JPH03256636A - Driving device and automatic tool exchange device equipped with driving device thereof - Google Patents

Abstract

PURPOSE:To take off rotation from either a hub and block body by providing a pair of the shaft parts respectively connected to the hub and block body of a planetary gear speed reducing mechanism and a clutch mechanism which connects/fixes them to a fixed case alternately. CONSTITUTION:The end plate 1b of a fixed case 1 is fixed to a cylindrical part 1a so as to seal one end of the cylindrical part 1a, a servomotor 4 is fitted to the end plate 1b and a planetary gear deceleration mechanism 6 is stored at the other end of the cylindrical part 1a. The clutch mechanism 41 provided in the fixed case 1 inside has the function of connecting/fixing a pair of shaft parts 31 and 32 to the fixed case 1 alternately and a block body 9 is rotated with the hub 7 of the planetary gear decelerating mechanism 6 being fixed in the rotation direction together with the shaft 31, when one part of the shaft 31 is connected/fixed to the fixed case 1. When the shaft 32 of the other part is connected/fixed to the fixed case 1, the block body 9 is fixed in the rotation direction with the shaft 2 and the hub 7 is rotated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is directed to a drive device that can extract rotation from either of two output parts by simply switching a clutch, and an automatic motor of a machining center equipped with the drive device. The present invention relates to a tool changing device.

(Prior art) In recent years, with the diversification of industrial machinery, a drive device with low speed and stable operation that can correspond to the operation of the main body is required. Drives equipped with ratio planetary differential speed reducers are often used.

As a conventional drive device of this type, for example, Japanese Patent Application Laid-Open No. 1-2
A device equipped with a planetary differential speed reducer described in Japanese Patent No. 10641 is known. The above-mentioned planetary differential speed reducer has been filed by the applicant and has already been disclosed, and although it is equipped with a displacement sensor and position detection means to detect the rotational position on the output side, the basic The main components are an external gear that swings eccentrically through an input shaft and an internal gear that meshes with the gear, and the relative rotational motion between the two gears based on the difference in the number of teeth of these gears is extracted as an output with a high reduction ratio. It is. Therefore, there are two methods: fixing the internal gear to a fixed part and extracting the rotation of the external gear from the output shaft, or conversely, fixing the output shaft and extracting the rotation from the internal gear. Even in such cases, it is possible to ensure low-speed and stable operation of the drive device.

On the other hand, in a machine tool, an automatic tool changer in a machining center is a typical example of a driven part that is required to operate at low speed and stably. and,
As is well known, the automatic tool changer in a machining center automatically takes out the necessary tools from a disc-shaped tool magazine that holds a large number of tools on its outer periphery and replaces them with the tools held on the spindle. There are roughly three types shown below depending on the relative position of the tool magazine and column mentioned above. The above-mentioned column is installed on the table of the machining center, supports the spindle through the spindle head, moves it up and down, and also moves the spindle along with the tool back and forth and sideways relative to the workpiece in conjunction with the movement of the table. It is.

(1) A type in which the tool magazine is installed at the top of the column, and the tools on the spindle and the tools on the tool magazine are exchanged by alternately moving the tool magazine back and forth and rotating it.

(2) The tool magazine is provided separately from the column, and a tool exchange arm is provided between the tool magazine and the column, and the rotation and back and forth movements of the arm are performed alternately to exchange the tools on the spindle and the tools. A type that replaces the tools on the magazine.

(3) The tool magazine is provided at the top of the column apart from the main spindle, and a tool exchange arm similar to the above item (2) is provided between the tool magazine of the column and the main spindle, and the rotational movement of the arm and A type that alternates back and forth movements to exchange tools on the spindle and tools on the tool magazine.

All of these types of automatic tool changers basically have the same structure, and specifically, the one described in Japanese Patent Application Laid-Open No. 57-144641 is a typical example. be. That is, the back-and-forth movement of the tool magazine or tool exchange arm described above is performed by a double-acting cylinder type actuator connected to the rotation shaft of the tool magazine or tool exchange arm, and the rotation operation is performed by a double-acting cylinder type actuator connected to the rotation shaft of the tool magazine or tool exchange arm. This is done by means of a motor connected via a gear train provided.

(Intelligence B to be Solved by the Invention) However, among these conventional drive devices and automatic tool changers, in the former drive device, the planetary differential speed reducer fixes the internal gear and Regardless of the method in which the rotation of the gear is extracted from the output shaft or the method in which the output shaft is fixed and the rotation is extracted from the internal gear, the rotation must be extracted from only one output part for one input. Since it was not used, there was a problem that the range of application of its output was narrow.

On the other hand, the latter type of automatic tool changer requires a motor including an actuator and a gear train in order to move the tool magazine or tool changer arm back and forth and rotate, resulting in a complex structure. Furthermore, there was a problem in that the device itself became larger.

(Object of the Invention) The invention of claim 1 of the present invention has been made against the background of the problems of the prior art as described above, and is directed to a pair of shafts each connected to a hub and a block body of a planetary gear reduction mechanism. By providing a clutch mechanism that alternately connects and fixes the shaft section and the shaft section to the fixed case, rotation can be obtained from either the hub or the block body by switching the clutch mechanism, and two rotations can be generated for one input. The object of the present invention is to provide a drive device that can output an output and therefore has a wide range of output applications.

Further, the invention of claim 2 has been made against the background of the problems of the prior art as described above, and by providing a planetary gear reducer having the same configuration as the invention of claim 1 in the drive section, By making the drive unit more compact and switching the clutch mechanism, it is possible to rotate and move the rotating body, that is, the aforementioned tool magazine or tool exchange arm, back and forth with only one motor, resulting in a simple and compact automatic tool. The purpose is to provide a replacement device.

(Means for Solving the Problems) In order to achieve the above object, the drive device according to the invention of claim 1 of the present invention includes a fixed case, a motor attached to the fixed case, and a large number of internal teeth on the inner periphery. A planetary gear and a hub that swing eccentrically due to the rotation of an input shaft connected to a motor, and have external teeth formed on the outer periphery that mesh with internal teeth of the hub and have a smaller number of teeth than the internal teeth. It has a block body in which a pair of disc members are housed in the interior and are provided to sandwich the planetary gear in the axial direction, and are integrally connected via a pillar member that passes through the planetary gear. and a planetary gear reduction mechanism in which either one of the block bodies is rotatable;
A pair of shaft parts are provided in a fixed case so as to be rotatable independently, and a clutch mechanism is provided in the fixed case and is switched to alternately connect and fix the pair of shaft parts to the fixed case. , one of the pair of shafts is connected to the /S block, and the other shaft is connected to one of the pair of disc members of the block body, and one of the shafts is connected to the /S block by switching the clutch mechanism. When the shaft of one is connected and fixed to the fixed case, the block body rotates, and when the other shaft is connected and fixed to the fixed case, the hub rotates and the other circle of the hub and block body rotates. Rotation can be extracted from any of the plate members.

Further, in order to achieve the above object, the automatic tool changer according to the invention of claim 2 also includes a rotating body having a rotational axis, and a rotating body that engages with the rotating body and moves the rotating body along the axis without moving in the direction of the rotational axis. a fixed case; a fixed case; A motor attached to the periphery, a hub with a large number of internal teeth on the inner periphery, an input shaft connected to the motor, which rotates eccentrically, engages with the internal teeth of the hub on the outer periphery, and the hub has a large number of internal teeth. A planetary gear with a small number of external teeth and a pair of disc members housed in the hub and sandwiching the planetary gear in the axial direction are connected together via a pillar member that passes through the planetary gear. a planetary gear reduction mechanism, which has a block body made up of two or more blocks, in which either the hub or the block body can be rotated by being driven by a motor, and a pair of shafts provided in a fixed case so as to be rotatable independently of each other. and a clutch mechanism that is provided in a stationary case and is switched to alternately connect and fix the pair of shaft sections to the stationary case, the automatic tool changer having a drive section that moves with the hub. A conversion mechanism is provided between the bodies and converts Huff's rotation into linear motion to move the moving body, and the drive shaft is integrally connected to the other of the pair of disc members of the block body. and one of the pair of shafts is connected to the hub, the other shaft is connected to one disc member of the block body, and one shaft is connected to the fixed case by switching the clutch mechanism. , when fixed, the block body rotates and the rotating body rotates around the rotation axis via the drive shaft, and when the other shaft part is connected and fixed to the fixed case, the hub' rotates. The movable body is moved via the conversion mechanism, and the rotating body is moved in the direction of the rotation axis.

(Function) In the invention of claim 1 of the present invention, a pair of shaft portions each connected to the hub and block body of the planetary gear reduction mechanism, and a clutch mechanism for alternately connecting and fixing the shaft portions to the fixed case are provided. Therefore, rotation can be extracted from either the hub or the block body by switching the clutch mechanism. Therefore, two outputs are obtained for one input, and the range of application of the output of the drive device is therefore widened.

Further, in the invention of claim 2, since the drive section is provided with a planetary gear reduction mechanism having the same configuration as the invention of claim 1,
The drive unit is made more compact, and at the same time, by switching the clutch mechanism, it is possible to rotate and move the rotating body, that is, the tool magazine or the tool exchange arm, back and forth using only one motor.

Therefore, the structure of the device can be simplified and downsized.

(Example) Hereinafter, the invention of claim 1 of the present invention will be explained based on the drawings.

1 to 3 are diagrams showing an embodiment of the drive device according to the invention of claim 1. FIG.

First, the configuration will be explained.

In FIG. 1, reference numeral 1 denotes a stationary case provided on a column 2 of a machining center, for example. The stationary case 1 consists of a cylindrical part 1a and a circular end plate part 1b, and the end plate part lb is one end of the cylindrical part 1a. It is fixed to the cylindrical portion 1a via a bolt 3 so as to seal the cylindrical portion 1a. A servo motor 4 is mounted on the end plate portion 1b.
is attached by a bolt 5, and the cylindrical part 1 is attached by a bolt 5.
A planetary gear reduction mechanism 6 is housed at the other end of a.

Note that the servo motor 4 constitutes a motor attached to the fixed case l in the present invention. The planetary gear reduction mechanism 6 described above includes a ring-shaped hub 7 and a pair of disc-shaped planetary gears 8.
and a block body 9, and among these members, a hub 7
has a large number of internal teeth 11 made of pins 10 implanted on the inner periphery, and external teeth 12 that mesh with the internal teeth 11 of the hub 7 are formed on the outer periphery of the planetary gear 8. external teeth 1
The number of teeth 2 is smaller than the number of internal teeth 11 of the hub 7.

Further, reference numeral 13 is an input shaft of the planetary gear reduction mechanism 6,
One end of the input shaft 13 is connected to an output shaft 4a of the servo motor 4, and is further supported via a bearing 14 on a large diameter portion 32a of a shaft portion 32, which will be described later. The other end of the input shaft 13 passes through the center of the block body 9 and the planetary gear 8, and is connected to the eccentric camshaft 16 via a small gear 15 carved on the other end and a large gear 17 provided on the eccentric camshaft 16. It is connected to the camshaft 16. Then, when the input shaft 13 is rotated by being driven by the servo motor 4 and the eccentric camshaft 16 is simultaneously rotated via the small gear 15 and the large gear 17, the eccentric cam 16 of the eccentric camshaft 16 rotates.
a, a pair of planetary gears 8 eccentrically swing around the input shaft 13 driven by the eccentric cam 16b. That is, the planetary gear 8
is an input shaft 1 connected to a servo motor 4 as a motor.
It has a function of eccentric rocking by rotation of 3. In addition, at this time, as described above, the number of teeth of the external teeth 12 of the planetary gear 8 is greater than that of the hub 7.
Since the number of teeth is smaller than the number of internal teeth 11 of the hub 7 and the planetary gear 8, a relative rotational movement occurs between the hub 7 and the planetary gear 8.

On the other hand, among the members of the planetary gear reduction mechanism 6, the block body 9 is housed in the hub 7, and a pair of disc members 9a are provided to sandwich the planetary gear 8 in the axial direction of the input shaft 13.
, 9b and a pillar member 9C passing through the planetary gear 8,
A block body 9 is constructed by integrally connecting a pair of disc members 9a and 9b to each other via a column member 9C. In addition,
Although not shown, in order to increase the rigidity of the block body 9, the column member 9C of the block body 9 is a disk member 9a,
A plurality of pillar members 9b are provided in the circumferential direction, and in this embodiment, the pillar members 9C are integrally fixed to one disc member 9b with bolts 18, and are integrally formed with the other disc member 9a. There is. The planetary gear reduction mechanism 6 configured in this manner is driven by the servo motor 4 to produce relative rotational movement between the hub 7 and the planetary gears 8 as described above. When the block body 9 is fixed in the direction of rotation, the block body 9 rotates, and when the block body 9 is fixed in the rotational direction, the hub 7 rotates. That is, the planetary gear reduction mechanism 6 is configured so that either the hub 7 or the block body 9 can be rotated by being driven by the servo motor 4. In FIG. 1, reference numeral 19 denotes a pair of bearings that rotatably support the block body 9 housed in the hub 7, and reference numeral 20 denotes a pair of bearings that rotatably support the block body 9 housed in the hub 7. A pair of bearings are supported, and reference numeral 21 denotes a sealing member interposed between the hub 7 and the block body 9 in order to seal lubricating oil in these rotating parts and the sliding part of the planetary gear reduction mechanism 6. be.

In FIG. 1, numerals 31 and 32 are a pair of shaft parts provided in the fixed case 1, and these pair of shaft parts 3,
One of the shaft portions 31 of the shaft portions 32 is located on the side of the planetary gear reduction mechanism 6 and is formed in a ring shape, and is rotatably supported by the cylindrical portion 1a of the fixed case 1 via a bearing 33. Also,
The other shaft portion 32 has a ring-shaped large diameter portion 32a located on the servo motor 4 side, and one end is connected to the large diameter portion 32a with a bolt 34.
The large diameter part 32a is connected to the fixed case 1 via a bearing 35.
It is rotatably supported by the cylindrical portion 1a. The large diameter portions 32a of the shaft portion 31 and the shaft portion 32 are located at both ends of the cylindrical portion 1a of the fixed case l, respectively, and the other end of the small diameter portion 32b of the shaft portion 32 is located at a predetermined position on the shaft portion 31. The pair of shaft parts 3 and 32 are freely rotatable independently within the fixed case 1 because they are loosely engaged with each other with a gap between them.

Furthermore, one shaft portion 3 of the pair of shaft portions 31 and 32
1 is connected to the hub 7 of the planetary gear reduction mechanism 6 by a bolt 36, and the small diameter portion 32b of the other shaft portion 32 is connected to the hub 7 of the planetary gear reduction mechanism 6 by a bolt 36.
7 to one of the pair of disc members 9a and 9b of the block body 9.

As described above, since the pair of shaft parts 3 and 32 are rotatable independently, the shaft part 31 is integral with the hub 7 of the planetary gear reduction mechanism 6, and the shaft part 32 is integral with the block body 9. It is rotatable. The input shaft 13 of the planetary gear reduction mechanism 6 coaxially passes through the shaft portion 32, and as described above, one end of the input shaft 13 is rotatably supported by the large diameter portion 32a via the bearing 14, and the other end is rotatably supported by the large diameter portion 32a via the bearing 14. The end thereof is rotatably supported by the small diameter portion 32b via a bearing bush 38.

In FIG. 1, reference numeral 41 is a clutch mechanism provided in the fixed case 1, and the clutch mechanism 41 has the function of alternately connecting and fixing the pair of shaft parts 31 and 32 to the fixed case 1 by being switched. In this example,
Consists of an electromagnetic clutch. That is, the clutch mechanism 41 is fitted into the substantially central part of the cylindrical portion 1a of the fixed case 1, and includes ring-shaped first and second suction portions 43 fixed to the fixed case 1 in the circumferential direction via the sinking key 42. .4
4, the shaft portion 31 and the first suction portion 43, and ring-shaped first and second clutch portions 45 and 46 interposed between the large diameter portion 32a of the shaft portion 32 and the second suction portion 44, respectively. The first and second suction parts 43 and 44 have axial recesses 47a and 48a formed in their radial intermediate parts, respectively.
, consisting of magnetic rings 47, 48 facing the second clutch portions 45, 46, respectively, and ring-shaped coils 49, 50 fitted and fixed in the recesses 47a, 48a, respectively,
Magnetic rings 47 and 48 are fixed in the axial direction to the cylindrical portion 1a of the fixed case 1 via setscrews 5 and 52, respectively, and the first and second Adsorption parts 43 and 44 are integrally fixed to the fixed case 1. Note that a gap is provided between the inner periphery of the magnetic rings 47, 48 and the outer periphery of the small diameter portion 32b of the shaft portion 32, so that rotation of the shaft portion 32 is not hindered.
Further, the first clutch portion 45 includes a ring-shaped small-diameter fixing member 54 fixed to one shaft portion 31 by a bolt 53.
A ring-shaped, large-diameter clutch member 56 is connected to the fixing member 54 via a pin 55. and,
Bin 5 connecting fixed member 54 and clutch member 56
5 consists of a small diameter part 55a that passes through the fixing member 54 and the clutch member 56 in the axial direction, and a large diameter part 55b that is integrally formed on the fixing member 54 side of the small diameter part 55a.
5b is slidably inserted into a cylindrical hole 54a bored in the axial direction of the fixing member 54, and a spring 57 is interposed between the end of the hole 54a and the large diameter portion 55b.
The small diameter portion 55a is biased by the retaining ring 55c.
The criss-cross member 56 is pressed against the fixing member 54 and comes into close contact with the fixing member 54. Further, a ring-shaped protrusion 56a is formed along the outer periphery of the clutch member 56 so as to cover the outer periphery of the fixing member 54, and as shown in FIG. A large number of spline tooth patterns 56b and the same number of spline tooth patterns 54b formed on the outer periphery of the fixing member 54 mesh with each other, and the clutch member 56 and the fixing member 54 are fixed to each other in the circumferential direction by these spline tooth patterns 56b, 54b. and also in close contact in the axial direction,
Separation is possible. On the other hand, reference numeral 56c denotes a large number of toothed portions formed along the outer periphery of the clutch member 56 to protrude toward the first suction portion 43, and the toothed portions 56c are shown in FIG.
As shown in FIG. 3, it has a triangular shape. Then, the coil 49 of the first adsorption section 43 is energized through the lead wire 49a, and the magnetic ring 47 is magnetized, so that the clutch member 56
When the magnetic ring 47 of the first attracting portion 43 is attracted, the same number of triangular toothed portions 47b formed along the outer periphery of the magnetic ring 47 and facing the toothed portion 56c are attached to the toothed portion 5 of the clutch member 56.
6c, and the clutch member 56 is fixed in the circumferential direction.

At this time, it goes without saying that the pin 55 moves toward the first suction part 43 together with the clutch member 56 against the biasing force of the spring 57, and the inner periphery and shaft portion of the fixing member 54 and the clutch member 56 A gap is provided between the small diameter portions 32b of the shaft portion 32 so that rotation of the shaft portion 32 is not hindered. The second clutch portion 46 of the clutch mechanism 41 is symmetrical and identical to the first clutch portion 45 with respect to the neutral plane in the vertical direction in the figure of the non-magnetic ring 58 interposed between the magnetic ring 47 and the magnetic ring 48. Therefore, the constituent members of the second clutch portion 46 are given the same reference numerals as the constituent members of the first clutch portion 45, and redundant explanation will be omitted. The fixing member 54 of the second clutch portion 46
is fixed to the large diameter portion 32a of the shaft portion 32 with a bolt 53, and the coil 50 of the second suction portion 44 is connected to the lead wire 50a.
When the magnetic ring 48 is magnetized and attracts the clutch member 56 of the second clutch portion 46, the first attracting portion 43 formed on the magnetic ring 48 of the first attaching portion 44
A toothed portion 48b similar to the toothed portion 47b of the magnetic ring 47 of
Similarly to the first clutch portion 45, the clutch member 56 of the second suction portion 44 is fixed in the circumferential direction by meshing with the toothed portion 56c of the clutch member 56.

Switching of the clutch mechanism 41 configured in this way, that is, the coil 49 of the first suction part 43 and the second suction part 44
When one shaft portion 31 is connected and fixed to the fixed case 1 via the first clutch portion 45 of the clutch mechanism 41 by switching the energization of the coil 50, the hub 7 of the planetary gear reduction mechanism 6 is connected to the shaft portion 31. The block body 9 rotates as described above. On the contrary, the other shaft part 3
2 is connected and fixed to the stationary case 1 via the second clutch part 46 of the clutch mechanism 41, the block body 9 is fixed in the rotational direction together with the shaft part 32, and the hub 7 rotates. Therefore, the single planetary gear reduction mechanism 6 can extract rotation from either the hub 7 or the other disc member 9a of the block body 9. The planetary gear reducer II 6 in this embodiment is a known one, and the output rotation speed of the hub 7 or the disk member 9a of the block body 9 is, for example, relative to the input rotation speed of the output shaft 4a of the servo motor 4. It is possible to obtain a high reduction ratio of 1156 to 1/120. In addition, a non-magnetic ring 58 interposed between the magnetic ring 47 and the magnetic ring 48 has a coil 49.5.
This is provided in order to suppress the magnetization of the other magnetic ring 47, 48 when one of the magnetic rings 47, 48 is magnetized by energization.

Next, the effect will be explained.

In FIG. 1, the servo motor 4 is driven to rotate the input shaft 13 of the planetary gear reduction mechanism 6, and at the same time, the eccentric camshaft 16 rotates via the small gear 15 and the large gear 17, and the eccentric camshaft 16 is rotated. Driven by the cams 16a and 16b, the planetary gear 8 swings eccentrically. A relative rotational movement is generated between the hub 7 and the block body 9 due to the difference in the number of internal teeth 11 of the hub 7 and external teeth 12 of the planetary gear 8 that mesh with each other. At this time, when the drive mechanism 41 is switched and the coil 49 of the first attraction part 43 is energized through the lead wire 49a, the magnetic ring 47 is magnetized and the first clamp/7ch part 45 is magnetized.
The clutch member 56 is attracted to the first suction portion 43 . Accordingly, the clutch member 56 of the first clutch portion 45 resists the biasing force of the spring 57 in the fixed member 54 and moves the bottle 5
5 toward the first suction section 43. and,
The toothed portion 56c of the clutch member 56 meshes with the toothed portion 47b of the magnetic ring 47, and the first clutch portion 45 engages with the toothed portion 47b of the magnetic ring 47.
It is connected to the fixed case l via the first suction part 43 together with the one shaft part 31 connected by 3, and is fixed in the axial direction. At the same time, the hub 7 connected to the shaft part 31 by the bolt 36 is connected and fixed to the fixed case 1 via the shaft part 31, the first clutch part 45 and the first suction part 43, and the block body 9 rotates accordingly. do. Note that at this time, since the coil 50 of the second adsorption section 44 is de-energized,
Due to the biasing force of the spring 57, the toothed portion 56c of the second clutch portion 46 and the toothed portion 48b of the second suction portion 44 are separated from each other, and the block body 9 is free in the rotational direction.

On the other hand, when the clutch mechanism 41 is switched again to de-energize the coil 49 of the first suction part 43 and to energize the coil 50 of the second suction part 44 through the lead wire 50a, the second The clutch part 46 is connected to the bolt 5
3, the other shaft portion 3 is connected to the first clutch portion 45 by
2 and the fixed case 1 via the first suction portion 44, and are fixed in the axial direction. At the same time, the block body 9 connected to the shaft part 32 by the bolt 1 is connected and fixed to the fixed case 1 via the shaft part 32, the second clutch part 46 and the second suction part 44, and accordingly the hub 7 rotates.

At this time, the coil 49 of the first suction part 43 is de-energized, so it goes without saying that the knob 7 is in a free state in the rotational direction, similar to when the block body 9 is rotated. .

Therefore, by switching the clutch mechanism 41, after the input rotation of the servo motor 4 is reduced at a high reduction ratio by the planetary gear reduction mechanism 6, it can be taken out as an output rotation from either the knob 7 or the block body 9. It is.

In this way, in this embodiment, the planetary gear reduction mechanism 6
Since a clutch mechanism 41 is provided that alternately connects and fixes the pair of shaft parts 3 and 32 to the fixed case 1, the pair of shaft parts 3 and 32 are connected to the hub 7 and the block body 9, respectively. Nyori hub 7 and block body 9
Rotation can be extracted from either. Therefore, it is possible to take out two outputs for one input, and the range of output applications can be widened.

Next, FIG. 4 is a diagram showing another embodiment of the drive device according to the invention of claim 1. In this embodiment, the clutch mechanism 41
However, in place of the electromagnetic clutch in the previous embodiment, a piston-cylinder type mechanism is used. Therefore, except for the constituent members of the clutch mechanism 41 and the constituent members of the cylindrical portion 1a of the fixed case 1 in this embodiment, the other constituent members are the same as those shown in FIG. are given the same reference numerals and repeated explanation will be omitted.

In FIG. 4, reference numeral 61 indicates the cylindrical portion 1 of the fixed case 1.
It is a cylindrical piston that is fitted in the shaft portion a so as to be slidable in the axial direction, and both ends of the piston 61 face the large diameter portions 32a of the shaft portions 31 and 32, respectively, and the shaft portion 32 is disposed inside the piston 61. The small diameter portion 32b passes through the hole coaxially with a space maintained therebetween. At both ends of the piston 61 configured in this way, shaft portions 31 are provided along the outer periphery of the piston 61.
and a large number of first toothed portions 61a and second toothed portions 61b protruding toward the large diameter portion 32a of the shaft portion 32,
On the other hand, these first toothed portions 61a and second toothed portions 61b
A third toothed portion 31a and a fourth toothed portion 32c having the same shape and the same number are formed on the large diameter portions 32a of the shaft portions 31 and 32, respectively, facing each other. Note that the first toothed portion 61a
, the second toothed portion 61b, the third toothed portion 31a, and the fourth toothed portion 32c are all similar to the toothed portion 56c of the clutch member 56 in FIGS. 2 and 3 shown as an embodiment of the invention of claim 1. It has a shape. Further, reference numeral 62 is a pressure introduction chamber formed between the cylindrical portion 1a of the fixed case I and the piston 61, and the pressure introduction chamber 62 protrudes radially from the outer circumference of the piston 61, and 1a
A first pressure introduction chamber 62a and a second pressure introduction chamber 6 are defined between the cylindrical portion 1a on the left and right sides of a ring-shaped protrusion 61c that slides in a ring-shaped recess 63 formed in a radial direction.
2b. In this embodiment, the cylindrical portion 1a of the fixed case 1 is connected to the first cylindrical member 64 on the side of the planetary gear reduction mechanism 6 and the end plate portion 1b.
It consists of a short second cylindrical member 65 which is interposed between the cylindrical members 64 and is integrally connected to the end plate portion 1b and the first cylindrical member 64 by the bolts 3 passing therethrough. The first cylindrical member 64 is formed with a protrusion 64a that protrudes inward on the shaft 31 side of the protrusion 61c and on which the piston 61 slides. The large diameter portion 32a side of the shaft portion 32 similarly protrudes inward, and as the piston 61 slides, the first cylindrical member 64
The protruding portion 65 covers the joint portion with the second cylindrical member 65.
a is formed, and the above-mentioned recess 63 is formed by these protrusions 6.
4a, 65a and the inner periphery of the first cylindrical member 64 to form a ring shape.

Further, the distance between the protrusions 64a and 65a is the same as that of the piston 61.
The width of the protrusion 61c is larger than that of the protrusion 61c, so as not to impede the axial movement of the piston 61, which will be described later.

When pressurized fluid, compressed air in this embodiment, is introduced into the first pressure introducing chamber 62a through the first boat 66a bored in the cylindrical portion 1a, the piston 61 moves axially toward the large diameter of the shaft portion 32. Accordingly, the second toothed portion 61b of the piston 61 meshes with the fourth toothed portion 32c of the shaft portion 32, and the shaft portion 32 moves toward the cylindrical portion 1a of the fixed case 1 via the piston 61. and fixed in the direction of rotation. Although not shown, the piston 61 is connected to the fixed case 1 by a sliding key interposed between the piston 61 and the cylindrical portion 1a of the fixed case 1, and compressed air is supplied to the pressure introduction chamber 62. Although the piston 61 is movable in the axial direction by the introduction of the key, the key serves as a rotation stopper and is fixed in the circumferential direction. On the other hand, similarly, the cylindrical part 1a
Compressed air flows through the second bow (66b) bored into the second
When introduced into the pressure introduction chamber 62b, the piston 61 moves axially toward the shaft portion 31, and as a result, the piston 61
The first toothed portion 61a of the shaft portion 31 meshes with the third toothed portion 31a of the shaft portion 31, and the shaft portion 31 is connected to the cylindrical portion 1a of the fixed case via the piston 61 and fixed in the rotation direction. The clutch mechanism 41 in this embodiment alternately switches the introduction of compressed air to the first pressure introduction chamber 62a and the second pressure introduction chamber 62b, thereby changing the first toothed portion 61a to the third toothed portion 31a, and The second toothed portion 61b is replaced by the fourth toothed portion 32c.
It is possible to alternately engage the shaft portions 31 and 31 to rotate the shaft portion 32 while fixing the shaft portion 31, or to rotate the shaft portion 31 while the shaft portion 32 is fixed. That is, compressed air as a pressure fluid is introduced into the pressure introduction chamber 62 to move the piston 61 in the axial direction, thereby moving the first toothed portion 61a to the third toothed portion 31.
a has a function of causing the second toothed portions 61b to alternately mesh with the fourth toothed portions 32c. Further, in FIG. 4, reference numerals 67 and 68 indicate sealing members interposed between the piston 61 and the projections 64a and 65a, respectively, with the pressure introduction chamber 62 in between, and the compressed air introduced into the pressure introduction chamber 62. It has the function of sealing. Further, reference numeral 69 indicates a sealing O-ring interposed between the protrusion 61c of the piston 61 and the first cylindrical member 64 of the cylindrical portion 1a, and 70 similarly indicates the first cylindrical member 64 and the second cylindrical member 64 of the cylindrical portion 1a. This is a sealing O-ring interposed between the cylindrical member 65, and has a function of sealing between the second pressure introduction chamber 62a and the second pressure introduction chamber 62b and sealing the pressure introduction chamber 62, respectively. The rest of the structure and operation are the same as those of the embodiment of claim 1, and therefore, in this embodiment as well, the same effects as those of the above-mentioned embodiment can be obtained. Note that in this embodiment, the pressure introduction chamber 62 is connected to the first pressure introduction chamber 62a and the second pressure introduction chamber 62a.
Although a case has been described in which the pressure introduction chamber 62b is composed of two chambers, it is possible that the pressure introduction chamber 62 is composed of only one chamber, and the piston 61 moves in only one direction by introducing pressure fluid, and moves in the opposite direction. It is also possible to use a type that uses spring force.

Next, the invention of claim 2 of the present invention will be explained based on the drawings.

1 to 5 are diagrams showing a first embodiment of an automatic tool changer according to a second aspect of the invention. Note that each of the first to third embodiments of the automatic tool changer according to the invention of claim 2 is provided with two embodiments of the drive device according to the invention of claim 1, and therefore, FIGS. Figure 4 is a common drawing,
This embodiment will be explained in conjunction with FIG.

In FIG. 1, reference numeral 81 denotes a disk-shaped magazine plate as a rotating body having a rotation axis X-x.
1, as shown in FIG. 5, a large number of tool gripping means for gripping a tool 82, that is, a tool chuck 83, are provided on the outer periphery. In addition, FIG. 1 is a sectional view of a main part taken along arrow 1-1 in FIG. 5. Again, in FIG. 1, reference numeral 84 is a spline shaft with a large number of spline teeth 84a extending in the axial direction along the outer periphery, and the spline shaft 84 is connected to the magazine plate 8.
1, and at the same time the spline shaft 8.
4 spline teeth 84a are attached to the boss portion 85 along the rotation axis X-
It engages with the same number of spline grooves 85a formed in correspondence with the spline teeth 84a in the X direction. The spline shaft 84 has a function as a drive shaft for rotating the magazine plate 81, and is connected to and driven by a drive section 95, which will be described later.
The magazine plate 81 is rotated around the axis XX without moving in the direction of the rotation axis XX through the spline groove 85a. Furthermore, since the magazine plate 81 is supported by the spline shaft 84 via the spline teeth 84a and the spline groove 85a, it is driven by another mechanism and rotates along the rotation axis X-
It is possible to easily move in the X direction. The boss portion 85 of the magazine plate 81 consists of a boss body 85b passing through the center of the magazine plate 81 and a flange 85c formed at one end of the boss body 85b.The flange 85c is fixed to the magazine plate 81 by bolts 86. Boss part 85
is fixed to the magazine plate 81. Furthermore, the embodiment of the drive shaft described above using the spline shaft 84 is not limited to this, and instead of the spline teeth 84a of the spline shaft 84, a key is fixed to either the drive shaft or the boss portion 85. However, a key groove may be formed on the other side so that the magazine plate 81 can be moved through the key groove. On the other hand, reference numeral 87 designates a support arm that rotatably supports the other end of the boss body 85b of the boss portion 85 provided on the magazine plate 8 through a double-row pole bearing 88. A magazine plate 81 as a body is rotatably supported around a rotation axis vAx-x via a pole bearing 88 and a boss portion 85, and also serves as a moving body movable together with the magazine plate 81 in the axis X-X direction. Has a function. And the above-mentioned magazine plate 8
1. The spline shaft 84 and the support arm 87 constitute an operating section 91 of the automatic tool changer 90 in this embodiment. Note that reference numeral 92 is an outer ring retainer of the pole bearing 88 fixed to the support arm 87 with bolts 93;
Reference numeral 94 is a nut for holding down the inner ring of the pole bearing 88, which is screwed onto the other end of the boss body 85b.

In FIG. 1, reference numeral 95 denotes an automatic tool changer 9 that is integrally incorporated into the magazine body 96 and supported by the column 2.
The drive unit 95 includes the fixed case 1, the servo motor 4, the planetary gear reduction mechanism 6, the pair of shafts 3 and 32, and the clutch mechanism 41, which have already been described in each embodiment of the invention of claim 1. It consists of For this reason, in FIG. 1, the reference numerals already given to the respective components and mechanisms will be used as they are, and redundant explanations of their configurations and functions will be omitted. On the other hand, reference numeral 101 indicates the hub 7 of the planetary gear reduction mechanism 6 and the support arm 8 as a moving body.
The conversion mechanism 101 includes a sun gear 102 provided coaxially with the hub 7 on the outer periphery of the hub 7 of the planetary gear reduction mechanism 6, and a double row pole bearing in the fixed case 1. The sun gear 1 is rotatably supported via the gear 103.
02, and a pair of rods 105 each coaxially screwed into the pair of small gears 104 at one end on the right side in the figure. The other ends of the pair of rods 105 of the conversion mechanism 101 pass through both ends of the support arm 87, respectively, and are further fixed to the support arm 87 by screwed nuts 106. Further, the pair of small gears 104 are fitted into a cylindrical main body 104 a and a cylindrical main body 104 a that are respectively meshed with the sun gear 102 and rotatably supported by the fixed case 1 via a pole bearing 103 , and are fitted into the main body 104 a with bolts 107 . The small gear 104 is made up of a threaded portion 104b fixed to the main body portion 104a, and one end of the rod 105 is screwed into the threaded portion 104b constituting the small gear 104 as described above.

In the conversion mechanism 101 configured in this way, the sun gear 102 rotates by the rotation of the hub 7 of the planetary gear reduction mechanism 6,
A pair of small gears 1 (14) mesh with the sun gear 102 at the same time.
The main body portion 104a rotates together with the threaded portion 104b.

Accordingly, the pair of rods 105 screwed into the threaded portions 104b of the pinion 104 move linearly in parallel with the rotation axis XX of the magazine plate 81, and the other ends of the rods 105 are connected to the support arms 87, respectively. Since it is fixed at both ends, the support arm 87 moves in the same direction as the rod 105. That is, the conversion mechanism 101 has a function of converting the rotation of the hub 70 into linear motion and moving the support arm 87 as a moving body. As the support arm 87 moves, the magazine plate 81 moves along the spline teeth 84a of the spline shaft 84 in the direction of the rotation axis X-x via the boss portion 85 and the pawl bearing 88. In addition, so that the conversion mechanism 101 can efficiently convert the rotation of the hub 7 into linear motion,
The rod 105 and the threaded portion 104b of the small gear 104 are screwed together using a pole screw, a lead spline, or the like. Moreover, a pair of rods 105 of the conversion mechanism 101
In this aspect, as mentioned above, all of them are small gears 104.
The rods 105 are not limited to those that are screwed into the magazine body 96, and one of the pair of rods 105 may simply be a guide rod that comes into sliding contact with the magazine body 96. In this case, the pinion gear 1
04 and the ball bearing 103 can be omitted.

Furthermore, in FIG. 1, reference numeral 108 is a nut for holding down the inner ring of the ball bearing 103 screwed onto the small gear 104, and reference numeral 109 is a nut for holding down the outer ring of the ball bearing 103 that is fixed to the fixed case 1. Furthermore, fixed case 1
A support portion of the small gear 104 is formed to protrude outward from the cylindrical portion 1a of the fixed case 1 in correspondence with the support arm 87, and the support portion constitutes a part of the magazine body 96 mentioned above. . Furthermore, the port 36 has a function of fixing the sun gear 102 of the conversion mechanism 101 to the outer periphery of the hub 7,
At the same time, as described in the embodiment of the invention of claim 1, it also has the function of connecting and fixing one shaft portion 31 to the hub 7.

-4. The spline shaft 84 that engages with the magazine plate 81 is
It is connected to the other disc member 9a of the pair of disc members 9a and 9b constituting the block body 9 of the planetary gear reduction mechanism 6, and is driven by the block body 9 to rotate and rotate the magazine plate 81 as described above. It rotates around the rotation axis XX. In the automatic tool changer 90 of this embodiment configured as described above, when one shaft portion 31 is connected and fixed to the fixed case 1 by switching the clutch mechanism 41 of the drive portion 95, the block body 9 is The spline shaft 84 of the operating section 91, which is connected to the block body 9 by rotation, rotates, and the magazine plate 81 as a rotating body rotates around the rotation axis XX. Further, when the other shaft section 32 is connected and fixed to the fixed case 1 by switching the clutch mechanism 41, the hub 7 rotates and the support arm 87 of the actuating section 91 moves via the conversion mechanism 101, and the magazine plate 81 is the rotation axis χ-
It is designed to move in the X direction. For example, in FIG. 1, when the output shaft 4a of the servo motor 4 rotates clockwise when viewed from the direction of arrow A, when the clutch mechanism 41 is switched and the shaft portion 31 is fixed to the fixed case 1, the hub 7 rotates together with the sun gear 102 in the same direction as the output shaft 4a, and the small gears 104 meshing with the sun gear 102 rotate in opposite directions. Since the screw with which the rod 105 is screwed into the small gear 104 is a right-handed screw, the rod 105 moves to the left in the figure, and the magazine plate 81 moves forward from the column 2 accordingly. In addition, the clutch mechanism 41
is switched and the shaft portion 32 is fixed to the fixed case 1, the block body 9 rotates together with the spline shaft 84 in the opposite direction of the output shaft 4a, and therefore the magazine plate 81 rotates around the rotation axis x-X. Rotates counterclockwise when viewed from the direction of arrow A. Note that even if the clutch mechanism 41 described above is of the electromagnetic clutch type shown in FIG. 1 described in one embodiment of the invention of claim 1, it is the same (as shown in FIG. It may be a piston-cylinder type.

In this embodiment, the operating section 91, the driving section 95, and the conversion mechanism 101 of the automatic tool changer 90 having such functions are arranged on the upper part of the column 2 that supports the spindle head 111, as shown in FIG. It is set up. And the spindle head 11
1 is provided with a main shaft 112 that grips and rotates a tool 82, and the main shaft head 111 moves vertically along a guide 2a formed in the column 2, and as a result, the main shaft 112
The machine moves up and down relative to a workpiece (not shown) to process the workpiece. Although not shown below, the column 2 is placed, for example, on a table of a machining center, and the table is further provided on a fixed bed so that it can move back and forth and left and right with respect to the workpiece. Therefore, the tool 82 held by the main shaft 112
can move three-dimensionally relative to the workpiece along with the vertical movement of the spindle head 111.

Further, the vertical movement of the spindle head 111, the longitudinal movement and the horizontal movement of the column 2 and the table described above are executed through known drive means.

Next, the effect will be explained.

In FIG. 5, a workpiece (not shown) is machined by a tool 82 held and rotated by the spindle 112 based on the longitudinal and lateral movements of the column 2 and the table (not shown), and the vertical movement of the spindle head 111. And the main shaft 11
When the tool 82 gripped by the column 2 finishes machining the workpiece, the column 2 returns to the position before machining, and the automatic tool changer 90 replaces the tool 82 for machining the next workpiece.

That is, in FIG. 5, the spindle 112 is driven by the spindle head 111 and rises together with the tool 82, and the tool 82 of the spindle 112 is inserted into the empty tool chuck 83 located opposite the spindle 112, and the tool 82 is inserted into the tool chuck 83. be grasped.

Next, in FIG. 1, the clutch mechanism 41 is switched and the servo motor 4 is started with the shaft portion 31 fixed to the fixed case 1, and the output shaft 4a of the servo motor 4 is activated.
rotates in the clockwise direction when viewed from the direction of the arrow. Accordingly, the hub 7 of the planetary gear reduction mechanism 6 rotates in the circumferential direction together with the sun gear 102, and at the same time, the pair of small gears 104 rotate in opposite directions, and the rod 105 moves to the left in the figure. The plate 81 moves forward. Then, the servo motor 4 stops, the magazine plate 81 stops at a predetermined position, and at the same time, the aforementioned tool 82 held by the tool chuck 83 in FIG.
2 is stored in the magazine plate 81 as indicated by the hatched symbol 82a in FIG. Next, in FIG. 1, the servo motor 4 is started with the clutch mechanism 41 switched and the shaft portion 32 fixed to the fixed case 1, and the block body 9
rotates together with the spline shaft 84 in the opposite direction of the output shaft 4a, and the magazine plate 81 rotates counterclockwise around the rotation axis XX when viewed from the direction of the arrow. Then, in FIG. 5, a tool 82b held by a tool chuck, for example, indicated by reference numeral 83b in the figure, moves to a position indicated by reference numeral 82a, and the servo motor 4 stops again. At this time, the direction of rotation of the magazine plate 81 in FIG. 5 is a clockwise direction.

In this state, the clutch mechanism 41 is switched to fix the shaft portion 31 to the fixed case 1, and at the same time, the servo motor 4 is started and the output shaft 4a rotates counterclockwise when viewed from the direction of the arrow. Next, the magazine plate 81 is retreated by the same procedure as described above, the tool 82b is inserted and gripped by the main shaft 112, and the servo motor 4 is stopped. Furthermore, the tool 82b is extracted from the tool chuck by the descent of the spindle head 111, and the spindle 112 returns to the workpiece machining position, thus completing a series of tool 82 exchange operations by the automatic tool exchanger 90. Although the servo motor 4 is stopped during the replacement work, it is also possible to keep it running all the time without stopping the servo motor 4. In this embodiment, the rotational movement and back-and-forth movement of the magazine plate 81 during the series of tool changing operations described above are controlled by a single servo motor 4 by switching the clutch mechanism 41 provided in the drive section 95 of the automatic tool changing device 90. It is done only by Therefore, the drive unit 95 does not require two drive sources, and the planetary gear reduction mechanism 6 has a small diameter despite its large reduction ratio and is disposed coaxially with the servo motor 4, making the drive unit 95 compact. be converted into Therefore, the structure of the automatic tool changer 90 is simplified, and the entire automatic tool changer 90 can be downsized.

As described above, in this embodiment, the drive unit 95 is provided with the planetary gear reduction mechanism 6 having the same configuration as in each embodiment of the invention of claim 1.
As a result, the drive section 95 can be made compact, and by switching the clutch mechanism 41, the magazine plate 810 can be rotated and moved back and forth using only one servo motor 4. Therefore, the structure of the automatic tool changer 90 can be simplified and downsized.

FIGS. 6 and 7 are views showing a second embodiment of the automatic tool changer according to the second aspect of the invention. In this embodiment, as shown in FIG. 6, the rotating body is a tool changing arm having tool gripping means, that is, tool chucks 121 at both ends, in place of the magazine plate 81 of the first embodiment. 122, and in the first embodiment described above, the first
The operating section 91, the driving section 95, and the conversion mechanism 101 described based on the drawings are arranged between the column 2 that supports the spindle head 111 and the tool magazine 123 that stores a large number of tools 82.

The automatic tool changer 90 in this embodiment is composed of an actuating section 91 including a tool changing arm 122, a drive section 95 having the same configuration as in the first embodiment, and a conversion mechanism 101, and further includes FIGS. 6 and 7. As shown in FIG.
The base part 1 is integrally formed on the side surface of the fixed case 1 of 5.
24 is fixed to the side of the column 2 by bolts 125, and the automatic tool changer 90 is connected to the tool magazine 12 as described above.
3 and the spindle head 111. On the other hand, the tool magazine 123 includes a rotary plate 128 that is rotatably supported via a rotary shaft 127 on the upper part of a stand 126 that stands upright in parallel with the column 2, and a bracket 129 on the outer periphery of the rotary plate 128. The rotating shaft 128 is rotated by a drive source (not shown) to move a desired tool pot 130 to the column 2.
It is arranged to face the main shaft 112 of. The tool exchange arm 122, which is a component of the operating section 91, is driven by the drive section 95 and the conversion mechanism 101 to rotate and move back and forth, and transfers the tool 82 of the main shaft 112 to the tool magazine 1.
The receiver can transfer the tool 82 in the tool pot 130 of the tool magazine 123 to the tool pot 130 of the tool magazine 123 to the main shaft 112. Other configurations and functions are described in the first section above.
This is the same as in the embodiment, and therefore similar effects can be obtained in this embodiment as well.

Next, a third embodiment of the automatic tool changer according to the second aspect of the invention will be described. That is, in this example,
The rotating body is not shown in FIGS. 6 and 7, but is a tool changing arm 122 having the same configuration as the second embodiment, and the operating portion 91,
The drive unit 95 and the conversion mechanism 101 are disposed between the tool magazine 123, which is provided at the top of the column 2 and has the same configuration as the second embodiment shown in FIG. be. The other configurations and operations are similar to those of the first and second embodiments, and therefore similar effects can be obtained in this embodiment as well.

(Effect) According to the invention of claim 1 of the present invention, a pair of shaft portions respectively connected to the hub and block body of the planetary gear reduction mechanism, and a clutch mechanism that alternately connects and fixes the shaft portions to the fixed case. Since this is provided, rotation can be extracted from either the hub or the block body by switching the clutch mechanism.

Therefore, for one input which is the object of the present invention, 2
It is possible to provide a drive device from which two outputs are taken out and which has a wide output stress range.

Further, according to the invention of claim 2, since the drive section is provided with a planetary gear reduction mechanism having the same configuration as the invention of claim 1,
By making the drive unit more compact and switching the clutch mechanism, it is possible to rotate and move the rotating body, that is, the tool magazine or the tool exchange arm, back and forth using only one motor. Therefore, it is possible to provide an automatic tool changer that has a simple structure and is miniaturized, which is the object of the present invention.

[Brief explanation of drawings]

1 to 3 are diagrams showing an embodiment of a drive device according to claim 1 of the present invention, FIG. 1 is a cross-sectional view showing its configuration, and FIG. ■-■ Main part arrow view, 3rd
The figure is a view taken in the direction of arrow (■) in FIG. 2, and FIG. 4 is a sectional view of a main part showing another embodiment of the drive device according to the invention of claim 1. 1 to 5 are diagrams showing a first embodiment of an automatic tool changer according to the invention of claim 2, and FIG.
FIG. 5 is a sectional view taken along arrow I-1 in FIG.
FIG. 3 is a view taken in the arrow direction of FIG. The figure is its front view. 6 and 7 are diagrams showing a second embodiment of the automatic tool changer according to the invention of claim 2, and FIG. 6 is a front view thereof, and FIG.
The figure is a view taken along the ■-■ arrow in FIG. 1...Fixed case, 4...Servo motor (motor), 6...
・Planetary gear reduction mechanism, 7...-hub, 8...planetary gear, 9...pro, body, 9a, 9b...disc member ( a pair of disc members),
9C: Pillar member, 11: Internal teeth, 12: External teeth, 13: Input shaft, 3, 32: Axis part (pair of shaft parts), 41...
...clutch mechanism, 81...magazine plate (rotating body), 84...
... Spline shaft (drive shaft), 87 ... Support arm (moving body) 90 ... Automatic tool changer, 91 ... Actuation part, 95 ... - Drive unit, 101...Conversion mechanism, 122...--Tool exchange arm X-X...Rotation axis line. (Rotating body) Agent Patent attorney Ariga

Claims (8)

[Claims] (1) A fixed case, a motor attached to the fixed case, a hub with many internal teeth on the inner periphery, which swings eccentrically due to the rotation of the input shaft connected to the motor, and meshes with the internal teeth of the hub on the outer periphery. A planetary gear in which external teeth with a smaller number of teeth than the internal teeth are formed, and a pair of disc members housed in the hub and sandwiching the planetary gear in the axial direction pass through the planetary gear. It has a block body integrally connected through a pillar member, and a planetary gear reduction mechanism in which either the hub or the block body can be rotated by a motor, and A pair of rotatably provided shaft portions; and a clutch mechanism provided within a fixed case that is switched to alternately connect and fix the pair of shaft portions to the fixed case; One shaft is connected to the hub, and the other shaft is connected to one of the pair of disc members of the block body, and by switching the clutch mechanism, one shaft is connected and fixed to the fixed case. When the block body is rotated and the other shaft is connected and fixed to the stationary case, the hub rotates and rotation is removed from either the hub or the other disc member of the block body. A drive device characterized by being able to eject. (2) A rotating body having a rotational axis, a drive shaft that engages with the rotating body and rotates the rotating body around the axis without moving in the direction of the rotational axis, and a drive shaft that rotates the rotating body freely around the rotational axis. a moving body that supports and is movable in the axial direction together with the rotating body;
A fixed case, a motor attached to the fixed case, and a hub having a large number of internal teeth on the inner periphery.
The planetary gear swings eccentrically due to the rotation of the input shaft connected to the motor, and is housed within the hub and a planetary gear whose outer periphery is formed with external teeth that mesh with the internal teeth of the hub and have a smaller number of teeth than the internal teeth. It has a block body formed by a pair of disc members provided axially sandwiching the planetary gear and connected together via a pillar member passing through the planetary gear, and is driven by a motor to connect the hub and the block body. A planetary gear reduction mechanism, one of which is rotatable, a pair of shaft parts each rotatably provided in a fixed case, and a pair of shaft parts provided in the fixed case and can be switched to rotate the pair of shaft parts. An automatic tool changer equipped with a drive unit consisting of a clutch mechanism that is alternately connected to and fixed to a fixed case, the automatic tool changer being interposed between the hub and the movable body,
A conversion mechanism for converting the rotation of the hub into linear motion to move the movable body is provided, and the drive shaft is integrally connected to the other of the pair of disc members of the block body, and One of the shafts is connected to the hub, and the other shaft is connected to one disc member of the block body, and when one shaft is connected and fixed to the fixed case by switching the clutch mechanism, the block When the body rotates and the rotating body rotates around the rotation axis via the drive shaft, and the other shaft is connected and fixed to the stationary case, the hub rotates and the moving body rotates through the conversion mechanism. An automatic tool changer characterized in that the rotating body moves in the direction of the axis of rotation. (3) The drive device according to claim 1 and the automatic tool changer according to claim 2, wherein the clutch mechanism is an electromagnetic clutch. (4) The clutch mechanism is fitted into the fixed case so as to be slidable in the axial direction, and has first and second clutches at both ends in the axial direction, respectively.
a piston in which a toothed portion is formed; third and fourth toothed portions formed on the pair of shaft portions to face the first and second toothed portions of the piston, respectively; and formed between the fixed case and the piston; Pressure fluid is introduced to move the piston axially, causing the first tooth profile to become the third tooth profile and the second tooth profile to become the fourth tooth profile.
3. The drive device according to claim 1, and the automatic tool changer according to claim 2, characterized in that the drive device comprises pressure introduction chambers that are engaged with the toothed portions alternately. (5) The conversion mechanism includes a sun gear coaxially provided on the outer periphery of the hub, a pinion rotatably supported by a fixed case and meshing with the sun gear, and one end of which is coaxially screwed into the pinion. , and a rod whose other end is fixed to the movable body. (6) Claim 2, characterized in that the drive shaft is made of a spline shaft, and engages with a spline groove formed in the rotating body in the direction of the rotational axis to rotate the rotating body around the rotational axis. Automatic tool changer as described. (7) The rotating body is a magazine plate provided with a large number of tool gripping means on the outer periphery, and the actuating part, the driving part, and the conversion mechanism are arranged on the upper part of the column supporting the spindle head. The automatic tool changer according to any one of claims 2 to 6. (8) The rotating body is a tool changing arm provided with tool gripping means at both ends, and the actuating section, driving section, and conversion mechanism include a column supporting the spindle head and a tool magazine storing a large number of tools. and between the tool magazine provided at the top of the column and the spindle head of the column.
6. The automatic tool changer according to any one of 6.