JP3345618B2 - 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 tool changer for automatically changing a rotary cutting tool between a tool magazine and a spindle.

[0002]

2. Description of the Related Art A tool changer is mainly composed of a tool magazine for accommodating a large number of tools and a carrier for removing a tool from a spindle and returning it to the tool magazine, or for mounting a tool on the tool magazine to the spindle. It is configured. In a career,
A tool returning arm that clamps and holds the tool removed from the spindle and a tool loading arm that clamps and holds the tool taken out of the tool magazine are provided integrally, and the positions of both arms are exchanged.
Replace the tool with the spindle. This type of tool changer is found in Japanese Utility Model Publication No. 6-7872 and Japanese Utility Model Publication No. 3-33397.

A large number of tool holders are arranged around a tool magazine, and the rotation of the tool magazine and
Japanese Utility Model Publication No. 5-25793 and Japanese Utility Model Publication No. 4-48909 disclose a tool changer that does not use the above-mentioned carrier and that exchanges tools by opening and closing a clamp claw of a tool holder and reciprocating operation of a spindle head. .

[0004]

In a large-sized processing machine such as a machining center or a boring machine, the above-described tool replacement system has become popular. However, simple tool replacement systems have been put to practical use in relatively small processing machines that are often used in universities, research laboratories, product model makers, etc., and are applied to the manufacture of one-piece or prototype parts of mechanical parts. Not just. In a simple tool replacement system, a plurality of tool heads are moved to a tool rack, and then a tool is returned and a new tool is mounted. Therefore, the number of tools that can be replaced is limited to the number of tools that can be arranged in the movement range of the spendle head.
There is also room for improvement in that the time required for tool change is long (about 20 seconds).

[0005] The relatively small processing machines as described above are often installed by using a part of a laboratory or a laboratory.
It is compactly packed so that it can be installed and installed even in narrow places. Therefore, even if a full-scale tool replacement system is provided, the compactness of the entire apparatus must not be impaired, which is a limitation that large machines do not have. Due to these restrictions, it is difficult to make the entire apparatus compact by simply scaling down the tool changer for a large machine as described above.

There is also a cost problem. The tool changer for large machines uses abundant drive sources such as motors and operation cylinders in various places, and has a large number of components as a whole. Therefore, if a similar tool changer is used in a small processing machine, the cost of the entire processing machine will increase. In other words, tool changers for small processing machines
It is necessary to be able to perform the same tool replacement function as a tool changer for large machines without losing the cost advantage of the processing machine itself, which also hinders the realization of a full-fledged tool changer for small machines. It is a big factor.

SUMMARY OF THE INVENTION An object of the present invention is to provide a tool capable of exhibiting a tool changing function equivalent to that of a tool changer for a large-size processing machine while maintaining the features of the small-size processing machine that it is compact and low in overall cost. To provide changers. An object of the present invention is to provide a tool returning arm and a tool loading arm, and operate both arms in a narrow limited space to quickly perform tool change, which is particularly suitable for a small processing machine. To provide a tool changer. An object of the present invention is to minimize the number of driving sources such as motors and operating cylinders, simplify the structure for changing the positions of a returning arm and a loading arm, and provide a tool changer equivalent to a tool changer for large machines. An object of the present invention is to provide a tool changer that can sufficiently reduce manufacturing costs while exhibiting high functions.

[0008]

According to the present invention, there is provided a tool changer for holding a large number of tools.
2 and a carrier 13 for reciprocating the tool T by reciprocating between the tool magazine 12 and the spindle 2 of the processing machine 1. The tool magazine 12 has a magazine body 15 that is driven to rotate around a rotation axis P2 orthogonal to the rotation axis P1 of the spindle 2. The carrier 13 includes a transfer frame 18 that is guided and supported reciprocally in a direction parallel to the rotation axis P2 of the magazine body 15, and an operation cylinder that reciprocates the transfer frame 18 between the magazine body 15 and the spindle 2. 24, a loading arm 20 for loading a tool supported by the transfer frame 18, and a return arm 21 for returning the tool, and both arms 20 and 2 provided on the transfer frame 18.
1 has a turning mechanism 19 for simultaneously turning in the opposite direction to change the arm position. The turning mechanism 19 includes a pair of drive wheels 31 and 32 rotatably supported around a rotation axis P3 orthogonal to the two rotation axes P1 and P2, and a gear that rotationally drives the two drive wheels 31 and 32 in opposite directions. It includes a mechanism and a motor 26. Loading arm 20 and return arm 2
1 is connected to each of the drive wheels 31 and 32 so as to be rotatable together. At both ends of the reciprocating stroke of the transfer frame 18, the loading arm 20 and the return arm 21 are simultaneously turned in the opposite directions by the turning mechanism 19, and the tools are exchanged while exchanging the positions of the arms 20 and 21.

The gear mechanism of the turning mechanism 19 includes a driving wheel 31.
A pair of bevel gears 29 and 30 rotatably supported around the rotation axis P3 of 32, and a driving bevel gear 28 for simultaneously driving the two bevel gears 29 and 30 in opposite directions. The drive wheels 31 and 32 are connected so as to be rotatable together.

The loading arm 20 and the return arm 21
Each of them includes a clamp claw 38 for holding the tool T, an operation cylinder 39 for switching the clamp claw 38, and a frame 37 for supporting these. Each frame 37 of both arms 20 and 21 is connected to each drive wheel 31 and 32 via a bearing block 35, respectively. Each of the bearing blocks 35 and the frame 37 are connected via a swing shaft 40 so that the arms 20 and 21 can swing toward or away from each other. A cam mechanism is provided between the transfer frame 19 and each frame 37 for swinging the arms 20 and 21 around the swing shaft 40 by utilizing the turning operation of the arms 20 and 21.

A cam mechanism for swinging the loading arm 20 and the return arm 21 includes a cam cylinder 43 fixed to the transfer frame 18 so as to be fitted over the driving wheels 31 and 32,
A pair of cam grooves 4 formed in the cam cylinder 43 corresponding to
4 and 45, a passive arm 46 protruding from each arm 20 and 21 toward the outer peripheral surface of the cam barrel 43, and a cam follower 47 supported by each passive arm 46.

[0012]

The carrier 13 for reloading the tool T reciprocates the loading arm 20 and the return arm 21 between the tool magazine 12 and the spindle 2. At one or both ends of the reciprocating stroke, the revolving mechanism 19 is used. Arm 20
・ The tool is replaced by exchanging the position of 21.

More specifically, as shown in FIG.
On the basis of a state where 0.21 is outside the rotation trajectory of the tool magazine 12, the return arm 21 pivots upward and switches to a horizontal position, and an operation b2 moves forward toward the spindle 2. After the operation b3 of removing the tool T at the end of the forward stroke and the operation b4 of retreating to the tool magazine 12 and returning the tool T,
The operation b5 of turning upward and returning to the standby state is circulated. At the same time, the loading arm 20 pivots downward from the standby position to capture the tool T, and an operation of extracting the captured tool T from the tool magazine 12 while moving forward.
2, an operation a3 of turning upward at the forward end to mount the tool T on the spindle 2, an operation a4 of retreating to the tool magazine side while maintaining the horizontal posture, and an operation of turning downward and returning to the standby position. Is performed in circulation.

As described above, the carrier 13 of the present invention uses the forward and backward operations of the transfer frame 18 to move the tool T in and out of the tool magazine 12 (operations a2 and b).
4) Further, since both arms 20 and 21 are driven to turn in the opposite direction, and the removal operation b3 of the tool T and the loading operation a3 of the new tool T are performed in parallel, the tool replacement can be performed quickly in a short time. I can do it. As a drive source of the carrier 13, only an operation cylinder 24 for reciprocating the transfer frame 18 and a motor 26 for the turning mechanism 19 are used. Further, at the end of the forward stroke of the transfer frame 18, both arms 20.
The tool T is attached to and detached from the spindle 2 by pivoting each of them up and down to exchange the positions. Therefore, despite the use of the two arms 20 and 21, the entire structure of the carrier 13 is provided. Can be simplified and compactized.

The gear mechanism is a pair of bevel gears 29 and 30.
According to the turning mechanism 19 composed of the driving bevel gear 28 that drives the two gears 29 and 30 to rotate simultaneously in opposite directions,
For example, the gear mechanism can be simplified as compared with a case where a group of spur gears constitutes an equivalent gear mechanism, and the number of parts can be reduced accordingly.

The loading arm 20 and the return arm 21 are supported so as to be able to swing toward or away from each other. When both the arms 20 and 21 are turned by the turning mechanism 19, the two arms 20 and 21 are cammed. According to the tool replacement mode in which the positions are exchanged while simultaneously moving away from or approaching by the mechanism, at both ends of the turning stroke by the turning mechanism 19, the tool capture positions of the transition trajectories of the two arms 20 and 21 are matched, The installation space can be made compact by reducing the operation space amount of the carrier 13.

A cam cylinder 43 for covering the outer surfaces of the drive wheels 31 and 32
Are provided with cam grooves 44 and 45, and a cam follower 47 which engages with the cam grooves 44 and 45 is attached to the passive arm 46 of each arm 20 and 21.
According to the cam mechanism provided in (1), the swivel mechanism 19 and the cam mechanism are compactly integrated, and the simplification of the structure and the compact operation space can be realized at the same time.

[0018]

1 to 8 show an embodiment of a tool changer according to the present invention. A case where the tool changer is applied to a small numerically controlled vertical axis milling machine will be described. In FIG. 2, reference numeral 1 denotes a milling machine (processing machine), and 2 denotes a spindle. A tool holder 3 is provided at a lower end of the spindle 2. While rotating the tool T mounted on the tool holder 3, each column is reciprocated in three directions of the X-axis direction (left and right), the Y-axis direction (front and rear), and the Z-axis direction (up and down), so that the processing table Various processes can be applied to the material block fixed to the substrate. Incidentally, the left-right width dimension × front-back depth dimension × up-down dimension of the milling machine 1 is 117 × 111, respectively.
× 182.5 cm, and the processing range is 280 × 250 × 145 mm in each direction of X axis × Y axis × Z axis.
Various materials such as plastic materials can be cut as well as metal materials such as stainless steel and titanium.

A tool accommodating section 5 is provided adjacent to the processing machine main body of the milling machine 1, and a tool changer is disposed therein. Various devices such as a control device 6, a keyboard 7, a personal computer main body 8, and a display 9 for inputting processing parameters for numerical control and data of a processing order are arranged in an upper portion, a front portion, and the like of the tool storage zone 5. It is.

Referring to FIG. 3, the tool changer comprises a square frame-like base frame 11 fixed on a machine base,
A tool magazine 12 arranged on the side facing the first spindle 2 and a carrier 13 arranged above the base frame 11 for reciprocating the tool T by reciprocating between the tool magazine 12 and the spindle 2. ing.

The tool magazine 12 includes a motor 14 having a speed reducer, a disk-shaped magazine main body 15 driven to rotate in one direction by the motor 14, a sensor (not shown) for detecting the rotational phase position of the magazine main body 15, and the like. Have. Eight holders 16 are arranged at equal intervals around the periphery of the magazine body 15 (see FIG. 5), and each holder 16 can support the tool T in a horizontal posture via a tool shank. While the rotation axis P1 of the spindle 2 is vertical, the rotation axis P2 of the magazine body 15 is
Are provided so as to coincide with the horizontal axis along the X-axis direction (left-right direction). The motor 14 is supported by an auxiliary frame fixed to the inner surface of the base frame 11. The tool T is selected before processing according to the type of processing to be performed on the material block,
To be loaded.

3 to 5, the carrier 13 has a transfer frame 18 which is guided and supported reciprocally in a direction parallel to the rotation center axis P2 of the magazine body 15. A turning mechanism 19 is provided on the transfer frame 18, and a loading arm 20 for loading a tool is provided at an end of the transfer frame 18 on the spindle 2 side.
And a return arm 21 for returning the tool can be turned up and down by the turning mechanism 19. A pair of front and rear slide shafts 22 are fixed to the lower surface of the transfer frame 18,
Both slide shafts 22 are slidably supported by guide blocks 23 provided on the base frame 11. An operation cylinder (hydraulic cylinder or air cylinder) 24 is arranged between the two guide blocks 23, the cylinder body is supported by the base frame 11 via a bracket, and the tip of the piston rod is connected to the transfer frame 18 to transfer the cylinder. The frame 18 can be reciprocated between the magazine body 15 and the spindle 2 by the operation cylinder 24.

4 and 6, the turning mechanism 19 includes:
A motor 26 with a speed reducer capable of forward and reverse rotation operation, and a driving bevel gear 28 which receives the motor power via an intermediate shaft 27
And a pair of front and rear bevel gears 29 and 30, which are simultaneously meshed with the driving bevel gear 28 and driven to rotate in opposite directions about a rotation axis P3 orthogonal to the two rotation axes P1 and P2, respectively. A pair of front and rear drive wheels 31 and 32 externally fitted and fixed to the boss portion 30;
It is composed of a sensor (not shown) that detects the rotation phase positions of 1.32.

The drive wheels 31 and 32 are formed in a cylindrical shape with a bottom also serving as a support for a pair of front and rear bevel gears 29 and 30, and a support shaft 33 fixed to the cylinder bottom wall is provided at the front and rear of the upper part of the transfer frame 18. It is rotatably supported by bearings 34 fixed to the pair of standing walls 18a. As shown in FIG. 5, a bearing block 35 is fixed to an end peripheral surface of the drive wheel 31/32 on the support shaft 33 side, and the loading arm 20 and the return arm 21 are connected to the bearing block 35, respectively. Each of the arms 20 and 21 can rotate together with the corresponding drive wheels 31 and 32.

4 and 5, the loading arm 20 is used.
Has a frame 37 made of a pair of plate members facing up and down, a clamp claw 38 for holding and holding the tool T at a protruding end of the frame 37, and expanding or expanding the clamp claw 38 near the base end of the frame 37. Return type operation cylinder (pneumatic cylinder or hydraulic cylinder) 3 for holding operation
9 are arranged. The return arm 21 is basically configured similarly to the loading arm 20, but differs from the loading arm 20 in that the lower plate constituting the frame 37 is formed in a symmetrical shape in the front-rear direction. These arms 20 and 21 are provided with bearing blocks 35 fixed to the corresponding drive wheels 31 and 32, respectively.
35, which are connected to each other via a swing shaft 40 (see FIG. 5) so that the arms 20 and 21 can swing about the swing shaft 40 in directions approaching each other or moving away from each other. I have.

The loading arm 20 receives the tool T to be used next from the magazine body 15 and loads it on the spindle 2. The return arm 21 removes the tool T loaded on the spindle 2 and returns the tool T to the magazine body 15. At this time, both arms 20 moving on different transition trajectories
21 supports the magazine body 15 and the spindle 2 so that the tool T can be transferred at the same tool capturing position so that the tool T can swing about the swing shaft 40 as described above. A cam mechanism is provided between each frame 37 and the transfer frame 18 for operating the arms 20 and 21 toward and away from each other by utilizing the vertical turning operation of the arms 20 and 21.

In FIG. 4, the cam mechanism includes front and rear drive wheels 3.
1 and 32, and a cylindrical cam cylinder 43 fitted to each
The cam cylinder 4 is provided integrally with a pair of cam grooves 44 and 45 formed in the cylinder wall peripheral surface of the cam cylinder 43 corresponding to the cam cylinders 0.21 and 21 and the plate material below the frame 37 of the arms 20 and 21.
Passive arms 46, 46 extending tangentially toward the outer peripheral surface of 3
And the cam groove 4 supported by the upper surface of the protruding end of each passive arm 46.
The cam followers 47 engage with the cam followers 4.45. The front and rear ends of the cam cylinder 43 are screwed and fixed to a pair of front and rear standing walls 18a erected above the transfer frame 18. Cam cylinder 4
In the peripheral wall near the front and rear end of No. 3, escape grooves 49.4 are provided respectively.
9 (see FIG. 6), so that the bearing block 35 fixed to each of the drive wheels 31 and 32 can turn within the range in which the clearance groove 49 is formed. Further, an opening for assembling the driving bevel gear 28 is opened in the central side surface of the cylindrical wall.

FIG. 7 is a developed view of the cam grooves 44 and 45.
As can be understood from this development, the cam grooves 44 and 45 are formed with reference positions 50a at both ends in the circumferential direction of the cylinder and rubbing positions 50b at the center in the circumferential direction of the cylinder in parallel with the escape grooves 49, respectively. Are formed in a hat shape continuously by the inclined groove portion 50c, and the two cam grooves 44 and 45 are symmetrically arranged in a state where the rubbing positions 50b are adjacent in the cylinder axis direction. As described above, the arms 20 and 21 pivot in opposite directions to each other and further swing about the swing shaft 40, so that the cam follower 47 of the loading arm 20 is located at one reference position 50a. At this time, the cam follower 47 of the return arm 21 is located at the other reference position 50a. Then, when the two arms 20 and 21 rotate and change positions, it is necessary to avoid contact and interference with each other. Therefore, the interval between adjacent rubbing positions 50b is reduced, and the arms 20 and 21 are pivoted away from each other. Being operated.

Next, the operation of the tool changer will be described. As shown by the solid line in FIG. 3, the carrier 13 is on standby at a position retracted toward the tool magazine 12, and the spindle 2 has returned to the home position. The loading arm 20 and the return arm 21 are respectively located at positions inclined downward by 45 degrees from the horizontal line, and are waiting outside the rotation area including the tool T of the magazine body 15. Based on this state, the loading arm 20 performs loading of the tool T onto the spindle 2 through the operations (a1 to a5), and the return arm 21 performs the operations of (b1
The tool T mounted on the spindle 2 is returned to the tool magazine 12 through each of the operations b5) to b5).

The tool magazine 12 that has received the tool change command drives the magazine body 15 to rotate, and stops and waits for the next tool T to be used immediately above the magazine body 15. In this state, the motor 2 of the turning mechanism 19
6, the driving bevel gear 28 is reversely driven in the counterclockwise direction when viewed from the motor 26 side, whereby the loading arm 20 and the returning arm 21 simultaneously pivot upward and downward, respectively. As a result, after the loading arm 20 is switched to the vertical position, the clamp claw 38 is clamped by the operation cylinder 39, and the tool T on the magazine body 15 is moved.
(Operation a1). After the return arm 21 is switched to the horizontal position, the clamp claw 38 is expanded by the operation cylinder 39 (operation b1).

In the above state, the operation cylinder 24 is operated to move the transfer frame 18 forward to the spindle 2 side. By this forward operation, the loading arm 20 pulls out the captured tool T from the holder 16 as shown in FIG.
2). At the end of the forward stroke of the return arm 21, the clamp claw 38 is located immediately below the tool holder 3 so that the tool shank of the tool T can be captured (operation b2).

Next, after the clamping claw 38 of the return arm 21 is clamped by the operation cylinder 39 to capture the tool T, the motor 26 of the turning mechanism 19 is driven to rotate normally in the direction opposite to that of the operations a1 and b1. Then, the arms 20 and 21 are turned in the opposite directions. At this time, the return arm 21 pivots downward while capturing the tool T as shown in FIG. 1, switches to the vertical position, and removes the tool T used up to now from the spindle 2 (operation b3). At the same time, the loading arm 20 turns upward, switches to the horizontal posture, and loads a new tool T into the tool holder 3 (operation a3). At the same time as the loading, the clamp pawl 38 is opened to separate the clamp pawl 38 from the tool T.

Simultaneously with the completion of the operations a3 and b3, the piston rod of the operation cylinder 24 is retracted to move the transfer frame 1
8 is moved backward to the tool magazine 12 side. The tool T held by the return arm 21 by this operation is returned to the holder 16 of the magazine body 15 (operation b).
4) The clamp claw 38 is opened simultaneously with the return. The loading arm 20 moves backward while maintaining the horizontal posture (operation a).
4). Finally, the motor 26 of the turning mechanism 19 is operated a1.
b1 is driven in the same direction as in the case of
21 are turned in opposite directions (operation a5 and operation b).
5) Return to the original standby state. After this, the magazine body 1
5 is rotated to prepare for the next tool change. Thereafter, by repeatedly performing the above-described circulation operation, different tools T can be replaced with the spindle 2 one after another. Incidentally, the time required for tool replacement is about 4 seconds.

The loading arm 20 and the return arm 21 transfer the tool T to and from the magazine body 15 at a common tool capturing position. Similarly, the tool T is transferred to and from the spindle 2 at a common tool capturing position.
In this way, when the arms 20 and 21 are simultaneously turned in the opposite directions and the positions are interchanged, a cam mechanism is provided to perform the sliding operation without any trouble, and the cam operation is performed by using the turning operation of the arms 20 and 21. The two arms 20 and 21 are operated to move toward and away from each other by a mechanism.

As described above, the cam groove 4 of the cam mechanism
No. 4.45 is provided so that the cam follower 47 passes through the rubbing position 50b in the middle of the turning range of the arms 20 and 21, and the distance between the adjacent arms 20 and 21 is set to be the largest at the rubbing position 50b. I have. Therefore, as shown in FIG. 8, the arms 20 and 21 can be turned upside down without contacting each other in the operations a1 and b1, the operations a3 and b3, and the operations a5 and b5. According to the tool replacement mode in which a part of the motion trajectory is shared as described above, it is not necessary to reciprocate the carrier 13 in the Y-axis direction, and the tool can be replaced at the same coordinate position in the Y-axis direction. The space can be made compact and the operation structure of the carrier 13 can be simplified. Further, the tool T held by each arm 20/21 is transferred to / from the magazine body 15 by utilizing the forward and backward movements of the transfer frame 18, so that the movement of both arms 20/21 can be performed without waste. Although the structure of the changer 3 is simple, a full-scale tool changing operation can be realized.

In the above embodiment, the vertical axis milling machine has been exemplified as a processing machine. However, the tool changer of the present invention is also applicable to other machine tools such as a horizontal axis milling machine and a boring machine. it can. The gear mechanism of the revolving mechanism 19 is preferably formed of a bevel gear because of its simple structure. However, a gear mechanism that outputs rotational powers in opposite directions to each other by a group of spur teeth or a mixture of spur teeth and bevel gears is formed. it can. In addition, the bevel gear of the present invention includes a bevel gear having a sprung or spiral shape.

The loading arm 20 and the return arm 21 can be configured so that only the tool capturing position with respect to the spindle 2 is common. In this case, both arms 20 and 2
Although the tool capturing position with respect to one magazine main body 15 is different, the magazine main body 15 is rotated and moved for each arm 20/21, and the holder 16 corresponding to the tool capturing position of each arm 20/21 is displaced. The tool T can be exchanged. That is, the tool T is transferred at two circumferential locations on the top of the magazine body 15. The magazine body 15 can be driven to rotate in both forward and reverse directions. The loading arm 20 and the return arm 21 can be arranged so that the front and rear are opposite to those of the embodiment.

The receiving Doude 46 may be formed separately from the frame 37. The tool changer of the present invention is particularly suitable for small processing machines in terms of compactness.
Applicable to large processing machines.

[0039]

According to the tool changer of the present invention, the transfer arm 18 reciprocates the loading arm 20 for loading the tool and the return arm 21 for returning the tool between the tool magazine 12 and the spindle 2 of the processing machine 1. By operating and exchanging the tools at one or both ends of the reciprocating stroke by changing the positions of the arms 20 and 21 by the turning mechanism 19, the structure of the tool changer can be simplified and the entire device can be made compact. I was able to put together. Furthermore, despite operating the pair of arms 20 and 21 according to different motion trajectories, both arms 20 and 2
The driving source for operating the motor 1 is a motor 26 for the turning mechanism 19 and an operating cylinder 24 for reciprocating the transfer frame 18.
It just uses. Therefore, it is possible to obtain a tool changer that is compact and has a low overall cost while exhibiting the same function as a tool changer for a large processing machine, and can make use of the cost advantage and space saving of a small processing machine. A compact and inexpensive tool changer can be provided.

[Brief description of the drawings]

FIG. 1 is a schematic front view of a tool changer.

FIG. 2 is a schematic perspective view of a processing machine.

FIG. 3 is an operation explanatory view of a tool changer.

FIG. 4 is a front view in which a turning mechanism is broken.

FIG. 5 is a side view of the tool changer.

FIG. 6 is a sectional view taken along line AA in FIG.

FIG. 7 is a development view of a cam groove.

FIG. 8 is an explanatory view showing the sliding operation of the arms.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Processing machine 2 Spindle 12 Tool magazine 13 Carrier 15 Magazine body 18 Transfer frame 19 Rotating mechanism 20 Loading arm 21 Return arm 24 Operation cylinder 26 Motor 31 ・ 32 Driving wheel T Tool P1 Spindle axis of spindle body P2 Spindle axis of magazine body P3 Rotational axis of drive wheel

Claims (1)

(57) [Claims] 1. A tool magazine 12 for holding a large number of tools T, and a carrier 1 for reciprocating the tools T by reciprocating between the tool magazine 12 and a spindle 2 of a processing machine 1.
The tool magazine 12 has a magazine main body 15 that is driven to rotate around a rotation axis P2 orthogonal to the rotation axis P1 of the spindle 2, and a tool T is provided around the periphery of the magazine main body 15.
The holders 16 that support the
The carrier 13 is connected to the rotation axis P2 of the magazine body 15.
Transfer frame 18 guided and supported reciprocally in a direction parallel to
An operation cylinder 24 for reciprocating the transfer frame 18 between the magazine body 15 and the spindle 2 ;
Return for load arm 2 0 Contact and tools return of tools loaded respectively provided at an end of the spindle 2 side arms 21
And a turning mechanism 19 provided on the transfer frame 18 for simultaneously turning the arms 20 and 21 in opposite directions to exchange the arm positions. The turning mechanism 19 is capable of normal and reverse rotation operation. Motor 26 and this
A driving bevel gear 28 that inherits the power of the motor 26 of
Around the rotation axis P3 which meshes with the driving bevel gear 28 at the same time and is orthogonal to the two rotation axes P1 and P2, respectively .
A pair of bevel gears 29 that are driven to rotate in opposite directions to each other
30 and the bevel gears 29 and 30
It includes a pair of drive wheels 31, 32 which are rolling linked, the loading arm 20 and the return arm 21, respectively tool
Cut the clamp claw 38 holding the T and the clamp claw 38
Operation cylinder 39 for changing operation and supporting these
Frame 37, and each frame 37 of both arms 20 and 21
・ Through the swing shaft 40 on each bearing block 35 fixed to the 32 side
The arms 20 and 21 are in contact with each other around each swing shaft 40.
It is supported so that it can swing in the direction of
The two arms 2 and 21 using the turning motion of the two arms 20 and 21.
Cam mechanism for swinging 0.21 around swing shaft 40
Is provided between the transfer frame 18 and each frame 37, and the cam mechanism is moved in a state of being fitted to the drive wheels 31 and 32.
The cams cylinder 43 fixed to Okuwaku 18, each arm 20, 21
A pair of cam grooves 44.4 formed in the cam cylinder 43 corresponding to
5 and from each of the arms 20 and 21 to the outer peripheral surface of the cam barrel 43.
The passive arms 46 thus protruded, and each passive arm 46 supports
A cam follower 47 engaging with the cam grooves 44 and 45
At both ends of the reciprocating stroke of the transfer frame 18, the loading arm 20 and the return arm 21 are simultaneously turned in the reverse direction by the turning mechanism 19 to exchange tools while exchanging the positions of the arms 20 and 21. A tool changer .