JPH1142526A - Tool changing arm and tool grasp device provided with this arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool grasp device which can be realized in a simple mechanism at low cost. SOLUTION: A tool lock pin 91 and an arm lock pin 92 are energized upward respectively by a spring 93, 95. When a tool replacing arm A is lowered down, the tool lock pin 91 and the arm lock pin 92 are lifted by energizing force of the spring, also an end part of a roller shaft 80 protruded in a through hole of a turn arm 52 is pressed by a tapered surface of the tool lock pin 91, sliding to a through hole side of the roller shaft 80 is locked, by fitting a tapered surface of the arm lock pin 92 to a round groove provided in a lower surface of an arm rotary shaft 51, turning relating to an arm supporter 16 of an arm main unit 12 is locked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool exchanging arm for exchanging a tool set on a main spindle of a machine tool and a tool magazine, and a tool holding device provided with the arm.

[0002]

2. Description of the Related Art Conventionally, there has been known a machine tool capable of exchanging a tool between a spindle and a tool magazine. These machine tools are provided with a tool holding device of a tool changer for performing tool change, and a tool set on a spindle and a tool magazine respectively by a holding portion provided at a tip of a tool changing arm constituting the tool holding device. Is gripped, and the tool is changed and changed by turning the tool changing arm.

[0003] As a tool gripping type of this type of tool gripping device, there are a type in which the tool is clamped from both sides and a type in which the tool is hooked from one side and then pressed and fixed. To disclose the latter type, for example, Japanese Utility Model 5-13
469 gazette. The movement process of the tool change arm of the tool holding device described in this publication is as follows: the arm is rotated from the arm standby position by the predetermined angle and moves to the tool change position, and the grips provided at both ends of the tool change arm are respectively attached to the main shaft. A step of gripping the mounted used tool and a new tool set in the tool magazine, and after the gripping is completed, the tool change arm is moved in the axial direction and pivots 180 ° away from the tool change position. , A step of changing the position of the tool, and thereafter, the tool change arm moves in the axial direction to return to the tool change position, and after the new tool is mounted on the spindle, the grip of the tool is released, and the used tool is removed from the tool. It is composed of a step of storing in a magazine, and a step of turning backward by a predetermined angle after the storage is completed and returning to the arm standby position.

[0004]

However, if it is necessary to reverse the turning direction between the standby position and the tool change position and rotate the tool between the standby position and the tool change position as described above, it is necessary to implement this operation. There is no other choice but to use an expensive roller gear cam having a high-precision cam groove, or involve a complicated mechanism such as switching a rotation by driving a plurality of gears.

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

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a tool changing arm according to the present invention comprises an arm support having an arm center axis extending on one axis, and the arm support centered on the arm center axis. An arm body that is rotatably supported by the body and has a tool gripping mechanism for gripping a tool at both ends, and the tool gripping mechanism includes:
A tool exchange arm composed of a gripping portion for supporting the tool and a movably provided locking member for clamping the tool, for locking or unlocking the arm main body and the arm center shaft; It is characterized by having an arm lock mechanism.

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

The grip portion of the tool change arm usually has a locking member which is urged to project to a predetermined length to the grip portion in order to press and fix the tool after hooking the tool. When the tool change arm pivots and the locking member comes into contact with the tool, the locking member is pushed back against the urging force. Then, as the tool passes through the tip of the locking member, the locking member protrudes again, and the locking member presses and grips the tool.

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

Further, the tool holding device of the present invention is configured such that the tool changing arm is connected to an arm turning shaft extending on the axis of the arm center axis, and a driving force from a tool changing drive shaft is applied to the tool changing arm and the tool changing arm. A tool of a machine tool that transmits to the tool gripping mechanism and exchanges a tool set on a main spindle of a machine tool and a tool magazine using gripping by the tool gripping mechanism and turning and vertical movement of a tool exchange arm body. An arm lock means for operating the arm lock mechanism by a spring-biased arm lock pin moving up and down in accordance with the vertical movement of the tool exchange arm, and a tool holding device for the tool exchange arm. Tool lock means for operating the tool lock mechanism by raising and lowering a spring-biased tool lock pin in accordance with vertical movement. And it features.

This is an application of the tool change arm to a tool holding device. By making the arm lock mechanism and the tool lock mechanism function using the vertical movement of the tool change arm of the tool changer, the two mechanisms can be made to function automatically during the process.

[0012] The tool lock means enables the tool to be reliably gripped during turning for tool change.
Further, when the arm body is locked by the arm lock means, the arm body is integrally fixed to the arm support, and can move with the movement of the pivot. On the other hand, when the lock state is released by the arm lock means, the arm main body can rotate with respect to the arm support, and can move independently of the turning shaft. Therefore, it is possible to reciprocate only the arm body between the standby position and the tool change position without rotating the pivot shaft.

[0013] The tool gripping device may be configured such that a lower end of a hollow outer shaft gear provided outside the arm turning shaft and an upper end of the arm main body are fitted to each other, so that the driving force of the drive shaft of the tool changer is driven. May be transmitted to the arm main body via the outer shaft gear, and the arm main body may be reciprocally pivoted.

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

As described above, the tool gripping device of the present invention
It is not necessary to use an expensive roller gear cam, and the rotational motion of the drive shaft can be transmitted as a reciprocating reciprocating motion of the tool changing arm by a simple cam mechanism, so that the manufacturing cost of the apparatus can be reduced.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings in order to further clarify the embodiments of the present invention. The embodiments of the present invention are not limited to the following examples at all, and it goes without saying that the embodiments can be implemented in various modes as long as they belong to the technical scope of the present invention.

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

The spindle 9 has a tool mounting portion 11 capable of detachably holding the tool T, and a tool release for releasing the tool T by being connected to the tool mounting portion 11 via a drawbar (not shown) and being pushed down. Pins (not shown). The tool magazine 10 is provided with a plurality of holding pots, which hold the tool T in a detachable manner and are usually in a horizontal position, on the periphery of the turntable. Only the lowermost holding pot is rotated downward by 90 ° to take a vertical position, and the tool is changed by the tool changing machine TC of this embodiment. Selection of the tool T (disposition at the lowest position) is performed by rotation of the magazine motor 14.

The headstock 3 incorporates a tool changer TC of the present embodiment for exchanging the tool T between the tool magazine 10 and the spindle 9. The tool changer TC includes a tool change drive motor 15, a tool change arm A, and the like. The tool change arm A of the present embodiment has an arm support 1 having an arm center axis extending on the same axis as the pivot axis.
6 and an arm main body 12 rotatably supported by an arm support 16 about an arm center axis and having gripping portions 17 at both ends for supporting a tool, comprising a main shaft 9, a tool magazine 10, The tool T set in the
7 is exchanged by utilizing the gripping by 7 and the turning and vertical movement of the tool exchange arm A.

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

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

On the other hand, as shown in FIG.
Has a hole diameter larger than the diameter of the revolving shaft 25, and penetrates a substantially cylindrical outer gear 29. Using the bush 30 and the outer gear 29 as a guide, rotation around the central axis and reciprocation in the axial direction are performed. Supported as possible.

The lower machine frame 26 of the headstock 3 has holes 2
6a, the outer shaft gear 29 penetrates the hole 26a through the bush 27, and is supported so as to be able to rotate around the central axis independently of the rotation of the turning shaft 25. Have been. Further, as shown in FIG. 2, the turning shaft 25 is fixed to the vicinity of the center in the vertical direction and has a cylindrical member 3 having a circumferential groove.
6, the cylindrical member 36 is moved up and down,
The turning shaft 25 reciprocates in the vertical direction. Further, the turning shaft 25 rotates with the rotation of the spline sub shaft 37 fitted around the spline 25a on the upper side thereof. In addition,
Flange portion 37 formed on the outer periphery of spline counter shaft 37
A shaft of a driven roller 38 as a follower of the cam 21 is fixed to the upper and lower surfaces of the cam 21.

As shown in FIG. 3, a gear 29a is engraved on the outer periphery of the upper end of the outer shaft gear 29.
Are meshed with the side segment gears 34. An oscillator 35 is fixed to the segment gear 34, and is driven by the cam 24. Also, the cylindrical outer shaft gear 29
Two lower portions of the lower end are separated from each other by 180 °, and are provided with concave portions 71a and 71b which are open downward, and are fitted with an arm rotating shaft of a tool changing arm A to be described later via the concave portions.

The tool exchanging arm A of this embodiment includes an arm support 16 having an arm center shaft 62 at the center, and an arm body 12 rotatably supported by the arm support 16 about the arm center shaft 62. It is configured. The arm support 16 is formed integrally with the upper end of the arm center shaft 62 and extends outward in the radial direction.
And a lower flange 63 made of a disc-shaped member fitted to the lower end of the arm shaft 62. The arm main body 12 is rotatably held between the upper flange 61 and the lower flange 63. I have.

The arm main body 12 has a hollow cylindrical arm rotation shaft 51 through which an arm center shaft 62 penetrates, a center portion fitted to a lower portion of the arm rotation shaft 51, and both end portions for holding a tool. And a revolving arm 52 having the same. The arm rotation shaft 51 has a flange 51a at an upper portion, and upper portions thereof are provided with convex portions 72a and 72b protruding upward at two places facing concave portions 71a and 71b provided at a lower end of the outer shaft gear 29. ing. The turning arm 52 has a recess at the center thereof, and a through hole is provided at the center of the recess. In other words, it has a shape in which the flange 52a extending from the side surface of the recess toward the center is integrally formed. The arm main body 12 is integrally formed with the flange 51a by joining a flange 52a, which is a part thereof, to the flange 51a. The arm rotation shaft 51 and the turning arm 52 may be formed integrally.

The above-mentioned concave portions 71a, 71b provided at the lower end of the outer shaft gear 29 and the above-mentioned convex portions 72a, 72b provided at the upper end of the arm body 12 are fitted to each other so that the outer shaft gear The arm 29 and the arm body 12 can move integrally. As shown in FIG. 5, a partial cross-sectional view in the horizontal direction of the swing arm 52, the swing arm 52 is configured symmetrically with respect to an arm center shaft 62, and gripping portions 17, 17 are provided at both ends thereof in opposite surfaces. Tool contact part 5
6, 56 are provided.

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

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

FIG. 4 is a diagram showing a BB cross section in FIG. As can be seen from FIGS. 3 and 4, the flange 25 b that connects the pivot shaft 25 and the arm support 16 is configured as shown in FIG.
As shown in (1), the disk has a shape in which opposing portions are cut out in parallel, and the central portion of the upper surface is coupled to the lower surface of the revolving shaft 25. The lower surface of the flange 25b is 2
It is connected to the upper surface of the arm support 16 by using a pin 76 at the four circumferential portions. The concave portions 71a and 71b and the convex portions 7
The fitting with 2a, 72b is performed at a position slightly above the upper surface of the flange 25b. As will be described later, the rotational movement of the pivot shaft 25 and the arm support 16 is performed in a state where the pivot shaft 25 and the arm support 16 are moved downward to release the fitting of the fitting portion. Rotational movement between the shaft gear 29 and the arm rotation shaft 51 is performed in a state where the revolving shaft 25 and the arm support 16 are pulled upward, and the outer shaft gear 29 and the arm rotation shaft 51 are fitted at the fitting portion. Done.

As shown in FIG. 8 when the arm body 12 is at the standby position (two-dot chain line) and when it is at the tool change position (solid line), the protrusions 72a and 72b In 61, only the inside of the through hole 73 provided on the side of the flange 25b is rotated by a predetermined angle, so that the rotation is not hindered by the flange 25b.

Returning to FIG. 3, a roller shaft 80 is provided on the arm support 16 in order to fix the roller provided at the tip of the roller shaft 80 after pressing it against a gripped tool.
And a pair of arm lock mechanisms AR for locking or releasing the arm main body 12 with respect to the arm shaft 62 are provided symmetrically with respect to each other. FIG. 3 shows that the tool lock mechanism TR is disposed on the right side and the arm lock mechanism AR is disposed on the left side with respect to the arm center shaft 62. However, as shown in FIG. One of the TRs and one of the arm lock mechanisms AR are provided close to each other.

First, the tool lock mechanism TR will be described. In the upper flange 61 of the arm support 16, through holes 65, 65 are provided at positions symmetrical with respect to the arm shaft 62 (see FIG. 4).
At positions opposed to the vertical axes 5 and 65 on the vertical axis, there are provided stepped insertion holes 68 and 68 which become smaller downward. Also,
A tool lock pin 91 is provided so as to pass through the through hole 65 and the stepped insertion hole 68. The tool lock pin 91 has a flange 91a having a taper whose cross section becomes smaller upward at a substantially central position of the long axis shape, an upper end thereof penetrates the through hole 65, and a lower end thereof is formed by the step. It is inserted through the attached insertion hole 68. A spring 93 is elastically compressed and inserted between the step upper surface of the stepped insertion hole 68 and the bottom surface of the flange 91a to urge the tool lock pin 91 upward. The tool lock pin 9
1 rises, the tapered surface of the flange 91 a presses the end of the roller shaft 80 protruding into the through hole 55 of the revolving arm 52, thereby causing the through hole 5 of the roller shaft 80 to move.
Lock the sliding to the 5 side.

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

Now that the overall configuration of the tool changer has been clarified, the operation of the tool changer TC of this embodiment will be described. The tool exchange mechanism provided by the tool gripping device of the present invention is of a type in which the gripping is locked after the tool abutment portion 56 abuts on the tool T by turning. In the tool changing step, the tool is turned by a predetermined angle from an arm standby position, which is separated from the tool changing position by a predetermined angle in a turning plane, to the tool changing position, and the gripping portions 17 provided at both ends of the tool changing arm A are respectively driven by the spindles. A step of gripping the used tool T used in the magazine 9 and the new tool T set in the magazine 10 (see FIG. 1). When the gripping is completed, the tool exchange arm A descends and turns 180 °, Of changing the position of
After that, the tool change arm A is raised, a new tool T is mounted on the spindle 9, the grip of the tool T is released, and the step of storing the used tool T in the magazine 10 is completed. Thereafter, a step of reversely turning by a predetermined angle and returning to the arm standby position is constituted.

Hereinafter, the operation of each step will be described in detail. As described above, the tool change arm A pivots by a predetermined angle from the standby position, moves to the tool gripping position, grips the tool, finally exchanges the tool, and then reversely pivots from the tool exchange position to the standby position. A mechanism is provided. this is,
This is because the tool holding mechanism of the present embodiment is of a type in which the tool contact portion of the tool exchange arm A contacts the tool from one side. What is involved in this movement is the flat groove cam 24 on the lower surface of the cylindrical member 39 around the ATC drive shaft 18 (FIG. 2, FIG. 2).
3).

FIG. 6 is a sectional view taken along line XX of FIG. As shown in the figure, the groove shape of the flat groove cam 24 is a closed ring shape, and a large-diameter portion 24a having an arc shape centered on the cam shaft.
And a small diameter portion 24b and a connecting portion 24c for connecting them. Depending on where the rocker 35 is attached to the large-diameter portion 24a, the small-diameter portion 24b, and the connection portion 24c of the rotating flat grooved cam 24, the tool change arm A is switched between the standby position, the tool change position, and the turning motion state. Become.

That is, when the ATC drive shaft 18 rotates and reaches a predetermined angle, the rocker 35 comes off from the large diameter portion 24a of the flat groove cam 24, and the rocker 35 moves from the large diameter portion 24a to the small diameter portion. While passing through the connecting portion 24c leading to 24b,
The rocker 35 rocks in one direction about the axis of the segment gear 34. Further, while the rocker 35 comes off the small diameter portion 24b and passes through the connecting portion 24c from the small diameter portion 24b to the large diameter portion 24a, the rocker 35 moves in the opposite direction to the above. Rocks.

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

The tool change arm A reciprocates in the axial direction of the turning shaft 25. This is for removing the tool T from the headstock 9 and the tool magazine 10 and clamping it. What is involved in this movement is the cylindrical groove cam 23 formed on the upper peripheral surface of the cylindrical member 39 around the ATC drive shaft 18 (see FIG. 2). A swing lever 40 swinging around the support point 44 is engaged with the cylindrical groove cam 23 via an engaging element 43 provided near the center thereof, and is provided at the tip of the swing lever 40. The contact 41 is moved to the pivot 25
Is engaged with a circumferential groove of the cylindrical member 36 fixed to the cylindrical member 36. Therefore, when the ATC drive shaft 18 makes one rotation, the swing lever 40 swings, and the turning shaft 25 and the tool changing arm A fixed thereto are reciprocated once in the axial direction. FIG. 2 conceptually shows an engagement relationship between the contact 41 and the cylindrical member 36.

As shown in FIG. 2, the tool changer TC of this embodiment has a mechanism for removing the used tool T from the main shaft 9. That is, the cylindrical groove cam 22 is formed on the upper peripheral surface of the cylindrical member 39 outside the ATC drive shaft 18, and when the tool T is removed from the main shaft 9, the tool T is swung by following the cylindrical groove cam 22. By pressing and lowering a tool release pin (not shown) connected to a drawbar (not shown) of a tool attaching / detaching device of the main shaft 9 by the swinging member 42, it is possible to set the main shaft 9 in a detached state.

Further, the tool changing arm A pivots in the horizontal direction. This is because the tool T between the spindle 9 and the tool magazine 10
In order to exchange. ATC involved in this movement
The parallel cam 21 is provided at the uppermost position of the drive shaft 18. The movement by this is the same as that of the corresponding part of the apparatus disclosed in Japanese Patent Application Laid-Open No. 63-123646, and therefore will be briefly described.
The parallel cam 21 is a composite cam including two plate cams 21a and 21b, and is in contact with a driven roller 38 provided as a follower provided on the spline sub shaft 37. Based on this configuration, during one rotation of the ATC drive shaft 18, the spline counter shaft 37, the turning shaft 25, and the tool change arm A
Rotate 0 °.

Hereinafter, the arm lock means and the tool lock means of the tool gripping device of the present invention will be described with reference to FIG. In the state shown in FIG. 7A, the tool change arm A is at the top dead center, and the tool lock pin 91 and the arm lock pin 92 are pressed by the lower surface of the lower machine frame 26. The arm lock mechanism AR has been released. In this state, the arm body 12 is rotatable with respect to the arm support 16. That is, when the outer shaft gear 29 rotates in this state, the turning from the arm standby position to the tool changing position is performed independently of the movement of the turning shaft 25.

When the gripper 17 grips the tool T and the tool change arm A starts to descend, the lower machine frame 2
The upper ends of the tool lock pin 91 and the arm lock pin 92 held by the lower surface of the spring 6 are opened, and the springs 93 and 9 are opened.
By the urging force of 5, the tool lock pin 91 and the arm lock pin 92 are pushed upward,
The tool lock mechanism TR and the arm lock mechanism AR function. That is, at the same time when the tool lock pin 91 is raised, the tapered surface of the tool lock pin 91 presses the end of the roller shaft 80 protruding into the through hole of the turning arm, thereby sliding the roller shaft 80 toward the through hole. When the arm lock pin 92 is lifted, the tapered surface of the arm lock pin 92 has a round groove 51b provided on the lower surface of the arm rotation shaft 51 (see FIG. 5).
To lock the rotation of the arm body 12 with respect to the arm support 16.

FIG. 7B shows a locked state in which a tool (not shown) gripped by the tool lock mechanism TR is firmly fixed to the grip portion and the arm is locked by the arm lock mechanism AR. In a state where the main body 12 and the arm support 16 are integrated, the tool reciprocating motion and the 180 ° turning motion of the tool exchanging arm A are performed, and the tool T is exchanged.

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

The tool gripping device of the present invention can function or release the tool lock mechanism TR and the arm lock mechanism AR in accordance with the vertical movement of the tool change arm A. 24 and outer gear 2
9, a simple mechanism for converting the reciprocating swing motion between the arm standby position of the arm main body 12 and the tool change position enables tool change. For this reason, the manufacturing cost can be reduced as compared with an apparatus using an expensive roller cam gear or the like.

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

[Brief description of the drawings]

FIG. 1 is a perspective view of a tool changer according to the present embodiment.

FIG. 2 is a vertical sectional view of the tool changer according to the embodiment.

FIG. 3 is a sectional view of a lower portion of the tool gripping device according to the present embodiment.

FIG. 4 is a sectional view taken along line BB of FIG. 3;

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

FIG. 6 is a sectional view taken along line XX of FIG. 3;

FIG. 7 is a diagram illustrating an arm lock unit and a tool lock unit according to the present embodiment.

FIG. 8 is a diagram illustrating a turning movement of the tool change arm of the present embodiment between a standby position and a tool holding position.

[Explanation of symbols]

3 ... headstock, 11 ... tool mounting part, 12 ...
Arm body, 16: arm support, 17: gripping part, 24: flat groove cam, 25: rotating shaft,
26: Lower machine frame, 29: Outer shaft gear,
51: arm rotation axis, 51: arm center axis, 5
2 ... rotating arm, 54 ... gripping part, 55 ...
Through hole, 56: tool contact portion, 58: stepped insertion hole, 59: orthogonal pin, 61: upper flange,
62: Arm middle shaft, 63: Lower flange, 80
... Roller shaft, 91 ... Tool lock pin,
92: arm lock pin, A: tool change arm, T: tool, TC: tool changer, AR
..Arm lock mechanism, TR ... Tool lock mechanism

Claims (4)

[Claims] 1. An arm support having an arm center extending on one axis, and a tool holding mechanism rotatably supported by the arm support about the arm center and holding tools at both ends. A tool exchange arm comprising: a tool holding mechanism, wherein the tool gripping mechanism includes a gripping portion for supporting the tool and a movably provided locking member for clamping the tool. A tool change arm comprising an arm lock mechanism for locking or unlocking an arm main body and the arm center shaft. 2. The tool change arm according to claim 1, further comprising a tool lock mechanism for locking or releasing the movement of the locking member. 3. The tool change arm according to claim 1, wherein the tool change arm is connected to an arm turning shaft extending on an axis of the arm center axis, and the driving force from a tool changer drive shaft is applied to the tool change arm. And transmitting the tool to the tool gripping mechanism, and exchanging the tool set on the main spindle and the tool magazine of the machine tool using the gripping by the tool gripping mechanism and the turning and vertical movement of the tool exchange arm body. An arm lock means for operating the arm lock mechanism by raising and lowering an arm lock pin spring-biased in accordance with the vertical movement of the tool exchange arm, the tool exchange arm; Tool lock means for operating the tool lock mechanism by raising and lowering a spring-biased tool lock pin in accordance with the vertical movement of A tool-holding device of a tool exchange, characterized. 4. A drive force of a tool changer drive shaft is applied to the outer shaft gear by fitting a lower end of a hollow outer shaft gear disposed outside the arm pivot shaft and an upper end of the arm body. 4. The tool gripping device according to claim 3, wherein the power is transmitted to the arm main body via the arm main body, and the reciprocating rotation motion is imparted to the arm main body.