JP3031539B2 - Drive for automatic tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device for an automatic tool changer.

[0002]

2. Description of the Related Art In a drive device of an automatic tool changer such as a tool storage box of a machining center or the like, a large number of tool receiving pots are arranged at regular intervals, and a drive tool receiving pot position indexing wheel is decelerated. The tool is rotated and driven by a drive motor via a mechanism to change tools.

[0003]

Conventionally, a gear reduction mechanism comprising a large number of spur gears has been frequently used as such a reduction mechanism. However, the backlash between the gears causes a large play between the drive motor and the output end (tool receiving pot), and there is a problem that the tool receiving pot cannot be properly positioned only by the rotation angle of the drive motor.

For this reason, a position detector such as an encoder is provided at a position near the output terminal or at a position that can be regarded as the same as the output terminal. However, a servomotor is usually used as a drive motor, and providing a separate position detector in spite of the fact that a motor whose rotational angle can be adjusted is originally used as a drive source increases equipment costs and maintenance. It is troublesome.

In addition, as described above, backlash between the gears causes backlash between the drive motor and the output end (tool receiving pot). Therefore, a pin is driven into the drive tool receiving pot position indexing wheel to determine the position. In addition, a device for chucking and positioning the tool receiving pot is required, which causes a problem that the equipment cost is high.

The present invention eliminates or reduces the play between the drive motor and the drive tool receiving pot position indexing wheel, thereby eliminating the need for providing a position detecting device or a positioning device outside the drive motor. It is another object of the present invention to provide a drive device of an automatic tool changer which can be inexpensive even when a position detecting device and a positioning device are provided in advance. Further, the present invention provides a device capable of driving an automatic tool changer in an optimal state in terms of assembly and maintenance by increasing the degree of freedom of arrangement of a drive motor, a speed reducer and a drive tool receiving pot position indexing wheel. With the goal.

[0007]

According to the present invention, there is provided an automatic tool changer having a tool receiving pot position indexing wheel, wherein a drive motor is driven to stop a tool receiving pot at a predetermined position to change a tool. In the above, a planetary differential gear reducer is attached to a frame of the automatic tool changer, the planetary differential gear reducer has a hub provided with internal teeth on the inner circumference, and external teeth meshing with the internal teeth on the outer circumference. A pinion having a plurality of pin holes disposed inside the inner peripheral direction and a through hole formed between the pin holes, the pinion being capable of eccentrically engaging with the hub, and having a pin hole formed in the pinion; A plurality of pins that are inserted to take out the rotation of the pinion, are disposed on both sides of the pinion, support both ends of the pin, and are integrally connected by a columnar portion that is loosely inserted into the through hole. Disk-shaped part And a reduction gear element of the planetary differential gear reducer is accommodated between an outer end face of the disc-shaped part and an outer end face of the end disc, and the disc-shaped part and The outer end surface of each of the end disks serves as a mounting surface for the drive motor, and the tool receiving pot position indexing wheel is attached to an outer periphery of a hub of the planetary differential gear reducer, and the drive motor The above object is achieved by a driving device for an automatic tool changer, wherein the planetary differential gear reducer and the tool receiving pot position indexing wheel are located on the same axis. .

The present invention provides a planetary differential gear reducer having a special structure as described above, that is, a hub having internal teeth provided on its inner periphery, having external teeth meshing with the internal teeth on its outer periphery, and having an inner peripheral direction. A pinion having a plurality of pin holes disposed therein and a through hole formed between the pin holes and capable of eccentrically engaging with the hub and being inserted into a pin hole of the pinion; A plurality of pins for taking out a rotation motion, a disc-shaped portion provided on both sides of the pinion, supporting both ends of the pin, and integrally joined by a columnar portion loosely inserted into the through hole. And a planetary differential gear reducer composed of an end disk, and almost all of the external teeth formed on the outer periphery of the pinion always mesh with the internal teeth provided on the inner periphery of the hub, whereby the conventional device is used. No backlash occurs. Moreover, in the present invention, the disc-shaped portion and the end disc are disposed on both sides of the pinion, and the disc-shaped portion and the end disc are integrally connected by the columnar portion which is loosely inserted into the through-hole of the pinion. Since the disc-shaped portion, the column-shaped portion, and the end disc have a rigid structure, the rigidity of the planetary differential gear reducer is significantly increased, and the positioning accuracy is further enhanced. Therefore, according to the present invention, the play between the driving motor and the driving tool receiving pot position indexing wheel can be eliminated or reduced, the positioning accuracy is high, and a position detecting device or a positioning device is provided outside the driving motor. Is unnecessary, and the cost can be reduced even when a preliminary position detecting device or positioning device is provided.

Further, in the present invention, as described above,
The rigidity of the planetary differential gear reducer is significantly increased, and at the same time, the reducer element of the planetary differential gear reducer is housed between the outer end face of the disc-shaped portion and the outer end face of the end disc. In addition, the outer end surfaces of the disc-shaped portion and the end disc serve as mounting surfaces for the drive motor. With this structure, a drive motor can be arbitrarily attached to both the outer end surface of the disk-shaped portion of the planetary differential gear reducer itself and the outer end surface of the end disk. Therefore, according to the present invention, it is possible to freely select the arrangement of the drive motor, the speed reducer, and the drive tool receiving pot position indexing wheel in an optimal state in terms of assembly and maintenance. The machine and both of them can be easily detached from the tool receiving pot position indexing wheel and the fixing portion (frame), and the driving device of the automatic tool changing device with good maintainability can be obtained. Further, in the present invention, in addition to the above-described configuration, a tool receiving pot position indexing wheel is attached to an outer periphery of a hub of the planetary differential gear reducer,
The drive motor, the planetary differential gear reducer, and the tool receiving pot position indexing wheel are located on the same axis. For this reason, the drive device of the automatic tool changer can be arranged to be concentrated inward in the radial direction of the tool receiving pot position indexing wheel, and a compact drive device for the automatic tool changer can be obtained.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the accompanying drawings showing embodiments of the present invention. FIG. 1 shows the first embodiment of the present invention.
FIG. 2 is a sectional view of the embodiment, and FIG. 2 is a sectional view taken along the line II-II of FIG. 1, in which a tool receiving pot position indexing wheel, mounting bolts and the like are omitted. FIG. 3 is a sectional view of the second embodiment. FIG. 4 is a sectional view taken along line IV-IV of FIG. 3, in which the tool receiving pot position indexing wheel, mounting bolts, and the like are omitted. FIG. 5 is a schematic perspective view of the automatic tool changer according to the present invention. FIG. 6 is a sectional view of another embodiment of the present invention, and FIG. 7 is a plan view showing an arrangement example of the embodiment of FIG.

In FIG. 5, in a tool storage box B such as a machining center, a large number of tool receiving pots P are connected at equal intervals by an endless chain C. The tool receiving pot position indexing wheel 7 is wound around the output wheel 7 (FIGS. 1 and 3), and is rotated and driven by the drive motor 3 via the planetary differential gear reducer 5 to change tools.

In the embodiment shown in FIG. 1, a drive motor 3 of a known type such as a servomotor having a planetary differential gear reducer 5 mounted on a frame 1 of an automatic tool changer is fixed. That is, the attachment member 34 is attached to the right outer end face of the disk-shaped portion 17 of the planetary differential gear reducer 5 described later by the bolt 24. The right outer end surface of the disk-shaped portion 17 is referred to as a mounting surface 32. The attachment member 34 is attached to the frame 1 by bolts 34a, and the planetary differential gear reducer 5
Is attached to the frame 1 via the attachment member 34. The drive motor 3 is mounted on the mounting surface 32 of the planetary differential gear reducer 5 via the mounting member 34 (the right outer end surface of the disc-shaped portion 17). The rotation of the drive motor 3 is reduced by the planetary differential gear reducer 5 to drive the tool receiving pot position indexing wheel 7 with a large output torque. An input cam shaft 12 of the planetary differential gear reducer 5 is integrally attached to an output shaft 11 of the drive motor 3. The camshaft 12 is 18
It has crank portions 12a and 12b out of phase by 0 ° and is rotatably supported by a pair of bearings 15 and 16 in a casing 13 of the drive motor 3. The casing 13 of the drive motor 3 forms a support block for the planetary differential gear reducer 5, and is hereinafter referred to as a support block.

As shown in FIG. 1, the main body of the support block 13 comprises a disc-shaped portion 17 and a protruding portion 19 protruding from the disc-shaped portion 17. The convex portion 19 has three columnar portions 21 which are equally arranged in the circumferential direction. A bearing mounting hole 17 b having a predetermined depth is formed between adjacent columnar portions 21 on the surface of the disk-shaped portion 17. End disk 2 forming part of support block 13
5 is integrally connected to the columnar portion 21 of the support block by bolts 24, whereby the disk-shaped portion 17, the columnar portion 21 and the end disk 25 have a rigid structure. The stiffness is significantly increased. As shown in FIG. 1, the reduction gear elements (the input cam shaft 12, the bearings 15, 16 and the roller bearings 27, 29, the crankpin 31, the pinion 33, etc. described later) of the planetary differential gear reducer 5 are circular as shown in FIG. The drive motor 3 is housed between the outer end face of the plate-like portion 17 (the right end face in FIG. 1) and the outer end face of the end disc 25 (the left end face in FIG. 1), so that the drive motor 3 can be easily and reliably mounted on the disc. It can be mounted on the mounting surface 32 of the shape 17.

In FIG. 1, the end disk 25 has a
A bearing mounting hole 25d is formed corresponding to the bearing mounting hole 17b formed in FIG. Roller bearings 27 and 29 are mounted in the bearing mounting holes 17b and 25d, respectively.
Both ends of the crank pin 31 are rotatably supported between 29. The crank pin 31 has two crank portions 31a, 31c eccentrically arranged at a predetermined distance from the rotation axis thereof, and a pinion 33 is fitted to the crank portions 31a, 31c.

The pinion 33 has, on its outer peripheral surface, tooth-shaped external teeth formed of equidistant curves to a pericycloid curve, and engages with the crank portions 12a and 12b of the input cam shaft 12 via bearings 32a. 31 is provided with a pin hole 33b which engages with a crank portion 31a or 31c (FIG. 1) via a bearing 35. Further, the pinion 33 is formed with a through hole 33c having a size slightly larger than the convex portion 19 formed in the support block 13.

Referring again to FIG. 1, ball bearings 36 are provided on the outer peripheral portions of the disc-shaped portion 17 and the end disc 25 of the support block 13.
a, 36b are mounted, and the hub 37 is rotatably supported. The hub 37 drives the tool receiving pot position indexing wheel 7, and its inner peripheral surface is provided with a small number of small diameter pins 39 slightly larger than the number of external teeth 33 a formed on the outer periphery of the pinion 33. The internal teeth formed of the pin gears fixed to the gears are formed. As shown in FIG. 2, the through hole 33c of the pinion 33 is loosely fitted in the convex portion 19 formed by the columnar portion 21 of the support block 13, and the crank portion 12a of the input cam shaft 12 is rotated by the rotation of the input cam shaft 12. , 12b and the center axes of the crank portions 31a, 31c of the crankpin 31 revolve with respect to the rotation axis of the crankpin 31, so that the two pinions 33 are eccentrically revolved, and the external teeth 33a are brought into contact with the pin gear of the hub 37. Engage. Here, the outermost periphery of the columnar portion 21 of the support block 13 is
Are positioned radially outward with respect to the rotation center. A tool receiving pot position indexing wheel 7 is mounted on the outer periphery of the hub 37 of the planetary differential gear reducer. The drive motor 3, the planetary differential gear reducer 5, and the tool receiving pot position indexing wheel 7 are located on the same axis as shown in FIG. For this reason, the driving device of the automatic tool changing device is arranged inwardly in the radial direction of the tool receiving pot position indexing wheel 7 to form a compact driving device of the automatic tool changing device.

In the embodiment described above, the crankpin 3
An embodiment has been described in which the number of 1s is three, and includes the support block 13 having the convex portion 19 having the three columnar portions 21 and the corresponding pinion 33 having the through hole 33c. The present invention relates to a crank pin 3
1 can be applied to reduction gears other than three, and if the number of crankpins 31 is large, all adjacent crankpins 3
For example, every other column 21 may be provided without providing the column 21 between one another.

Further, a straight pin may be used instead of the crank pin 31 as long as it can restrict the free revolution of the pinion 33.

As the drive motor 3, a hydraulic motor or a pneumatic motor can be used instead of the servo motor 3 in the above embodiment.

Next, the embodiment shown in FIG. 3 will be described. Also in this embodiment, the disk-shaped portion 17 of the planetary differential gear reducer 5 is used.
Is a mounting surface, and a mounting member 34 is mounted on the mounting surface with bolts 24. The planetary differential gear reducer 5 is mounted on the frame 1 via a mounting member 34. The drive motor 3 is mounted on the mounting surface 32 of the planetary differential gear reducer 5 (the right outer end surface of the disc-shaped portion 17). In the embodiment shown in FIG. 3, the first external gear 41 is integrally fixed to the output shaft of the drive motor 3, that is, the left end of the input rotary shaft 11 of the speed reducer. A second external gear 43 having a greater number of teeth than the number of teeth of the first external gear 41 is fixed to the right end of 31, and both teeth 41 and 43 are meshed. Also in this case, the speed reducer elements (the roller bearings 27, 29,
As shown in FIG. 3, the crank pin 31, the pinion 33, the first external gear 41, the second external gear 43, etc.)
3 is housed between the outer end surface (the right end surface in FIG. 3) and the outer end surface of the end disk 25 (the left end surface in FIG. 3), and the drive motor 3 is easily and reliably mounted on the disk-shaped portion 17. It can be mounted on the mounting surface 32. Further, similarly to the embodiment shown in FIG. 1, a tool receiving pot position indexing wheel 7 is mounted on the outer periphery of a hub 37 of the planetary differential gear reducer. The drive motor 3, the planetary differential gear reducer 5, and the tool receiving pot position indexing wheel 7 are located on the same axis as shown in FIG. For this reason, the driving device of the automatic tool changing device is arranged inwardly in the radial direction of the tool receiving pot position indexing wheel 7 to form a compact driving device of the automatic tool changing device.

The rotation of the output shaft of the drive motor 3, that is, the input rotary shaft 11 of the speed reducer, is transmitted through a first external gear 41 fixed to the input rotary shaft 11 to a second external gear 43 meshing with the first external gear 41. Is transmitted at a reduced speed according to the gear ratio. Second
The rotation of the external gear 43 causes the crank portion 31 a of the crank pin 31 rotatably supported by the support block 13 at both ends to revolve, and the pinion 33 engages the pin hole 33 b with the crank portion 31 a via the bearing 35. Therefore, the eccentric orbital motion is caused by the orbital motion of the crank portion 31a. Due to the eccentric revolving motion of the pinion 33, the external teeth 33a formed on the outer circumference of the pinion engage with the pin gear formed on the inner circumference of the hub 37 to rotate the hub 37 at reduced speed. The hub 37
The automatic tool changer is driven by the tool receiving pot position indexing wheel 7 attached to the tool receiving pot.

Further, regarding digital control, the value of N = iP / Z becomes a problem. Here, P: Encoder resolution (Example: 2048 pulses / rotation) Z: Number of tool receiving pot position indexing wheel teeth (Example: 1)
5) i: Total reduction gear ratio (= i1 × i2) i1: Previous reduction gear ratio (Example: 3) i2: Previous reduction gear ratio (Example: 40) In the conventional device, in order to facilitate digital control, tool receiving is performed. When the number of pots changes, it is necessary to change the reduction ratio of the entire reduction mechanism to make the value of N = iP / Z an integer. On the other hand, in the embodiment shown in FIG.
Even when the number of tool receiving pots changes, the value of N can be made an integer by changing the number i1 of teeth at the preceding stage, and digital control is simplified.

In addition, in the conventional apparatus, the moment of inertia around the drive shaft of the drive motor is large, and it is difficult to shorten the start and stop times. In contrast, the device shown in FIG.
Since the first external gear 41 is a small gear, the moment of inertia is small, and forward / reverse rotation can be easily performed.

In the embodiment shown in FIGS. 1 and 3, the drive motor 3 is connected to the planetary differential gear reducer 5 on the side opposite to the side where the tool is attached to and detached from the tool receiving pot P, that is, the frame 1 It was attached to the side. In contrast, FIG.
In the embodiment shown in FIG.
Is mounted on the planetary differential gear reducer 5 so as to be located on the same side as the side where the tool is attached to and detached from the tool receiving pot P. In the embodiment shown in FIG. 6, since the drive motor 3 does not protrude from the back of the frame 1, the distance from the front surface of the tool receiving pot P of the present invention to the rear end surface of the automatic tool changer can be reduced. The tool receiving pot of the changer can be closer to the machine such as a machining center. Therefore, when the automatic tool changer and the machine are arranged in front and rear in parallel, or when the automatic tool changer is arranged perpendicular to the side of the machine as shown in FIG. 7, the installation space can be reduced. preferable.

Further, in the embodiment shown in FIG. 6, since the drive motor 3 is located on the side where the tool is attached to and detached from the tool receiving pot P (on the side of the operator's operation surface), the mounting, removal and adjustment work of the drive motor 3 is performed. Can be easily performed.

Since the embodiment shown in FIG. 6 is very similar to the embodiment shown in FIG. 3, the same or similar parts are denoted by the same reference numerals and the description thereof will be omitted, and different points will be mainly described.

In the embodiment shown in FIG. 3, the surface of the planetary differential gear reducer 5 on the side where the tool is attached to and detached from the tool receiving pot P (operating surface of the operator) is covered with a cover, as shown in FIG. In the embodiment, the cover is eliminated, and the flange portion 13a of the drive motor 3 having the opposite direction to the embodiment of FIGS. 1 and 3 is bolted to the left outer end surface of the support block 13 (the left end surface of the end disk 25) by bolts 13b. Fastened and fixed. The left end surface of the end disk 25 is referred to as a mounting surface 36. On the other hand, a mounting member 34 is mounted on the mounting surface 32 at the right outer end surface of the disc-shaped portion 17 with bolts 24, and the planetary differential gear reducer 5 is mounted on the mounting member 34.
Is attached to the frame 1 via the Also in this case, the reduction gear element (the roller bearing 2) of the planetary differential gear reducer 5 is also used.
7, 29, the crank pin 31, the pinion 33, the first external gear 41, the second external gear 43, etc.), as shown in FIG. 6, the outer end face of the disc-shaped portion 17 (the right end face in FIG. 6). It is housed between the outer end surface of the end disk 25 (the left end surface in FIG. 6), and the mounting surface 32 of the disk-shaped portion 17 can be easily and reliably mounted on the frame 1 via the mounting member 34. In addition, the drive motor 3 can be easily and reliably connected to the end disc 2.
5 can be mounted on the mounting surface 36.

The output shaft 11 of the drive motor 3 of the embodiment shown in FIG. 6 has a straight column shape and penetrates through the planetary differential gear reducer 5. The output shaft 11 may have a crank shape as in the embodiment shown in FIG. As in the previous embodiment,
A tool receiving pot position indexing wheel 7 is attached to the outer periphery of the hub 37 of the planetary differential gear reducer 5, and the drive motor 3, the planetary differential gear reducer 5, and the tool receiving pot position indexing wheel 7 The hub 37 and the tool receiving pot position indexing wheel 7 are rotated on the same axis.

[0029]

As described above, according to the present invention, a planetary differential gear reducer having a special structure, that is, a hub having internal teeth provided on the inner periphery and external teeth meshing with the internal teeth is provided on the outer periphery. A pinion having a plurality of pin holes disposed inwardly in the inner circumferential direction and a through hole formed between the pin holes, the pinion being capable of eccentrically engaging with the hub and being inserted into the pin hole of the pinion; A plurality of pins for taking out the rotation of the pinion, which are disposed on both sides of the pinion, support both ends of the pin, and are integrally connected by a columnar portion which is loosely inserted into the through hole. Using a planetary differential gear reducer consisting of a disk-shaped part and an end disk, almost all of the external teeth formed on the outer circumference of the pinion always mesh with the internal teeth provided on the inner circumference of the hub, Thus, backlash does not occur unlike the conventional device. Moreover, in the present invention, the disc-shaped portion and the end disc are disposed on both sides of the pinion, and the disc-shaped portion and the end disc are integrally connected by the columnar portion which is loosely inserted into the through-hole of the pinion. Since the disc-shaped portion, the column-shaped portion, and the end disc have a rigid structure, the rigidity of the planetary differential gear reducer is significantly increased, and the positioning accuracy is further enhanced.
Therefore, according to the present invention, the play between the driving motor and the driving tool receiving pot position indexing wheel can be eliminated or reduced, the positioning accuracy is high, and a position detecting device or a positioning device is provided outside the driving motor. Is unnecessary, and the cost can be reduced even when a preliminary position detecting device or positioning device is provided.

Further, in the present invention, as described above,
The rigidity of the planetary differential gear reducer is significantly increased, and at the same time, the reducer element of the planetary differential gear reducer is housed between the outer end face of the disc-shaped portion and the outer end face of the end disc. In addition, the outer end surfaces of the disc-shaped portion and the end disc serve as mounting surfaces for the drive motor. According to this structure, as shown in FIGS. 1 and 3 or the embodiment shown in FIG. 6, either the outer end surface of the disk-shaped portion of the planetary differential gear reducer itself or the outer end surface of the end disk is reduced. Also, a drive motor can be arbitrarily attached. Therefore, according to the present invention, it is possible to freely select the arrangement of the drive motor, the speed reducer, and the drive tool receiving pot position indexing wheel in an optimal state in terms of assembly and maintenance. The machine and both of them can be easily detached from the tool receiving pot position indexing wheel and the fixing portion (frame), and the driving device of the automatic tool changing device with good maintainability can be obtained.

Further, in the present invention, in addition to the above-described structure, a tool receiving pot position indexing wheel is attached to an outer periphery of a hub of the planetary differential gear reducer, and the drive motor, the planetary differential The dynamic gear reducer and the tool receiving pot position indexing wheel are located on the same axis. For this reason, the drive device of the automatic tool changer can be arranged to be concentrated inward in the radial direction of the tool receiving pot position indexing wheel, and a compact drive device for the automatic tool changer can be obtained.

[Brief description of the drawings]

FIG. 1 is a sectional view of a first embodiment of the present invention.

FIG. 2 is a sectional view taken along the line II-II of FIG. 1, in which a tool receiving pot position indexing wheel, mounting bolts and the like are omitted.

FIG. 3 is a sectional view of a second embodiment.

4 is a sectional view taken along the line IV-IV in FIG. 3, in which a tool receiving pot position indexing wheel, mounting bolts and the like are omitted.

FIG. 5 is a schematic perspective view of an automatic tool changer according to the present invention.

FIG. 6 is a sectional view of another embodiment of the present invention.

FIG. 7 is a plan view showing an arrangement example of the embodiment in FIG. 6;

[Explanation of symbols]

 Reference Signs List 3 drive motor 5 reduction gear 7 tool receiving pot position indexing wheel 11 input rotating shaft 13 support block 17 disk part 19 convex part 21 columnar part 25 end disk 27, 29 bearing 31 crank pin 32 mounting surface (disk) 33 pinion 33b pin hole 33c through hole 34 mounting member 36 mounting surface (outer end surface of end disk) 36a, 36b bearing 37 hub 41 first external gear 43 second external gear

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B23Q 3/157

Claims (1)

(57) [Claims] 1. A tool receiving pot position indexing wheel is provided.
Drive the drive motor to move the tool receiving pot
Automatic tool changer that stops the machine and changes tools
AtFor frame of automatic tool changer Planetary differential gear reducerButTaking
AttachedAnd  The planetary differential gear reducer includes a hub having inner teeth provided on an inner periphery thereof, having outer teeth meshing with the inner teeth on an outer periphery, and having an inner circumferential direction.
PartArrangedMultiple pin holesAnd between the pin holes
With through holesEccentric movement possible by engaging with the hub
A pinion inserted into a pin hole of the pinion to rotate the pinion
Multiple pins to take out,Arranged on both sides of the pinion to support both ends of the pin
Together with the penetration Integrally formed by pillars that are loosely inserted into holes
Disks and end disks joined together Consisting of The reducer element of the planetary differential gear reducer is
When stored between the outer end face and the outer end face of the end disk
In both cases, the outer end faces of the disc-shaped portion and the end disc are forward.
It is the mounting surface for the drive motor, Said The tool receiving pot position indexing wheel is
Attached to the outer periphery of the gear reducer hubTogether with, The drive
Dynamic motor, planetary differential gear reducer and tool receiving
Pot position indexing wheel is on the same axisPosition to
ingA driving device for an automatic tool changer, comprising: