KR20100067173A - Multi drive system of tool chang - Google Patents

Abstract

PURPOSE: A multi-driving system of changing tools is provided to exchange tools by moving tools to a right place using a stopper and a servo motor. CONSTITUTION: A multi-driving system of changing tools comprises a bed, a tool magazine, a transfer body, a cam box, and a tool transferring device(100). The tool magazine is arranged in one side of a bed, and store a tool(50). The transfer body is slid in the bed. A spindle(40) is installed in the transfer body. The cam box is arranged in one side of transfer body, and is slid in the bed. The cam box moves forward and backward and turns an arm gripper. The tool transferring device transfers a tool between the tool magazine and a tool changing position.

Description

Multi drive system of tool change

The present invention relates to an automatic tool changer, and more particularly, to an automatic tool changer for automatically changing a tool between a tool magazine and a spindle in a machine tool.

Generally, machine tools include a tool magazine in which a tool is stored, a spindle in which a tool is mounted, and a tool changer for exchanging a tool between the tool magazine and the spindle. do.

In addition, the machine tool is provided with an automatic tool changer (ATC) which automatically implements the above-described tool changer so that the above-mentioned tool can be automatically exchanged.

In the above-described machine tool, the spindle, the transfer table, and the cam box may be integrally conveyed.

The spindle is then transported to the position where the tool is to be changed in order to change the tool, where the tool magazine carriage must always wait before reaching the tool change position, thus delaying the overall time due to the tool change.

In addition, there is a problem in that a lot of resources of the hydraulic drive source, such as using more than five hydraulic cylinders to implement a complex and various operations.

In addition, since only a fixed position control is possible, there is a problem that a slow drive speed and an inaccuracy are caused by the characteristics of the hydraulic drive in waiting for a tool change position because the air must always be waited at a position where there is no interference.

Therefore, the technical problem to be achieved by the present invention is to simplify the drive in transferring the tool to the exchange position, while realizing a high feed rate and accurate position control, so that the tool change can be carried out multiple times of the tool changer The purpose is to provide a drive.

Another object of the present invention is to provide a multiple drive device of a tool changer that can shorten the time required for changing a tool.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, another technical problem that is not mentioned can be clearly understood by those skilled in the art from the following description. There will be.

In order to achieve the above technical problem, a multiple drive device of a tool changer according to an embodiment of the present invention includes a bed; A tool magazine disposed at one side of the bed and containing a tool; A conveying body that slides in the bed and has a spindle installed thereon; A cam box which is disposed on one side of the conveying body and slides in the bed to drive the arm gripper forward and backward; And a tool transfer device disposed at one side of the tool magazine and configured to transfer the tool between the tool magazine and a tool change position.

The tool transfer device may be driven forward and backward in conjunction with movement of the transfer body or movement of the cam box.

The tool moving device may further include a main body installed at one side of the machine tool or the tool magazine; A moving body installed on the main body and linearly moving in a direction parallel to a moving direction of the transfer body; A transfer system installed in the main body to move the moving body and control a linear position of the moving body by driving a servomotor; A sub body disposed vertically on one side of the moving body; An actuator axially coupled to a first pivot on an upper side of the moving body; A slider installed in the sub body to linearly move and to install a tool pocket; And an articulated link installed at an upper side of the moving body and configured to transfer the slider by driving the actuator.

The articulated link may further include: a link plate axially coupled to the upper side of the moving body by a second pivot; A movable plate mounted to the rod of the actuator and axially coupled with the movable plate and a third pivot; A first link axially coupled with the third pivot; A second link axially coupled to the link plate with a fifth pivot; And a third link axially coupled to the first link by a fourth pivot, axially coupled to the second link by a sixth pivot, and axially coupled to the sub body by a seventh pivot.

The moving direction of the moving body and the moving direction of the slider may be orthogonal to each other.

Specific details of other embodiments are included in the detailed description and the drawings.

The multiple drive device of the tool changer according to the embodiment of the present invention made as described above may wait the tool in advance when the spindle approaches the tool change position, thereby significantly reducing the time required for tool change.

In addition, the tool can be transported in a stable state without interference with the cam box or spindle when the tool is transported or returned.

In addition, since the minimum actuator is driven in transferring the tool, the tool can be transferred more quickly, and the tool can be precisely changed by transferring the tool to the correct tool changing position by the servo motor and the stopper.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

Like reference numerals refer to like elements throughout.

Hereinafter, a multiple drive device of a tool changer according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

1 and 2 are a perspective view and a plan view for explaining an example in which a multi-drive device of a tool changer according to an embodiment of the present invention is installed in a machine tool, and FIG. 3 and FIG. Exemplary drawing for explaining the operation concept of the multiple drive device of the tool changer according to an embodiment of the present invention.

The multiple drive device of the tool changer according to an embodiment of the present invention is to more efficiently transport the tool 50 in the machine tool 10 so that the tool change can be made more efficiently.

The machine tool 10 described above is provided with a bed 12 known as the Z axis, and the cam box 32 and the conveying body 42 are mounted on the bed 12 and linearly conveyed by a feed system.

In addition, the tool magazine 20 in which the tool 50 is accommodated is arrange | positioned at the machine tool 10 mentioned above.

The tool magazine 20 is provided with a tool gripper 22, the tool 20 is accommodated in the tool gripper 22, and the tool gripper 22 may be changed in position by a chain drive. .

In addition, the tool magazine 20 described above may move a specific tool gripper 22 toward the evacuation port by a tool change command, and the tool gripper 22 is equipped with a tool 50 or the tool 50. It may be empty to accept it.

In addition, the cam box 32 described above, as one component of the automatic tool changer, retracts or pivots the arm gripper 30 as shown in FIGS. 1 and 2, and the Z axis in the aforementioned bed 12. Can be linearly moved in the direction.

The arm gripper 30 described above may be gripper disposed on both sides of the rotation axis, and the arm gripper 30 may be engaged or released by the tool 50 when the arm gripper 30 pivots, and the arm gripper 30 moves forward and backward. As a result, the tool 50 is mounted or removed from the spindle 40 or the tool pocket 212 described later.

That is, the arm gripper 30 described above may be driven by a combination of rotation and linear motion, and the arm gripper 30 may catch the tool 50 by the rotational operation. 50) can be pulled out or plugged in.

In addition, the above-described rotational motion and linear motion of the arm gripper 30 may be implemented by a cam box 32, which may be moved in conjunction with the feed system of the spindle 40 described above. have.

The configuration and operation of the cam box 32 as described above uses known techniques, and further description thereof will be omitted.

1, the spindle 40 is installed as shown in FIG. 1, and the spindle 40 can be exchanged and mounted with the tool 50, and the tool (with the tool 50) mounted thereon. 50) by rotating the material.

1 and 2, a tool feeder 100 is disposed at one side of the tool magazine 20, and the tool feeder 100 extracts the tool 50 from the tool magazine 20. The tool is transferred to the tool change position or the tool used in the tool change is exchanged to the tool magazine 20.

In particular, the tool transfer apparatus 100 described above may be driven forward and backward in conjunction with the movement of the transfer body 42 or the movement of the cam box 32 described above, which is referred to the accompanying drawings, FIGS. 3 and 4. Will be explained.

The tool needs to be changed during machining of the workpiece, and at this point, a tool change command can be issued, and the position of the cam box 32 or the conveying body 42 at the point of time when the tool change command is issued is arbitrary. May be present at the position of.

Therefore, in order for a tool change to be made, it must be transferred to a set specific point, which may be the tool change position shown in FIGS. 2 to 4.

At the time when the tool change command is issued, the spindle 40 may be located in the right or left direction than the tool change position, and immediately after the tool change, the spindle 40 may be moved in the right or left direction. An example will be described in more detail with reference to FIG. 4.

The right direction described above is expressed as a plus (+) direction for convenience of explanation, and the left direction is expressed as a minus (-) direction, and this definition is merely defined for convenience of explanation and understanding.

In addition, as shown in FIG. 7, the tool feeder 100, the spindle 40, and the arm gripper 30 are moved to the tool change position, and the arm gripper 30 is rotated and retracted by driving the cam box 32. Tool change can be achieved.

Figure 4 (a) shows an example in which the spindle 40 is moved in the positive (+) direction after the tool change in the state that the spindle 40 is located in the positive (+) direction at the time when the tool change command is issued.

In FIG. 4A, the tool feeder 100 is driven toward the tool change position, and at this time, the cam box 32 and the feed body 42 are linked with the tool feeder 100 in a negative (-) direction. Can be transferred to.

That is, the tool change can be made in a shorter time since both approaches to the position for finally replacing the tool 50.

In addition, immediately after the tool change is performed, the tool feeder 100 is returned and the cam box 32 and the feeder 42 are moved in the positive (+) direction to process the workpiece, whereby the tool feeder 100 and The cam box 32 and the conveying body 42 do not interfere with each other.

4 (b) shows an example in which the spindle 40 is moved in the negative (-) direction after the tool change in a state in which the spindle 40 is located at the positive (+) direction side at the time when the tool change command is issued.

In FIG. 4B, the tool feeder 100 is driven toward the tool change position. At this time, the cam box 32 and the feed body 42 are linked with the tool feeder 100 in a negative (-) direction. Can be transferred to.

That is, the tool change can be made in a shorter time since both approaches to the position for finally replacing the tool 50.

In addition, immediately after the tool change is performed, the tool feeder 100 returns to the negative (-_ direction) and the cam box 32 and the feed body 42 are moved to the negative (-) direction to process the workpiece. The conveying apparatus 100, the cam box 32, and the conveying body 42 are such that interference or collision does not occur with each other.

In particular, since the tool feeder 100 retreats in the negative (-) direction, collision with the cam box 32 does not occur.

4 (c) shows an example in which the spindle 40 is moved in the positive (+) direction after the tool change in a state in which the spindle 40 is located in the negative (-) direction at the time when the tool change command is issued.

In FIG. 4A, the tool feeder 100 is driven toward the tool change position, and at this time, the cam box 32 and the feed body 42 are linked with the tool feeder 100 in a negative (-) direction. Can be transferred to.

That is, since the tool 50 is approached in the positive direction to the position for replacing the tool 50, the tool change device 100, the cam box 32, and the spindle 42 do not collide or interfere with each other, and the tool change is performed. It can be done.

In addition, immediately after the tool change is performed, the tool feeder 100 is returned and the cam box 32 and the feeder 42 are moved in the positive (+) direction to process the workpiece, whereby the tool feeder 100 and The cam box 32 and the conveying body 42 do not interfere with each other.

4 (d) shows an example in which the spindle 40 is moved in the negative (-) direction after the tool change in a state in which the spindle 40 is located in the negative (-) direction at the time when the tool change command is issued.

That is, since the tool 50 is approached in the positive direction to the position for replacing the tool 50, the tool change device 100, the cam box 32, and the spindle 42 do not collide or interfere with each other, and the tool change is performed. It can be done.

In addition, immediately after the tool change is performed, the tool feeder 100 returns to the negative (-_ direction) and the cam box 32 and the feed body 42 are moved to the negative (-) direction to process the workpiece. The transfer device 100, the cam box 32, and the transfer body 42 do not interfere or collide with each other.

As described above, the tool transfer device 100 may be installed at one side of the machine tool 10 or the tool magazine 20, and particularly, may be installed in a tool movement path between the tool magazine 20 and the spindle 40.

Hereinafter, a configuration of a tool transfer device 100 which is a main component of a tool changer multiple drive device according to an exemplary embodiment of the present invention will be described with reference to FIGS. 5 and 6.

Tool transfer apparatus 100 according to an embodiment of the present invention, the moving body 120 is installed on the upper side of the main body 110, as shown in Figure 5 and 6, the upper side of the moving body 120 described above The articulated link is installed in the tool pocket 212 to transport.

The main body 110 may be fixedly installed on one side of the machine tool 10 or the tool magazine 20, and the moving body 120 may be moved by the transfer system 130.

The above-described transfer system 130 may be composed of a servo motor 132 capable of numerical control, a ball screw 136 and a nut block, and the nut block may be fixed to the moving body 120 described above.

In addition, the servomotor 132 and the ball screw 136 described above may be driven by a transmission means 134 such as a timing belt, thereby arranging the servomotor 132 and the ball screw 136 side by side without being directly connected. As a result, the space occupied by the transfer system 130 can be reduced.

In addition, the linear guide means 138 may be installed on one side of the main body 110 described above, and the linear guide means 138 uses a technique known to be configured by a combination of a guide and a guideway. Detailed description will be omitted.

The sub body 220 may be installed in front of the moving body 120, and a slider 210 linearly moved by a linear guide means may be installed at the side of the sub body 220.

In addition, the above-described slider 210 may be provided with a tool pocket 212, and the tool pocket 212 may be configured to hold the tool 50, where the tool pocket 212 may use a known technique. Detailed description will be omitted.

The tool 50 described above may be formed with a plurality of tool sinks, for example, there may be an inner first tool sink and an outer second tool sink, and the tool pocket 212 may be disposed outside. The second tool sink can be mounted.

On the other hand, the above-described first tool sink may be mounted to the tool gripper 22 or the arm gripper 30.

In addition, first and second stoppers 214 and 216 for limiting the limit of movement of the slider 210 may be installed at both sides of the above-described sub body 220.

In addition, a buffer member may be installed on the inner surfaces of the first and second stoppers 214 and 216, and a sensor for detecting the slider 210 may be further disposed.

In addition, the actuator 150 for driving the above-described articulated link may be installed above the moving body 120, which will be described with reference to FIGS. 5 and 6.

Figure 5 is an exemplary view for explaining the configuration of the tool transfer device in the multiple drive device of the tool changer according to an embodiment of the present invention, Figure 6 is a tool changer according to an embodiment of the present invention Exemplary drawing for explaining the action of the tool feeder in the multiple drive of the.

As shown in FIGS. 4 and 6, the actuator 150 may be pivotally coupled by the first pivot 152 above the moving body 120, and the actuator 150 may be driven by hydraulic or pneumatic pressure. Can be.

In addition, the articulated link includes a link plate 160, a movable plate 170, and first, second, and third links 180, 190, and 200.

The link plate 160 described above is pivotably installed by the second pivot 165 above the moving body 120.

In addition, the movable plate 170 is fixed to the rod of the actuator 150 described above and is axially coupled by the link plate 160 and the third pivot 175 described above.

In addition, the first link 180 described above is axially coupled by the third pivot 175 described above.

In addition, the second link 190 is axially coupled to the link plate 160 by the fifth pivot 192.

In addition, the above-described third link 200 is axially coupled to the first link 180 and the fourth pivot 185 described above at one end thereof, and the second link (described above) is spaced apart from the fourth pivot 185. 190 is axially coupled to the sixth pivot 195.

In addition, the other end of the third link 1200 described above is axially coupled to the slider 210 and the seventh pivot 205 as described above.

In addition, the above-described position of the third link 200 may be detected by the detecting means 125, and in particular, the third link 200 may be detected in the state in which the actuator 150 is contracted. 125 may be installed above the moving body 120.

On the other hand, the moving direction of the moving body 120 and the moving direction of the slider 210 described above may be orthogonally arranged as shown in FIGS. 3 and 5.

Hereinafter, the operation of the tool transfer device 100 according to an embodiment of the present invention will be described with reference to FIGS. 3, 5 and 6.

Referring to FIG. 6, each step will be described according to the moved position of the slider 210 or the tool pocket 212.

Initially, as shown in FIG. 6A, the actuator 150 may be in a contracted state, and the moving body 120 may be positioned at an intermediate position.

At this time, the position of the moving body 120 is to secure the distance required to hold the tool 50, the precise position may be set by the above-described drive of the servomotor 132.

In addition, since the actuator 150 is in a contracted state, the slider 210 may be positioned at a position facing the tool 50.

In addition, as shown in FIG. 6A, the tool 50 may be in a state where the tool gripper 22 waits at a standby position.

Thereafter, as shown in FIG. 6B, the moving body 120 is retracted by driving the feed system 130, thereby inserting the second tool sink 56 of the tool 50 into the tool pocket 212. Caught.

Thereafter, as shown in FIG. 6C, the actuator 150 is extended and driven to move the slider 210 outward, and the tool 50 is released from the tool gripper 22.

Thereafter, as shown in FIGS. 6D and 7, the moving body 120 may be moved forward.

That is, when there is a tool change command, the feed system 130 may be driven to move the moving body 120. The feed system 130 may be precisely controlled to be suitable for the tool change position to move the moving body 120. Can be.

Then, as shown in FIGS. 6E and 7, the tool 50 in the tool pocket 212 and the first tool 52 mounted on the spindle 40 are driven by driving the arm gripper 30. At the same time, the arm gripper 30 is reversed and the first tool 52 is inserted into the tool pocket 212, and the tool 50 in the tool pocket 212 is inserted into the spindle 40.

In particular, the second tool sink 56 may be plugged into the tool pocket 212 or the spindle 40, and the female gripper 30 may hold and replace the first tool sink 54.

Thereafter, as shown in FIG. 6 (f), the transfer system 130 is driven backward to retract the moving body 120 to a predetermined position.

In particular, the retracted position may be a position where the first tool sink 54 is located laterally of the tool gripper 22.

Thereafter, as shown in FIG. 6G, the actuator 150 is contracted and driven to move the slider 210 toward the tool gripper 22, whereby the first tool 52 is mounted on the tool gripper 22. .

Thereafter, as shown in FIG. 6 (h), the transfer system 130 is driven to advance the moving body 120, whereby the second tool sink 56 is separated from the tool pocket 212.

As described above, when the tool 50 is mounted or removed from the tool pocket 212, the moving body 120 is moved in the axial direction of the tool 50, and the tool 50 is mounted to the tool gripper 22. The slider 210 is moved in a direction orthogonal to the axial direction of the tool 50 at the time of removing or removing the tool 50.

On the other hand, the slider 210 is linearly moved in the left and right directions by the driving of the actuator 150 described above. At this time, the driving of the actuator 150 is performed through the articulated link.

Referring to the operation of the articulated link described above in more detail.

When the actuator 150 is extended in the contracted state, the movable plate 170 is pushed out, and the movable plate 170 rotates the link plate 160 around the second pivot 165.

Thereafter, the link plate 160 moves the first, second, and third links 180, 190, and 200, wherein the link plate 160 and the first, second, and third links 180 () are moved. 190) (200) is to form a four-link link is a kind of constraint link is made.

In particular, since the third link 200 is axially coupled to the slide 210 and the slide 210 is constrained to allow only linear movement by the linear guide means in the bus body 220, the third link 200 is provided. The slide 210 is linearly moved by the movement of.

On the other hand, even if the slide 210 touches the second stopper 216 and is no longer moved, the above-described actuator 150 may be sufficiently driven to extend, and the displacement that is moved in accordance with the extension of the actuator 150 may be The articulated link is refracted and extinguished at each of the second, third, fourth, and fifth pivots 165, 175, 185, 192 and no longer presses the slide 210.

In addition, even when the actuator 150 is contracted in the extended state, the slider 210 may be further contracted by the driving stroke displacement of the actuator 150 even if the movement stops at the moment when the actuator 150 is contacted with the first stopper 214. Even if the actuator 150 is further driven alone, the driving displacement is not applied to the slider 210 and is extinguished as the articulated link is refracted.

That is, the actuator 150 does not control by stopping at an arbitrary position, but simply drives the extension and contraction, but the excessive displacement is eliminated by the articulated link so as not to apply excessive pressure to the slider 210. The slider 210 can be stopped at the precise position by the first and second stoppers 214 and 216.

In addition, the slider 210 is supported by the linear guide means in the sub-body 220, so that the tool 50 does not fall and is stable by the linear motion of the slider 210 without vibration or vibration in any direction. It can be moved.

In addition, when the above-described slider 210 is moved to either left or right, the sensor installed in the first stopper 214 or the second stopper 216 detects the slider 210 and generates a signal to proceed to the next operation. You can also

In addition, since the above-described third link 200 can be detected by the detection means 125 installed in the moving body 120, the articulated link of the articulated link can be grasped, and even if the articulated link is arbitrarily articulated, the third link 200 can be detected. When the third link 200 is detected by the detection means 125, the articulation of the articulated link may be maintained at an initial constant shape.

On the other hand, furthermore, the tool change may be performed within a certain range without specifying the position where the tool is to be changed to a specific position, thereby allowing a more flexible tool change.

On the other hand, the time required to change the tool may be defined as the time taken from the moment the tool change command is issued to the mounting of the tool to be replaced on the spindle, the tool feeder according to an embodiment of the present invention 100 is to prepare the tool to be exchanged in advance to move to the tool change position can wait to shorten the time required for tool change.

In addition, when the tool change position is determined, the tool can be moved to the position. At this time, since the moving body 120 is moved by driving the servomotor 131 capable of numerical control, the point where the spindle 40 meets, for example, It is possible to move precisely and quickly to the point of tool change, so that the change of the tool can be done accurately and quickly.

On the other hand, the position at which the tool is exchanged is not specified, and as described above, the feed system 130 may be driven to determine the most suitable tool change position at the present time and to place the tool at the position.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. will be.

Therefore, the embodiments described above are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is represented by the following detailed description, and the meaning and scope of the claims and All changes or modifications derived from the equivalent concept should be interpreted as being included in the scope of the present invention.

The multiple drive device of the tool changer according to an embodiment of the present invention can be used when exchanging a tool between a tool magazine and a spindle in a machine tool.

1 and 2 are a perspective view and a plan view for explaining an example in which a multi-drive device of the tool changer according to an embodiment of the present invention is installed in a machine tool.

3 and 4 are exemplary views for explaining the operation concept of the multiple drive device of the tool changer according to an embodiment of the present invention.

5 is an exemplary view for explaining the configuration of the tool feeder in the multiple drive device of the tool changer according to an embodiment of the present invention.

6 is an exemplary view for explaining the operation of the tool feeder in the multiple drive device of the tool changer according to an embodiment of the present invention.

FIG. 7 is an exemplary view for explaining an example in which a tool is exchanged by an arm gripper in a tool feeder and a spindle in a multiple drive device of a tool changer according to an exemplary embodiment of the present invention.

(Explanation of symbols for the main parts of the drawing)

10: machine tool 12: bed

20: tool magazine

22: Tool Gripper 30: Arm Gripper

32: cam box 40: spindle

42: conveying body 50: tool

52: first tool 54, 56: first and second tool sinks

100: tool feed 110: main body

120: moving body 130: feed meter

132: servomotor 134: transmission means

136: ball screw 138: linear guide means

150: actuator 152: first pivot

160: link plate 165: second pivot

170: movable plate 175: third pivot

180: first link 185: fourth pivot

190: second link 192: fifth pivot

195: sixth pivot 200: third link

205: seventh pivot 210: slider

212: tool pockets 214, 216: first and second stoppers

220: sub body 125: detection means

Claims (4)

Bed 12; A tool magazine (20) disposed on one side of the bed (12) for receiving a tool (50); A conveying body 42 slid in the bed 12 and the spindle 40 is installed; A cam box (32) disposed on one side of the conveying member (42) and slid in the bed (12) to drive the arm gripper (30) forward and backward; And A tool transfer device (100) disposed on one side of the tool magazine (20) and configured to transfer the tool (50) between the tool magazine (20) and a tool change position; Multiple drive of the tool changer comprising a. The method of claim 1, The tool moving device 100, A main body 110 installed at one side of the machine tool 10 or the tool magazine 20; A moving body 120 installed in the main body 110 to linearly move in a direction parallel to a moving direction of the transfer body 42; A transfer system (130) installed in the main body (110) to transfer the moving body (120) and to control the linear position of the moving body (120) by driving the servomotor (132); A sub body 220 vertically disposed on one side of the moving body 120; An actuator 150 axially coupled to the upper side of the moving body 120 by a first pivot 152; A slider 210 installed in the sub body 220 and having a linear motion and provided with a tool pocket 212; And An articulated link installed at an upper side of the moving body (120) to transfer the slider (210) by driving of the actuator (150); Multiple drive of the tool changer comprising a. 3. The method of claim 2, The articulated link is, A link plate 160 axially coupled to the upper side of the moving body 120 by a second pivot 165; A movable plate 170 installed on the rod of the actuator 150 and axially coupled to the movable plate 170 and the third pivot 175; A first link 180 axially coupled with the third pivot 175; A second link 190 axially coupled to the link plate 160 and a fifth pivot 192; And One side is axially coupled to the first link 180 by the fourth pivot 185, and the other side is axially coupled to the second link 190 by the sixth pivot 195, and the seventh to the sub body 220. A third link 200 axially coupled to the pivot 205; Multiple drive of the tool changer comprising a. 3. The method of claim 2, A moving direction of the moving body 120 and a moving direction of the slider 210 are orthogonal to each other; Multiple drive device of the tool changer characterized in that.

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