JP3472091B2 - Tool change arm and tool holding device provided with the arm - 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 exchanging arm for exchanging tools set on a spindle of a machine tool and a tool magazine, and a tool gripping device equipped with the arm.

[0002]

2. Description of the Related Art Conventionally, there is known a machine tool capable of exchanging tools between a spindle and a tool magazine. These machine tools are equipped with a tool-holding device of a tool-changing machine for carrying out tool-changing, and a tool set on each of the spindle and tool magazine by a gripping part provided at the tip of a tool-changing arm that constitutes the tool-holding device. Is gripped and the position of the tool is changed by the turning of the tool changing arm to change the tool.

As a tool gripping type of this kind of tool gripping device, there are a type in which the tool is clamped from both sides and a type in which the tool is hooked from one side and then pressed and fixed. As a disclosure of the latter type, for example, the actual fairness 5-13
469 publication is mentioned. In the movement process of the tool exchanging arm of the tool grasping device described in this publication, the arm is moved from the arm standby position to the tool exchanging position by turning the predetermined angle, and the grasping portions provided at both ends of the tool exchanging arm are respectively attached to the spindle. The process of gripping the mounted used tool and the new tool set in the tool magazine, and after gripping is completed, the tool change arm moves axially and pivots 180 ° away from the tool change position. , The step of changing the position of the tool, and then the tool changing arm moves axially and returns to the tool changing position, mounts a new tool on the spindle, releases the grip of the tool, and removes the tool after use. It comprises a step of storing in a magazine and a step of reversing a predetermined angle and returning to the arm standby position after the storage is completed.

[0004]

However, when it is necessary to reverse the turning direction between the standby position and the tool changing position as described above to perform the turning operation, it is necessary to realize this operation. There is no choice but to use an expensive roller gear cam in which a highly accurate cam groove is formed, or to involve a complicated mechanism such as driving a plurality of gears to switch the rotation.

An object of the present invention is to solve the above problems and provide a tool gripping device which can be manufactured at a low cost with a simple mechanism.

[0006]

Means for Solving the Problems and Effects of the Invention In order to solve the above problems, a tool change arm of the present invention is an arm support having an arm center shaft extending on one axis, and the arm support centered on the arm center shaft. An arm body that is rotatably supported by the body and has a tool gripping mechanism for gripping a tool at both ends, wherein the tool gripping mechanism is
In a tool exchanging arm constituted by a gripping portion for supporting a tool and a movably provided locking member for clamping the tool, for locking or unlocking the arm body and the arm center shaft. It is characterized by having an arm lock mechanism.

When the tool exchanging arm is integrally rotated, it is necessary to prevent rotation between the arm support body and the arm body which constitute the tool exchanging arm. Therefore,
This can be realized by making the arm lock mechanism function. The tool changing arm may have a tool lock mechanism for locking or unlocking the movement of the locking member.

The grip of the tool changing arm usually has a locking member that is biased to the grip so that the tool can be protruded by a predetermined length in order to press and fix the tool after it is hooked. When the tool exchanging arm rotates and the locking member comes into contact with the tool, the locking member is pushed back against the biasing force. Then, as the tool passes the tip of the locking member, the locking member again projects, and the locking member presses and grips the tool.

However, since the locking member is pushed back as described above when an external force larger than the urging force is applied, the gripping of the tool is maintained when the centrifugal force due to the turning of the tool changing arm is large, for example. Not done. The tool lock mechanism is provided for this purpose, and the sliding of the locking member is completely locked by the mechanism.
The tool can be reliably held in the gripping portion even when the centrifugal force is accompanied by a large turning.

Further, the tool gripping device of the present invention is constructed by connecting the tool exchanging arm to an arm pivot shaft extending on the axis of the arm center shaft, and applying a driving force from a tool exchanging machine drive shaft to the tool exchanging arm and the tool exchanging arm. A tool changer for a machine tool, which is transmitted to the tool gripping mechanism and exchanges a tool set in a spindle of a machine tool and a tool magazine by using the gripping by the tool gripping mechanism and the swing and vertical movement of a tool exchanging arm. a tool gripping device, wherein in response to vertical movement of the tool changing arm, by Bas Ne-biased arm lock pin moves up and down, the arm lock means for operating the arm lock mechanism, the tool exchange arm According to the vertical movement of
Te, by Bas Ne-biased tool locking pin moves up and down, and having a tool locking means for operating said tool locking mechanism.

This is an application of the tool changing arm to a tool gripping device. By making the arm lock mechanism and the tool lock mechanism function by utilizing the vertical movement of the tool change arm of the tool changer, both of the mechanisms can be automatically operated during the process.

The tool locking means allows the tool to be reliably held when turning for exchanging the tool.
Further, when brought into the locked state by the arm lock means, the arm main body is integrally fixed to the arm support body and can move along with the movement of the turning shaft. On the other hand, when the lock is released by the arm lock means, the arm main body becomes rotatable with respect to the arm support body and can move independently of the pivot shaft. Therefore, it is possible to reciprocate only the arm main body between the standby position and the tool exchange position without rotating the revolving shaft.

In the tool gripping device, the driving force of the tool changer drive shaft is set by fitting the lower end of the hollow outer shaft gear arranged outside the arm turning shaft and the upper end of the arm body. May be transmitted to the arm body via the outer shaft gear to impart a reciprocating rotary motion to the arm body.

If a simple cam mechanism is used in the above construction, the driving force of the tool changer drive shaft can be transmitted as a reciprocating swing motion between the arm standby position and the tool change position via the outer shaft gear. Further, by the arm lock means, switching between the reciprocating reciprocating motion, the reciprocating motion on the revolving axis, and the revolving motion at the time of tool exchange can be easily performed.

The tool gripping device of the present invention, as described above,
Since it is not necessary to use an expensive roller gear cam and the rotary motion of the drive shaft can be transmitted as the reciprocating motion of the tool changing arm by a simple cam mechanism, the manufacturing cost of the device can be kept low.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will now be described with reference to the drawings in order to further clarify the embodiments of the present invention. It is needless to say that the embodiment of the present invention is not limited to the following examples and can be implemented in various modes as long as they are within the technical scope of the present invention.

First, the entire machining center equipped with the tool changer TC of this embodiment will be outlined with reference mainly to FIG. As shown in FIG. 1, in this machining center, a headstock 3 is supported by a column 2 which is vertically fixed to a base 1. The headstock 3 is guided by a pair of linear guides 4 and is moved in the vertical direction by a Z-axis feed motor 5 and a feed screw 6. The table 7 provided on the base 1 is movable in the horizontal plane direction. A spindle motor 8, a spindle 9, and a rotary tool magazine 10 are mounted on the spindle stock 3. The spindle 9 and the tool magazine 10 are disclosed in JP-A-63-1.
Similar to that disclosed in 23646 is used.

The spindle 9 is connected to a tool attachment portion 11 capable of detachably holding the tool T, and a tool release for releasing the tool T by being connected to the tool attachment portion 11 via a draw bar (not shown) and pushed down. And a pin (not shown). The tool magazine 10 is provided with a plurality of holding pots that hold the tool T detachably and are normally in a horizontal posture in the peripheral portion of the turntable. Only the holding pot located at the lowest position is rotated 90 ° downward to take a vertical posture, and the tool changer TC of this embodiment is ready for tool exchange. Selection of the tool T (arrangement to the lowest position) is performed by rotation of the magazine motor 14.

Further, the headstock 3 incorporates the tool changer TC of this embodiment for exchanging the tool T between the tool magazine 10 and the spindle 9. The tool changer TC includes a tool change drive motor 15 and a tool change arm A. The tool exchanging arm A of the present embodiment has an arm support 1 having an arm center axis extending on the same axis as the turning axis.
6 and an arm main body 12 that is rotatably supported by an arm support 16 around an arm center shaft and has grips 17 for supporting a tool at both ends. A main shaft 9 and a tool magazine 10 are provided. The tool T set in
The gripping by 7 and the swinging and vertical movement of the tool exchanging arm A are used for exchanging.

FIG. 2 shows the overall construction of the tool changer TC that causes the movement of the tool changing arm A, and FIG. 3 shows a sectional view of the lower part of the tool gripping device corresponding to the main part of the present invention. As shown in FIG. 2, the ATC drive shaft 18 of the tool changer TC is connected to the tool change drive motor 15 and arranged vertically, and is rotatably supported by the headstock 3 via bearings 19 and 20. ing. There are four cams 2 on the ATC drive shaft 18.
1, 22, 23 and 24 are provided.

On the other hand, on the side of the ATC drive shaft 18, a turning shaft 25 is arranged vertically. A spline 25a is provided at the upper part of the swivel shaft 25, and a flange 25b is provided at the lowermost end.
Is provided, and the tool exchange arm A is provided on the flange 25b.
Is fixed. A stepped hole 32 having a predetermined depth is formed at the upper end of the swivel shaft 25 along the axial center of the swivel shaft 25. The stepped hole 32 has a long axis shape having an outer diameter smaller than the inner diameter. The support member 31 is inserted into a through hole 28 a formed in the upper machine frame 28 of the headstock 3. The support member 31 is fixed to the upper machine frame 28, is inserted into the stepped hole 32 via a bush 33 arranged in the upper stage of the stepped hole 32, and pivotally supports the upper part of the turning shaft 25.

On the other hand, as shown in FIG.
The lower end of the shaft penetrates a substantially cylindrical outer shaft gear 29 having a hole diameter larger than the diameter of the swivel shaft 25, so that the bush 30 and the outer shaft gear 29 serve as guides for rotation around the central axis and axial reciprocating motion. It is supported as much as possible.

The hole 2 is formed in the lower machine frame 26 of the headstock 3.
6a is provided so that the outer shaft gear 29 penetrates the hole 26a through the bush 27 and can rotate about the central axis independently of the rotation of the turning shaft 25. Has been done. Further, as shown in FIG. 2, the swivel shaft 25 is a cylindrical member 3 having a circumferential groove fixed near the center in the vertical direction.
6 and the cylindrical member 36 is moved up and down,
The turning shaft 25 reciprocates in the vertical direction. Further, the swivel shaft 25 rotates along with the rotation of the spline sub shaft 37 fitted with the spline 25a above the swivel shaft 25 about its axis. In addition,
Flange portion 37 formed on the outer periphery of spline counter shaft 37
The shaft of a driven roller 38 as a follower of the cam 21 is fixed to the upper and lower surfaces of a.

As shown in FIG. 3, a gear 29a is engraved on the outer periphery of the upper end portion of the outer shaft gear 29, and the gear 29a is formed.
Meshes with the side segment gear 34. An oscillating element 35 is fixed to the segment gear 34, and the oscillating element 35 follows the cam 24. In addition, the cylindrical outer shaft gear 29
Two recesses 71a, 71b, which are open downward, are provided at two positions on the lower end of the tool 180 ° apart from each other, and are fitted into the arm rotating shaft of the tool exchanging arm A described later through the recesses.

The tool exchanging arm A of this embodiment includes an arm support 16 having an arm center shaft 62 in the center, and an arm body 12 supported by the arm support 16 so as to be rotatable about the arm center shaft 62. It is configured. The arm support body 16 is integrally formed on the upper end portion of the arm center shaft 62, and extends upward in the radial direction to form an upper flange 61.
And a lower flange 63 made of a disk-shaped member fitted to the lower end of the arm center shaft 62, and the arm body 12 is rotatably sandwiched between the upper flange 61 and the lower flange 63. There is.

The arm main body 12 has a hollow cylindrical arm rotating shaft 51 through which the arm center shaft 62 penetrates, a central portion fitted to the lower portion of the arm rotating shaft 51, and both end portions holding portions for holding a tool. And a revolving arm 52 having the armature 17. The arm rotating shaft 51 has a flange 51a at the upper portion thereof, and at the upper end portion thereof, upwardly projecting convex portions 72a, 72b are provided at two locations opposed to the concave portions 71a, 71b provided at the lower end of the outer shaft gear 29. ing. Further, the revolving arm 52 has a recess in the center thereof, and a through hole is provided in the center of the recess. In other words, the flange 52a extending from the side surface of the recess toward the center is integrally formed. The arm body 12 is configured integrally with the flange 51a by joining a flange 52a, which is a part thereof, to the flange 51a. The arm rotating shaft 51 and the turning arm 52 may be integrally formed.

By fitting the recesses 71a, 71b provided at the lower end of the outer shaft gear 29 and the projections 72a, 72b provided at the upper end of the arm body 12, the outer shaft gear 29 is fitted. 29 and the arm body 12 can move integrally. As shown in FIG. 5 which is a horizontal partial sectional view of the swivel arm 52, the swivel arm 52 is configured symmetrically about the arm center shaft 62, and gripping portions 17, 17 are provided at opposite ends of the swivel arm 52 in mutually opposite surfaces. Tool contact part 5
6, 56 are provided.

Further, two through holes 55, 55 are provided on the outer side of the flange 52a provided at the center of the revolving arm 52 at positions symmetrical with respect to the center. Each through hole 55
A tool lock pin 91 and an arm lock pin 92, which will be described later, are inserted in the vertical direction, and are formed so as to be rotatable by a predetermined angle in the through hole.

Further, inside the arm body 12, in the vicinity of the side surface on which the tool contact portion 56 faces, the arm body 12 extends in the longitudinal direction between the through hole 55 and the grip portion 17, and the center of the arm body 12 is more than the center thereof. A stepped insertion hole 58 having a smaller step portion is provided on the side of the through hole 55. The stepped insertion hole 58 has a tool contact portion 56.
A roller shaft 80 as a locking member rotatably rotatably supported at one end is inserted through a roller 81 for pressing and fixing the tool abutting against. The roller shaft 80 has a stepped portion that becomes smaller toward the through hole 55 at the center of the rod-like columnar shape, and slidably penetrates the stepped insertion hole 58. Further, an oval slot 83 is provided in the center of the roller shaft 80, and by inserting the orthogonal pin 59 fixed to the swivel arm 52 into the slot 83, the roller shaft 80 is rotated around its own axis. Prevents rotation. Further, a spring 85 is elastically compressed and inserted between the stepped portion of the stepped insertion hole 58 and the stepped portion of the roller shaft 80 to urge the roller shaft 80 toward the grip portion.

FIG. 4 is a view showing a cross section taken along the line BB in FIG. As can be seen from FIGS. 3 and 4, the flange 25b connecting the pivot shaft 25 and the arm support body 16 is
As shown in FIG. 3, the disk has a shape in which opposing portions are cut out in parallel, and the central portion of the upper surface thereof is connected to the lower surface of the swivel shaft 25. Further, the lower surface of the flange 25b is 2
It is connected to the upper surface of the arm support body 16 by means of pins 76 at the circumferential portions. The concave portions 71a and 71b and the convex portion 7
The fitting with 2a and 72b is performed at a position slightly away from the upper surface of the flange 25b. As will be described later, the rotational movement between the turning shaft 25 and the arm support 16 is performed in a state where the turning shaft 25 and the arm support 16 are moved downward to release the fitting of the fitting portion. The rotational movement between the shaft gear 29 and the arm rotation shaft 51 is performed in a state where the turning shaft 25 and the arm support 16 are pulled upward and the outer shaft gear 29 and the arm rotation shaft 51 are fitted to each other at the fitting portion. Done.

As shown in FIG. 8 when the arm body 12 is in the standby position (two-dot chain line) and in the tool replacement position (solid line), the protrusions 72a and 72b are formed on the upper flange of the arm support 16. At 61, the inside of the through hole 73 provided on the side of the flange 25b is simply rotated by a predetermined angle, so that the rotation is not hindered by the flange 25b.

Returning to FIG. 3, the roller shaft 80 is provided on the arm support 16 in order to fix the roller provided at the tip of the roller shaft 80 to the tool held by the roller.
A pair of tool lock mechanisms TR for locking the sliding of the arm main body 12 and a pair of arm lock mechanisms AR for locking or releasing the arm main body 12 with respect to the arm center shaft 62 are provided in axial symmetry. In FIG. 3, the tool lock mechanism TR is shown on the right side and the arm lock mechanism AR is shown on the left side around the arm center shaft 62, but as shown in FIG. One of TR and one of the arm lock mechanisms AR are provided close to each other.

First, the tool lock mechanism TR will be described. The upper flange 61 of the arm support 16 is provided with through holes 65, 65 at positions symmetrical with respect to the arm center shaft 62 (see FIG. 4), and the through hole 6 of the lower flange 63 is formed.
Stepped insertion holes 68, 68 that become smaller toward the lower side are provided at positions facing 5, 5 on the vertical axis. Also,
A tool lock pin 91 is provided so as to penetrate the through hole 65 and the stepped insertion hole 68. The tool lock pin 91 has a flange 91a having a taper whose cross section becomes smaller upward at a substantially central position of the long axis shape, the upper end of which penetrates the through hole 65, and the lower end thereof has the step. It is inserted through the attached insertion hole 68. A spring 93 is elastically compressed and inserted between the upper surface of the stepped portion of the stepped insertion hole 68 and the bottom surface of the flange 91a to urge the tool lock pin 91 upward. The tool lock pin 9
When 1 is raised, the tapered surface of the flange 91a presses the end portion of the roller shaft 80 protruding into the through hole 55 of the swivel arm 52, whereby the through hole 5 of the roller shaft 80 is formed.
Lock the sliding to the 5 side.

Next, the arm lock mechanism AR will be described. The upper flange 61 of the arm support 16 is provided with through holes 67, 67 at positions symmetrical with respect to the arm center shaft 62 (see FIG. 4), and the through hole 6 of the lower flange 63 is formed.
Stepped insertion holes 69, 69 that become smaller downward are provided at positions facing the 7, 67 on the vertical axis. Also,
An arm lock pin 92 is provided so as to penetrate the through hole 67 and the stepped insertion hole 69. The arm lock pin 92 has a flange 92a having a taper whose cross section becomes smaller upward at a substantially central position of the long axis shape, the upper end of which penetrates the through hole 67, and the lower end thereof has the step. The insertion hole 69 is inserted. A spring 95 is elastically compressed and inserted between the upper surface of the stepped portion of the stepped insertion hole 69 and the bottom surface of the flange 92a to urge the arm lock pin 92 upward. The arm lock pin 92
Is raised, the taper surface of the arm rotation shaft 51
The rotation of the arm body 12 with respect to the arm support body 16 is locked by fitting it into the round groove 51b (see FIG. 5) provided on the side surface of the arm support body 16.

Now that the overall structure of the tool changer has been clarified, the operation of the tool changer TC of this embodiment will be described. The tool exchanging mechanism of the tool gripping device of the present invention is of a type in which the tool contact portion 56 is brought into contact with the tool T by turning and then the grip is locked. In the tool exchanging process, the arm standby position, which is a predetermined angle away from the tool exchanging position in the swivel plane, is swung by the predetermined angle to move to the tool exchanging position, and the gripping portions 17 provided at both ends of the tool exchanging arm A are respectively attached to the spindle. In the step of gripping the used tool T mounted on 9 and the new tool T set in the magazine 10 (see FIG. 1), when gripping is completed, the tool exchange arm A descends and swivels 180 °, Step of changing the position of
After that, the tool exchange arm A is raised, a new tool T is mounted on the spindle 9, the gripping of the tool T is released, and the used tool T is stored in the magazine 10, and the storage is completed. After that, it is composed of a step of reversing a predetermined angle and returning to the arm standby position.

The operation of each step will be described in detail below. As described above, the tool exchanging arm A pivots from the standby position by a predetermined angle, moves to the tool gripping position to grasp the tool, finally replaces the tool, and then reverse swivels from the tool exchanging position to the standby position. A mechanism for doing so is provided. this is,
This is because the tool gripping mechanism of the present embodiment is of a type in which the tool contact portion of the tool changing arm A is in contact with the tool from one side. It is the plane groove cam 24 on the lower surface of the cylindrical member 39 around the ATC drive shaft 18 that is involved in this movement (FIG. 2, FIG.
3).

FIG. 6 shows a sectional view taken along line XX of FIG. As shown in the drawing, the groove shape of the flat grooved cam 24 is a closed ring shape, and an arc-shaped large-diameter portion 24a centered on the cam shaft.
And a small diameter portion 24b and a connecting portion 24c for connecting them. Depending on where the oscillating member 35 is attached to the large-diameter portion 24a, the small-diameter portion 24b, or the connecting portion 24c of the rotating flat groove cam 24, the tool changing arm A is set to the standby position, the tool changing position, or the turning motion state. Become.

That is, when the ATC drive shaft 18 rotates to reach a predetermined angle, the oscillating member 35 comes off from the large diameter portion 24a of the plane groove cam 24, and the oscillating member 35 moves from the large diameter portion 24a to the small diameter portion. While passing through the connecting portion 24c up to 24b,
The oscillator 35 swings in one direction around the axis of the segment gear 34. Further, while the oscillator 35 leaves the small diameter portion 24b and passes through the connecting portion 24c from the small diameter portion 24b to the large diameter portion 24a, the oscillator 35 moves in the opposite direction to the above. Rock.

The swing of the oscillator 35 causes the segment gear 34 driven by the oscillator 35 to rotate, and the outer shaft gear 2 meshing with the segment gear 34 via the gear 29a.
9 rotates. Along with the rotation of the outer shaft gear, the tool exchange arm A fitted to the lower end of the outer shaft gear at the upper end of the arm rotation shaft moves from the standby position to the tool exchange position, or from the tool exchange position to the standby position. It makes a turning motion.

The tool changing arm A reciprocates in the axial direction of the turning shaft 25. This is because the tool T is pulled out from the headstock 9 or the tool magazine 10 or clamped. Related to this movement is the cylindrical groove cam 23 formed on the upper peripheral surface of the cylindrical member 39 around the ATC drive shaft 18 (see FIG. 2). A swing lever 40 that swings about a support point 44 as a fulcrum is engaged with the cylindrical groove cam 23 via an engaging element 43 provided near the center thereof, and is provided at the tip of the swing lever 40. The contactor 41 is attached to the rotary shaft 25.
It is engaged with the circumferential groove of the cylindrical member 36 fixed to. Therefore, when the ATC drive shaft 18 makes one rotation, the swing lever 40 swings, causing the swing shaft 25 and the tool exchange arm A fixed thereto to reciprocate once in the axial direction. FIG. 2 conceptually shows the engagement relationship between the contactor 41 and the cylindrical member 36.

As shown in FIG. 2, the tool changer TC of this embodiment has a mechanism for extracting the used tool T from the spindle 9. That is, the cylindrical groove cam 22 is formed on the upper peripheral surface of the cylindrical member 39 outside the ATC drive shaft 18, and when the tool T is extracted from the main shaft 9, the cylindrical groove cam 22 is swung by being driven by the cylindrical groove cam 22. It is possible to bring the tool into a disengaged state by pressing and lowering a tool release pin (not shown) connected to a draw bar (not shown) of the tool attaching / detaching device of the main shaft 9 by the swinging member 42.

Further, the tool changing arm A pivots horizontally. This is the tool T of the spindle 9 and the tool magazine 10.
This is for exchanging. ATC is involved in this movement
The parallel cam 21 is provided at the top of the drive shaft 18. The movement resulting from this is the same as the corresponding portion of the device disclosed in Japanese Patent Laid-Open No. 63-123646, and therefore will be briefly described.
The parallel cam 21 is a compound cam composed of two plate cams 21a and 21b, and is in contact with a driven roller 38 as a follower provided on the spline counter shaft 37. Based on this configuration, the spline counter shaft 37, the swivel shaft 25, and the tool change arm A are moved by 18 times during one rotation of the ATC drive shaft 18.
Rotate 0 °.

The arm locking means and the tool locking means of the tool gripping device of the present invention will be described below with reference to FIG. Oite the state of FIG. 7 (a), is in the top dead center tool exchange arm A is, because the tool locking pin 91 and the arm lock pin 92 by the lower surface of the lower machine frame 26 is pressed, the tool locking mechanism TR Also, the arm lock mechanism AR is released. In this state,
The arm body 12 is rotatable with respect to the arm support 16. That is, by rotating the outer shaft gear 29 in this state, the turning from the arm standby position to the tool replacement position is performed independently of the movement of the turning shaft 25.

When the gripping portion 17 grips the tool T and the tool exchanging arm A begins to descend, the lower machine frame 2
The upper ends of the tool lock pin 91 and the arm lock pin 92 held by the lower surface of 6 are opened, and the springs 93, 9
By the biasing force of 5, the tool lock pin 91 and the arm lock pin 92 are pushed upward,
The tool lock mechanism TR and the arm lock mechanism AR function. That is, at the same time that the tool lock pin 91 moves up, the tapered surface of the tool lock pin 91 presses the end of the roller shaft 80 protruding into the through hole of the revolving arm, so that the roller shaft 80 slides toward the through hole side. At the same time that the arm lock pin 92 is lifted by locking the movement, the tapered surface of the arm lock pin 92 is a circular groove 51b provided on the lower surface of the arm rotation shaft 51 (see FIG. 5).
The arm body 12 locks the rotation with respect to the arm support body 16 by being fitted to the arm support body 16.

FIG. 7B shows a locked state, in which a tool (not shown) gripped by the tool lock mechanism TR is firmly fixed to the grip portion, and the arm lock mechanism AR serves to arm the arm. In the state where the main body 12 and the arm support body 16 are integrated, the tool reciprocating arm A is reciprocated in the axial direction and swung 180 degrees to replace the tool T.

Then, the tool changing arm A moves up again,
By pressing the tool lock pin 91 and the arm lock pin 92 against the lower machine frame 26, the tool lock mechanism TR and the arm lock mechanism AR are released, and after mounting the tool, the outer shaft gear 29 moves in the opposite direction to the above. By rotating, the arm body 12 is swung from the tool exchange position to the arm standby position, and a series of tool exchange steps is completed.

The tool gripping device of the present invention can function or release the tool lock mechanism TR and the arm lock mechanism AR as the tool changing arm A moves up and down, and the rotational movement of the drive shaft can be changed by the plane groove cam. 24 and outer shaft gear 2
The tool can be exchanged by means of a simple mechanism for converting the arm body 12 into a reciprocating swivel motion between the arm standby position and the tool exchange position via the switch 9. Because of this, expensive rollers
The manufacturing cost can be kept lower than that of a device using a gear cam or the like.

The embodiments of the present invention have been described above.
The present invention is not limited to these embodiments. For example, although a motor is used as a drive source in this embodiment, a rotary cylinder or a rack and pinion may be used. Further, in this embodiment, the cam mechanism is used to operate the outer shaft gear, but it is operated by another drive source such as an air cylinder or a separately installed motor that is not directly connected to the ATC drive shaft. Good.

[Brief description of drawings]

FIG. 1 is a perspective view of a tool changer of this embodiment.

FIG. 2 is a vertical cross-sectional view of the tool changer of this embodiment.

FIG. 3 is a cross-sectional view of a lower portion of the tool gripping device of this embodiment.

FIG. 4 is a sectional view taken along line BB of FIG.

FIG. 5 is a horizontal partial cross-sectional view of the arm body of the present embodiment.

6 is a sectional view taken along line XX of FIG.

FIG. 7 is a diagram illustrating arm locking means and tool locking means of the present embodiment.

FIG. 8 is a diagram for explaining a turning motion of the tool changing arm according to the present embodiment between a standby position and a tool gripping position.

[Explanation of symbols]

3 ... Headstock, 11 ... Tool mounting part, 12 ...
Arm main body, 16 ... Arm support, 17 ... Gripping portion, 24 ... Planar groove cam, 25 ... Rotating shaft,
26 ... Lower machine frame, 29 ... Outer shaft gear,
51 ... Arm rotation axis, 51 ... Arm center axis, 5
2 ... Revolving arm, 54 ... Gripping part, 55 ...
Through hole, 56 ... Tool contact portion, 58 ... Stepped insertion hole, 59 ... Orthogonal pin, 61 ... Upper flange,
62 ... Arm central shaft, 63 ... Lower flange, 80
... Roller shaft, 91 ... Tool lock pin,
92 ... Arm lock pin, A ... Tool change arm, T ... Tool, TC ... Tool changer, AR
..Arm lock mechanism, TR ... Tool lock mechanism

Claims (4)

(57) [Claims] 1. An arm support having an arm center axis extending on one axis, and a tool gripping mechanism rotatably supported by the arm support centering around the arm center axis and gripping a tool at both ends. An arm main body provided with the tool gripping mechanism, wherein the tool gripping mechanism includes a gripping part for supporting the tool and a movable locking member for clamping the tool. A tool changing arm having an arm lock mechanism for locking or unlocking an arm body and the arm center shaft. 2. The tool changing arm according to claim 1, further comprising a tool lock mechanism for locking or unlocking the movement of the locking member. 3. The tool exchanging arm according to claim 1 or 2 is connected to an arm swivel shaft extending on the axis of the arm center shaft, and a driving force from a tool exchanging machine drive shaft is applied to the tool exchanging arm. The tool set in the spindle of the machine tool and the tool magazine by the tool gripping mechanism and the tool changer
A beam of turning and the tool gripping device of the tool changer of the machine tool to be replaced by using a vertical motion, in response to said vertical movement of the tool changing arm, the arm lock pin that is biased bar Ne up and down accordingly, an arm locking means for operating the arm lock mechanism, according to vertical movement of said tool exchange arm, by Bas Ne-biased tool locking pin moves up and down, the tool locking means for operating said tool locking mechanism And a tool gripping device for a tool changer. 4. The driving force of the tool changer drive shaft is set to the outer shaft gear by fitting the lower end of a hollow outer shaft gear arranged outside the arm turning shaft and the upper end portion of the arm body. The tool gripping device according to claim 3, wherein the tool gripping device is transmitted to the arm main body via a path and imparts a reciprocating rotary motion to the arm main body.