JPS6161735A - Driving device for automatic tool exchange - Google Patents

Abstract

PURPOSE:To aim at simplification in the construction of a driving part as well as to aim at the promotion of speediness in tool change motion, by making rotation of a twin arm and its retratable motion, namely, combined motion securable with one driving source, while letting these combined motions perform so smoothly at the same time. CONSTITUTION:Rotational motion of a rotary actuator 27 as one driving source is converted into reciprocating motion of a twin-arm shaft 5, while the rotational motion of the side driving source is transmitted to the twin-arm shaft 5 as motion toward the rotation with an intermittent movement mechanism. Hereat, a slider 8 of a reciprocating slider crank mechanism and a Gneva gear of the intermittent movement mechanism both perform less shock and smooth motion so that tool change operation is performable at high speed under smooth movements. Since comes to receive transmission power only at a partial range to the driving source, the rotational motion and the retractable motion of the twin-arm shaft 5 are well combinable in an idear state. Therefore, a driving construction is simplifiable and, what is more, tool exchanging motion is made into being speedier than ever before.

Description

TECHNICAL FIELD OF THE INVENTION The present invention relates to a drive device for automatically changing tools of a machine tool.

In a conventional twin-arm type automatic tool changer, in addition to pivoting motion about the axis of the twin arm, forward and backward motion in the axial direction of the twin arm is required. In the conventional device, a driving J source is provided for each of these movements, so a large number of driving sources are installed, making sequential control of them complicated and making miniaturization difficult. Furthermore, since these plurality of drive sources usually wait for the completion of each operation and then start up in sequence, there is a limit to how quickly the operation can be performed during tool exchange.

OBJECTS OF THE INVENTION Accordingly, an object of the present invention is to make it possible to obtain the rotation and forward/backward movement of the twin arms, that is, a complex movement, with one drive source, and to simplify the structure of the drive unit.
The purpose is to speed up the tool exchange operation by performing these combined movements J simultaneously and smoothly.

SUMMARY OF THE INVENTION Therefore, the present invention converts the rotational motion of one drive source into reciprocating motion of twin arm shafts by a reciprocating slider crank mechanism, and converts the rotational motion of the drive source into an intermittent motion mechanism such as a Geneva gear mechanism and a rank. - A pinion mechanism is used to transmit motion in the rotational direction to the twin arm shafts. Here, since both the slider of the reciprocating slider crank mechanism and the Geneva gear of the intermittent motion mechanism move smoothly without sudden changes in acceleration, the tool exchange operation can be performed at high speed under smooth motion.

In addition, since the intermittent motion mechanism receives the transmission force from the drive source only in a limited range, it is possible to combine the pivoting motion and forward/backward motion of the twin arm shafts in an ideal state. Furthermore, since these complex movements are always mechanically synchronized by one driving source, there is no need for special control means for these complex movements as in the prior art, and operation is ensured.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be specifically described below with reference to the drawings.

First, FIGS. 1 to 4 show an automatic tool change drive device 1 according to the present invention. This automatic tool change drive device 1 is a spindle head 2 of a machine tool or, as in this embodiment,
It is incorporated inside the case body 3 attached thereto.

This case body 3 is in a state where the main shaft head 2 is parallel to the main shaft 4, and the cylindrical twin arm shaft 5 is rotatable at the tip part by two sliding bearings 6, and is also slidable in the axial direction. It is held in The rear end portion of the twin arm shaft 5 is rotatably supported by a slider 8 by a ball bearing 7. This slider 8 is slidably guided with respect to a guide bar 10 by a bush 9. Note that this guide bar 10 is attached to the case body 3 in a state parallel to the twin arm shaft 5.

Further, the twin arm shaft 5 has a claw opening/closing shaft 1 inside thereof.
It stores 1. This pawl opening/closing shaft 11 is supported by a sliding bearing 12 at its tip and by a coupling 14 fitted with a spline 13 at its rear end. This camp ring 14 is rotatably supported by a sliding pair inside the twin arm shaft 5, and is always urged in the backward direction by an internal compression spring 15.

As shown in FIGS. 5 and 6, this coupling 14 has a mating groove 16 formed in the orthogonal direction on its distal end surface, so that it can fit into the mating protrusion 18 of the rotary drive shaft 17 at this portion. It has become. Note that the engaging protrusion 18 is formed by chamfering both side surfaces of the rotary drive shaft 17, as shown in FIGS. 7 and 8. This rotary drive shaft 17 passes through a center hole of a camp 19 which also serves as a bearing holder, and faces the inside of the engagement groove 16. This Camp 19 has twin arms! F111
As shown in FIGS. 9 and 10, four protrusions 20 are fixed to the distal end surface of the coupling 14 and fit into the engagement groove 16 on the inside thereof, that is, on the surface corresponding to the coupling 14, as shown in FIGS.
are integrally formed.

The rotation drive shaft 17 is rotatably supported by a bearing bracket 21 fixed to the spindle head 2, and the cylinder 2 is connected to a pin 25 at the tip of the arm 22.
It is connected to the piston rod 23a of No. 3. Note that this cylinder 23 has a support pin 24 and a bracket 26.
It is attached to the spindle head 2 by.

On the other hand, the low reactuator 2 as one driving source
7 is attached to the side surface of the case body 3 together with a cover 28, and is connected by its output shaft 29 to a rotating plate 30 on the origin J side inside the case body 3 in a non-rotating state. The distal end portion of the rotary plate 30 is connected to one end of the link member 32 by a connecting pin 31 in a paired manner. The other end portion of this link member 32 is similarly connected to the slider 8 by a connecting pin 33 in a rotation pair. Note that an auxiliary shaft 34 is rotatably supported by a roller bearing 35 on the same axis as the output shaft 29 . This auxiliary shaft 34 rotatably supports an auxiliary arm 36 connected to the connecting pin 31. This auxiliary arm 36 supports the connecting pin 31 together with the rotating plate 30 in a so-called dual-supported state. Also, the above connecting pin 3
1 rotatably supports a roller-shaped engager 37 at the end of an auxiliary arm 36. And the slider 8 above,
The output shaft 29, the rotating shaft 301, the connecting pins 31 and 33, and the link member 32 constitute a reciprocating slider crank mechanism.

The case body 3 also includes an output shaft 29 and a connecting pin 3.
A Geneva lever 39 is rotatably supported by a support shaft 38 on a straight line connecting 3. The Geneva lever 39 is on the driven side with respect to the engaging element 37, and is integrally formed with a retaining groove 40 that fits therein. This engagement groove 40
The opening at the tip faces the arc-shaped rotation range of the engaging element 37 and is located in a tangential direction to the arc-shaped locus. This Geneva lever 39 also has an engagement groove t.

It is rotatably fitted into the interlocking body 42 by a shaft 41 on the side different from the one shown in FIG. This interlocking body 42 is a square prism, and is slidably fitted into a sliding groove 44 formed on the back surface of the rack rod 43. Above rack rod 4
3, it has a cylindrical shape and is held slidably in the axial direction inside the guide hole 45 of the case body 3, and is fixed to the case body 3 to prevent rotation of the locking pin 46 and the rack rod 43 in the axial direction. The rotation is prevented by the engagement with the stopper groove 47, and the engagement of the click pawl 49 provided on the case body 3 with the two depressions 48 formed in the rack rod 43 allows the movement to be made at the forward or backward limit. It is in a positioning state and has a structure that can prevent positional displacement.

The forward and backward limits of the rack rod 43 are determined by proximity sensors 52 corresponding to the front and rear ends of the rack rod 43.
．． 53 electrically detected. The rack 50 of the rack rod 43 meshes with a pinion 51 formed on the outer peripheral surface of the twin arm shaft 5 along the longitudinal direction. The pinion 51 is formed over the stroke range of the twin arm shaft 5 in the forward and backward directions.

As shown in FIG. 11, the twin arm shaft 5 has a twin arm main body 55 fixed to it by a mounting screw 54 at the flange portion at the tip.

This twin arm main body 55, together with a cover 56 fixed thereto, houses a common gear 57, two gears 58, 59, 60, and two positioning pins 61 inside, as shown in FIG.

That is, the gear 57 is fixed to the tip of the rotary drive shaft 17, and meshes with the two gears 58 at different positions. A part of these gears 58 also serves as a rotating shaft, and is a compound gear, with one tooth meshing with each gear 59, and the other tooth meshing with a corresponding positioning pin. 61 racks 62
They are engaged. Further, the gears 59 and 60 mesh with each other and are fixed to the respective shafts 63 in a non-rotating manner. The legs 63 and 64 are fixed to the base end portions of the respective chuck claws 65 and 66 with pins or the like so as not to rotate.

These pair of chuck jaws 65, 66 are connected to the shaft 63, 64.
The opening/closing operation is performed centering on the arc-shaped gripping part 67.
．． The tool boulder 67 is held on the 6th. The positioning pin 61 is provided inside the twin arm main body 55 and the cover 56 so as to be movable back and forth along the axis of symmetry of the pair of chuck claws 65 and 66, and its tip is attached to the grip portion 67. By facing the inside of the tool holder 68 and fitting into the positioning groove 70 of the tool holder 69, the tool holder 69 is positioned and prevented from being removed.

Function of the Invention Next, the function of the automatic tool changing drive device 1 will be explained.

Output shaft 2 of low reactor actuator 27 as a drive source
9 places the rotary plate 30 at the original position A as shown in FIG. 2, the slider 8 and the twin arm shaft 5 connected thereto are in the retracted position. When the twin arm shaft 5 is in this retracted position, the pair of chuck claws 65 and 66 are
The rotation of the claw opening/closing shaft 11 results in an open state, for example, the rotary tool magazine 71 and the tool holder 6 of the main shaft 4.
Move to a position where you can hold 9]'Js.

In this state, the piston rod 23a of the cylinder 23
When the rotary drive shaft 17 is rotated in a predetermined direction, the rotation is transmitted to the coupling 14 through the engagement of the engagement groove 16 and the engagement protrusion 18, and further transmitted to the pawl opening/closing shaft 11 via the spline 13. Ru. The rotation of this pawl opening/closing φ 11 is controlled by gears 57, 58, 59.
．． 60 and to the shafts 63 and 64, the pair of chuck claws 65 and 66 rotate in the closing direction, and hold the tool boulder 69 in a chucked state. At the same time, the positioning bin 61 receives the rotation of the gear 58,
These tool holders 6 move in the protruding direction and hammer their tips into the positioning grooves 70 of the tool holders 69.
9 is positioned at the tip of each of the twin arms, and is held in a state where it is prevented from being pulled out.

In this foreshadowing, the output shaft 2 of the low react unique 27
When the slider 9 rotates clockwise in FIG. 2, the slider 8 moves in a direction approaching the output shaft 29 while being guided by the guide bar IO.
1) and move the two tool holders 69 in the gripped state to the main IFIII.
4 and the tool magazine 71. When the output shaft 29 rotates at a constant speed, the acceleration of the slider 8 changes along a curve close to a sinusoidal curve and does not change abruptly. Therefore, the forward movement of the twin arm shaft 5 starts smoothly without any impact. Ru.

On the other hand, when the twin arm/printer 5 moves forward, the rotational drive shaft 1
7 comes out of the cap 19 and does not engage with the engagement groove 16 of the coupling 14. At this time, the compression spring 15 pushes the coupling 14 into the cap 1.
9, the pawl opening/closing shaft 11 is disengaged from the rotary drive shaft 17 and is prevented from rotating by the cap 19 integral with the twin arm shaft 5. Therefore, in the process of the twin arm shaft 5 moving forward, the pair of chuck claws 45 and 66 are opened! ε, and remains in the gripping state.

When the output shaft 29 further rotates and reaches a position where the arc-shaped rotation range of the engager 37 and the rotation range of the Geneva lever 39 intersect, that is, the interlocking position a, the two tool holders 6
9 is in a state where it is completely extracted from the main spindle 4 and the tool magazine 71.

At this point, the engaging element 37 fits into the engagement groove 40 of the Geneva lever '39, and subsequent rotation causes the Geneva lever 39 to rotate counterclockwise in FIG. 2. This rotation of the Geneva lever 39 is transmitted to the rack rod 43 as a linear motion by the shaft 41 and the interlocking body 42. Therefore, the rack rod 43 engages with the pinion 51 of the twin arm shaft 5 at its rack 50, thereby imparting a turning motion to the twin arm shaft 5.

When the center of the engager 37 is on the straight line connecting the output shaft 29 and the connecting pin 33, the twin arm shaft 5 has moved to its forward limit and has turned by a rotation angle of 90 degrees. after that,
When the center of the engager 37 reaches the other interlocking position, the twin arm shaft 5 has completely rotated 180 degrees and entered the backward speed J. In this way, Geneva lever 3
9 rotates approximately 90 degrees between the interlocking position a and the interlocking position, but the stroke of the rack rod 43 at this time is
Due to the meshing relationship with the pinion 50 and the pinion 51,
The length is set to give the twin arm shaft 5 a complete turning angle of 180 degrees.

As already mentioned, the rotary plate 30, the engagement element 37, the Geneva lever 39, and its retaining groove 40 form a Zebra gear mechanism, so the transmission is intermittent, and the Geneva lever 39 on the driven side Each speed rises smoothly in the first half, reaches the maximum speed at the center of the rotation range, and falls smoothly in the second half. Therefore, high-speed movement is possible because there is no sudden change in angular acceleration.

Furthermore, while the engaging element 37 is moving from the J position to the original position, a new tool holder 69 taken out from the tool magazine 71 is stored inside the main shaft 4, and from this main pongee 4. The previously removed tool boulder 69 is stored in a predetermined position in the tool magazine 71.

In-arm Koyama 5 force f & JJAI! Anti-trash [
When hyper-movement occurs, the rotary drive shaft 17 enters the inside of the cap 19 again and pushes the coupling 14, disengages the cap 19 and the coupling 14, returns the cambling 14 to a rotatable state, and engages with it.

Here, the cylinder 23 moves its piston rod 23a, and the rotary drive shaft 17 applies rotation to the jaw opening/closing shaft 11 in the direction of opening the pair of chuck jaws 65, 66, thereby releasing the tool boulders 69 at both ends. Make it unchucked. In this way, a series of tool exchange operations is completed.

Note that in the next tool exchange operation, the two output shafts rotate in opposite directions to perform the necessary tool exchange operation.

Modifications of the Invention In the above embodiment, in order to speed up the tool exchange operation, a Geneva gear mechanism is used to drive the Geneva lever 39 on the driven side without sudden changes in acceleration.

However, the relationship between the rotation plate 30 on the j-motion side and the Geneva lever 39 on the driven side only needs to be a so-called intermittent rotation EIR structure that transmits rotation only in the arc-shaped rotation range.
If the sudden change in acceleration is sacrificed, it may be replaced with a partially toothed gear mechanism, for example.

Further, in the above embodiment, the Geneva lever 39 is rotatably supported by the support shaft 38, and this rotational motion is converted to a linear motion and then transmitted to the rack rod 43. As shown, it is fixedly mounted perpendicularly to the rack rod 43, with its engagement groove 40 facing in the tangential direction of the arc-shaped rotation range of the engager 37 at an appropriate position. Good too.

In addition, the drive source is not limited to the low reactor actuator 27.
It can also be configured with an electric motor or a cylinder.

Effect of the invention The present invention provides the following unique effects.

First of all, since the forward/backward motion and rotational motion of the twin arm shafts and the complex motion are obtained by one drive source, the structure of the drive part can be simplified, downsized, and with a low f.
It becomes possible to upgrade to iTi.

Second, since the complex movements are performed in a mechanically interlocked manner, the synchronization of each movement is reliable, eliminating the need for electrical synchronization control, and in addition, interlocks etc. are required in the control circuit. No safety measures are required.

Third, in an embodiment in which the rotational motion of one drive source is transmitted to the driven side by a reciprocating slider crank mechanism or a Geneva gear mechanism, the motion of the twin arm shafts becomes clearer, and Since there is no sudden change in acceleration during the engagement movement of the Geneva lever, smooth movement without shock is obtained as a whole. Therefore, it is possible to speed up the tool exchange operation.

[Brief explanation of drawings]

FIG. 1 is a cross-sectional view of the automatic tool change drive device of the present invention, FIG. 2 is a cross-sectional view of the same device as seen from the nn line arrow in FIG. 1,
Figure 3 is a sectional view taken along line I-I in Figure 1, Figure 4 is a plan view of the drive section of the rotary drive shaft, Figure 5 is a front view of the coupling, and Figure 6 is a cross-sectional view of the coupling. Cross-sectional view, Figure 7 is 5th
．． A side view of the drive shaft, FIG. A front view of the drive shaft, FIG. 9 is a front view of the cover, FIG. 10 is a sectional view of the cover, FIG. 11 is a sectional view of the twin arm portion, FIG. 12 is a bottom view of the inside of the twin arm, and FIG. The figure is a sectional view of an intermittent motion mechanism in another embodiment. 1. Automatic tool change drive device, 4. Main shaft, 5. Twin arm shaft, 8. Slider, 11. Claw opening/closing shaft, 1
4. Camp ring, 17. Rotating drive shaft, 19. Cap, 23. Cylinder, 27. Row reactor as a drive unit, 29. Output shaft, 30. Rotating plate, 32. Link Member, 37... Engagement element, 39... Geneva lever, 40... Engagement groove, 42... Interlocking body, 43...
- Rack rod, 51... Pinion, 55... Twin arm body, 65.66... Chuck jaw, 69... Tool holder, 71... Tool magazine. Patent applicant: Sankyo Seiki Seisakusho Co., Ltd. Procedure No. 1
iiLE letter (spontaneous) February 9, 1985 Mr. Manabu Shiga, Commissioner of the Patent Office ■, Indication of the case 1983 Patent Application No. 183336 26 Name of the invention Automatic tool change drive device 3, Person making amendments Case Relationship with Patent Applicant Address 5329 Shimosuwa-cho, Suwa-gun, Nagano Name Name (
223) Sankyo Seiki Co., Ltd. Representative Yama 1) Roku
- 4. Agent 8160 Address: 708 Shinjuku Seven Building, 2-8-1 Shinjuku, Shinjuku-ku, Tokyo Telephone: 03 (350) 0255 None 6. Full text of the Meirei HI document subject to amendment 7. Details of the amendments Corrected as per i1E. Description 1, Title of the Invention Automatic Tool Changing Drive Device 2, Claims (1) A twin arm shaft through which a pawl opening/closing shaft passes through, and a twin arm shaft that is guided in a reciprocating manner so that the twin arm shaft can rotate freely. A slider to be supported, a rack rod that is guided so as to be reciprocally movable in a direction perpendicular to the twin arm shaft and constantly engages with a pinion provided on the outer periphery of the twin arm shaft, a rotating arm that rotates by a drive source, and this rotation. An automatic tool comprising: a link member that connects the arm and the slider; and an intermittent motion mechanism that intermittently interlocks with the rotational motion of the rotary arm and transmits the reciprocating linear motion to the rack rod. Replacement drive unit. (2) The intermittent motion mechanism is comprised of an engager that rotates integrally with or in conjunction with the pivot arm, and a Geneva lever that is provided in the pivot region of the engager and causes the rack rod to reciprocate. An automatic tool change drive device according to claim 1. 3. Detailed Description of the Invention Technical Field of the Invention The present invention relates to a drive device for automatically changing tools of a machine tool. In a conventional twin-arm type automatic tool changer, in addition to pivoting motion about the axis of the twin arm, forward and backward motion in the axial direction of the twin arm is required. In the conventional device, a drive source is provided for each of these movements, so the number of drive sources installed is large, the sequential control of them becomes complicated, and miniaturization becomes difficult. Furthermore, since these plurality of drive sources usually wait for the completion of each operation and then start up in sequence, there is a limit to how quickly the operation can be performed during tool exchange. OBJECTS OF THE INVENTION Accordingly, an object of the present invention is to make it possible to obtain the rotation and forward/backward movement of the twin arms, that is, a complex movement, with one drive source, and to simplify the structure of the drive unit.
The purpose is to speed up the tool exchange operation by performing these compound movements simultaneously and smoothly. SUMMARY OF THE INVENTION Therefore, the present invention converts the rotational motion of one drive source into reciprocating motion of twin arm shafts using a reciprocating slider crank mechanism, and converts the rotational motion of the drive source into an intermittent motion mechanism such as a Geneva gear mechanism and a rack. - A pinion mechanism is used to transmit motion in the rotational direction to the twin arm shafts. Here, since the slider of the reciprocating slider crank mechanism and the Geneva gear of the intermittent motion mechanism move smoothly and without impact, the tool exchange operation can be performed at high speed with smooth movement. Furthermore, since the intermittent motion mechanism receives the transmission force from the drive source only in a limited range, it is possible to combine the turning motion of the twin arm shafts and the forward and backward motion in an ideal state. Furthermore, since these complex movements are always mechanically synchronized by one driving source, these complex movements cannot be
．． 'N Separate control means is not required, and operation is ensured. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS ++lF Structure of the Invention An embodiment of the present invention will now be described in detail with reference to the drawings. First, FIGS. 1 to 4 show an automatic tool change drive device 1 according to the present invention. This automatic tool change drive device 1 is a spindle head 2 of a machine tool or, as in this embodiment,
It is incorporated inside the case body 3 attached thereto. This case body 3 has a main shaft 4 of the main head 2 part.
A cylindrical twin arm shaft 5 is held at its tip in a state in which it is rotatable and slidable in the axial direction by two sliding bearings 6 at its tip. This twin arm shaft 5
After! The lit portion is rotatably supported by the slider 8 by a ball bearing 7. This slider 8 is slidably guided with respect to a guide bar 10 by a bush 9. Note that this guide bar 10 is attached to the case body 3 in a state parallel to the twin arm shaft 5. Further, the twin arm shaft 5 has a claw opening/closing shaft 1 inside thereof.
It stores 1. This claw opening/closing shaft 11 has a tip ☆11.1
It is supported in parts by sliding bearings 12, and in its rear end part by a coupling 14 fitted with splines 13. This coupling 14 is rotatably supported by a sliding pair inside the twin arm shaft 5, and is always urged in the backward direction by an internal compression spring 15. As shown in FIGS. 5 and 6, this camp ring 14 has an engaging groove 16 in the orthogonal direction on its tip surface, so that it can fit into the engaging protrusion 18 of the rotary drive shaft 17 at this portion. It has become. The engaging protrusion 18 is formed by chamfering both side surfaces of the rotary drive shaft 170, as shown in FIGS. 7 and 8. This rotary drive shaft 17 passes through a center hole of a cap 19 which also serves as a bearing holder, and faces the inside of the engagement groove 16. The can knob I9 is fixed to the distal end surface of the twin arm shaft 5, and fits into the engagement groove 16 on the inside thereof, that is, on the surface corresponding to the coupling 14, as shown in FIGS. 9 and 10. Four protrusions 20 are integrally formed. The above-mentioned rotational drive shaft 17 has the main l1ilII head 2
The arm 22 is rotatably supported by a bearing bracket 21 fixed to the arm 22, and the tip of the arm 22 is connected to a piston rod 23a of a cylinder 23 by a pin 25. Note that this cylinder 23 is attached to the spindle head 2 by a support pin 24 and a bracket 26. On the other hand, the low reactuator 2 as one driving source
7 is attached to the side surface of the case body 3 together with a cover 28, and is connected by its output shaft 29 to a rotating arm 30 on the drive side inside the case body 3 in a non-rotating state. The tip of this rotating arm A30 is connected to the connecting pin 31.
The link member 32 is connected to one end of the link member 32 in a paired manner. The other end portion of this link member 32 is similarly connected to the slider 8 through a connecting pin 33 in a rotating pair. Note that on the same axis as the output shaft 29,
The auxiliary shaft 34 is rotatably supported by a roller bearing 35. This auxiliary shaft 34 rotatably supports an auxiliary arm 36 connected to the connecting pin 31. This auxiliary arm 36 supports the connecting pin 31 together with the rotating arm 30 in a so-called dual-supported state. Further, the connecting pin 31 rotatably supports a roller-shaped engager 37 at the end of the auxiliary arm 36. Then, the slider 8, the output shaft 29, the rotating arm 30 connecting pin 31,
33 and the link member 32 constitute a reciprocating slider crank mechanism. The case body 3 also includes an output shaft 29 and a connecting pin 3.
A Geneva lever 39 is rotatably supported by a support shaft 38 on a straight line connecting 3. The Geneva lever 39 is on the driven side of the engagement element 37, and is integrally formed with an engagement groove 40 that fits therein. This engagement groove 40
The opening at the tip faces the arc-shaped rotation range of the engaging element 37 and is located in a tangential direction to the arc-shaped locus. Further, the Geneva lever 39 is fitted into the interlocking body 42 by a shaft 41 on a side different from the engagement groove 40 so as to be freely rotatable DJ. This interlocking body 42 is a square prism,
It is slidably fitted into a groove 44 formed on the back surface of the rack rod 43. Above rack rod 43
has a cylindrical shape and is held slidably in the axial direction inside the guide hole 45 of the case body 3, and is used to prevent rotation in the axial direction of the locking pin 46 and the rack rod 43 fixed to the case body 3. The click ball 4 is prevented from rotating by fitting into the groove 47, and the click ball 4 provided on the case body 3 corresponds to the two depressions 48 formed in the rack rod 43.
9, the structure is such that a positioning state is established at the forward limit or backward limit, and positional displacement can be prevented. The forward and backward limits of the rack rod 43 are determined by proximity sensors 52 corresponding to the front and rear ends of the rack rod 43.
53 electrically detected. The rack 50 of the rack rod 43 meshes with a pinion 51 formed on the outer peripheral surface of the twin arm shaft 5 along the longitudinal direction. Note that the pinion 51 is connected to the twin arm shaft 5.
It is formed over a range of strokes in the forward and backward directions. As shown in FIG. 11, the twin arm shaft 5 has a twin arm main body 55 fixed to it by a mounting screw 54 at the flange portion at the tip. This twin arm main body 55, together with a cover 56 fixed thereto, houses a common gear 57, two gears 58, 59, 60, and two positioning bins 61 inside, as shown in FIG. That is, the gear 57 is fixed to the tip of the rotary drive shaft 17, and meshes with the two gears 58 at different positions. A part of these gears 58 also serves as a rotating shaft, and is a composite gear, with one tooth meshing with each gear 59, and the other tooth meshing with the corresponding gear 59. rack 6 of bin 61
It meshes with 2. Further, the gears 59 and 60 mesh with each other and are fixed to the respective shafts 63 in a non-rotating manner. The other parts 63 and 64 are fixed to the proximal ends of the respective chuck claws 65 and 66 using bottles or the like so as not to rotate. These pair of chuck jaws 65, 66 are connected to the shaft 63, 64.
The opening/closing operation is performed centering on the arc-shaped gripping part 67.
．． 68 holds the tool holder 6i. Further, the positioning bin 61 is provided inside the twin arm main body 55 and the cover 56 so as to be able to move forward and backward along the direction of the symmetry axis of the pair of chuck claws 65 and 66, and its tip is attached to the grip part 67 and 68. By facing inside and fitting into the positioning groove 70 of the tool holder 69, the tool holder 6
9 is positioned in the rotational direction. Function of the Invention Next, the function of the automatic tool changing drive device 1 will be explained. Output shaft 2 of low reactor actuator 27 as a drive source
9 places the rotating arm 30 at the original position A as shown in FIG. 2, the slider 8 and the twin arm shaft 5 connected thereto are in the retracted position. When the twin arm shaft 5 is in this retracted position, the pair of chuck claws 65 and 66
is in an open state in response to the rotation of the claw opening/closing shaft 11, and has moved to a position where it can grip, for example, the rotary tool magazine 71 and the tool holder 69 of the main spindle 4. In this state, the piston rod 23a of the cylinder 23
When the rotary drive shaft 17 is rotated in a predetermined direction, the rotation is transmitted to the force/knob ring 14 through the engagement of the engaging groove 6 and the engaging protrusion 18, and is further transmitted to the pawl opening/closing shaft 11 via the spline 13. communicated. The rotation of this pawl opening/closing shaft 11 is controlled by gears 57, 58, 59.
．． 60 and to the shafts 63 and 64, the pair of chuck claws 65 and 66 move in the closing direction to sandwich and hold the tool holder 69 in a chucked state. At the same time, the positioning pins 61 are rotated by the gear 58 and moved in the protruding direction, pushing their tips into the positioning grooves 70 of the tool holders 69. The tip of the tool holder 69 is positioned in the rotational direction, and the tool holder 69 is held in a state where it is prevented from being pulled out by a groove on its outer periphery. In this state, the output of the low reactor 27
When the slider 9 rotates clockwise in FIG. 2, the slider 8 moves in a direction approaching the output shaft 29 while being guided by the guide bar 10.
1 and move forward in the forward direction, that is, to the left in FIG. When the output shaft 29 rotates at a constant speed, the acceleration of the slider 8 changes in a curve close to a sine curve, and the forward motion of the twin arm shaft 5 starts smoothly without impact. On the other hand, when the twin arm shaft 5 moves forward, the rotational drive shaft 17
was eliminated from Camp 19, and Coupling 1
However, when the twin arm shaft 5 starts moving forward, the camp 19 moves forward as well, and the compression spring 15 presses the coupling 14 against the protrusion 20 of the cap 19. , before the engagement protrusion 1 is removed from the engagement groove 16, the protrusion 20 of the cap 19 is inserted into the engagement groove 16 of the camp ring 14.
are engaged with each other, so that the twin arm shaft 5 and the camp 19 integrated with it are prevented from rotating. Therefore, in the process of the twin arm shaft 5 moving forward, the pair of chuck claws i5, 66 do not become open, but remain in the gripping state. When the output shaft 29 further rotates and reaches a position where the arc-shaped rotation range of the engager 37 and the rotation range of the Geneva lever 39 intersect, that is, the interlocking position a, the two tool holders 6
9 is in a state where it is completely extracted from the main spindle 4 and the tool magazine 71. At this point, the engaging element 37 is inserted into the engaging groove 4 of the Geneva lever 39.
0, and the subsequent rotation releases the Geneva lever 3.
9 in the counterclockwise direction as shown in FIG. This rotation of the Geneva lever 39 is transmitted to the rack rod 43 as a linear motion by the shaft 41 and the interlocking body 42. Therefore, the rack rod 43 engages with the pinion 51 of the twin arm shaft 5 at its rack 50, thereby imparting a turning motion to the twin arm shaft 5. When the center of the engager 37 is on the straight line connecting the output shaft 29 and the connecting pin 33, the twin arm shaft 5 has moved to its forward limit and has turned by a rotation angle of 90 degrees. after that,
When the center of the engager 37 reaches the other interlocking position, the twin arm shaft 5 has completely rotated 180 degrees and has entered a backward movement. In this way, the Geneva lever 39
rotates approximately 90 degrees between the interlocking position a and the interlocking position, but the stroke of the rack rod 43 at this time is a complete 180° stroke on the twin arm shaft 5 due to the meshing relationship with the rack 50 and pinion 51. The length is set to provide a turning angle. As already mentioned, the rotating arm 30, the engaging element 37, the Geneva lever 39, and its engagement groove 40 form a Geneva gear mechanism, so that the transmission is intermittent, and the respeeding of the Geneva lever 39 on the driven side is The speed rises smoothly in the first half, reaches maximum speed at the center of the rotation range, and falls smoothly in the second half. Therefore, high-speed movement without impact for 1 hour is possible. Furthermore, while the engager 37 moves from the interlocking position to the original position B, a new tool holder 69 taken out from the tool magazine 71 is stored inside the main spindle 4, and a new tool holder 69 removed from the main spindle 4 is The tool holder 69 is stored in a predetermined position in the tool magazine 71. When the twin arm shaft 5 moves to the retraction limit, the rotary drive shaft 17 enters the cap 19 again and the camp ring 14
is pressed to disengage the cap 19 and the coupling 14, return the coupling 14 to a rotatable state, and engage it. Here, the cylinder 23 moves its piston rod 23a, and the rotary drive shaft 17 applies rotation to the jaw opening/closing shaft 11 in the direction of opening the pair of chuck jaws 65, 66, thereby releasing the tool holders 69 at both ends, and releasing the tool holders 69 at both ends. Put it in a chuck state. In this way, a series of tool exchange operations is completed. In addition, in the next tool exchange operation, the output shaft 29 rotates in the opposite direction to perform the necessary tool exchange operation. Modifications of the Invention In the above embodiment, a Geneva gear mechanism is used to drive the Geneva lever 39 on the driven side without sudden changes in acceleration in order to speed up the tool exchange operation. However, the relationship between the rotation arm 30 on the driving side and the Geneva lever 39 on the driven side only needs to be a so-called intermittent rotation mechanism that transmits rotation only in the arc-shaped rotation range.
If you sacrifice the sudden change in acceleration, you can replace it with a volcanic float mechanism, for example. Further, in the above embodiment, the Geneva lever 39 is rotatably supported by the support shaft 38, and the rotating plate 39 is rotatably supported by the support shaft 38. I+ rack rod 43
As shown in FIG. 13, this lever lever 39 is fixedly attached directly and orthogonally to the rack rod 43, and its engagement groove 40 is It may also be placed in the tangential direction of the arcuate rotation range of the engager 37 at an appropriate position. - Also, the driving source is not limited to the low reactor actuator 27.
It can also be configured with an electric motor or a cylinder. Effects of the Invention The present invention provides the following unique effects. First of all, since the forward/backward movement and rotational movement of the twin arm shafts and the combined movement can be obtained by one driving source, the structure of the driving part can be simplified and the size and cost can be reduced. Second, since the complex movements are performed in a mechanically interlocked manner, the synchronization of each movement is reliable, eliminating the need for electrical synchronization control, and in addition, interlocks etc. are required in the control circuit. No safety measures are required. Third, in the embodiment in which the rotational motion of one drive source is transmitted to the driven side by a reciprocating slider crank mechanism or a Geneva tooth iMu structure, the motion of the twin arm shafts becomes smooth and does not become rough. Since there is no sudden change in acceleration during the meshing movement of the Geneva lever on the driven side, smooth movement without impact F can be obtained as a whole. Therefore, it is possible to speed up the tool exchange operation. 4. Brief description of the drawings Fig. 1 is a cross-sectional view of the automatic tool change drive device of the present invention, Fig. 2 is a cross-sectional view of the same device as seen from the nn line arrow in Fig. 1;
Figure 3 is a sectional view taken along the line m-m in Figure 1, Figure 4 is a front view of the drive section of the rotary drive shaft seen from the right side of Figure 1, and Figure 5
Figure 6 is a front view of the coupling, Figure 6 is a sectional view of the coupling, Figure 7 is a side view of the rotary drive shaft, Figure 8 is a front view of the rotary drive shaft, Figure 9 is a front view of the cover, and Figure 9 is a front view of the cover. Figure 10 is a sectional view of the cover, Figure 11 is a sectional view of the twin arms,
FIG. 12 is a bottom view of the inside of the twin arm, and FIG. 13 is a sectional view of an intermittent motion mechanism in another embodiment. 1. Automatic tool exchange drive device, 4. Main shaft, 5. Pan-in arm Φ mountain, 8. Slider, 11. Claw opening/closing shaft.
14... Cub pull, 17... Rotation drive shaft, 19...
Cap, 23... Cylinder, 27... Low reactuator as a driving source, 29... Output shaft, 30... Rotating arm, 32... Link member, 37... Engagement element, 39
... Geneva lever, 40... Engagement groove, 42... Interlocking body,
43...U-ink rod, 51...Pinion, 55...Twin arm body, 65.66...Chuck claw, 69...
Tool holder, 71...tool magazine.

Claims (2)

[Claims] (1) A twin arm shaft through which a pawl opening/closing shaft passes, a slider that is reciprocally guided and rotatably supports the twin arm shaft, and a slider that is reciprocatably guided in a direction orthogonal to the twin arm shaft and that is reciprocally movable. A rack rod that constantly engages with a pinion provided on the outer periphery of the twin arm shaft, a rotating plate that rotates by a drive source, a link member that connects this rotating plate and the slider, and a rotational movement of the rotating plate. An automatic tool changing drive device comprising: an intermittent motion mechanism that is intermittently interlocked and transmits reciprocating linear interlocking motion to the rack rod. (2) The intermittent motion mechanism is comprised of an engager that rotates integrally with or in conjunction with the rotary plate, and a Geneva lever that is provided in the rotation range of the engager and reciprocates the rack rod. An automatic tool change drive device according to claim 1.