JP5363019B2 - Automatic tool changer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic tool changing device reducing backlash and improving durability. <P>SOLUTION: This automatic tool changing device is furnished with: an output shaft 16 supported in a body case free to rotate and free to elevate; a worm wheel 40 and a rotor gear cam 50 connected to a camshaft; a worm gear 62 fixed on the input shaft supported in the body case free to rotate; a motor to rotate the input shaft; and a cam lever 80 and a shaft lever 100. Balls 46, 96, 28 formed of a magnetic material are used for rotation of the worm wheel 40 by rotation of the input shaft, oscillation of the came lever 80 by rotation of the worm wheel 40, and rotation of an output shaft 16 by rotation of the roller gear cam 50. These balls are attracted and held on a holding member by a permanent magnet. The backlash is reduced and the durability of a motive power transmitting part is improved, by using the balls and the permanent magnet. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an automatic tool changer (auto tool changer: ATC) that automatically changes tools and the like, and more specifically, relates to reduction of backlash and improvement of durability.

As an automatic tool changer (auto tool changer: ATC) that automatically changes various types of tools (such as a drill), there is one that uses a cam mechanism. For example, the following Patent Document 1 includes a rotating shaft, an exchange arm fixed to the rotating shaft, an engagement roller rotatably supported by a bearing, and a cam follower attached to the rotating shaft, and an engagement roller of the cam follower. There is disclosed an automatic tool changer including a tool change mechanism part having an engaging cam body and a drive means for driving the cam body, and a control part for controlling the operation of the tool change mechanism part. According to this technology, a life determining unit that counts the number of operations in the tool change mechanism unit and determines whether or not the cumulative number of operations has reached a reference number of operations that is a life reference is provided, and the bearing that constitutes the cam follower Systematic maintenance is possible by detecting the lifespan of the system.
JP 2001-315037 A

  However, the technique described in Patent Document 1 has the following disadvantages. First, by counting the number of operations in the tool changing mechanism, it is possible to prevent the problem that the bearing is damaged during the operation of the device and that the operation rate of the machine tool decreases due to the long time required for its return. However, it does not make the cam follower itself difficult to break, so it needs to be replaced regularly. In addition, because the power is transmitted by meshing the gears or meshing the roller gear cam and the cam follower, the configuration requires backlash (or backlash), which makes it difficult to rotate at high speed and with high rigidity. There is also.

  The present invention pays attention to the above points, and an object thereof is to provide an automatic tool changer capable of reducing backlash and improving durability.

In order to achieve the above object, an automatic tool changer according to the present invention comprises an output shaft having a tool change arm on one end side, a first cam mechanism for reciprocating the output shaft in the axial direction, and drive means. And a second cam mechanism that rotates the output shaft while interlocking with the first cam mechanism, and is characterized by any of the following features: Include as.

  (1) The first cam mechanism has a concave portion on one main surface and is supported so as to be swingable around one end side as a rotation center, a spherical body partially accommodated in the concave portion, the deceleration A worm wheel rotated by a mechanism, a cam groove formed on the end surface of the worm wheel so that a distance from the rotation center is changed and a cross section is a substantially arc shape that receives the surface of the spherical body, and the cam lever And a shift lever that is swingable about one end side as a rotation center and that engages with the output shaft at the other end side.

  (2) The second cam mechanism is slidable in the axial direction along the outer peripheral surface of the output shaft, rotates integrally with the output shaft, and has a plurality of concave portions on the outer periphery, and the concave portions A magnet housed in a magnetic material is formed, and a part of the magnet is housed in the recess, and a spherical body that is attracted and held by the magnet and a groove that engages with the spherical body are provided on the outer peripheral surface. And a roller gear cam that rotates in conjunction with the first cam mechanism.

  One of the main forms is characterized in that in the first cam mechanism, the spherical body is formed of a magnetic material, and the spherical body is attracted and held by housing a magnet in the concave portion. In another embodiment, the member on the holding side of the spherical body is formed of a magnetic material. Yet another embodiment is characterized in that the spherical body is a hard sphere. The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings.

According to the present invention, an output shaft provided with a replacement arm of the tool at one end, a first cam mechanism which Ru is reciprocated the output shaft in the axial direction, the output of the drive means and the first cam mechanism And a second cam mechanism that rotates in conjunction with the first cam mechanism and that rotates the output shaft .
(1) The first cam mechanism has a concave portion on one main surface and is supported so as to be swingable around one end side as a rotation center, a spherical body partially accommodated in the concave portion, the deceleration A worm wheel rotated by a mechanism, a cam groove formed on the end surface of the worm wheel so that a distance from the rotation center is changed and a cross section is a substantially arc shape that receives the surface of the spherical body, and the cam lever Including a shift lever that can swing around one end side as a rotation center and that the other end side engages with the output shaft, or
(2) The second cam mechanism is slidable in the axial direction along the outer peripheral surface of the output shaft, rotates integrally with the output shaft, and has a plurality of concave portions on the outer periphery, and the concave portions A magnet housed in a magnetic material is formed, and a part of the magnet is housed in the recess, and a spherical body that is attracted and held by the magnet and a groove that engages with the spherical body are provided on the outer peripheral surface. A roller gear cam that rotates in conjunction with the first cam mechanism,
It was. For this reason, there is an effect that an automatic tool changer in which backlash is eliminated (or reduced) and the durability of the power transmission portion is good can be obtained.

  Hereinafter, the best mode for carrying out the present invention will be described in detail based on examples.

  First, Embodiment 1 of the present invention will be described with reference to FIGS. FIG. 1 is a sectional view showing the overall configuration of the automatic tool changer of this embodiment, and FIG. 2 is an exploded perspective view showing a cam mechanism and a speed reduction mechanism of this embodiment. FIG. 3 is a sectional view of FIG. 1 taken along line # A- # A and viewed in the direction of the arrow. 4A is a cross-sectional view showing the cam lever, and FIG. 4B is a cross-sectional view showing the shift lever. The automatic tool changer is for exchanging the old tool on the spindle of the machine tool and the new tool on the tool pot side by rotating and raising / lowering the output shaft. As shown in FIGS. 1 and 2, the automatic tool changer 10 according to the present embodiment includes an output shaft 16 that is supported in a main body case 12 so as to be rotatable and movable up and down, and a worm wheel 40 connected to a cam shaft 56. And a roller gear cam 50, an input shaft 60 rotatably supported by the main body case 12, a motor 70 for rotating the input shaft 60, a cam lever 80, a link 84, and a shift lever 100. The main body case 12 is also provided with a float switch 110 for switching the motor 70 on and off (see FIG. 3).

  One end side of the output shaft 16 (the lower side in FIG. 1) penetrates the through portion 14A of the holder 14 on the bottom surface of the main body case 12 so as to be rotatable and movable up and down, and is not shown at the tip thereof. A tool change arm is provided. A turret 18 that reciprocally moves the outer periphery of the output shaft 16 in the axial direction and that can rotate with the output shaft 16 is provided on the outer peripheral portion of the other end side (the upper side in FIG. 1) of the output shaft 16. Yes. The turret 18 is rotatably held inside the main body case 12 by a holder 20 having a bearing (not shown). The upper part of the holder 20 is covered with a cap 22.

  Further, as shown in FIG. 3, a plurality of recesses 24 are provided on the outer peripheral surface of the turret 18 at regular intervals. The concave portion 24 includes a spherical portion 24A that accommodates a part of a ball 28 that engages with a groove 52 of a roller gear cam 50, which will be described later, and a storage portion 24B that stores a permanent magnet 26. In this embodiment, since the turret 18 is made of a magnetic material or magnetic material, the permanent magnet 26 is attracted to the turret 18 by magnetic force. The ball 28 is also made of a magnetic material and is attracted to the permanent magnet 26. The dimensions of each part are set so that a space is formed between the permanent magnet 26 and the ball 28. The space prevents damage to the permanent magnet 26 due to the rotation of the ball 28 and also serves as an oil reservoir. Function. The lines of magnetic force emitted from the permanent magnet 26 pass through the balls 28 and the turret 18 and return to the permanent magnet 26 again. Thus, by engaging the ball 28 of the turret 18 and the groove 52 of the roller gear cam 50, when the roller gear cam 50 rotates, the output shaft 16 rotates together with the turret 18.

  Further, a shift ring 30 having a substantially U-shaped groove 32 formed on the entire circumference of the output shaft 16 is fixed below the turret 18 by a nut or the like (not shown). When at least a part of a cam follower 104 of a shift lever 100, which will be described later, is engaged with the groove 32 and the shift lever 100 swings, the output shaft 16 is axially moved along the shift ring 30 (in the direction of the arrow in FIG. 1). Move back and forth.

  Next, the worm wheel 40 and the roller gear cam 50 and their drive mechanisms will be described. The worm wheel 40 and the roller gear cam 50 are fixed to a cam shaft 56 supported in the main body case 12 in a direction substantially orthogonal to the output shaft 16. As shown in FIG. 3, the cam shaft 56 is rotatably supported with respect to the main body case 12 via bearings 58 and 59, and both ends are covered with a cap, a cover, or the like. The worm wheel 40 and the roller gear cam 50 are connected to each other through a connecting plate 54 and a nut, and the integral rotation is possible by fitting the through holes 41 and 51 and the cam shaft 56 with the concave and convex shapes. . The roller gear cam 50 includes a groove 52 on the outer periphery that engages with the ball 28 attracted and held by the turret 18. The shape of the groove 52 is known.

  A large number of recesses 42 are formed on the outer periphery of the worm wheel 40. As shown in FIG. 3, the concave portion 42 includes a spherical portion 42 </ b> A that receives a part of the ball 46 and a storage portion 42 </ b> B that stores the permanent magnet 44. In this embodiment, since the worm wheel 40 is made of a magnetic material or magnetic material, the permanent magnet 44 is attracted to the worm wheel 40 by a magnetic force. The ball 46 is also made of a magnetic material and is attracted to the permanent magnet 44. Note that a space is provided between the permanent magnet 44 and the ball 46 as in the case of the concave portion 24 of the turret 18. In addition, the magnetic lines of force emitted from the permanent magnet 44 pass through the ball 46 and the worm wheel 40 and return to the permanent magnet 44 again.

  The balls 46 are held by the permanent magnets 44 in the recesses 42 of the worm hole 40, and these balls 46 are fitted into and meshed with the spiral ball grooves 64 of the worm gear 62 fixed to the input shaft 60. It has become. The input shaft 60 is rotatably supported at an appropriate position of the case body 12 by a pair of holders 66 and 68 having bearings (not shown). In this embodiment, as the worm gear 62, a gentle drum-shaped worm gear having slightly larger diameters at both ends than the center portion is used and is in contact with the ball 46 in a wide range. The tip 60A of the input shaft 60 is connected to the rotating shaft of the motor 70 via a gear box 72 or the like.

  Further, a cam groove 48 that engages with a ball 96 provided at an appropriate position of the cam lever 80 is formed on the end surface 40A of the worm wheel 40. As shown in FIGS. 1 and 2, the cam groove 48 has a shape in which the distance from the center of rotation changes, and its cross section has a substantially arc shape as shown in FIG. Here, as shown in FIG. 4A, the cam lever 80 is fixed to the main body cover 12 via a bearing 83 so that one end 80A side swings around the pin 82 as a rotation center. A plunger 90 having a recess 92 for holding the ball 96 is provided near the center of the main surface of the cam lever 80. The plunger 90 is biased toward the cam groove 48 by a spring 88.

  As shown in FIG. 4A, the recess 92 includes a spherical portion 92A for receiving a part of the ball 96 and a storage portion 92B for storing the permanent magnet 94. In this embodiment, since the plunger 90 and the cam lever 80 are made of a magnetic material or magnetic material, the permanent magnet 94 is attracted to the plunger 90 by magnetic force. The ball 96 is also made of a magnetic material and is attracted to the permanent magnet 94. Note that a space is provided between the permanent magnet 94 and the ball 96 as in the case of the concave portion 24 of the turret 18. The lines of magnetic force emitted from the permanent magnet 94 pass through the ball 96 and the plunger 90 (and the cam lever 80) and return to the permanent magnet 94 again.

  On the other end 80B side of the cam lever 80, a connecting portion 84A of the link 84 is rotatably connected via a pin 85, and a groove 86 for ensuring the rotation of the link 84 is formed. ing. The link 84 connects the cam lever 80 and the shift lever 100. As shown in FIG. 4B, the shift lever 100 is fixed to the main body cover 12 so that one end 100A side swings around the pin 102 as a center of rotation, and the other end 100B side is fixed. On the main surface, a cam follower 104 that can be at least partially received or engaged with the groove 32 of the shift ring 30 of the output shaft 16 is rotatably provided. Further, the other connecting portion 84B of the link 84 is rotatably connected to the substantially central portion of the shift lever 100 via a pin 106, and a groove for ensuring the rotation of the link 84. 108 is formed in an appropriate range.

  Next, the operation of this embodiment will be described. When the input shaft 60 is rotated by the motor 70, the ball 46 moves along the ball groove 64 of the worm gear 62 fixed to the input shaft 60. As the ball 46 moves, the worm wheel 40 rotates and the roller gear cam 50 connected to the worm wheel 40 rotates. That is, the number of rotations of the worm wheel 40 with respect to the number of rotations of the input shaft 60 by the worm gear 62 provided with the ball groove 64, the recess 42 of the worm wheel 40, the permanent magnet 44 and the ball 46 accommodated in the recess 42. A speed reduction mechanism is formed in which.

  When the roller gear cam 50 rotates, the rotational force is transmitted to the turret 18 via the balls 28 guided along the outer peripheral groove 52, and the output shaft 16 becomes non-constant with the turret 18. Rotate. The non-constant speed rotation mechanism is known. That is, the output shaft 16 is rotated by the groove 52 of the roller gear cam 50, the recess 24 provided on the outer periphery of the turret 18 that rotates integrally with the output shaft 16, the permanent magnet 24 and the ball 28 housed in the recess 22. A rotating cam mechanism for driving is formed.

  On the other hand, the worm wheel 40 is rotated simultaneously with the rotation of the roller gear cam 50, and the cam groove 48 of the end surface 40A of the worm wheel 40 and the ball 96 held by the cam lever 80 are engaged. As the wheel 40 rotates, the cam lever 80 swings around the pin 82 as the center of rotation. Then, the shift lever 100 connected to the cam lever 80 via the link 84 also swings around the pin 102 as the rotation center, and is fixed to the cam follower 104 provided at the end 100B of the shift lever 100 and the output shaft 16. The engagement of the shift ring 30 with the groove 32 causes the output shaft 16 to reciprocate linearly in the axial direction. That is, the cam groove 48 of the worm wheel 40, the ball 96 engaged with the cam groove 48, the cam lever 80 provided with the permanent magnet 94 for attracting and holding the ball 96, the shift lever 100 interlocked with the cam lever 80, the A straight cam mechanism that reciprocates the output shaft 16 in the axial direction is formed by a cam follower 104 provided at an end of the shift lever 100 and a shift ring 30 that includes a groove 32 that engages with the cam follower 104.

  As described above, when the motor 70 is driven, the roller gear cam 50 rotates together with the worm wheel 40 via the input shaft 60, the worm gear 62, and the ball 46. Then, the output shaft 16 is intermittently rotated by the ball 28 engaged with the groove 52 of the roller gear cam 50, and the output shaft 16 is rotated by the ball 96, the cam lever 80, the link 84, the shift lever 100, and the cam follower 104 by the rotation of the worm wheel 40. Moves up and down in the axial direction. As the output shaft 16 moves up and down and rotates, a tool changing arm (not shown) fixed to the tip of the output shaft 16 rotates and moves up and down at a desired timing, and the tool can be changed. Specifically, the tool changing arm at the tip of the output shaft 16 is rotated 90 degrees from the standby position → the old tool is unlocked (unlocked) → moved downward → 180 degrees rotated → moved upward → clamping the new tool → reverse It is 90 degrees in the direction.

Thus, according to the first embodiment, there are the following effects.
(1) In the cam mechanism for rotating and reciprocating the output shaft 16 and the speed reducing mechanism for transmitting the drive of the motor 70 to the cam mechanism, the driving force is transmitted through the balls 28, 46 and 96; Since these balls 28, 46 and 96 are attracted and held on the holding member (turret 18, worm wheel 40, cam lever 80 or plunger 90) by the permanent magnets 26, 44 and 94, the durability of the power transmission portion is improved. Can be planned. Further, since backlash is not required (or can be reduced), high-speed rotation and high-rigidity rotation in the speed reduction mechanism is possible.
(2) Since the balls 28, 46 and 96 are attracted and held by the holding members by the permanent magnets 26, 44 and 94, means for preventing the balls 28, 46 and 96 from falling off are omitted. The overall size and weight can be reduced.

(3) The magnetic force of the permanent magnets 26, 44, and 94 forms a closed loop that passes through the holding member and the balls 28, 46, and 96, and the magnetic lines of force do not leak to the outside. However, the iron powder or the like does not adhere to the holding member or the balls 28, 46, and 96.
(4) Since the turret 18, the worm wheel 40, the cam lever 80, or the plunger 90 are made of a magnetic material, the permanent magnets 26, 44, and 94 can be easily fixed by a magnetic force.
(5) Since the worm gear 62 has a drum shape, it can be engaged with the ball 46 in a wide range and the rotation of the input shaft 60 can be reliably transmitted to the worm wheel 40.

In addition, this invention is not limited to the Example mentioned above, A various change can be added in the range which does not deviate from the summary of this invention. For example, the following are also included.
(1) The shape, dimensions, and materials shown in the above embodiments are examples, and may be appropriately changed so as to achieve the same effect. For example, the drum shape of the worm gear 62 and the material of the holding member (the turret 18, the worm wheel 40, the cam lever 80 or the plunger) are also examples. If the same effect is obtained, it can be changed as necessary. Good.

(2) The balls 28, 46, and 96 shown in the above embodiments are particularly preferably hard spheres, but are not limited thereto, and any known various spherical bodies can be used as long as they have the same effects. May be used.
(3) In the above embodiment, the biasing means (spring 88) for applying pressure to the ball 96 is provided on the cam lever 80 side to further reduce backlash. Similarly, for 46, an urging means may be provided on the turret 18 or worm wheel 40 side to further reduce backlash.

(4) In the above embodiment, the ball 96 formed of a magnetic material is attracted and held to the cam lever 80 by using the permanent magnet 94. However, the ball 96 and the cam groove 48 are always engaged. Therefore, the adsorption and holding by the permanent magnet 94 may be performed as necessary.
(5) In the above-described embodiment, the permanent magnet is used for all of the cam mechanism for rotating the output shaft 16, the cam mechanism for reciprocating the output shaft 16, and the speed reducing mechanism for transmitting the drive of the motor 70 to these cam mechanisms. However, this is also an example, and the ball transmission mechanism may be applied to any one or two of the mechanisms.

According to the present invention, an output shaft provided with a replacement arm of the tool at one end, a first cam mechanism which Ru is reciprocated the output shaft in the axial direction, the output of the drive means and the first cam mechanism And a second cam mechanism that rotates in conjunction with the first cam mechanism and that rotates the output shaft .
(1) The first cam mechanism has a concave portion on one main surface and is supported so as to be swingable around one end side as a rotation center, a spherical body partially accommodated in the concave portion, the deceleration A worm wheel rotated by a mechanism, a cam groove formed on the end surface of the worm wheel so that a distance from the rotation center is changed and a cross section is a substantially arc shape that receives the surface of the spherical body, and the cam lever Including a shift lever that can swing around one end side as a rotation center and that the other end side engages with the output shaft, or
(2) The second cam mechanism is slidable in the axial direction along the outer peripheral surface of the output shaft, rotates integrally with the output shaft, and has a plurality of concave portions on the outer periphery, and the concave portions A magnet housed in a magnetic material is formed, and a part of the magnet is housed in the recess, and a spherical body that is attracted and held by the magnet and a groove that engages with the spherical body are provided on the outer peripheral surface. A roller gear cam that rotates in conjunction with the first cam mechanism,
It was. For this reason, backlash can be eliminated (or reduced) and the durability of the power transmission portion can be improved, so that it can be applied to the use of an automatic tool changer.

It is sectional drawing which shows the whole structure of the automatic tool changer of Example 1 of this invention. It is a disassembled perspective view which shows the cam mechanism and deceleration mechanism of the said Example 1. FIG. It is sectional drawing which cut | disconnected said FIG. 1 along the # A- # A line and looked at the arrow direction. FIG. 2 is a diagram illustrating the first embodiment, where (A) is a cross-sectional view illustrating a cam lever, and (B) is a cross-sectional view illustrating a shift lever.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10: Automatic tool changer 12: Main body case 14: Holder 14A: Through part 16: Output shaft 18: Turret 20: Holder 22: Cap 24: Recessed part 24A: Spherical part 24B: Storage part 26: Permanent magnet 28: Ball 30: Shift ring 32: Groove 40: Worm wheel (S cam)
40A: End face 41: Through hole 42: Recess 42A: Spherical surface part 42B: Storage part 44: Permanent magnet 46: Ball 48: Cam groove 50: Roller gear cam (R cam)
51: Through hole 52: Groove 54: Connecting plate 56: Cam shaft 58, 59: Bearing 60: Input shaft 60A: Tip 62: Worm gear 64: Ball groove 66, 68: Holder 70: Motor 72: Gear box 80: Cam lever 80A 80B: End portion 82: Pin 83: Bearing 84: Link 84A, 84B: Connection portion 85: Pin 86: Groove 88: Spring 90: Plunger 92: Recess 92A: Spherical portion 92B: Storage portion 94: Permanent magnet 96: Ball 100: Shift lever 100A, 100B: End portion 102, 106: Pin 104: Cam follower 108: Groove 110: Float switch

Claims (6)

An output shaft provided with a tool replacement arm on one end side, a first cam mechanism for reciprocating the output shaft in the axial direction, a speed reduction mechanism for transmitting the output of the driving means to the first cam mechanism, A second cam mechanism that interlocks with the first cam mechanism and rotates the output shaft;
The first cam mechanism is
A cam lever having a recess on one main surface and supported to be swingable about one end side as a rotation center;
A spherical body partially accommodated in the recess,
A worm wheel rotated by the speed reduction mechanism,
A cam groove formed on the end face of the worm wheel so that the distance from the center of rotation changes and the cross-section has a substantially arc shape that receives the surface of the spherical body;
A shift lever interlocked with the cam lever and swingable about one end side as a rotation center, and the other end side engages with the output shaft;
An automatic tool changer comprising: An output shaft provided with a tool replacement arm on one end side, a first cam mechanism for reciprocating the output shaft in the axial direction, a speed reduction mechanism for transmitting the output of the driving means to the first cam mechanism, A second cam mechanism that interlocks with the first cam mechanism and rotates the output shaft;
The second cam mechanism is
A turret that is slidable in the axial direction along the outer peripheral surface of the output shaft, rotates integrally with the output shaft, and has a plurality of recesses on the outer periphery;
A magnet housed in the recess,
A spherical body that is made of a magnetic material and is partly housed in the recess and held by the magnet.
A roller gear cam having a groove engaging with the spherical body on the outer peripheral surface and rotating in conjunction with the first cam mechanism;
An automatic tool changer comprising: An output shaft provided with a tool replacement arm on one end side, a first cam mechanism for reciprocating the output shaft in the axial direction, a speed reduction mechanism for transmitting the output of the driving means to the first cam mechanism, A second cam mechanism that interlocks with the first cam mechanism and rotates the output shaft;
The deceleration mechanism is
A worm wheel having a plurality of recesses on the outer peripheral surface;
A magnet housed in the recess,
A spherical body made of a magnetic material, part of which is housed in the recess, and attracted and held by the magnet;
A worm gear that has a groove that receives the surface of the spherical body formed in a spiral shape on the outer peripheral surface, and is rotationally driven by the driving means;
Including
The first cam mechanism is
A cam lever having a recess on one main surface and supported to be swingable about one end side as a rotation center;
A spherical body partially accommodated in the recess,
A cam groove formed on the end face of the worm wheel so that the distance from the center of rotation changes and the cross section is substantially arc-shaped to receive the surface of the spherical body;
A shift lever interlocked with the cam lever and swingable about one end side as a rotation center, and the other end side engages with the output shaft;
Including
The second cam mechanism is
A turret that is slidable in the axial direction along the outer peripheral surface of the output shaft, rotates integrally with the output shaft, and has a plurality of recesses on the outer periphery;
A magnet housed in the recess,
A spherical body that is made of a magnetic material and is partly housed in the recess and held by the magnet.
A roller gear cam having a groove engaging with the spherical body on its outer peripheral surface, and rotating integrally with the worm wheel;
An automatic tool changer comprising: In the first cam mechanism, thereby forming the spherical body of a magnetic material, by housing the magnets in the recess, the automatic tool according to claim 1 or 3, wherein the adsorbed holding the spherical body Exchange equipment. The automatic tool changer according to any one of claims 1 to 4 , wherein the holding member of the spherical body is formed of a magnetic material. Automatic tool changer according to any one of claims 1 to 5, wherein the spherical body, characterized in that it is a rigid sphere.

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