JP5082591B2 - Tool changer - Google Patents

Description

  The present invention relates to a tool changer, and more particularly, to a tool changer that removably attaches a tool to a spindle of a machine tool.

  Conventionally, machine tools have been provided with a tool changer that automatically changes tools between a spindle and a tool magazine. This tool changer includes a pivot shaft that moves up and down in the vertical direction, and an arm body that is provided orthogonal to the lower end of the pivot shaft and that can pivot about the axis of the pivot shaft. At both ends of the arm main body, grip portions for gripping the tool are provided. Then, in a state where the tools are gripped by the pair of gripping portions, the arm main body swivels together with the swivel shaft, so that the tool mounted on the tool mounting portion of the main spindle and the tool change position of the tool magazine are on standby. Tools are interchanged with each other.

  However, in this tool changer, the swivel shaft and the arm body are lowered, the swivel shaft and the arm body are swung, and then the swivel shaft and the arm body are raised while the tool is mounted on the tool mounting portion of the main shaft. Problems arise when the position of the tool is slightly deviated from the axis of the spindle. Attempting to mount in such a state forces the tool and the tool mounting part of the spindle to collide with each other and interfere with each other before the tool is completely mounted on the tool mounting part, and forcibly in a state where a load is applied. Since it is mounted, in the worst case, there is a problem that the tool or the spindle may be damaged. Therefore, an arm lock mechanism that integrally fixes the arm body to the swivel axis is provided, and the arm lock mechanism is released when the swivel axis and the arm body rise and the tool is inserted into the tool mounting part of the main shaft. There is a known tool changer (see, for example, Patent Document 1).

  In this tool changer, an arm support that rotatably supports the arm body is provided at the lower end of the pivot shaft, and the arm lock mechanism is provided on the arm support. This arm lock mechanism includes an arm lock pin that moves in and out in the vertical direction with respect to the arm support. Further, the arm lock pin is provided with a hook-like engagement portion. The engaging portion is provided with a tapered engaging surface that decreases in diameter upward. On the other hand, the arm body is provided with an engaging groove for engaging the engaging portion of the arm lock pin from below. The inner surface of the engagement groove is formed in a taper shape with a diameter decreasing upward so as to come into close contact with the engagement surface of the engagement portion. In such a configuration, the arm lock pin is always urged upward by the spring, and the engagement portion engages with the engagement groove, whereby the arm body is locked to the arm support. In this way, the arm body can turn together with the turning shaft.

When the arm body is raised to the top dead center in order to mount the tool on the tool mounting part of the spindle, the upper part of the arm lock pin protruding from the upper part of the arm support comes into contact with the lower part of the spindle head of the machine tool. The engagement portion is released from the engagement groove. Thus, the arm main body is unlocked by the arm lock pin, so that the arm main body can be rotated around the axis of the pivot axis independently of the pivot axis. As a result, when the tool is mounted on the tool mounting portion of the main spindle, even if the tool position is slightly shifted, the arm body rotates independently around the axis of the pivot axis. The tool can be fitted while being moved along. Therefore, it can prevent that load is applied between a tool and a tool mounting part.
Japanese Patent No. 3511857

  However, in the tool changer described in Patent Document 1, since the arm body rotates 180 ° together with the tool when changing the tool, an inertia moment due to the weight of the iron tool or the like acts on the arm body. Due to this moment of inertia, the engagement groove of the arm body acts to push down the tapered surface of the engagement portion of the arm lock pin. If the force to push down is large, the arm lock pin is lowered, the taper surface of the engagement groove gets over the taper surface of the engagement portion, and the lock by the arm lock pin may be released. It was. If the arm lock is released, the arm main body does not normally turn together with the turning shaft, so that there is a possibility that the position of the tool is not accurately changed and the tool cannot be changed.

  The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a tool changer that can reliably hold the locked state of the arm body with respect to the turning shaft even while the arm body is turning.

In order to achieve the above object, a tool changer according to a first aspect of the present invention includes a driving means provided on a spindle head of a machine tool, a turning shaft supported by the driving means so as to be movable up and down, and the turning shaft. An arm main body that is provided orthogonal to the lower end of the swivel axis and revolves around the axis of the swivel axis, and a grip portion that is provided at least at one end of the arm main body and grasps the tool. In the tool changer that attaches the tool gripped by the gripping part to the main spindle of a machine tool or removes the tool attached to the main spindle by movement, the arm body is provided at the lower end of the swivel shaft, An arm support that rotatably supports the arm support, and an arm lock mechanism that is provided on the arm support and integrally fixes the arm body to the arm support. The mechanism includes an arm lock pin extending in the vertical direction, and an arm lock pin that supports the arm lock pin so as to be movable in the vertical direction, and moves the upper portion of the arm lock pin out of and above the arm support body. And a first biasing means provided on the arm lock pin support means for biasing the arm lock pin upward. The arm lock pin has a hook-shaped first engagement. A first engaged portion that is engaged with the first engaging portion from below, and the first engaged portion is formed in a tapered shape. the first engagement portion, wherein the opposed taper to the tapered surface of the first engaged portion, the first linear portion from the top of the taper is extended toward the parallel and upwardly in the axial direction of the arm lock pin Doo is provided, the first engagement The arm lock that protrudes from the upper portion of the arm support when the arm body is fixed to the arm support when the portion is engaged with the first engaged portion and the arm main body is raised The upper portion of the pin abuts against the lower portion of the spindle head and is pushed down, and the first engaging portion is released from the first engaged portion, thereby releasing the arm body from being fixed by the arm lock mechanism. When the arm body and the arm support are rotated, the taper of the first engaged part pushes down the taper of the first engaging part of the arm lock pin due to the moment of inertia acting on the arm body. Even when the taper of the first engaged portion deviates from the taper of the first engaging portion, the first linear portion abuts on the first engaged portion and the arm main body and the arm support body Hold fixed Characterized in that that.

In addition to the configuration of the invention according to claim 1, the tool changer of the invention according to claim 2 is provided so as to be capable of withdrawing and withdrawing from the inside of the arm body toward the grip part, and is attached to the grip part. An abutting member for abutting against the tool, a second urging means for urging the abutting member toward the gripping portion, and a tip of the abutting member provided on the arm support. A tool lock mechanism that restricts the movement of the abutting member in contact with the tool, and the tool lock mechanism is capable of moving the tool lock pin vertically and the tool lock pin vertically. And a tool lock pin support means for moving the upper portion of the tool lock pin out of and above the upper portion of the arm support, and the tool lock pin support means. The tool lock pin is provided with a hook-like second engaging portion, and the rear end portion of the abutting member has the second engaging portion on the lower side. second engaged portion engaging is provided from the second engaged portion is tapered, wherein the second engagement portion, opposed to the tapered surface of the second engaged portion a tapered, and the second linear portion from the upper portion of the tapered is extended toward the parallel and upwardly in the axial direction of the tool locking pin is provided, said second engaging portion is in the second engaged portion When engaged, the movement of the abutting member is restricted, and when the arm body is raised, the upper part of the tool lock pin protruding from the upper part of the arm support abuts the lower part of the spindle head. The second engaging portion is disengaged from the second engaged portion. Wherein by the locking mechanism limits the movement of the contact member is released, the when the arm body and the arm support is rotated by a moment of inertia acting on the arm body, taper the tool of the second engaged portion Even when the taper of the second engaging portion of the lock pin is pushed down and the taper of the second engaged portion deviates from the taper of the second engaging portion, the second linear portion is not engaged with the second engaged portion. The restriction of movement of the abutting member is maintained by abutting on the portion .

  In the tool changer according to the first aspect of the present invention, the arm lock pin constituting the arm lock mechanism is supported by the arm lock pin support means so as to be able to withdraw from and retract from the upper portion of the arm support. Since this arm lock pin is urged upward by the first urging means, the first engagement portion of the arm lock pin from the lower side with respect to the first engaged portion provided in the arm body. Engage. Here, the 1st to-be-engaged part is formed in the taper shape, and the 1st engaging part is formed in the taper shape facing the taper surface of the 1st to-be-engaged part. That is, the arm main body is fixed to the arm support body by the taper of the first engagement portion being in close contact with the taper of the first engaged portion.

  Then, when the arm body is raised, the upper part of the arm lock pin protruding from the upper part of the arm support member is pressed down against the lower part of the spindle head, and the first engaging part is detached from the first engaged part. Therefore, the arm main body is released from being fixed by the arm lock mechanism. Further, when the arm body turns together with the turning shaft and an inertia moment acts on the arm body, the taper of the first engaged portion acts to slightly push down the taper of the first engaging portion of the arm lock pin. However, since the first straight portion is provided on the upper portion of the first engaging portion, the arm lock pin is pushed down, and the taper of the first engaged portion is changed from the taper of the first engaging portion of the arm lock pin. Even if it deviates, it catches on the 1st straight part. As a result, the arm main body remains in a state of being fixed by the arm lock pin, so that the arm main body can be reliably held in the locked state with respect to the swivel axis even while the arm main body is turning.

  Further, in the tool changer of the invention according to claim 2, in addition to the effect of the invention according to claim 1, the tool lock pin constituting the tool lock mechanism is attached from the upper part of the arm support by the tool lock pin support means. It is supported to be able to leave and exit. Since the tool lock pin is urged upward by the second urging means, the second engagement of the tool lock pin with respect to the second engaged portion provided at the rear end portion of the abutting member The part engages from below. Here, the second engaged portion is formed in a tapered shape, and the second engaged portion is formed in a tapered shape facing the tapered surface of the second engaged portion. In other words, the movement of the contact member is restricted by the taper of the second engagement portion being in close contact with the taper of the second engaged portion.

  When the arm main body is raised, the upper portion of the tool lock pin protruding from the upper portion of the arm support is pressed down against the lower portion of the spindle head, and the second engaging portion is detached from the second engaged portion. Therefore, the restriction on the movement of the contact member by the tool lock mechanism is released. Further, when the arm body turns together with the turning shaft and an inertia moment acts on the arm body, the taper of the second engaged portion acts to slightly push down the taper of the second engaging portion of the tool lock pin. However, since the second linear portion is provided on the upper portion of the second engaging portion, the tool lock pin is pushed down, and the taper of the second engaged portion is changed from the taper of the second engaging portion of the tool lock pin. Even when it deviates, it catches on the 2nd straight part. Accordingly, the movement of the abutting member is continuously restricted by the tool lock pin, so that the gripping force of the tool in the gripping portion can be reliably held even while the arm body is turning.

  Hereinafter, a tool changer 1 according to an embodiment of the present invention will be described with reference to the drawings. 1 is a longitudinal sectional view of the tool changer 1, FIG. 2 is a longitudinal sectional view of the lower part of the tool changer 1, FIG. 3 is a perspective view of the tool changer arm 10, and FIG. FIG. 5 is a plan view of the tool change arm 10, FIG. 5 is a longitudinal sectional view of the engagement groove 51b of the arm rotation shaft 51, FIG. 6 is a perspective view of the arm lock pin 91, and FIG. FIG. 8 is a perspective view of the pin 92, FIG. 8 is an explanatory view showing the operation of the arm lock mechanism 201 and the tool lock mechanism 202 (the state in which the tool exchange arm 10 is raised to the top dead center), and FIG. FIG. 10 is an explanatory view showing the operation of the mechanism 201 and the tool lock mechanism 202 (in a state where the tool holder 7 is detached from the spindle 9), and FIG. 10 is an explanatory view showing the operation of the arm lock mechanism 201 and the tool lock mechanism 202 (tool change). Arm 10 is at the bottom 11 is an explanatory diagram showing a state before the taper portion 101 of the locking flange 100 of the arm lock pin 91 contacts the taper surface 51c of the arm rotation shaft 51. FIG. These are explanatory drawings showing a state in which the tapered portion 101 of the locking flange 100 of the arm lock pin 91 is in contact with the tapered surface 51c of the arm rotation shaft 51.

  First, the configuration of the tool changer 1 will be schematically described. As shown in FIG. 1, the tool changer 1 is incorporated in a spindle head 3 of a machine tool (not shown). The tool changer 1 turns a tool 6 mounted on a spindle 9 (see FIG. 8) of a machine tool and a tool 6 moved to a standby position of a tool magazine (not shown) to turn a tool change arm 10 described later. It is a device that replaces and exchanges with each other by operation and elevating operation. This tool changer 1 is connected to a drive motor 15 for tool change fixed to the upper part of the spindle head 3 and a drive shaft (not shown) of the drive motor 15 and penetrates the inside of the spindle head 3 in the vertical direction. The ATC drive shaft 18 that rotates, the swivel shaft 25 that is disposed on the side of the ATC drive shaft 18, rotates around the axis along with the rotational movement of the ATC drive shaft 18, and moves in the vertical direction. The tool changer arm 10 is mainly composed of a tool changer arm 10 that is connected perpendicularly to the lower end of the tool and that is provided with fingers 17 and 17 on both sides for gripping the tool and extends substantially horizontally.

  The ATC drive shaft 18 will be described. As shown in FIG. 1, the upper end portion and the lower end portion of the ATC drive shaft 18 are rotatably supported by bearings 19 and 20 provided respectively at the upper and lower portions of the spindle head 3. A cylindrical member 39 is coaxially fixed at the center of the ATC drive shaft 18 in the axial direction. A groove cam 22 is provided at the upper part of the outer peripheral surface of the cylindrical member 39, and a groove cam 23 is provided below the groove cam 22. Further, a planar groove cam 24 is provided on the lower surface of the cylindrical member 39.

  The groove cam 23 is engaged with an engaging member 43 provided at the center of a swing lever 40 that swings with a support point 44 as a fulcrum. A contact 41 provided at the tip of the swing lever 40 is engaged with a circumferential groove (not shown) of the cylindrical member 36 that is coaxially fixed to the center of the turning shaft 25. With this configuration, when the ATC drive shaft 18 rotates once, the swing lever 40 swings following the groove cam 23, and the pivot shaft 25 and the tool change arm 10 reciprocate once in the axial direction.

  A rocking member 42 is engaged with the groove cam 22. With this configuration, when the ATC drive shaft 18 rotates, the swing member 42 swings following the groove cam 22. When the swinging member 42 swings, the tool release pin connected to the draw bar of the tool mounting portion 9a provided on the spindle 9 of the machine tool is pushed down. In this way, the tool holder 7 holding the tool 6 can be extracted from the main shaft 9.

  An oscillator 35 (see FIG. 2) fixed to the segment gear 34 is engaged with the planar groove cam 24. The segment gear 34 is rotatably supported at the lower part inside the spindle head 3. When the oscillator 35 is driven by the flat groove cam 24, the segment gear 34 is rotated, and the outer shaft gear 29 meshing with the segment gear 34 is rotated. As will be described later, when the arm main body 52 of the tool changing arm 10 is fitted to the outer shaft gear 29, only the turning arm can be turned along with the rotation of the outer shaft gear 29.

  A cylindrical parallel cam 21 is coaxially provided on the upper portion of the ATC drive shaft 18 in the axial direction. The parallel cam 21 is a composite cam having bowl-shaped plate cams 21a and 21b. The plate cams 21a and 21b are in contact with driven rollers 38 and 38 that are pivotally supported on the upper and lower surfaces of the flange portion 37a formed on the outer periphery of the spline auxiliary shaft 37 provided at the upper end portion of the turning shaft 25, respectively. ing. With this configuration, the spline countershaft 37, the turning shaft 25, and the tool changing arm 10 are rotated by 180 ° while the ATC drive shaft 18 rotates once.

  Next, the turning shaft 25 will be described. As shown in FIG. 1, a spline 25a is provided at the upper end of the pivot shaft 25, and a plate-like flange 25b is provided at the lowermost end. A central portion of the tool change arm 10 extending substantially horizontally is fixed to the flange 25b. Further, a stepped hole 32 having a predetermined depth along the axis of the pivot shaft 25 is provided in the upper part of the pivot shaft 25. Further, a long-axis-shaped support member 31 having an outer diameter smaller than the inner diameter of the stepped hole 32 is inserted into a through hole 28 a of the upper machine frame 28 fixed to the upper part of the spindle head 3. The support member 31 is fixed to the upper machine frame 28 and is inserted into the stepped hole 32 via a bush (not shown) disposed on the upper stage of the stepped hole 32. With this configuration, the upper portion of the turning shaft 25 is pivotally supported.

  On the other hand, as shown in FIG. 2, a cylindrical outer shaft gear 29 having a hole diameter larger than the diameter of the pivot shaft 25 is coaxially extrapolated at the lower end of the pivot shaft 25 via a bush 30. . Further, a hole 26 a is provided in the lower machine frame 26 provided at the lower part of the spindle head 3, and an outer shaft gear 29 is inserted through the bush 26 through the hole 26 a. With such a configuration, the outer shaft gear 29 is supported so as to be able to turn independently of the turning of the turning shaft 25.

  A gear 29 a is engraved on the outer periphery of the upper end portion of the outer shaft gear 29. The gear 29 a meshes with a segment gear 34 that is rotatably supported at the lower part inside the spindle head 3. A rocker 35 is fixed to the segment gear 34, and the rocker 35 follows the flat groove cam 24 provided on the lower surface of the cylindrical member 39. Further, recessed portions 71a and 71b that open downward are provided at positions where the lower end portions of the outer shaft gear 29 face each other. By fitting these recesses 71a and 71b into projections 72a and 72b provided on an arm rotation shaft 51 (to be described later) of the tool change arm 10, the arm rotation shaft 51 rotates together with the outer shaft gear 29. It has become.

  Next, the structure of the tool change arm 10 will be described in detail. As shown in FIGS. 2, 3, and 4, the tool change arm 10 is rotatable by sandwiching the arm body 52 having fingers 17 and 17 on both longitudinal sides and the center of the arm body 52 from above and below. It is comprised from the arm support body 16 of the planar view circular shape to support.

  The arm body 52 will be described. As shown in FIGS. 3 and 4, the arm main body 52 includes a disk-shaped main body portion 53 and arm portions 54 and 54 fixed to the left and right side portions of the main body portion 53, respectively. The fingers 17 having a “C” shape in plan view are provided at the respective tips of the arm portions 54 and 54 so as to be opposite to each other around the main body portion 53. Further, a tool locking portion 56 that protrudes toward the inside of the finger 17 is provided inside the finger 17. A locking groove 7 a (see FIG. 8) provided on the outer peripheral surface of the tool holder 7 (see FIG. 8) that holds the tool 6 is locked to the tool locking portion 56.

  As shown in FIG. 2, the center of the upper surface of the cylindrical main body 53 is formed in a concave shape, and a through-hole 53 a penetrating along the axis is provided at the center. Further, a cylindrical arm rotating shaft 51 described later is fitted into the through hole 53 a and is provided integrally with the main body 53. A pair of through holes 55, 55 that are curved so as to surround the through hole 53 a are provided outside the portion formed in a concave shape on the upper surface of the main body 53 at positions facing each other. An arm lock pin 91 and a tool lock pin 92, which will be described later, are respectively inserted in the through holes 55 and 55 in the vertical direction.

  As shown in FIGS. 2 and 5, a flange 51 a extending radially outward is provided at the axial center of the arm rotation shaft 51. As shown in FIG. 5, an engagement groove 51 b is provided on the outer peripheral surface of the flange 51 a at a position facing the arm lock pin 91 inserted through the through hole 55. Further, a taper surface 51c is formed below the inner surface of the engagement groove 51b. The taper surface 51c is inclined obliquely downward toward the radially inner side of the arm rotation shaft 51 at a taper angle of 10 °. A locking flange 100 (described later) of the arm lock pin 91 engages with the inside of the engagement groove 51b from below, and the locking flange 100 with respect to the tapered surface 51c of the engagement groove 51b. The taper part 101 (refer FIG. 6) mentioned later contacts. Thereby, the rotation of the arm rotation shaft 51 is locked by the arm lock pin 91. The shape of the arm lock pin 91 will be described later.

  Incidentally, as shown in FIG. 2, stepped insertion holes 58 penetrating between the through holes 55 and the fingers 17 are respectively provided in the arm portions 54, 54. In the middle of the stepped insertion hole 58, a step portion (not shown) having a diameter reduced toward the through hole 55 is provided. Further, the roller shaft 80 is slidably inserted into such a stepped insertion hole 58. At one end of the roller shaft 80, a roller 81 for pressing and fixing a tool holder 7 (see FIG. 8) that holds the tool 6 in contact with the inside of the finger 17 is rotatably supported. Further, a step portion (not shown) having a diameter reduced toward the through hole 55 is provided at the center in the axial direction of the roller shaft 80. The step portion of the roller shaft 80 is engaged with the step portion provided on the inner surface of the stepped insertion hole 58. This prevents the roller shaft 80 from coming out of the stepped insertion hole 58.

  Further, a cylindrical spring 85 is elastically compressed and inserted between the step portion of the stepped insertion hole 58 and the step portion of the roller shaft 80. Thereby, the roller shaft 80 is always urged toward the finger 17 side. Further, the end of the roller shaft 80 that protrudes toward the through hole 55 side has a tapered surface (in the drawing) that is inclined in correspondence with the surface of the tapered portion 151 (see FIG. 7) of the locking flange 150 of the tool lock pin 92 described later. Outside). When the tool lock pin 92 inserted through the through hole 55 is raised, an end of the roller shaft 80 having such a tapered surface comes into contact with a locking flange 150 described later. Thereby, the sliding to the through-hole 55 side of the roller shaft 80 is restrict | limited, and the roller shaft 80 can be locked. That is, since the roller 81 of the roller shaft 80 presses the tool holder 7 in a state where the tool holder 7 holding the tool 6 is locked with respect to the tool locking portion 56 of the finger 17, the tool is pressed against the finger 17. The holder 7 can be securely gripped. An elliptical slot (not shown) is provided at the center of the roller shaft 80. By inserting an orthogonal pin (not shown) fixed to the arm main body 52 into this slot (not shown), rotation of the roller shaft 80 around its own axis is prevented.

  Next, the arm support 16 will be described. As shown in FIGS. 2 and 5, the arm support 16 is integrally fixed to a columnar arm middle shaft 62 inserted into the arm rotation shaft 51 of the arm main body 52 and the upper end portion of the arm middle shaft 62. The disk-shaped upper flange 61 and the disk-shaped lower flange 63 fitted to the lower end portion of the arm middle shaft 62 are mainly configured. The main body 53 of the arm main body 52 is sandwiched between the upper flange 61 and the lower flange 63 and is pivotally supported.

  As shown in FIG. 3, the upper flange 61 is provided with through holes 65 and 65 at symmetrical positions with respect to the center. Further, through holes 67 and 67 having diameters larger than the through holes 65 and 65 are provided in proximity to the through holes 65 and 65, respectively. That is, the through-hole 65 and the through-hole 67 are paired and provided at symmetrical positions with the center as the base point. Furthermore, through holes 73, 73 that are curved so as to surround the center of the upper flange 61 are provided at symmetrical positions with respect to the center of the upper flange 61, respectively. In these through holes 73, 73, convex portions 72a, 72b of the arm rotation shaft 51 protrude upward from the lower side. These through holes 73, 73 prevent the upper flange 61 from interfering with the convex portions 72 a, 72 b that rotate in accordance with the rotation of the arm body 52.

  As shown in FIG. 2, a shaft hole 57 for inserting and fixing the lower end of the arm middle shaft 62 is provided at the center of the lower flange 63. Stepped insertion holes 68 and 68 are provided at positions symmetrical with respect to the shaft hole 57 and opposed to the through holes 65 and 65 of the upper flange 61. In the middle of the stepped insertion holes 68, 68, there are provided stepped portions (not shown) that reduce in diameter downward. Furthermore, stepped insertion holes 69 and 69 having stepped portions similar to the stepped insertion holes 68 in the middle are also provided at positions facing the through holes 67 and 67 of the upper flange 61.

  Further, the arm support 16 having the above-described configuration includes a pair of arm lock mechanisms 201 for fixing or releasing the arm main body 52 with respect to the arm center shaft 62, and a roller provided at the tip of the roller shaft 80. A pair of tool lock mechanisms 202 for locking the sliding of the roller shaft 80 are provided symmetrically with respect to the arm center shaft 62 in order to press and fix the 81 to the tool holder 7 held by the finger 17. It has been. The arm lock mechanism 201 and the tool lock mechanism 202 are disposed so as to be close to each other.

  Next, the shape of the arm lock pin 91 will be described. As shown in FIG. 6, the arm lock pin 91 is formed in a long axis shape, and a locking flange 100 having a taper whose cross section is reduced in diameter toward the upper side is provided at the axial center position. The locking flange 100 includes a taper portion 101 having a taper that decreases in diameter upward, a base portion 102 that extends radially outward along the outer periphery of the bottom portion of the taper portion 101, and the taper portion 101. The straight portion 103 extends upward and parallel to the axial direction of the arm lock pin 91 from above. The taper angle of the taper portion 101 with respect to the axial direction of the arm lock pin 91 is set to 10 °, corresponding to the taper angle of the taper surface 51c (see FIG. 5) formed in the engagement groove 51b of the arm rotation shaft 51. ing.

  Next, the shape of the tool lock pin 92 will be described. As shown in FIG. 7, the tool lock pin 92 is formed in a long axis shape, and a locking flange 150 having a taper whose cross section is reduced in diameter toward the upper side is provided at the axial center position. The locking flange 150 includes a taper portion 151 having a taper with a diameter decreasing upward, a base portion 152 extending vertically downward from the outer periphery of the bottom portion of the taper portion 151, and an upper portion of the taper portion 151. And a straight portion 153 extending upward and parallel to the axial direction of the tool lock pin 92.

  Next, the arm lock mechanism 201 using the arm lock pin 91 will be described. As shown in FIG. 2, the arm lock pin 91 penetrates the through hole 67 of the upper flange 61 in the vertical direction, and the stepped insertion hole of the lower flange 63 through the through hole 55 of the main body portion 53 of the arm main body 52. 69 is inserted. Further, a spring 95 is elastically inserted between the upper surface of the step portion of the stepped insertion hole 69 and the bottom surface of the base portion 102 (see FIG. 6) of the locking flange 100. Thereby, the arm lock pin 91 is always biased upward.

  When the arm lock pin 91 rises, the locking flange 100 engages with the engagement groove 51b (see FIG. 5) of the arm rotation shaft 51. At this time, as shown in FIG. 12, the taper portion 101 of the locking flange 100 is brought into close contact with the taper surface 51 c provided in the engagement groove 51 b of the arm rotation shaft 51. Therefore, the locking flange 100 is reliably engaged with the engagement groove 51b. Thus, the rotation of the arm rotation shaft 51 is locked by the arm lock pin 91, and the rotation of the arm main body 52 relative to the arm support 16 can be restricted. That is, in this state, the arm body 52 rotates integrally with the turning shaft 25.

  When the arm lock pin 91 is pushed down against the bias of the spring 95, the tapered portion 101 of the locking flange 100 is separated from the tapered surface 51c of the engaging groove 51b as shown in FIG. Thereby, since the lock by the arm lock pin 91 is released, the rotation of only the arm rotation shaft 51 with respect to the arm support 16 is allowed. That is, in this state, the arm main body 52 rotates independently of the turning shaft 25.

  Next, the tool lock mechanism 202 using the tool lock pin 92 will be described. As shown in FIG. 2, the tool lock pin 92 penetrates the through hole 65 of the upper flange 61 in the vertical direction, and the stepped insertion hole of the lower flange 63 through the through hole 55 of the main body portion 53 of the arm main body 52. 68 is inserted. Further, a spring 93 is elastically inserted between the upper surface of the stepped portion of the stepped insertion hole 69 and the bottom surface of the base portion 152 (see FIG. 7) of the locking flange 150. Thereby, the tool lock pin 92 is always urged upward.

  When the tool lock pin 92 is raised, the taper portion 151 (see FIG. 7) of the locking flange 150 engages with the end portion of the roller shaft 80 protruding toward the through hole 55 from the lower side. Further, since the sliding of the roller shaft 80 in the stepped insertion hole 58 is limited, the pressing bias of the roller 81 against the tool holder 7 locked to the finger 17 is maintained. Thereby, the tool holder 7 can be reliably held in the finger 17.

  Further, when the tool lock pin 92 is pushed down against the bias of the spring 93, the taper portion 151 of the locking flange 150 of the tool lock pin 92 extends from the end protruding to the through hole 55 side of the roller shaft 80. Leave. As a result, the lock by the tool lock pin 92 is released, and the sliding of the roller shaft 80 toward the through hole 55 is allowed. That is, in this state, the tool holder 7 can be freely attached to and detached from the finger 17.

  Next, the tool change position (A) of the arm body 52 and the arm standby position (B) will be described. As shown in FIG. 4, the arm main body 52 pivots about the arm middle shaft 62 (see FIG. 2). At the tool change position (A), the tool holder 7 attached to the spindle 9 is arranged inside one finger 17, and the tool holder 7 set in the tool magazine is arranged inside the other finger 17. Is done. Next, each tool holder 7 is gripped by the pair of fingers 17, and the arm main body 52 turns 180 ° together with the turning shaft 25, whereby the positions of the tool holders 7 are replaced with each other. Then, when the holding of each tool holder 7 in each finger 17 is released, the tool changing operation ends. However, one finger 17 remains arranged in the vicinity of the main shaft 9. For this reason, it becomes an obstacle to the cutting process by the tool 6 mounted on the main shaft 9. Therefore, the arm main body 52 is placed at the arm standby position (B) by turning only the arm main body 52 by a predetermined angle. As a result, one finger 17 is separated from the main shaft 9, so that the cutting work by the tool 6 attached to the main shaft 9 is not obstructed.

  Next, the tool change process of the tool change apparatus 1 which consists of the said structure is demonstrated. The tool change process mainly includes four steps. First, only the arm body 52 is turned by a predetermined angle, moved from the arm standby position (B) to the tool change position (A), and a tool holder for holding the used tool 6 mounted on the tool mounting portion 9a of the spindle 9 7 and the first step of gripping the tool holder 7 holding the new tool 6 set in the tool magazine with the fingers 17, 17, the swivel shaft 25, and the tool changing arm 10 is moved to the lowest point. The tool change arm 10 is moved up together with the second step of replacing the positions of the tools 6 and 6 with each other by turning 180 degrees at the same time and the turning shaft 25, and the tool holder 7 holding the new tool 6 is attached to the tool of the main shaft 9 A third step of storing the tool holder 7 mounted on the portion 9a and holding the used tool 6 in the tool magazine, and separating the tool holders 7 and 7 from the fingers 17 and 17, By reversely turning the 2 only, and a fourth step of returning from the tool exchange position (A) to the arm standby position (B). Hereinafter, various operations executed in these first to fourth steps will be specifically described.

  First, the first step will be described. As shown in FIG. 8, the tool change arm 10 in the arm standby position (B) shown in FIG. 4 has been moved to the top dead center. And the convex parts 72a and 72b of the arm rotating shaft 51 are fitted in the concave parts 71a and 71b of the outer shaft gear 29, respectively. Further, the arm lock pin 91 and the tool lock pin 92 projecting upward from the upper flange 61 are in contact with the lower part of the spindle head 3 and pushed downward. In this case, in the arm lock mechanism 201, the engagement flange 100 of the arm lock pin 91 is not engaged with the engagement groove 51 b (see FIG. 5) provided in the flange 51 a of the arm rotation shaft 51. Thereby, since the lock by the arm lock pin 91 is released, the rotation of only the arm rotation shaft 51 with respect to the arm support 16 is allowed. That is, in this state, the arm main body 52 can rotate independently of the turning shaft 25.

  On the other hand, since the tool lock pin 92 is pushed down also in the tool lock mechanism 202, the taper portion 151 of the locking flange 150 of the tool lock pin 92 is separated from the end portion protruding to the through hole 55 side of the roller shaft 80. As a result, the lock by the tool lock pin 92 is released, and the sliding of the roller shaft 80 toward the through hole 55 is allowed. That is, in this state, the tool holder 7 can be freely attached to and detached from the finger 17.

  In such a state, when the ATC drive shaft 18 shown in FIG. 1 rotates, the oscillator 35 swings along the planar groove cam 24. Then, the segment gear 34 that follows the oscillator 35 rotates, and the outer shaft gear 29 that meshes with the gear 29a of the segment gear 34 rotates. Here, since the arm lock mechanism 201 is released, the arm rotation shaft 51 rotates as the outer shaft gear 29 rotates, and the arm main body 52 integrated with the arm rotation shaft 51 rotates. . Then, the arm body 52 turns from the arm standby position (B) shown in FIG. 4 to the tool change position (A).

  Then, the tool locking portion 56 of the finger 17 is locked in the locking groove 7a of the tool holder 7 mounted on the tapered tool mounting portion 9a of the main shaft 9. Further, the roller shaft 80 biased by the tool holder 7 moves to the through hole 55 side. Then, the tool holder 7 locked to the tool locking portion 56 of the finger 17 is pressed and biased to the roller 81 by the bias of the spring 85. Thus, the tool holder 7 is gripped by the finger 17. In the other finger 17 as well, the tool holder 7 holding the tool 6 set at the standby position of the tool magazine (not shown) is gripped by the same method. Thus, the first step is completed.

  Next, the second step will be described. As shown in FIG. 8, the ATC drive shaft 18 shown in FIG. 1 further rotates in a state where the tool holders 7 and 7 are gripped by the fingers 17 and 17 in the first step. Then, the swinging member 42 that follows the groove cam 22 swings. Then, the tool release pin (not shown) connected to the draw bar (not shown) of the tool mounting portion 9a of the main shaft 9 is pushed down by the swing of the swing member 42. Thereby, the tool holder 7 can be detached from the tool mounting portion 9 a of the main shaft 9. Further, when the ATC drive shaft 18 rotates, the swing lever 40 swings, so that the turning shaft 25 moves downward as shown in FIG. Along with this, the tool change arm 10 moves downward, so that the tool holder 7 is extracted from the tool mounting portion 9a of the main shaft 9.

  Further, the arm lock pin 91 and the tool lock pin 92 that are pressed down in contact with the lower portion of the spindle head 3 are pushed up by the bias of the springs 93 and 95. Then, as shown in FIG. 10, when the turning shaft 25 and the tool change arm 10 move to the lowest point, the arm lock mechanism 201 is connected to the flange 51a of the arm rotation shaft 51 as shown in FIG. The engaging flange 150 of the arm lock pin 91 engages with the mating groove 51b from below. At this time, since the tapered portion 151 of the locking flange 150 is in close contact with the tapered surface 51c of the engagement groove 51b, the locking flange 100 is reliably engaged with the engagement groove 51b. Thereby, the rotation of the arm rotation shaft 51 is locked by the arm lock pin 91, and the rotation of only the arm main body 52 with respect to the arm support body 16 is restricted. That is, in this state, the arm main body 52 rotates integrally with the turning shaft 25.

  On the other hand, in the tool lock mechanism 202, the taper portion 151 of the locking flange 150 engages with the end portion of the roller shaft 80 protruding toward the through hole 55 from the lower side. Further, since the sliding of the roller shaft 80 in the stepped insertion hole 58 is limited, the pressing bias of the roller 81 against the tool holder 7 locked to the finger 17 is maintained. Thereby, the tool holder 7 can be reliably held in the finger 17.

  When the ATC drive shaft 18 is further rotated while the tool holders 7 and 17 are gripped by the fingers 17 and 17, the parallel cam 21 is rotated. Then, when the plate cams 21a and 21b of the parallel cam 21 come into contact with the driven roller 38 provided on the spline countershaft 37, as shown in FIG. 10, the turning shaft 25 and the tool changing arm 10 turn 180 °. . At this time, the tool changing arm 10 rotates while gripping the tool holders 7 and 7 with the fingers 17 and 17, so that the weight of the iron tools 6 and 6, the tool holders 7 and 7, etc. is increased with respect to the arm body 52. The resulting moment of inertia works. That is, in the arm lock mechanism 201, even if the turning of the turning shaft 25 is stopped, the arm main body 52 that turns while holding the tool holders 7 and 7 has a force for further turning. Further, even when the turning of the turning shaft 25 starts, a force to stop is applied to the arm body 52 that turns while holding the tool holders 7 and 7. In any case, the force acting on the arm main body 52 slightly pushes down the locking flange 100 of the arm lock pin 91 that engages with the engagement groove 51b of the flange 51a of the arm rotation shaft 51.

  At this time, since the tapered portion 101 of the locking flange 100 is shifted downward with respect to the tapered surface 51c of the engaging groove 51b, the tapered surface 51c of the engaging groove 51b may get over the tapered portion 101 of the locking flange 100. There is. However, even if the taper surface 51c of the engagement groove 51b gets over the taper portion 101 of the locking flange 100, the straight portion 103 comes into contact with the taper surface 51c of the engagement groove 51b. The lock by the lock mechanism 201 is held as it is. Thereby, when the tool change arm 10 turns, the lock by the arm lock pin 91 is securely held, and thus the turning position of the tool change arm 10 can be prevented from shifting.

  Also in the tool lock mechanism 202, when the arm main body 52 rotates while holding the tool holders 7 and 7 and the above-described moment of inertia is applied, the force acting on the arm main body 52 is the side of the through hole 55 of the roller shaft 80. The locking flange 150 of the tool lock pin 92 that is in contact with the end of the tool is pushed down slightly. At this time, since the tapered portion 151 of the locking flange 150 is displaced downward with respect to the end portion of the roller shaft 80 on the through hole 55 side, the end portion of the roller shaft 80 on the through hole 55 side is There is a risk of overcoming the tapered portion 151. However, even if the end portion of the roller shaft 80 on the through hole 55 side gets over the tapered portion 151 of the locking flange 150, the straight portion 153 is disposed on the end portion of the roller shaft 80 on the through hole 55 side. Therefore, the lock by the tool lock mechanism 202 is held as it is. Thereby, when the tool change arm 10 turns, the lock by the tool lock pin 92 is securely held, so that it is possible to reliably prevent the tool holder 7 from dropping from the finger 17. In this way, the tool changing arm 10 is accurately and safely turned 180 °, and the positions of the tools 6 and 6 are replaced with each other.

  Next, the third step will be described. In the second step, when the ATC drive shaft 18 rotates in a predetermined direction while the positions of the tools 6 and 6 are replaced with each other, the swing lever 40 swings and the swivel shaft 25 moves upward. Along with this, the tool change arm 10 moves upward. When the tool change arm 10 is moved to the top dead center, as shown in FIGS. 9 and 8, the arm lock pin 91 and the tool lock pin 92 projecting upward from the upper flange 61 are moved to the lower part of the spindle head 3. Is pushed down by abutting against the. In this case, in the arm lock mechanism 201, since the lock by the arm lock pin 91 is released, only the arm rotation shaft 51 is allowed to rotate with respect to the arm support body 16. That is, in this state, the arm main body 52 can rotate independently of the turning shaft 25. As a result, the arm body 52 can swing according to the movement of the tool holder 7 when the tool holder 7 is inserted along the taper of the tool mounting portion 9 a of the main shaft 9, so that the tool holder 7 held by the finger 17 can move. Even when the position is shifted with respect to the tool mounting portion 9a of the main shaft 9, the mounting can be ensured. And it can prevent that load is applied between the tool holder 7 and the tool mounting part 9a.

  Further, in the tool lock mechanism 202, the tool lock pin 92 is pushed down, so that the taper portion 151 of the locking flange 150 of the tool lock pin 92 is separated from the end portion of the roller shaft 80 protruding to the through hole 55 side. As a result, the lock by the tool lock pin 92 is released, and the sliding of the roller shaft 80 toward the through hole 55 is allowed. Thereby, the gripping of the tool holder 7 by the finger 17 is released.

  Next, the fourth step will be described. As shown in FIG. 8, in the third step, a new tool holder 7 is inserted into the tool mounting portion 9a of the main shaft 9, and the gripping of the tool holder 7 by the fingers 17, 17 is released. And the convex parts 72a and 72b of the arm rotating shaft 51 are fitted in the concave parts 71a and 71b of the outer shaft gear, respectively. Therefore, when the ATC drive shaft 18 rotates in the reverse direction, the oscillator 35 swings along the flat groove cam 24. Then, the segment gear 34 that follows the oscillator 35 rotates, and the outer shaft gear 29 that meshes with the gear 29a of the segment gear 34 rotates in the reverse direction. Here, since the arm lock mechanism 201 is released, the arm rotation shaft 51 rotates as the outer shaft gear 29 rotates, and the arm main body 52 integrated with the arm rotation shaft 51 rotates. . Then, the arm body 52 turns from the tool change position (A) to the arm standby position (B). Thus, the tool change process by the tool changer 1 is completed.

  In the above description, the finger 17 shown in FIGS. 2 and 3 corresponds to the “gripping part” of the present invention. Furthermore, the upper flange 61, the lower flange 63, the through hole 67, and the stepped insertion hole 69 shown in FIG. 2 correspond to the “arm lock pin support means” of the present invention, and the upper flange 61, the lower flange 63, the through hole 65, The stepped insertion hole 68 corresponds to “tool lock pin support means” of the present invention, the spring 95 corresponds to “first biasing means” of the present invention, and the spring 85 corresponds to “second biasing means” of the present invention. The spring 93 corresponds to “third urging means” of the present invention, and the roller shaft 80 corresponds to “contact member” of the present invention. Further, the locking flange 100 of the arm lock pin 91 shown in FIG. 6 corresponds to the “first engaging portion” of the present invention, and the straight portion 103 corresponds to the “first straight portion” of the present invention. Further, the locking flange 150 of the tool lock pin 92 shown in FIG. 7 corresponds to the “second engaging portion” of the present invention, and the straight portion 153 corresponds to the “second straight portion” of the present invention. Further, the tapered surface 51c of the engaging groove 51b provided on the flange 51a of the arm rotating shaft 51 corresponds to the “first engaged portion” of the present invention, and the end portion protruding to the through hole 55 side of the roller shaft 80. Corresponds to the “second engaged portion” of the present invention. Further, the drive motor 15, the ATC drive shaft 18, and the swing lever 40 shown in FIG. 1 correspond to the “drive means” of the present invention.

  As described above, in the tool changer 1 according to the present embodiment, the straight portion 103 is provided above the tapered portion 101 in the locking flange 100 of the arm lock pin 91 that constitutes the arm lock mechanism 201. Further, in the locking flange 150 of the tool lock pin 92 constituting the tool lock mechanism 202, a straight portion 153 is provided above the taper portion 151. For example, when the tool changing arm 10 turns 180 °, an inertia moment due to the weight of the iron tools 6, 6, tool holders 7, 7, etc. acts on the arm body 52. The force acting on the arm body 52 at this time slightly pushes down the locking flange 100 of the arm lock pin 91 that engages with the engagement groove 51b of the flange 51a of the arm rotation shaft 51. That is, the taper portion 101 of the locking flange 100 is shifted downward with respect to the taper surface 51c of the engagement groove 51b. Even if the taper surface 51c of the engagement groove 51b gets over the taper portion 101 of the locking flange 100, the straight portion 103 contacts the taper surface 51c of the engagement groove 51b. Therefore, the lock by the arm lock mechanism 201 is held as it is. Thereby, when the tool change arm 10 turns, the lock by the arm lock pin 91 is securely held, and thus the turning position of the tool change arm 10 can be prevented from shifting.

  Also in the tool lock mechanism 202, the force acting on the arm body 52 slightly pushes down the locking flange 150 of the tool lock pin 92 that abuts on the end of the roller shaft 80 on the through hole 55 side. At this time, the tapered portion 151 of the locking flange 150 is shifted downward with respect to the end portion of the roller shaft 80 on the through hole 55 side. Even if the end portion of the roller shaft 80 on the through hole 55 side gets over the tapered portion 151 of the locking flange 150, the straight portion 153 is formed on the end portion of the roller shaft 80 on the through hole 55 side. Abut. Therefore, the lock by the tool lock mechanism 202 is held as it is. Thereby, when the tool change arm 10 turns, the lock by the tool lock pin 92 is reliably held, so that it is possible to reliably prevent the tool from dropping from the finger 17 during turning. In this way, the tool change arm 10 can be accurately and safely turned 180 ° so that the positions of the tools 6 and 6 can be replaced with each other.

  Needless to say, the tool changer of the present invention is not limited to the above embodiment, and various modifications are possible. For example, in the above-described embodiment, the arm main body 52 of the tool exchange arm 10 is configured by integrating the main body 53 and the arms 54 and 54. However, the main body 53 and the arms 54 and 54 are different from each other. You may comprise separately. Furthermore, the upper flange 61 and the arm middle shaft 62 may be configured separately.

  Moreover, if the directions of the fingers 17 and 17 of the tool change arm 10 are symmetrical to each other, it is possible to make the direction opposite to the above embodiment.

  Moreover, in the said embodiment, the taper part 101 of the latching flange 100 of the arm lock pin 91, the taper part 151 of the latching flange 150 of the tool lock pin 92, and the taper surface 51c of the engaging groove 51b are linear in cross section. However, it may be curved.

  The tool changer of the present invention can be applied to a tool changer that removably attaches a tool to a main spindle of a machine tool by a turning operation of an arm body by a turning axis.

It is a longitudinal cross-sectional view of the tool changer. It is a longitudinal cross-sectional view of the lower part of the tool changer. 1 is a perspective view of a tool change arm 10. FIG. 3 is a plan view of the tool change arm 10. FIG. 4 is a longitudinal sectional view of an engagement groove 51b of an arm rotation shaft 51. FIG. 4 is a perspective view of an arm lock pin 91. FIG. 3 is a perspective view of a tool lock pin 92. FIG. It is explanatory drawing which shows operation | movement of the arm lock mechanism 201 and the tool lock mechanism 202 (The state which the tool exchange arm 10 rose to the top dead center). FIG. 6 is an explanatory view showing the operation of the arm lock mechanism 201 and the tool lock mechanism 202 (a state in which the tool holder 7 is detached from the main shaft 9). It is explanatory drawing which shows the operation | movement of the arm lock mechanism 201 and the tool lock mechanism 202 (The state which the tool exchange arm 10 moved to the lowest point). FIG. 6 is an explanatory view showing a state before the taper portion 101 of the locking flange 100 of the arm lock pin 91 contacts the taper surface 51c of the arm rotation shaft 51. 7 is an explanatory view showing a state in which a taper portion 101 of a locking flange 100 of an arm lock pin 91 is in contact with a taper surface 51c of an arm rotation shaft 51. FIG.

DESCRIPTION OF SYMBOLS 1 Tool changer 3 Spindle head 6 Tool 9 Spindle 10 Tool change arm 16 Arm support body 17 Finger 25 Rotating shaft 51 Arm rotating shaft 51b Engaging groove 51c Tapered surface 52 Rotating arm 58 Stepped insertion hole 61 Upper flange 63 Lower flange 65 Through hole 67 Through hole 68 Stepped insertion hole 69 Stepped insertion hole 80 Roller shaft 85 Spring 91 Arm lock pin 92 Tool lock pin 93 Spring 95 Spring 100 Locking flange 101 Tapered portion 103 Straight portion 150 Locking flange 151 Tapered portion 153 Straight part

Claims (2)

Driving means provided on a spindle head of a machine tool, a turning shaft supported by the driving means so as to be movable up and down, and an arm body which is provided perpendicular to the lower end of the turning shaft and turns around the axis of the turning shaft And at least one end of the arm main body, and a gripping part for gripping the tool, and the tool gripped by the gripping part is mounted on the spindle of the machine tool by the swinging motion and the lifting motion of the swinging shaft. Or in a tool changer for extracting a tool mounted on the spindle,
An arm support that is provided at the lower end of the pivot shaft and rotatably supports the arm body;
An arm locking mechanism provided on the arm support, and integrally fixing the arm body to the arm support;
The arm lock mechanism is
An arm lock pin extending in the vertical direction;
An arm lock pin support means for supporting the arm lock pin so as to be movable in the vertical direction, and for allowing the upper portion of the arm lock pin to move in and out of the upper portion of the arm support;
A first urging means provided on the arm lock pin support means and urging the arm lock pin upward;
The arm lock pin is provided with a hook-shaped first engagement portion,
The arm body is provided with a first engaged portion with which the first engaging portion engages from below,
The first engaged portion is formed in a tapered shape,
Wherein the first engagement portion,
And opposed tapered with the tapered surface of the first engaged portion,
<br/> a first straight portion in the axial direction is extended toward the parallel and above the arm lock pin from the top of the taper is provided,
When the first engaging portion is engaged with the first engaged portion, the arm body is fixed to the arm support,
When the arm body is raised, the upper portion of the arm lock pin protruding from the upper portion of the arm support is pressed down against the lower portion of the spindle head, and the first engaging portion is moved to the first engaged portion. By detaching from the joint, the arm body is fixed by the arm lock mechanism ,
When the arm body and the arm support rotate, due to the moment of inertia acting on the arm body, the taper of the first engaged portion pushes down the taper of the first engagement portion of the arm lock pin, Even when the taper of the first engaged portion deviates from the taper of the first engaging portion, the first linear portion abuts on the first engaged portion and the arm body and the arm support are fixed. The tool changer characterized by holding . An abutting member provided so as to be capable of withdrawing and retracting from the inside of the arm main body toward the gripping portion, and abutting on a tool attached to the gripping portion;
A second urging means for urging the contact member toward the grip portion;
A tool lock mechanism that is provided on the arm support and restricts movement of the contact member in a state in which a tip portion of the contact member is in contact with a tool;
The tool lock mechanism is
A tool lock pin extending vertically,
Tool lock pin support means for supporting the tool lock pin so as to be movable in the vertical direction, and for retracting the upper portion of the tool lock pin from the upper portion of the arm support,
A third urging means provided on the tool lock pin supporting means and urging the tool lock pin upward;
The tool lock pin is provided with a hook-like second engaging portion,
A second engaged portion with which the second engaging portion engages from below is provided at the rear end portion of the contact member,
The second engaged portion is formed in a tapered shape,
Wherein the second engagement portion,
And opposed tapered with the tapered surface of the second engaged portion,
<br/> the second linear portion is provided which extends toward the parallel and upwardly from the upper portion of the tapered in the axial direction of the tool locking pin,
When the second engaging portion is engaged with the second engaged portion, the movement of the contact member is limited,
When the arm body is raised, the upper portion of the tool lock pin protruding from the upper portion of the arm support is pressed down against the lower portion of the spindle head, and the second engagement portion is moved to the second engaged portion. By detaching from the joint part, the restriction of the movement of the contact member by the tool lock mechanism is released ,
When the arm body and the arm support body rotate, due to the moment of inertia acting on the arm body, the taper of the second engaged part pushes down the taper of the second engaging part of the tool lock pin, Even when the taper of the second engaged portion deviates from the taper of the second engaging portion, the second linear portion abuts on the second engaged portion and maintains the movement limit of the abutting member. tool changer according to claim 1, characterized in that.

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