JPS5847298B2 - Tool change arm in automatic tool change equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tool changing arm in an automatic tool changing device developed especially for a tool holder in which the tool holder is fitted onto a spindle with a drawing bolt.

In a tool holder in which a pull stud provided at the tapered end of the tool holder is retracted and fitted with a collet in the main shaft of the machine tool, the pull stud of the tool holder must be elastically inserted to store the tool holder in the tool storage magazine. A simple means of suspending it using a gripping body can be adopted.

Therefore, when the tool exchange arm receives the tool holder suspended in the tool storage magazine onto the main shaft, it grips the flange provided at the midsection of the tool holder with only the gripping claw.
It is only necessary to pull out (or insert) the tool holder against the gripping force of the gripping body.

However, tool holders for light cutting that fit the tool holder onto the spindle with drawing bolts do not have pull studs, so the tool storage magazine must also be provided with gripping claws or hook members to grip the flanges of the tools. Moreover, one flange must be simultaneously gripped by both gripping claws during transfer to and from the tool exchange arm.

Therefore, in order to realize this, there is a drawback that a tool holder with a special flange and a complicated special magazine must be used.

To solve the above-mentioned drawbacks, as described in Japanese Patent Publication No. 53 44704, a tool storage magazine (index table) is arranged in a horizontal position, and a plurality of holes are bored near the outer periphery of the index table. A new configuration has been adopted in which a tool holder, which stands upright, is inserted into this hole with its lower tapered portion from above.

And the tool exchange arm (transfer arm)
The tool holder fitted on the spindle is grasped and pulled out with the gripping claw, and the tool holder is turned upside down by 180 rotations of the gripping claw, and the third arm is pivoted toward the indexing table to index the tool holder in the upside down state. After falling into the hole on the table, the claws are opened and a new tool holder indexed by the rotation of the indexing table is grasped by the closed opening of the claws.

After this, the arm takes a movement cycle in which it pivots in the completely opposite direction along the above-mentioned path toward the spindle, fits a new tool holder onto the spindle, and then waits with the gripping claws open.

However, the single drive transmission system for the arm described above uses the driving force generated by one air cylinder to move the arm up and down and
0 The acting force for turning and the gripping claw are 180°.The three acting forces for reversing and changing the vertical direction of the tool holder are compounded by a group of helical groove cams including the main drive cam that acts according to the respective pressure angle. It has a split configuration.

For this reason, the pressure angle of each cam acts in a complex manner and is greatly influenced by sliding friction with the cam follower, requiring a very large force from one drive source, and the drive load on the arm can vary greatly depending on the usage conditions. fluctuate.

However, there is a serious problem in that it is difficult to operate the tool changing arm at high speed, and it is difficult to respond to the recent rapid development of shortening tool changing times.

The present invention maintains the perfect control operation characteristics (movement in which the arm operates in an orderly manner) of the tool changing arm described above, while smoothly raising and lowering the tool changing arm, rotating movement, and reversing movement of the gripping claw. The purpose is to make it happen at high speed.

The best way to implement this is to use a single pneumatic drive cylinder for the arm's elevating motion source and turning motion source, without using a cam member in the force transmission system, and use a single drive cylinder to drive the arm to the right. While aiming at effective use of drive energy, by interposing a movement timing adjustment member between the vertical movement of the arm and the turning movement (and the reversing movement of the gripping claws configured to be completely synchronized with this turning movement), two Complete sequence control of the three major movements mentioned above while having one driving source □
□ (movement in which the arm operates in the correct order), and also succeeded in shortening the tool change time by operating the arm lightly and at high speed.

Next, the tool changing arm of the automatic tool changing device according to the present invention will be explained in detail with reference to the embodiments shown in the drawings.

In Fig. 1, 1 is a machine tool (vertical milling machine) whose operation is controlled by a numerical controller NC, and the main parts are a base 2, a table 3, a column 4, a spindle head 5, etc. The machine is equipped with an automatic tool changer including a tool storage magazine TM and a tool change arm TA attached to the front side of the magazine TM.

The tool storage magazine TM has a socket 1 in which a holding hole (tapered hole) 11a is bored in the upper surface of the outer periphery of a disc-shaped index full 10 arranged in a horizontal position.
A plurality of holding holes 11a are provided (although not shown, they may be provided on the outer periphery of an endless chain suspended between a pair of front and rear sprockets). The tool holders H1 to Hn are in a handstand position (tools T1 to T
It has a simple structure in which it is inserted and held from above with the point (n facing upward).

That is, the holding hole 11a of the socket 11...
...Tool holder (drawing bolt method) H1
The attachment and detachment of ~Hn is performed by simply inserting and removing the lower tapered portions t1 to 1o of the tool holder in an inverted position into and out of the holding holes 11a.

12 is a housing in which the tool storage magazine TM is housed.

Next, the tool changing arm TA, which is the main part of the present invention, is L
It has a letter-shaped appearance and has an openable/closable gripping claw 13 at its free end.
14, and the arm performs this lifting/lowering movement, a 180-degree turning movement that reciprocates between the main shaft 5a and the magazine TM, a 180-degree reversing movement of the gripping pawl that changes the tool holder up and down, and an opening/closing movement of the gripping pawl that controls attachment and detachment of the tool holder. conduct.

However, through rational combination control of each movement, the tool changing arm TA grabs up the tool holder at the tool changing position opening of the tool storage magazine TM, turns it upside down and turns it S, and moves it to the main shaft 5a. The tool holder is transferred to the main shaft 5a, inserted into the main spindle 5a, and fitted, and then the tool holder of the main spindle is pulled out, turned upside down, rotated, and transferred to the machining side, where it is held in the waiting holding hole. It accomplishes the work.

Here, the internal configuration of the tool changing arm TA of the present invention will be explained as follows.
This will be made clear by the figure and Fig. 3.

First, in FIG. 2, reference numeral 20 denotes a machine box, which houses a tool exchange arm TA and is attached to a column 4 at an intermediate position between the main shaft 5a and the magazine TM.

Reference numeral 21 denotes a cylindrical body that becomes a swinging arm of the tool exchange arm TA, and the midsection of its outer peripheral surface is connected to a shaft bearing part 20 provided below the machine box 20.
A is fitted in a vertical position so as to be freely rotatable and vertically slidable.

22 is a tall tube column, and its lower end flange 22a is connected to the cylinder body 2.
It stands upright by screwing bolts 23 onto the upper surface of a flange 21a provided halfway up the inner wall of the pipe column, and a bearing ring 22b separately installed at a position below S from the middle of this pipe column has an L. A letter-shaped operating rod 24 is rotatably engaged, and the base end of the operating rod 24 is connected to a piston rod 25a of a pneumatic and drive cylinder 25 provided on the inner wall of the fuselage box 20, and the piston rod 25a is rotated in the vertical direction. According to the stroke I, the joint body 21 is moved up and down in a rotatable state.

Reference numeral 26 denotes an operating pinion that meshes with a spline 22c cast on the upper half of the tube column 22. This groove ring 26a is rotatably fitted into and held by a holder 28 fixed immovably to the inner wall of the fuselage box 20 with bolts 27. Air pressure, drive cylinder (not shown)
A driving rack rod 29, which is directly connected to the cylindrical body, is engaged with the operating pinion 26, and this back-and-forth stroke moves the cylinder 21 to its vertical position. ).

Reference numeral 30 denotes a support cylinder which becomes the central part of the swing arm, and is attached to the lower side wall of the vertical cylinder 21 in a horizontal position.The left half of the cylinder body 31 is fitted into this cylinder, and the support cylinder 30 30
The left end portion of the cylinder body 31 is screwed onto the right end threaded portion 33a of a support shaft 33 which is rotatably supported on the axis of the base end surface 30a.

A bevel gear 34 is attached to the left end of the support shaft 33,
Another bevel gear 35 with the same number of teeth is meshed with this,
This bevel gear 35 passes through the inside of the tube column 22 and is attached to the lower end of a shaft 38 which is supported on bearings 36 and 37 at the upper and lower ends, and furthermore, the shaft 38 is fixed by a connecting rod 39 to an upper end mounting piece 38a. is connected to the operating rod 24.

As a result, even if the cylindrical body 21 is rotated by the drive rack rod 29, the bevel gear 35 remains stationary, and the cylindrical body 21
The bevel gear 34 rolls on the bevel gear 35 to rotate the cylinder body 31 by 180° and change direction in response to the 180° turning movement.

A piston 41 is fitted into the cylinder chamber S of the cylinder body 31 in an airtight manner, and an inner body 42 is screwed onto the open right end surface of the cylinder chamber S to close it.

43 is a piston rod, which has a through hole 4 bored in the axis of the inner body 42.
2a is inserted into the tip plane 43a that protrudes into the large hole at the right end.
A pair of relay rods 46°46 are pivotally supported.

13 and 14 are a pair of arcuate gripping claws that hold the inner body 4.
The base ends 13a, 14a are attached to two pins 44.45 bridged between the upper and lower collar pieces 42b, 42c protruding from the outer ends of 2.
A bent portion 13b is pivotally attached to the base end portion and is bent outward from the base end portion.

14b is articulated with the above-mentioned relay rods 46 and 46 to form the piston rod 4.
3 and gripping claws 13 and 14 are linked.

With this, when the piston 41 is located at the left end of the cylinder chamber S, the pair of gripping claws 13 and 14 can close and grip the flange F of the tool holder H1 as shown in FIG. When the gripper moves to the left side of the cylinder chamber S, the pair of gripping claws 13 and 14 are opened as shown by chain lines in FIG.

Compressed air to the piston 41 is supplied through two pipes 47.4.
8 on the lower side of the support cylinder 30. Annular grooves 31a and 31b are separately provided on the outer circumferential surface of the cylinder body 31 and are supplied to P2 and facing the annular grooves 31a and 31b.
passages 31 a' from the cylinder chamber S to the left and right chambers, respectively;
31 b'.

Now, when compressed air is sent from the piping 47 to the left chamber of the cylinder chamber S, the piston 41 moves to the right as shown by the solid line in FIG. 2, and the gripping claws 13 and 14 are strongly closed and When compressed air is sent from the piping 48 to the right chamber of the cylinder chamber S, the piston 41 moves to the left, and at this time the pair of gripping claws 13 and 14 open in a straight line as shown by the chain line in FIG. .

Note that compressed air is supplied to the left and right chambers of the cylinder chamber S through each port P1. P2 is the annular groove 31 of the cylinder body 31
a.

31b, it is performed regardless of the reversal movement of the cylinder body 31.

The mounting distance of the gripping claws 13 and 14 from the cylinder body 21 (
When the gripping claw closes, it grips the tool holder H1 that fits into the socket at the tool exchange position opening of the main shaft 5a and the magazine, and when it opens, it grips the main shaft quill 5a, which moves up and down, and the socket 11 of the rotating magazine TM. The dimension relationship is set to escape.

Next, the movement of raising and lowering the tool change arm TA and the main shaft 5 are performed.
A single restraining groove 50 cut into the outer circumferential surface of the cylinder body 21 adjusts the timing of the rotation movement of the 180 reciprocating movement between the tool holder a and the magazine TM and the reversal movement of the gripping claws 13 and 14 that grip the tool holder. (for restraining the simultaneous movement of the cylinder's vertical movement and rotation) and a pin 51 that is screwed onto the shaft bearing part 20a of the fuselage box 20 and has its tip 51a engaged in the restraining groove 50. being controlled.

As shown in FIG. 3, the single restraining groove 50 is a horizontal turning section b that connects the first ascending and descending sections a to b extending upward from near the middle of the cylindrical body 21 and the bending point C on the opposite side of the bending point 180. =c and
It consists of a second elevating part c=d further upward from this bending point C, and the movement of the cylinder 21, which is raised, lowered and rotated by two pneumatic drive sources 25 and 29, is sequentially controlled by following this restraining groove 50. do.

That is, when the pin 51 is at the lowest point a of the restraining groove 50, the tool changing arm TA is located on the main shaft 5a side A and the gripping claw 13
, 14 are in the highest position (standby position of the arm) facing the tool holder fitted to the spindle, and by the closing action of the gripping claws, the flange F of the tool holder can be gripped, and from here the pin 51 is first The change arm TA that grips the tool holder by the upward movement of the restraining groove 50 from a to b, that is, the downward movement of the cylindrical body 21 that is only allowed to operate the drive cylinder 25, is given a dimension length a.
-b (slightly longer than the length l of the taper part of the tool holder)
the tool holder is pulled out from the spindle 5a.

Subsequently, when the point B of the restraint groove 50 faces the pin 51, the operation of the first drive rack lever 29 is allowed, and the cylinder 21 is rotated 180 degrees clockwise until the point C reaches the pin.

Using this rotational movement as a driving source, the cylinder body 31 moves synchronously to reverse the gripping claws 13 and 14 by 180 degrees as shown in FIG.

When the point C of the restraint groove 50 reaches the pin 51, the rotational movement of the cylinder 21 is restrained, but the downward movement is allowed between c and d of the restraint groove, and the solid line in FIG. 1 (the chain line in FIG. 3) Insert the exchange arm TA with the standby position mark as shown in the magazine socket 11.
The tool holder descends upward by the dimension length c-d (set to a length that allows the tip of the tapered part t1 to protrude into the socket holding hole 11a), and the tool holder moves into the socket holding hole due to its own weight through the openings of the gripping claws 13 and 14. Fall fit.

The tool exchange arm TA also has two pneumatic drive sources 25.
．． By switching the operating direction of 29, the movable leg is held in the restraining groove 50 and moves in the reversible direction.

The operation stop position of the tool exchange arm (same as the standby position A) is at the highest position facing the main shaft 5a as shown in FIG. A ball 55 is pressed by a screw 53 and a spring 54, which have several depressions 51 formed in a part of the outer wall of the cylindrical body 21 screwed into the shaft bearing part 20a, so that the ball 55 does not fall down.
It is locked by...

The internal structure of the tool changing arm TA according to the present invention is as described above, and its operation will be explained below with reference to FIGS. 4 to 12.

During operation of the machine tool, the spindle quill 5a fitted with the holder H1 descends to near the table 3 as shown by the chain line in FIG. 1, and processes a workpiece (not shown).

When a tool change command is issued, the main shaft quill 5a is raised as shown in FIG.
1 is faced.

At this time, the state in which compressed air is force-fed to the right chamber of the cylinder chamber S is maintained and the gripping claws 13 and 14 are kept open, while compressed air is also fed to the pneumatic drive cylinder 25 and the cylinder body is placed on standby at the highest position, and the empty socket 11 of the tool storage magazine TM is placed on standby at the tool exchange position opening.

Next, when the air supply to the right chamber of the cylinder chamber S is cut off and compressed air is supplied to the left chamber, the piston 41 is moved to the left by -5 as shown in FIG. 2, the gripping claws 13 and 14 are closed, and the tool holder H
Grasp the flange F of No.1.

Immediately after this, the drawing bolt (not shown) in the main shaft 5a rotates and comes off from the tool holder H, and then the pneumatic
The direction in which compressed air is supplied to the drive cylinder 25 and the direction in which one drive rack rod 29 is driven are switched.

As a result, only the descending motion of the cylinder 21 is allowed by the first elevating portions a to b of the restraining groove 50, and the tool changing arm TA gripping the tool holder 1 is lowered as shown in FIG. Pull out the tool holder from the spindle 5a.

At this time, the bending point b of the restraining groove 50 faces the pin 51,
The operation of the pneumatic pressure 1 drive cylinder 25 is stopped and the drive rack rod 2 is
9 operations (forward movement) are allowed.

As shown in FIG. 6, the tool change arm TA rotates 180 degrees clockwise (until the C bending point of the restraint groove 50 reaches the pin 51), and the cylinder body 31 is synchronized using this rotation as a driving source. The tool holder H1 rotates to the right.
800, reverse the upper and lower parts, and attach the gripping claws 13 and 14.
transports the taper portion t1 of the tool holder H1 held by the tool holder H1 directly above the waiting empty socket 11.

At this time, although the C bending point of the restraining groove 50 reaches the pin 51 and the rotation of the cylinder 21 is restrained, the cylinder is allowed to descend again due to the second elevating portion c=d.

Therefore, the tool changing arm TA descends as shown in FIG. hole) 11a.

After that, the supply of compressed air to the left chamber of the cylinder chamber S is cut off, and compressed air is supplied to the right chamber.

With this, the gripping claws 13 and 14 open and release the tool holder H, which was gripped, and this tool holder is held in the holding hole 11a by its own weight.
It is inserted and held inside.

Subsequently, as shown in FIG. 8, the index table 10 of the tool storage magazine TM rotates, and the tool holder H2 to be used next is stopped at the tool exchange position opening, and the claw is opened to face the waiting exchange arm TA. .

Thereafter, compressed air is again switched and supplied from the right chamber to the left chamber of the cylinder chamber S, and the gripping claws 13 and 14 grip the tool holder H2.

The tool change arm TA has two pneumatic drive sources 2.
5. By switching the operating direction of 29, the movement side leg is connected to the restraining groove 50 and the pin 51, which are movement timing adjustment members.
Perform reversible movement.

In other words, the movement from the main shaft 5a side to the magazine is sequentially caused in a completely reverse order to the above-mentioned order of movement from the main shaft 5a side to the magazine.
As shown in the figure, the tool change arm TA, which has been allowed to move up the cylindrical body 21, moves the tool holder H2 into the socket 1 of the magazine.
Pull upward from 1.

Next, as shown in Fig. 10, rotate the exchange arm TA counterclockwise by 1
The tool holder FI2 is rotated by 80 degrees and moved to the straight line f of the X main shaft 5a, and in synchronization with this movement, the tool holder FI2 is rotated 180 degrees to the left to change the upper and lower sides.

The state shown in FIG. 11 is now reached, and the tool holder H2 located directly below the main shaft 5a is inserted into the main shaft with its tapered portion t2 by the upward movement of the exchange arm TA.

After detecting this state, a drawing bolt (not shown) inserted into the main shaft is rotated to completely fit the tool holder H2 onto the main shaft.

After that, the supply of compressed air is switched from the left chamber to the right chamber of the cylinder chamber S, and as shown in FIG. release.

With the above, the exchange operation of the new tool T2 to the spindle 5a is completed, and the new tool exchange arm TA with the gripping claws 13 and 14 open faces the left side A of the spindle 5a and waits, and the spindle quill 5a is again moved to the table 3. It descends upwards and performs cutting on a workpiece (not shown).

Incidentally, the operational relationship between the tool exchange arm TA and the tool storage magazine TM, the vertical movement of the main shaft quill 5a, the tightening/loosening rotation of the drawing bolt, etc., and related operational antibacterial systems are directly related to the tool exchange arm of the present invention. Since there is no such device, we have omitted the detailed explanation of its configuration, but it is the same as the existing operation control device.

Since the tool change arm TA is of a type in which the spindle quill 5a of the machine tool is raised and lowered, the standby position A of the change arm TA may be a position facing the spindle, but the spindle head 5 is raised and lowered as shown in FIG. For example, in a machine tool in which the exchange arm TA is used, it is necessary to have the exchange arm TA stand by at a position A' that is off to the left side of the spindle head, as shown in FIGS. 13 and 14.

In this case, with the exchange arm TA in the highest position, approximately 4
5. Since it will be rotated clockwise and put on standby,
Approximately 45 mm in the restraining groove 50 separately provided on the outer peripheral surface of the cylinder
While providing standby turning parts a to a' having an angular width of , grooves 52' and 52' are cut to match the standby turning parts a to a'.

Now, when the pin 51 engages with a-a' of the restraining groove,
Since the relationship allows the arm TA to turn to the right by approximately
1 restrains the descending movement of the cylinder 21, so even if the compressed air in the drive cylinder 25 is removed, the replacement arm TA will not descend.

Therefore, in this embodiment, the depression grooves 52', 52'
It is also possible to omit the ball 55 that engages with this.

Further, in the tool changing arm TA of the present invention, when the turning angle between the main shaft 5a and the tool storage magazine is 180° or less, the bevel gear 34 on the cylinder body 31 side is replaced with the bevel gear on the shaft rod 38 side in accordance with this turning angle. The relationship is that the number of teeth is reduced and the speed is increased compared to 35, and the replacement arm TA is 18.
The gripping claws 13 and 14 can be reliably reversed by 180 degrees against a turning movement of 0 degrees or less, and the tool holder can be switched upside down.

In addition, the tool exchange arm of the present invention (4) is explained in particular in the embodiment of a drawing bolt type tool holder, but a tool holder having a pull stud at the tapered tail end also consists of the above tool exchange arm and a tool storage magazine. It is possible to implement an automatic tool changer.

When using the tool changing arm of the present invention, a cylinder is fitted into the lower shaft bearing part of the machine box so as to be rotatable and can be raised and lowered, and a pipe column that stands upright on the axis of the flange inside the cylinder is arranged inside the machine box. The piston rod attached to the piston rod of the installed pneumatic drive cylinder is rotatably engaged and connected to enable the cylinder to move up and down. The operating pinion is engaged with the spline and held in an immovable holder in the fuselage box so as not to interfere with the vertical movement of the cylinder, and the operating pinion is engaged with the 1st drive rack of the separately installed pneumatic 1st drive cylinder. The box body can be pivoted without being interfered with by the vertical movement of the cylinder body, and approximately half of the cylinder body is fitted into a horizontal support cylinder attached to the lower side of the cylinder body, and the base of the support cylinder is The shaft is screwed onto a support shaft which is rotatably supported on the end face axis, and a bevel gear attached to the support shaft is rotatably received through the pipe column, and is non-rotatably connected to the operating rod. The bevel gear of the cylinder body is engaged with the bevel gear attached to the lower end of the rod, and the bevel gear of the cylinder body rolls on the bevel gear of the shaft rod in synchronization with the pivoting movement of the support tube based on the rotation of the cylinder body by the drive rack rod, causing the cylinder body to rotate. The cylinder body forms a cylinder chamber with an inner body attached to its tip, and the piston rod of the piston fitted into this chamber protrudes from the inner body into the large hole and is pivoted to this tip. A pair of relay rods are articulated and linked to the bent parts of the bases of the pair of gripping claws pivotally attached to the tip of the inner body, and the gripping claws are connected by switching the compressed air supplied to the left and right ventricles of the cylinder chamber. A single restraining groove separately provided on the outer circumferential surface of the cylinder engages with a pin attached to the machine body binding part, and the restraining groove faces the main shaft with respect to the tool exchange arm and the tool holder. The tool exchange arm is located directly above the tool exchange position of the tool storage magazine and the hoisting part of the broom 1, which provides an elevating movement to attach and detach the broom to the main spindle, and the horizontal rotation part which provides a turning movement and reversal movement to the gripping claw between the main spindle and the tool storage magazine. forming a broom 2 elevating part that provides an elevating movement for attaching and detaching the tool holder to and from the holding hole;
The movement of the restraining groove and pin with respect to the tool exchange arm that is directly applied with lifting force, rotation force, and reversal force by two pneumatic drive cylinders and reversibly moves between the spindle and the tool storage magazine. Since each movement is successively and reversibly controlled in an orderly manner by the timing adjustment member, each movement is controlled by three or more cam members, which have lower movement efficiency than a single drive source like a conventional tool changing arm. Even without splitting, the source of the vertical motion and rotational motion of the tool exchange arm, and the source of reversal motion of the gripping claw that synchronizes with these, are determined by two pneumatic 1-drive cylinders, and the drive energy is directly used to drive the exchange arm. It is possible to measure the effective use of
Although it has a drive source, the three major movements mentioned above are completely sequenced, and together with this, the changing arm can be operated easily and at high speed, and the tool changing time can be significantly shortened.

[Brief explanation of the drawing]

Fig. 1 is a front view of a vertical milling machine equipped with the tool changing arm of the present invention, Fig. 2 is an enlarged sectional view of the tool changing arm of the present invention, and Fig. 3 is a restraint serving as a motion synchronizing member of the tool changing arm of the present invention. A perspective view showing a state in which a groove is separately provided on a cylinder body, FIGS. 4 to 12 are exploded action views showing a tool changing state by the tool changing arm of the present invention, and FIGS. 13 and 14 are the tool changing arm. A front view and a partially sectional plan view showing the state of the tool change arm when the standby position of the tool change arm is changed to a position away from the spindle head. FIG. 3 is a perspective view showing a state in which a restraining groove serving as a motion synchronizing member is cut into a cylindrical body. 5a... Main shaft, 10... Index table, 11... Socket, 11a... Holding hole, 13, 14... Gripping claw , 13a, 14a°
・°... Proximal end, 13b. 14b...--bent part, 20... fuselage box,
20a... Bearing part, 21... Cylindrical body, 2
2...tube column, 22c...spline,
24... Operating rod, 25... Pneumatic 1 drive cylinder, 25a... Piston rod, 26...
...Operating pinion, 28...Holder, 29.
..., drive rack rod, 30... support tube,
31... Cylinder body, 33... Support shaft,
34, 35...Bevel gear, 38...
Axial rod, 39...Connecting rod, 41...Piston, 42...Inner body, 43...Piston rod, 43a...Tip Plane, 46...
・Relay rod, 50...Restriction groove (a=b...
・First elevating part, b to C...Horizontal turning part, c -
d...second elevating part), 51...bin,
TA...Tool exchange arm, TM...Tool storage magazine, H1~Hn...Tool holder,
T=Tn...Tool, t1~tn...Tapered part, F...Flange, S...Cylinder chamber, A, A'... ...Standby position of the tool exchange arm, opening...Standby position of the tool storage magazine.

Claims (1)

[Claims] 1 The tool storage magazine has a plurality of holding holes on the outer periphery of an indexing table placed in a horizontal position or on the outer periphery of an endless chino stretched between a pair of sprockets, and an inverted tool holder is inserted into these holes with its tapered part. The tool holder, which is configured to fit and hold and is fitted onto the vertical spindle of the machine tool, grips the tool holder waiting at the tool exchange position of the tool storage magazine with the gripping claw of the tool exchange arm. The tool holder is attached to and removed from the tool storage magazine or the main spindle by reversible lifting and lowering, and the tool holder is turned upside down by the rotating movement of the exchange arm and the reversing movement of the gripping claw in synchronization with this, and the tool holder is reversibly conveyed between the main spindle and the magazine. In the tool change arm,
A cylindrical body is fitted into the lower shaft bearing part of the fuselage box so as to be able to rotate and move up and down, and a pipe column that stands upright on the axis of the flange inside the cylindrical body is connected to the piston rod of a pneumatic drive cylinder arranged inside the fuselage box. The cylindrical body is rotatably engaged and connected to an attached operating rod to enable the cylinder to move up and down, while the actuating pinion is engaged with a spline provided on the upper half of the pipe column that projects upwardly outside the cylindrical body. The vertical movement of the cylinder is fitted and held in an immovable holder in the fuselage box so as not to interfere with the vertical movement of the cylinder. The cylinder body is made to be able to pivot without any movement, and approximately half of the cylinder body is fitted into a horizontal support cylinder attached to the lower side of the cylinder body, and a support shaft is rotatably supported on the axis of the proximal end surface of the support cylinder. The bevel gear attached to this support shaft penetrates into the tube column and is rotatably received, and meshes with the bevel gear attached to the lower end of the shaft rod which is non-rotatably connected to the operating rod, The bevel gear of the cylinder body rolls on the bevel gear of the shaft rod in synchronization with the rotational movement of the support cylinder based on the rotation of the cylinder body by the drive rack rod, thereby imparting rotational movement to the cylinder body. The inner body attached to the tip forms a cylinder chamber, and the piston rod of the piston fitted into this chamber protrudes from the inner body into the large hole, and a pair of relay rods are pivoted to the tip of the inner body. A pair of pivotally connected gripping claws are articulated and linked to the bent portions of the proximal ends, and the compressed air supplied to the left and right chambers of the cylinder chamber is switched to support the opening and closing of the gripping claws, and the opening and closing of the gripping claws is supported. A single restraining groove cut on the outer circumferential surface is engaged with a pin attached to the machine body binding part, and the restraining groove faces the main spindle and gives the tool exchange arm a lifting motion to attach and detach the tool holder to and from the main spindle. A horizontal rotating section that provides rotating movement and reversal movement to the gripping claw between the first lifting section, the main shaft, and the tool storage magazine, and a tool changing arm located directly above the tool changing position of the tool storage magazine that lifts and lowers the tool holder into and out of the holding hole. A tool exchange arm that forms a second elevating section that provides movement, and that is directly applied with an elevating force, a turning force, and a reversing force by two pneumatic drive cylinders, and that moves reversibly between the main shaft and the tool storage magazine. In contrast, a tool changing arm in an automatic tool changing device, characterized in that each movement is successively and reversibly controlled in an orderly manner by the movement timing adjusting member of the restraining groove and the pin.