is rota-
ted clockwise 90- to unlock cam 360 (Figs. 13 and 20) from
tool grip jaws 350 and 352.
(24) Drawrod 524 (Fig. 22) is pulled to the right eela-
tive to the view in Fig. 22 by a suitable hydraulic piston
and cylinder mechanism to thereby cause collet member 512
to grip the shank of tool No. 2 which is now in the socket
of spindle 82. Tool retention rod 526 and adapter member
~528 secured thereto are rotated by a suitable means ~not
shown) carried by the stationary structure to cause adapter
member 528 to threadedly engage an adapter member ~uch a8
adapter member 530 (Fig. 22) which is secured to the shank
of tool No. 22. Tool retention rod 526 is then pulled to
the right relative to the view in Fig. 22 by a suitable pis-
ton and cylinder mechanism to pu~l tool No. 2 up tight
against face plate 514 of spindle 82.
(25) Hydraulic piston and cylinder mechanism 308 (Fig.
12) is retracted to permit ~elleville springs 306 to clo~e
collet clamp 292 in tilt unit 92.
(26) Piston and cylinder mechanism 3B0 (Fig. 21) is re-
tracted to rotate tool change arm 298 of tool change assem-
bly 96A from the horizontal to the vertical position. After
thi~ step, machining of the workpiece can begin again with
the new tool.
.
~1463~7
-35-
(27) Piston and cylinder mechanisms 284 (Fig. 12) are
retracted to tilt tool No. 1 in tilt socket 274 of tilt de-
vice 92 to the vertical position.
(2B) Piston and cylinder mechanism 194 (Fig. 4) is ex-
S tended to swing tool change arm 174 over tilt socket 290 of
tilt unit 92.
(29) Piston and cylinder mechanism 228 ~Fig. 4) is re-
tracted to move gripper jaw 224 into contact with tool No.
1.
(30) Hydraulic piston and cylinder mechani~m 308 (Fig.
- 12) is extended to open collet clamp 292 in socket 290 of
tilt unit 92.
(31) Piston and cylinder mechanisms 256 and 258 (Flqs.
10 and 11) are both extended to raise tool No. 1 above the
lS level of the upper deck of main tool storage magazine 90.
(32) Piston and cylinder mechanism 202 (Fig. 4) is ex-
tended to move tool No. 1 to tool transfer position 478
(Figs. 2 and 4).
(33) Piston and cylinder mechanism 256 (Figs. 10 and
11) is retracted to drop tool No. 1 into tool socket 100
of main tool storage magazine 90.
(34) Piston and cylinder mechanism 228 (Fig. 4) i~ ex-
tended to move gripper jaw 224 out of contact with tool No.
1.
(35) Piston and cylinder mechanism 202 (Fig. 10) is
retracted to move tool change arm 174 to its central posi-
tion.
This completes the tool cha~ge cycle for tools No. 1
and No. 2 involved in Mode I operation.
The following is a description of the Mode II operation
in accordance with which the rotary carrier or auxiliary
tool storage magazine 400 (Figs. 12-16, inclusive,) is moun-
ted on tilt device 92 and ~small~ tools 600 from auxiliary
tool storage magazine 400 are transferred to machine tool
spindle 82 which is provided for this Mode of operation with
an adapter member 500 (Fig. 22). As previously described,
~1463~l7
-36-
adapter 500 is provided with a ~pecial tool retention mech-
anism for retaining a single ~small~ tool 600 used in Hode
II operation.
In certain respects, the various tool handling opera-
tions which are performed in the Mode II operation are thesame as or similar to correspondinq operations in Mode I
operation. To that extent, the operations in Mode II oper-
ation which are ~imilar to corre~ponding steps in Mode I
operation will not be described again in any detail.
In describing the Mode II operation, it will be a~-
sumed, for simplicity of description, that spindle 82 does
not have a tool of any kind therein at the beginning of the
tool change cycle for Mode II operation. It will also be
as~umed that tilt unit 92 is empty and is in the vertical
position of Fig. 16 corresponding to Mode I operation. It
will also be assumed that tool change arm assembly 96B,
which i8 used for transferring ~small~ tools between tilt
unit 92 and spindle 82, is empty on both ends and i8 in the
vertical rear position (i.e., the full line position in
Pig. 21).
It is inherent in Mode II operation that the first
~tool~ to be transferred out of main tool storage magazine
90 is the adapter member S00 ~Fig. 22) and that the second
~tool~ to be transferred out of main tool storage magazine
90 is a carrier member or auxiliary tool ~torage magazine
400 ~Pigs. 12-16, inclusive,) having a predetermined assort-
ment of ~small~ tools (such as t50 taper shank tools) posi-
tioned thereon. The adapter memb~er 500 and the auxiliary
tool storage magazine 400 which may be one of a plurality
of auxiliary tool storage magazines 400 having different as-
sortments of ~small~ tools are in two different predeter-
mined sockets in the upper deck of main tool storage maga-
zine 90 in two known positions.
Adapter unit 500 which i8 to be mounted on spindle 82
is transferred from the upper deck of main tool storage mag-
azine 90 to the socket of spindle 82 by a 3eries of ~teps
11463~7
-37-
substantially corresponding to the steps 1-24, inclusive,
described in Mode I operatlon in describing the transfer of
~tool No. 2~ in Mode I operation from the upper deck of
main tool 3torage magazine 90 to the spindle 82, since
adapter 500 is merely another ~large~ tool having a cylin-
drical shank of said predetermined diame~er, aucb as a four
inch diameter shank. Substantially, the only different be-
tween steps 1-24, inclusive, of Mode I operation hereinbe-
fore described and the corresponding steps used for trans-
ferring adapter unit 500 from the upper deck of main toolstorage maqazine 90 to spindle 82 in Mode II operation is
that it is assumed, in order to simplify the description of
the Mode II operation, that spindle 82 i8 empty at the be-
ginning of Mode II operation and hence under the assumed
conditions, there i8 no tool No. 1 already in spindle 82
which i8 to be transferred back to main tool storage maga-
zine 90 as in the description of Mode I.
With the adapter member 500 received in socket 510 of
spindle 82 ~Fig. 22) as just described, the following ~tep~
are followed in proceeding with Mode II operation:
(1) Drawrod 524 is pulled to the right relative to the
view in Fig, 22 by a suitable piston and cylinder mechani~m
to cause collet 512 attached to drawrod 524 to tightly grip
shank 518 of adapter member 500. When collet 512 is moved
into clamping and gripping engagement to adapter shank 518,
it not only grips the adapter shank but also centers the
adapter shank relative to tbe axis of spindle B2.
(2) Tool retention rod 526 and adapter member 52B se-
cured thereto are rotated by a sultable means ~not ~hown)
carried by the stationary structure to cause adapter member
528 to threadedly engage adapter member 530 which is secured
to the shank of adapter 500. This causes tool retention rod
526 to be secured to adapter 500, Tool retention rod 526 is
then pulled to the right (relative to ~ig. 22) by a ~uitable
piston and cylinder mechanism to cause adapter 500 to be
pulled up tight against face plate 514 of spindle 82. The
~146347
-38-
action of tool retention rod 526 supplements the action of
drawrod 524.
(3) The next step is to retrieve from main storage
magazine 90 a particular rotary carrier or auxiliary tool
storage magazine 400 having the desired assortment of
~small~ tools 600 positioned thereon. There may be a plur-
a~ity of rotary carriers or auxiliary tool storage maga-
zines 400 stored in main tool storage magazine 90, the dif-
ferent rotary carFiers 400 having different assortments of
small tools thereon. ~uxiliary tool storage magazine ~00,
as previously explained, is stored in main tool storage
maqazine 90 just like any other ~large~ tool, and iB re-
trieved from main tool storage magazine 90 by first tool
transfer assembly 94 in the same manner as previously de-
scribed in connection with Mode I operation. The desiredauxiliary tool storage magazine 400 which has been retrieved
from main tool storage magazine 90 is transferred by tool
transfer as~embly 94 to socket 290 of tilt unit 92 where lt
is gripped by collet clamp 2g2 of tilt unit 92 in the same
manner as previously de~cribed in connection with any other
~large~ tool.
(4) Tilt unit 92, with auxiliary tool stor~ge magazine
400 positioned thereon, is moved from a vertical po~ition to
a horizontal position, all in the s~me manner as described
ln connection with Mode I operation.
~ 5) Piston and cylinder mechanism 390 (Figs. 15 and 16)
is moved to retracted position to move tilt device 92 in it~
horizontal position with auxiliary tool storage magazine 400
thereon, to the right from the position of tilt unit 92
shown in Fig. 16 to the position of the tilt unit shown ln
Fig. 15 in which small tools 600 carried by auxiliary tool
storage magazine 400 are at a proper radial distance from
the axis of rotation R of tool change assembly 96B.
~6) Motor 318, which drives the Geneva mechanism 314,
is energized and rotates Geneva drive member 315 through a
sufficient number of revolutions to index socket 290 of tilt
' .
~1463~7
-39-
unit 92 through a desired angular rotation in order to pre-
sent the particular ~small~ tool 600 required for a given
machlning operation to the tool transfer point 402 where
the required small tool 600 can be engaged by tool transfer
assembly 96B, which is adapted to receive and transfer
~small~ tools 600 between rotatable carrier or auxiliary
tool storage magazine 400 and spindle 02.
(7) Piston and cylinder mechanism 371 is moved to ex-
tended pos~tion to cause tool transfer assembly 96B to ro-
tate through an angle of 90 from a vertical position a~seen in Fig. 16 to a horizontal position as seen in Figs.
1, 2 and 15.
(8) Piston and cylinder assembly 363 (Fig. 21) is as-
sumed to be ln lts extended posltion as seen ln Fig. 21, in
whlch tool change assembly 96a is in the rear full line po-
sition in Fig. 21 and hence, in a proper plane to engage
V-groove 604 in the flange 603 of the small tool 600. Tool
change assembly 96B is actuated to grip V-groove 604 of tool
600, as taught by the aforementioned United States Patent
No. 3,704,510 ls~ued to Robert K. Sedgwick et al on December
S, 1972.
(9) Wlth one end of tool transfer arm 96B in gripping
engagement to the predetermined desired small tool 600 on
indexable tool carrier 400, piston and cylinder assembly
363 (Fig. 21) is then retracted to cau~e tool transfer as-
sembly 96B to move to the left to the dotted line position
shown in Fig. 21 to thereby pull the predetermined required
s~all tool 600 out of the socket in which it had been posi-
tioned on aux~liary tool storage magazine 400.
(10) Preparatory to receiving asmall~ tool 600, it is
necessary to open up collet member 552 which is adapted to
receive neck portion 602 at the inner end of tapered shank
tool 600. This is accomplished by actuating hydraulic pis-
ton-cylinder as~embly 540 (Fig. 22) to couple previously un-
coupled quick-disconnect member 542 to permit flow of hy-
draulic fluid from a stationary source of fluid supply to the
63~7
-40-
back side of piston member 546, causing piston member 546
to move to the left relative to the view of Fig. 22 to move
collet clamp member 550 to the left to an unclamped posi-
tion relative to collet 552. This permits collet member
552 to expand radially outwardly into the recess 550A of
collet clamp 550 and thus to an open position in which col-
let 552 is ready to receive neck 602 of tapered shank tool
600.
(11) Piston and cyl$nder mechanism 380 is then actu-
ated to drive rack 378 to cause 18n movement of inner shaft
353 on'which tool transfer arm assembly 96~ i8 mounted. This
causes the ~small~ tool 600, which is gripped by tool tran~-
fer assembly 96B, to move from being in alignment with the
~small~ tool receiving socket on rotary carrier 400 to be-
ing in alignment with the socket of taper adapter 534 of
adapter member 500.
(12) Hydraulic piston and cylinder assembly 363 (Fig.
21) is then moved to extended position to cause tool trans-
fer arm assembly 96B to move axially to the full line posi-
tion of Fig. 22 to deposit ~small~ tool 600 in the socket
- of taper adapter 534.
(13) When tapered shank tool 600 has thus been in-
stalled in position in taper adapter 534 of adapter 500,
piston and cylinder assembly 540 (Fig. 22) i8 actuated to
uncouple quick-disconnect member 542 to thereby disconnect
the cylinder 543 in which piston 546 moves from the station-
ary source of hydraulic fluid supply. Also, hydraulic fluid
is released from behind piston m~mber 546 by opening a suit-
able valve to dump the hydraulic fluid to sump. Belleville
springs 548 then force piston member 546 to the right to the
position shown in Fig. 22, thereby also pulling collet clamp
member 550 to the position shown in Fig. 22 in which collet
clamp 550 i8 in clamping engagement relative to tool reten-
tion coll~t 552, to thereby ~ecure tapered 6hank tool 600
securely in position in taper adapter 53~.
(14) Tool transfer arm assembly 96B is then actuated
11463'~7
-41-
as taught by the aforementioned United States Patent No.
3,70~,510 issued to Robert K. Sedgwick et al on December
5, 1i72, to release tool transfer arm assembly 96B from
clamping engagement with respect to the ~mall tool 600.
(15) Hydraulic piston and cylinder mechanism 363 is
then moved to retracted position to move tool transfer
assembly 96B axially forward or to the dotted line position
shown at the left of Fig. 21 in which it is axially forward
of and clear of tool 600, which i8 now secured to adapter
500 for rotation with spindle 82.
~1~) Hydraulic piston and cylinder mechanism 371 is
then moved to retracted position to cause 90- rotation of
tool transfer arm assembly 96B from the horizontal position
to a vertical ~park~ postion. After this step, machining
of the workpiece can begin with the new ~mall~ tool 600.
In order to return the ~small~ tool 600 to the rota-
table carrier 400 and to return carrier 400 and adapter 500
to main tool storage magazine 90, steps which are substan-
tially the reverse of those just described under Mode II
operation are followed, and in view of the foregoing ex-
planation, it is believed that the necessary steps for re-
turning the various members involved in the Mode II opera-
tion to the original positions which they occupied at the
beginning of the Mode II operation will be obvious to one
~killed in the art.
Fig. 23 1~ a block diagram of the electrical circuit~
which control the operation of the machine tool. Standard
coded instruction signals are punched on a punched tape 700
and include signals indicating which tools to use, when the
tools should be changed, and detailed speed and positioning
instructions for spindle ~2 to perform the desired machining
operations, along with any other functions ~such ai coolant
flow) which are necessary for the operation of the machine
tool. The instruction signals are read off tape 700 by a
tape reader ~02 and are applied to a computer 704 which con-
trols the operation of the machine tool through a conven-
1~463~7
-42-
tional three axes drive system 706, a conventional spindle
drive systeQ 708, and other conventional machine tool cir-
cuits (not shown) which do not interact with the automatic
tool changer of this invention.
The foregoing tool change sequences described in con-
nection with operational Modes I and II are controlled by
a suitable tool change computer routine 710 in computer 704
which controls the sequential actuation of tool change
solenoid valves 712 to actuate the various tool change pi~-
ton and cylinder mechanisms 714 in the foregoing described
sequences. Although solenoid valves 712 are not shown indi-
vidually, it will be understood by those skilled in the art
that one solenoid valve is included in the circuit for each
of the piston and cylinder mechanism~ described herein and
illu~trated in Figs. 1 through 22. Each piston and cylin-
der mechanism 714 is either extended or retracted in accor-
dance with the ~tate of the corresponding solenoid valve
712. The state of all of the solenoid valves 712 at any
given time is controlled by the computerized tool change
routine 710 in accordance with well-known prior art program-
ming practice to achieve the sequences of actuation de-
scribed hereinbefore.
Tool change limit switches 716 are coupled to tool
change components 718 in accordance with well-known prior
art electrical control practice to indicate when the de-
sired movement of a tool change component has been comple-
ted. The electrical control portions of the machine tool
are conventional with the excepti~on of the actuation se-
quences of Modes I and II described hereinbefore. Accord-
ingly, the details of the elect~ical control circuits arenot de~cribed herein.
Although the illustrative embodiment of the invention
has been described in considerable detail for the purpose
of fully di~closing a practical operative structure incor-
porating the invention, it i8 to be understood that the par-
ticular apparatu~ shown and described is intended to be
11 463 ~
-43-
illustrative only and that the variou~ novel features of
the invention may be incorporated in other ~tructural forms
without departing from the spirit and scope of the inven-
tion as defined in the ~ubjoined claims.
.
