TW200902225A - Tool exchanging device - Google Patents

Abstract

Provided is a tool exchanging device which can grip and transfer a tool (W) precisely. The tool exchanging device comprises a tool exchanging arm (13) mounted on a rotary pin (20), a tool receiving portion (26) formed in the tool exchanging arm (13) and made capable of receiving the tool (W), a contact member (40) intended for the tool receiving portion (26) to receive the tool (W) and protruding into the tool receiving portion (26) in a direction, which is different from an approaching direction for the tool receiving portion (26) to approach the tool (W), so that it can contact the tool (W) thereby to retract from the tool receiving portion (26), a fixing member (30) made capable of pushing and fixing the tool (W) in the tool receiving portion (26), and a power transmission mechanism (50) made capable of driving the fixing member (30).

Description

200902225 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a tool exchange device. [Prior Art] Various tool exchange devices have been proposed from the past. For example, the tool changing device described in Japanese Laid-Open Patent Publication No. Hei-6-179142 includes: an arm; a jig fixed to both ends of Z; and a hinge bar, which is freely mounted on the jig of the jig = two. The biasing means separates the key; and the biasing means 'biases the hinge rod toward the tool side. In the automatic exchange device, the red tool can be secured without causing contact with the worker. Automatic tool exchange equipment described in the special bulletin 7-fine bulletin

The Lr has a rotating arm that can rotate around the rotating shaft and can rotate between the holding position and the carrying position. However, in the rotating arm, a locking structure that moves in the direction of the rotating shaft is provided, and the m-turning member of the intermediate furnace is moved to the moving member, and the pressing member is pressed, and the ball is pressed: Including the use of the tool to hold the light. &, the locking member: elastic = pressure ' and the second elastic crystal is accommodated in the intermediate member and the pressing structure is connected = the connecting member is coupled to the locking member and the intermediate member, and the excuse is again at the lower end of the locking member Radial inside. Also, in the real opening ... No. I: Construction: 4 holding mechanism of the automatic tool changer. [Patent Document 1] Japanese Laid-Open Patent Publication No. 179142 No. 2075-9600- pp 5 200902225 - No. 75931 - No. 29337 [Patent Document 2] Japanese Patent Application Laid-Open No. Heisei No. 7 [Patent Document 3] In the automatic tool changer described in Japanese Laid-Open Patent Publication No. No. 75531, when the rotating arm reaches the set position of the guard, the guard enters between the fitting portion and the pressing roller, and the biasing force of the 帛2 spring is utilized. Keep it for the time being. However, when the tool enters the funeral part, if the biasing force of the second spring is Λ, it is difficult to enter the fitting part because the work is difficult, and the second partial pressure cannot be used. Thus, the positional deviation of the belt may occur when the wire is temporarily fixed by the wire. ^, after the jade is temporarily fixed by pressing, the position difference of the tool is liable to occur during the locking of the pressing member which is connected to the pressing roller by the locking member. Further, when the automatic tool exchange device described in Japanese Laid-Open Patent Publication No. Hei No. 6-179142 receives a sanitary ware in the medicinal device, it is necessary to suppress the contact between the key and the tool. Therefore, in order to separate the biasing force of the biasing means for biasing the key lever from the tool, it is necessary to set the biasing force to be flatter than the biasing force of the biasing means for biasing the hinge lever to the tool side. Therefore, when the tool is housed in the jig, the force of the key provided in the hinge bar is reduced, and the tool is difficult to hold reliably. In this way, since the force of holding the tool is weak, the position of the tool is liable to occur during the period in which the pin of the hinge lever is fixed by the upper locking pin after the key is inserted into the tool and temporarily fixed. In this way, the tool positive position 2075-9600-pf 6 200902225 cannot be inserted into the spindle due to the positional deviation of the tool, and the tool spindle is in a state where the positional deviation occurs. The present invention has been developed in view of the problems as described above. The purpose of the present invention is to provide a tool changer that can properly hold and carry tools. [Means for Solving the Problem] The tool exchange device of the present invention includes: a power source 'can generate power; an output shaft that is set to be rotatable; a drive mechanism that drives the output shaft with power from a power source; and a tool exchange arm On the output shaft. Moreover, the tool changing device comprises: a tool receiving portion formed on the tool exchange arm and capable of accepting a tool; and the contact member receiving the tool for the tool receiving portion, and the direction of the approaching direction from the tool receiving portion to the tool is different The tool receiving portion protrudes 'from the tool receiving portion by contacting with the tool received in the tool receiving portion'; the fixing member is disposed so that the tool receiving portion can advance and retreat the tool accepted by the tool receiving portion, and can be fixed In the tool receiving portion; and the power transmitting mechanism, the movable member is applied to the contact member by entering the workpiece and connecting to = : = : contact member contact ', and the fixing member can be driven. Draw = the tool receiving portion is formed as a recess for the acceptable tool; the inner member of the tool member = tool exchange arm is located forward of the protruding direction of the contact member of the contact member. Preferably, the power transmission mechanism comprises a set to be a member, and the support member comprises a right side, the support member can advance and retreat; and the second portion 'supports the contact member to form the first aw branch. . Further, the distance between the support position of the f-contact member and the rotation of the support member 2075-9600-pp·200902225 is smaller than the distance from the center of rotation of the support portion of the second support portion. The support position and the support structure of the cow: the cookware exchange device further includes: a first biasing mechanism for biasing the receiving portion of the adapter; and a second biasing mechanism for biasing the fixed member to the tool receiving portion Pressure. Further preferably, the fixing mechanism further includes a fixing mechanism that is switchable to a state in which the holding member is pressed to hold the first member and the second state of the work received in the port 4 The fixing member can advance and retreat to the tool receiving portion: the power transmitting mechanism has a supporting member which is arranged to move and includes a support member for supporting the fixing member to support the supporting member, and the supporting portion of the adjacent portion And the mouth portion formed on the outer periphery: Further, the solid structure includes a locking member having: = the locking member can be locked by being immersed in the notch portion; and the concave portion, the lower portion: the locking portion is further away from the supporting member, and the supporting member is allowed Turning: the support member is arranged to be relatively movable in the axial direction of the output shaft. The output shaft is arranged to be movable in the axial direction of the output shaft by the power from the power source, and the eight-replacement is fixed to the output shaft by: moving in the axial direction of the output shaft, the locking member The axial arrangement of the locking portion/output shaft. Further, the locking member is fixed to a fixed jaw provided by any one of the tool exchange devices other than the tool exchange and the output shaft, and the support member is relatively displaced with respect to the locking member. Preferably, the output shaft is arranged to be movable in the axial direction of the output shaft by the power from the power source; the tool exchange arm is movable in the axial direction of the output shaft by being fixed to the wheel shaft. @, the locking member is disposed on the work 2075-9600-pp 8 200902225 with an exchange arm, and the shaft setting mechanism that can be set to the output shaft includes: a biasing furnace and a solid pressure; and a pusher: The locking member is biased toward the output shaft, and is biased against the tool exchange arm and the output of the parent changing device and resists the upward movement of the biasing tool member from the biasing member toward the output shaft. The biasing force of the member is such that the card, preferably the locking member, is arranged to push the locking member from the tool exchange member to be large, and to push the portion of the weir that protrudes from the tool exchange arm. Most: the fixing member is formed to face the wheel shaft hole ', and the through hole includes the first and second through holes arranged in the moving direction, and is formed to overlap each other: and the member is penetrated: + # ^成, the width of the sum of the overlapping portions of the first two perforations and the second perforations is further smaller than the first and second through =: There are: No.! The width of the shaft is inserted into the through hole. The width of the direction in which the 疋 member is moved is the second through hole and the second! And the second through-first through hole, small, and can move the first 盥 second book, the width is more through the hole...! And a portion in which the first through hole and the second two holes overlap; and a width in a direction in which the second shaft portion overlaps with the moving direction of the fixing member is larger than a portion in which the first moving portion and the second through hole overlap. And ... the first direction = the fixing member 'forms the axial direction L toward the output shaft: the first and second through holes are arranged in the moving direction of the fixing member; and the axis of the communication hole ' toward the output shaft * 1 and 筮Empty: ? 丨 ', 3 ° 贯 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' And 2〇*75-9600_PF 9 200902225, the fixing mechanism includes: an i-th shaft portion, a width of a direction in which the moving direction of the insertion member intersects, and a solid through-hole and a communication hole are smaller, and are arranged to be movable two holes 2 = and the width of the second shaft portion in the direction in which the moving direction of the fixing member intersects, and the second through hole are small and larger than the communicating hole. Preferably, the contact member has an inclined surface or a curved surface formed on the circumferential surface, and further includes a pressing member that can pull the contact member in a direction retracted from the tool receiving portion by pressing the inclined surface or the curved surface. When the member protrudes from the contact member toward the tool receiving portion, it pushes against the structure, the squeak, and the like, and when it is displaced in the direction away from the tool receiving portion, the inclined surface or the curved surface can be pressed. Preferably, the fixing member has an inclined surface or a curved surface formed on the circumferential surface; and further includes a pressing member that biases the fixing member toward the tool receiving portion by pressing the inclined surface or the curved surface. Further, the pressing member can press the inclined surface or the curved surface when moving from the state in which the fixed member is retracted from the tool receiving portion toward the tool receiving portion. [Effects of the Invention] According to the tool changing device of the present invention, the tool can be properly held and handled. [Embodiment] (First Embodiment) A tool changer 1 according to a first embodiment of the present invention will be described with reference to Figs. 1 to 12 . 2075-9600-PF 10 200902225 In addition, in the case of the embodiment described below, the scope of the present invention is not necessarily limited to the number, unless otherwise specified in the case of the ancient and the J. In addition, in the following embodiments, each component is not necessarily required for the present invention except for the case where it is specifically described. In addition, there are a plurality of embodiments below. In the case of the first embodiment, the features of the respective embodiments are appropriately combined, except for the case of the singularity of the first embodiment of the present invention. A front view of a schematic structure of the tool changer 100. Fig. 2 is a cross-sectional view taken along the line 2Π_π shown in Fig. 1. In the example shown in Fig. j, the tool changer i〇 is included as a power source. The motor 10; the transmission 11 controls the rotational speed of the output shaft of the motor 10; the drive mechanism 12 drives the rotating shaft (output shaft) 20 from the power of the transmission 11; and the outer casing 15 receives the rotating shaft 20 Each axial direction Displacement and rotatable. The rotating shaft 20 is arranged to be rotatable in the circumferential direction and is arranged to be axially movable/monthly, and the plate 14 is disposed at the lower end of the outer casing 15. The tool exchange arm 13 is disposed below the plate 14. The tool exchange arm 13 is fixed to the rotating shaft 20, and is rotated or axially displaceable in response to the driving of the rotating shaft 20. The tool exchange arm 13 includes a body portion 23 which is formed in a flat shape and is fixed to the rotating shaft 20 The tool receiving portion 26 is formed on the main body portion 23 and can receive the tool w; and the tool fixing mechanism 200' can fix the tool w received in the tool receiving portion 26 to the tool receiving portion 26. As shown in Fig. 2 As shown, the body portion 23 is formed in a plan view on a substantially rectangular 2075-9600-PF 11 200902225 shape. The tool receiving portion 26 of the acceptable tool W is formed at both ends in the longitudinal direction thereof. The tool receiving portion 26 is an acceptable tool. The tool holder is formed in a concave shape in the shape of a curved surface. The tool fixing mechanism 2 includes: the contact member 4A, which receives the power from the tool by contacting the tool w received in the tool 26; Fixing member 30, The power from the contact member 40 is driven, and the tool W can be fixed in the tool receiving portion 26. The contact member 40 includes a shaft portion 4Qa that is biased to face the tool receiving portion 26' and is configured to advance and retreat; The roller member 働 is placed at the end of the tool receiving portion 26 on the side of the shaft portion 4, and protrudes into the tool receiving portion 26 and comes into contact with the tool W. The shaft portion 4Ga is accepted by the tool receiving portion 26. The tool w' is provided so as to be movable forward and backward from the tool receiving portion 26 in a direction different from the approaching direction P of the pair of guards receiving portions 26. The fixing member 3G includes a shaft portion 3Ga, and is provided to the tool receiving portion. 26 can advance and retreat; and the roller member 30b is provided at the end of the shaft portion 3〇a on the side of the portion 2 6 . 〃 The tool fixing mechanism 200 includes a power 偻 姐 r τ — — 刀 刀 刀 刀 刀 刀 刀 , , , , , , , , , , , , , 刀 刀 刀 刀 刀 刀 刀 刀 刀 刀 刀 刀 刀 经由 经由 经由 经由 经由 经由 经由 经由 经由 经由 经由38: (4) The contact is carried out and the d8 is transmitted to the shaft portion 30a. When the tool W enters the tool receiving unit 2 6 , the hair _ μ

contact. At this time, in order to connect the tool receiving portion 26/the member and the tool W to the center of the heart, the direction of the tool is close to the direction; ^, because the direction of the advance and retreat of the tool is different, so by the y member side and the shaft portion " The boundary contact with the roller member 4〇b, 2075-9600-pp 200902225, suppresses the pushing in the approaching direction P. Thus, the tool holder of the tool w is well entered into the inside of the tool receiving portion 26. The power applied to the roller member 4b and the shaft portion_ is transmitted to the benefit shaft 30a and the roller member 30b via the power transmission mechanism 50', and the roller member 30b pushes the tool W into the tool. also. In the 卩26, the tool boundary is fixed in the tool receiving unit 26. In this way, if the tool exchange device 1〇°' of the present embodiment can be used to securely hold the exchanged tool w or the newly installed tool w: and, because of the handling of the work that is surely held, When the tool exchange arm 13 is rotated, the positional deviation of the held tool w can be suppressed, and the spindle of the machine tool or the like can be correctly inserted. X, which allows the exchanged tool W to return correctly to the tool. The a-axis portion 40a is formed in the body portion 23β, and is inserted into the hole portion extending in the longitudinal direction of the body portion 23 so as to be retractable. In this manner, since the forward and backward directions of the shaft portion 40a are set, the width of the tool exchange f13 in the short direction can be suppressed from increasing, and the tool exchange arm 3 can be made small. The inner surface of the body portion 23 defining the tool receiving portion 26 is located on the front side of the protruding direction of the shaft portion. Therefore, for example, the memory 13 is rotated and the tool W is taken, and when the tool|and the contact member 4 are in contact, even if the positional deviation of the tool w is about to occur, since the tool W is supported by the inner surface of the tool receiving portion 26, the suppression is performed. The position deviation of the tool w. Thus, the tool W correctly enters the tool receiving portion 26. Further, in the present embodiment, the advancing and retracting direction and the extending direction of the shaft portion 4a are set to the longitudinal direction of the tool exchange arm 13, as described above, but the invention is not limited thereto. In other words, in order for the tool receiving portion 26 to receive the tool w, the 2075-9600-PF 13 200902225 is placed in the tool receiving portion 26 in a direction different from the tool receiving portion 26 in the approaching direction p of the tool. It suffices that the inner surface of the tool exchange arm π provided to define the tool receiving portion 26 is located on the front side in the protruding direction of the shaft portion 4a. * The roller member 40b S is placed at the front end portion of the shaft portion 4A on the tool receiving portion 26 side, and the elastic member 46 such as a coil spring is provided at the other end portion. The roller member 4〇b is provided to be rotatable by a pin member extending toward the steering of the rotating shaft 20, and can guide the tool w entering into the tool receiving portion 26 toward the tool receiving portion 26 to reduce the contact and contact. Between the guards $: the friction generated. Further, the contact member 4A may not be provided with the roller member 40b at the front end portion of the shaft portion. In this case, it is preferable to form the front end portion of the pumping portion 4A into a semi-cylindrical shape. Further, similarly, in the fixing member 3''', the roller member 3'b may not be provided at the end portion of the shaft portion 30a. In this case, it is preferable to form the front end portion of the shaft portion 3〇a into a semi-cylindrical shape. The elastic member 46 biases the shaft portion 40a toward the tool receiving portion 26 by the contact of the member 40b and the tool W, and the roller member_ and the shaft portion are retractable from the tool receiving portion 26. On the shaft. The crucible 40a' is formed with a through hole 45 which penetrates in the radial direction of the shaft portion 4a and extends in the advancing and retracting direction, and the through hole 45? is inserted into the pin member (restricting member) 44 fixed to the main body portion 23. Thus, the shaft portion can be displaced in the axial direction, and on the other hand, the rotation in the circumferential direction is limited. Further, when the tool w is not inserted into the tool receiving portion 26, the shaft member 40a is biased into the tool receiving portion 26 by the member 46, but the pin member 44 is locked to the inner peripheral surface 2〇75 of the through hole 45- 96〇〇-pF 14 200902225 Out length. The shaft portion 30a is formed in the main body portion 23, and is inserted into the hole portion 35c extending in the longitudinal direction of the main body portion 23 so as to be retractable. Thus, the shaft portion 30a is also disposed substantially parallel to the shaft portion 40a. Therefore, the size of the tool exchange arm 13 in the width direction can be made small. The roller member 30b is rotatably provided at the end of the tool receiving portion 26 of the shaft portion 30a, and the step portion 39 is formed in the vicinity of the central portion in the axial direction. A cylindrical sleeve (cylindrical member) 38 is provided on the outer peripheral surface of the shaft portion 30a. This sliding sleeve 38 is disposed on the opposite side of the tool receiving portion 26 of the step portion 39. Further, an elastic member 36 such as a coil spring is disposed between the end surface of the sliding sleeve 38 and the step portion 39. The elastic member 36 biases the shaft portion 30a and the sliding sleeve 38 to separate the sliding sleeve 38 and the shaft portion 30a from each other. Further, a stopper mechanism 25 for fixing the displacement of the sleeve portion 30a is provided at the end portion on the opposite side of the tool receiving portion 26 of the shaft portion 30a. Fig. 3 is a cross-sectional view of the tool exchange arm 13 at a lower side than Fig. 2, and Fig. 4 is a longitudinal sectional view of the tool exchange device shown in Fig. 3. As shown in these FIGS. 3 and 4, the power transmission mechanism 50 includes a rotating shaft 55 that is rotatably centered on the center line q, and a member 56' that is fixed to the rotating shaft and the rotating shaft 55 to rotate, and The sleeve 38 and the shaft portion 40a are supported. The support member 56 is formed in a U-shape in a plan view, and a concave portion 42a is formed at the end portion of the longitudinal direction by the projections 53, 54 arranged in the short direction. Further, at the other end portion of the support member 56, ', 7, a recess 37a of 2075-9600-pp 15 200902225 is defined by a plurality of projections Μ and 排列 arranged in the short direction. In the recess 42a, a sliding member 47 is provided which is provided to be slidable along the inner side surface of the recess 42a, and supports the pin member (limiting member) 42 fixed to the shaft portion 4a to be rotatable. Further, in the concave portion 37a, a sliding member 37' is provided which is provided to be slidable along the inner side surface of the concave portion 37a, and the pin member (defining member) 32 fixed to the sliding sleeve 38 is rotatably supported. Fig. 5 is a cross section taken along line v_v shown in Fig. 3. Further, in Fig. 5, the tool w is not inserted into the tool receiving portion, and the shaft portion is in a state of being retracted from the tool receiving portion 26. The member 32 is rotatably fitted into the sliding member 37, the sliding sleeve 38. As shown in Fig. 5, the pin member 32 is fixed to the other side, and the through hole 33 is formed in the shaft portion 30a', which penetrates in the radial direction, and extends in the axial direction (forward and backward direction). The pin member 32 passes: Inside the through hole 33. Therefore, when the slide member 37 is displaced by the rotation of the rotary shaft 55 and the support member 第 shown in Fig. 3, the pin member 32 brings the sliding sleeve (10) toward the other side, and when the support member 56 is rotated from the state shown in Fig. 3 The sliding member 37 is displaced toward the outer side of the rotating shaft 55, A in the concave portion 37a. Because the rotation motion of the rotating shaft 55 is smoothly converted into the advancing and retracting of the sliding sleeve, the second embodiment of the sliding shaft is inserted into the main body portion 23 by the shaft portion-and the contact from the state shown in FIG. At this time, the conductor a slides the member 47 in the advancing and retracting direction of the vehicle portion 40a, and slides on the concave portion to support the sliding member 47-, L, the fork member 56 and the rotating shaft 55. So the power transmission machine 帛 5. The axial movement of the shaft portion rotation a can be converted into a rotational movement of the support member 56 by 2075-9600-pp 16 200902225, and the kinetic motion of the retaining member 56 is smoothly converted into the axial direction of the shaft portion 30a. motion. And, as shown in the above, when the sliding sleeve 38 is displaced in the axial direction, the shaft portion 30a is provided with the σ α sleeve 38 by the involute and roll (9) imaginary flat member % disposed between the shaft portion 30a and the sliding sleeve 38. Displacement and displacement. Here, in Fig. 3, the distance r2 from the center line of the rotating shaft 55 to the pumping core is longer than the distance ri from the center Q of the rotating shaft 55 to the shaft opening P 40a. The displacement amount of the displacement of 40a is large. The shift-conversion is performed into the fixed member 3. Further, in the shaft portion 3〇a, a through hole ... is formed which penetrates in the radial direction, :: extends, and also forms in the sliding sleeve 38'. The through hole hole penetrates in the radial direction and extends in the axial direction, and the hepatic steel member 34 is disposed to pass through the through hole 35a and the through hole 35b. Therefore, the shaft portion 30a and the sliding sleeve 38 can be displaced toward the axial direction. Further, the displacement in the circumferential direction of the moon is increased, so that the length of the axial direction of the through hole is longer than that of the through hole 33. Further, the distance L2 between the front end of the member 3Gb and the pin member 32 is set to The distance L1 from the roller member 4 is 42 is shorter. The end of the assembly gamma and the pin stop mechanism 25 include: the stopper member 2 The accommodating portion 24 defined by the main body portion is disposed so as to be displaceable in the axial direction of the rotating shaft 2'' shown in Fig. Δ; and the elastic member 22' is configured to smash the stopper member toward the plate shown in Fig. 1 14 pushes. ^ 21Λ"! 2ia, the through hole protrudes toward the plate 14; and the tubular portion 2lb is disposed at 2075'9600-pp 17 200902225 on the base side of the protrusion 21 a and defines a resilient member The concave portion 21 d of the portion 22 is formed with a tapered portion 21C at a portion ' of the circumferential surface of the tubular portion 21b, and a tapered portion 3〇c corresponding to the tapered portion 21c is formed at the rear end portion of the shaft portion 30a. As shown in Fig. 1, the tool exchange arm 13 is at the top dead center, and the plate 14 and the projection 21a of Fig. 5 are in a state of abutting. Thus, by the contact of the plate 14 and the projection 21a, The stopper_piece 21 is biased against the biasing force of the elastic force and is pressed downward. Therefore, the tapered portion 30c of the vehicular portion 30a and the tapered portion 2ic of the stopper member 21 are released. 3 0 a can be displaced in the forward and backward direction. Here, the operation of the tool changer 1〇〇 configured as described above will be described. First, in the first diagram, the tool is handed over. The arm 13 is located at the top dead center as in contact with the plate 14. Further, at this time, the both ends of the tool exchange arm 13@ are retracted from the spindle of the machine tool and the tool g. The structure #46 biases the shaft portion into the tool receiving portion 26, and enters the region R occupied by the tool receiving portion 2 when the tool W is received in Fig. 3'.

In the inner direction of the concave portion 仏 and the recessed portion MU, the shaft portion 3〇a and the fortunate member 3〇b do not reach the region R, as in the first engagement state. In the figure, the release stopper structure # 21 · and the tool g and the figure 5 are shown, and the tool of the spindle of the machine tool is exchanged when the tool is mounted for waiting, so that the board shown in Fig. 1 4

2075-9600-PF 18 200902225 The contact portion 21a is in contact with the state in which the engagement state of the stopper member 21 and the shaft portion_ has been released, and the tool exchange arm 13 is rotated by the power from the motor ι, and is greeted by each tool. . Fig. 6 is a cross-sectional view of the tool exchange arm 13 when the tool receiving portion 26 receives the tool w. As shown in Fig. 6, since the tool receiving portion 26 receives the tool W and the tool W comes into contact with the contact member 4, the power is applied from the tool (4) contact member 40, and the contact member 4〇 enters the body portion μ, and the elasticity The member 46 receives the tool/other state in the tool receiving portion 26 to apply a biasing force to bias the roller member to the region ❹. @度 Then, the power transmission mechanism 5 is used to transmit the power to the second figure or the like 38. The sliding sleeve 38 is displaced toward the tool receiving portion 26. Next, the sleeve 3 〇 a and the roller member _ are displaced in the tool receiving portion 26 via the (four) member (9) and the sliding sleeve (10). - In this manner, as shown in Fig. 6, the roller member_ disposed on the shaft portion 3 comes into contact with the tool W, and the guard w is pressed. ^ At this time, the power is transmitted to the mother to find the amount of movement, and the displacement of the 50μ达机构50' using the contact member 4 〇 月 套 38 38 displacement is more than the displacement of the roller member 40b by the summer. The amount of displacement is larger.卽 戽 振 振 即 , 即 振 振 振 振 振 振 振 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在The pro-member 30b is fully retracted to the crotch portion. 6 When entering the tool receiving portion 26, the shoulder member W. can be reliably fixed by the roller member 30b, and the 'roll member 30b and the worker star w recognize the secret device W. The contact point S2 is located at a position closer to the pressing force of the tool W than the tool receiving member 30b from the center point si of 2075-9600-pp 19 200902225. Thus, the tool W is pushed into the tool receiving portion 26 by the observation. And, again, the new tool waiting for the tool E is also accepted... and uses the other part of the shaft: accessing the tool receiving part 26, the roller member 30b pushes you long, the second picture' utilizes the elastic 椹 du h = factory The force is biased into the shaft portion _ and the sliding sleeve 3" is separated from each other, on the other hand, by the inside of the pin member 32 and the through hole 33: the other: the relative displacement of the shaft (slide) (4)... I: Then, the pressure is also limited by the relay connector 74 and the surface of the through hole 45 to limit the displacement of the shaft portion. Thus, The member 36 and the elastic member 46 have no correlation, and the setting force of the elastic member 36 and the setting force 1 of the elastic member 46 can be independently set and the setting force of the elastic member 36 is set to be larger than the setting force of the elastic member 46. More specifically, the biasing force of the biasing force of the tool W received by the tool receiving portion can be ensured via the roller member 3〇b. The figure shows the tool change of the tool exchange step after the state shown in Fig. 6. The front view of U1Q0. As shown in Fig. 7, in the state in which each tool ff has been gripped, the rotating shaft 20 is displaced to leave the board 14. Therefore, the work "change #13 is also in the state of holding each tool w, The shaft of the shaft 2〇 = displacement, and the tool w attached to the spindle and the tool waiting for the tool 匣 are pulled out from the spindle and the tool 分别, respectively. Fig. 8 is a cross-sectional view showing the tool exchange arm 3 when the tools have been pulled out. As shown in Fig. 8, the stopper member 21 is displaced upward by the eccentric force from the elastic member μ by the plate 14 and the projection 207 5-9600-pp 20 200902225 portion 2U shown in Fig. 7. Gj and μ. Thus, the tapered portion 21c of the crotch portion 21b and the tapered portion 3〇C of the shaft portion 3n; 1 are engaged, and the position of the shaft portion 3〇a in the radial inner side of the rotational direction of the tool exchange arm 13 is defined. Therefore, the shaft portion 30a is more reliably pushed into the tool receiving portion. The member 30b holds the tool f more surely. In the state of the tool w, the guard exchange arm 13 rotates, and the tool carries the tool W that has been mounted on the spindle, and carries the tool W to be the tool to the spindle. At this time, the elastic member % having a large elastic modulus and the biasing force of the stopper mechanism 25 are fixed, and the deviation in the living position is suppressed.啊τ赞 Then 'turns the predetermined angle, the tool is located on the front end side of the spindle, and the tool exchange arm 上升 rises in order to approach the board 14 when the tool is waiting for the front side. Thus, each tool W is mounted on the spindle and the insertion tool (4) waits. At this time, the plate 14 is in contact with the protruding portion 21a, and the stopper structure 1 is pressed, and the engagement state of the stopper member 21 and the shaft portion 30a is released. Then, in Fig. 3, the tool exchange arm 13 is rotated to have: U and the tool W separated. Use Γ!, with the tool exchange arm 13 leaving the tool? And the light member 働: starts to receive the tool with the biasing force from the elastic member 46. This is displaced by the (4) tool to the tool receiving portion 26, and by the transmission mechanism 50, the shaft portion 30 & and the roller member 3 starts to be retracted from the tool 2075-96〇〇^pF 21 200902225 portion 26. In the present embodiment, the power transmission mechanism is described as a tool exchange device for grasping the connection mechanism, but the invention is not limited thereto. The second example shows the first modification of the tool changing device of the present embodiment. Further, in this Fig. 9, the same or equivalent configuration as that shown in the figure (4) 8 is explained to the first. The same symbol is added to W, and as shown in Fig. 9, the power transmission mechanism 50 can be constructed by using gears such as racks and pinions. : In the example shown in FIG. 9, the power transmission mechanism 5 includes: the gum is formed on the surface of the shaft portion 40a; the gear 2 is coupled to the portion 2〇1@合; and the tooth portion 2〇2 is Formed in the sliding sleeve and the gear 200 meshes. The surface of the town, and ^' by the view of the component right and the tool w contact, the shaft section shift, two 200 turns. By rotating the gear 2〇〇, accepting... and pushing and fixing the tool to accept two W. v, Fig. 10 is a view showing a tool exchange layout of the embodiment. In addition, in the above-mentioned "figure, the configuration of the same or equivalent structure of the I:: is the same as that of the second embodiment, and the same example of the same type of press machine is attached." The power transmission mechanism 5 includes: the hydraulic mechanism shaft portion 40a is connected. a piston rod 301; the oil system includes a piston rod 3 connected to the shaft portion 30a;

2075-9600-PF 22 200902225 Pressure reducer 320; and hydraulic pressure tube 35〇, 351. The oil relocation mechanism 300 includes: a red portion 3〇2, which is defined by the body portion, and houses: the plug rod 3〇1 is slidable; and the piston rod such as a piston rod and the piston rod 3〇1 uses the elastic member 46 to move the piston The lever 3 () 1 is biased toward the tool receiving portion. Further, the hydraulic mechanism 31G includes a piston rod 311 and a cylinder portion 312 which is defined by the inside of the body portion 23 and accommodates the piston rod 311 so as to be slidable. The animal device 320 includes a cylinder portion 322 defined by the body portion 23; and the piston rod 32 is biased by the elastic member 324. On the other hand, the cylinder portions 302, 312, and 322 are connected by hydraulic pressure pipes 35, 35, and are sealed with oil. Here, in a state where the tool W is not received by the tool receiving portion 26, the roller member 40b and the shaft portion 40a protrude toward the tool receiving portion 26 by the biasing force from the elastic member 46 via the piston rod 3 (n). The rod 31! is retracted toward the main body portion 23, and the roller member_ and the shaft portion 30a are retracted from the tool receiving portion 26. In this state, when the tool W is received by the tool receiving portion 26, the pro-structure 40b and the tool W contact the 'light member The cymbal and the posterior portion of the shaft post-receiving portion 26 are retracted. Thus, the enclosed oil is contracted and the piston rod is resisted from the biasing force from the elastic member 36, and is displaced toward the accommodating portion, and the roller member 30b is in contact with the tool W. Further, the setting force of the elastic member 324 of the accumulator 320 is set to be larger than the setting force of the elastic member 36. Further, in the present embodiment, the tool exchange arm 说明 is rotated on a horizontal plane. The example of the tool exchange arm of the tool change device of the third modification of the present embodiment is shown in Fig. 2075-9600-PF 23 200902225, and the figure 12 shows the tool attached. Tool exchange of state of W A side view of 13. As shown in Fig. 11, the 'rotary shaft 2' extends in the horizontal direction, and the tool exchange arm 13 is rotatable on the (vertical) plane of the horizontal plane (orthogonal), and the spindle of the machine tool The waiting position 5 of the tool 600 and the tool magazine are arranged in the up and down direction across the tool exchange arm 13. However, by means of the tool exchange arm 13, the tool which will be mounted on the spindle 6〇0 of the machine tool and the waiting position 500 of the tool £ In the rotation of the tool exchange arm 13, as shown in Fig. 11, the upper side of one of the tool holders is covered by the tool receiving portion μ, and the lower side of the tool W1 is supported by the roller member 30b. Even here. At the instant, as described above, the roller member 3b and the shaft portion are the same as the examples shown in Figs. 1 to 11, because the stopper member 21 of the stopper mechanism 25 is used for the locking. Since the biasing force from the elastic member is locked, the positional deviation of the tool w can be suppressed. In particular, in the automatic tool changing device of the present embodiment, as described above, the setting force and elasticity of the elastic member 46 can be individually set. Setting force of component %, The tool w can be pushed into the tool receiving portion 26 β by the biasing force % of the elastic member % which is set to a large setting force, and can be suppressed even in the state before the stopper member 21 is fixed to the shaft portion 3〇a. W is in positional deviation. As shown in Fig. 12, even if the center of gravity of the guard w &amp; tool exchange f U, it is also possible to push the tool w into the tool by using the bias 槿 36' via the light structure. Part: Health 6: Therefore, it is possible to effectively suppress the positional deviation of the tool w. 2075-9600-pp 24 200902225 (Second embodiment) Using the 13th to 17th pictures, the young bbj·外口王弟i < A tool changing device 1 according to a second embodiment of the present invention. In addition, for the structure shown in Figures 13 to 17, 'And 帛! The configurations of the same or equivalent structures as shown in Fig. 12 are denoted by the same reference numerals and the description thereof will be omitted. Fig. 13 is a view showing the brake surface of the tool exchange arm 13 according to the second embodiment of the present invention. Further, the left half of the U-shaped figure indicates that the tool w is received in the tool receiving portion (7) and is fixed by the member 3G. The right half of Fig. 13 shows that the tool W is not attached to the implement receiving portion 26 (four) the tool exchange arm 13. Referring to this Fig. 13, the tool exchange arm 13 includes a fixing mechanism 9A. Fixing mechanism 9. The fixed member 3 can receive the state of the tool boundary accepted in the receiving portion of the guard (the first state); and the fixed structure can be advanced and retracted. status. This fixing mechanism 9 is provided to the tool exchange arm 13 for each tool receiving portion 26. Here, the tool exchange fl3 is rotated, and the tool W for mounting the spindle is received by the tool receiving portion 2β provided at the end of the tool exchange (4). In addition, Lu Yizhen waited for the new job and was placed on the tool exchange arm 13 - broken and accepted. The tool receiving portion 26 at the other end is pushed and fixed by the member 3 in the tool receiving portion 26 at this time. Then, the tool exchange arm U of the rotating shaft 2◦ and the solid = 2, along the central axis of the rotating shaft 2〇? 2. At this time, the fixing mechanism 9 is fixed to the fixing member 9. Pushing solid = present

2075-9600-PF 25 200902225 The tool accepted in the receiving section 26 is taken. Then, the tool exchange arm 13 is displaced in the direction of the center axis ,, and the tool W attached to the spindle is pulled out from the main shaft, and the tool is surfaced. The tool exchange arm 13 is then rotated and displaced along the central axis 〇 to mount the new tool to the spindle of the machine tool. Here, the fixing members 3 provided in the respective tool receiving portions 26 are fixed by the fixing mechanism 90 in a state in which the respective tools are pressed. Therefore, even if the shift arm 13 is rotated or displaced in the direction of the center axis 0, the positional deviation of the two Ws can be suppressed. Then, the tool exchange arm 13 is displaced in the direction of the center axis, and the new tool is attached to the main shaft of the machine tool, and the fixing mechanism 9 releases the respective fixing members when the tool is placed in the waiting position of the work machine.疋 Thus, the fixing member 3G can advance and retreat to the tool receiving portion 26. Instead, the tool of $ is mounted on the spindle ‘and the tool is held in the tool, and the worker 1 arm is rotated 13 . At this time, using the circumferential surface of the work and "± ^ 八", the fixed member % is removed from the tool 杳p 26, and the mechanism 9G is recognized as a fixed configuration, so it is moved away from the tool receiving portion. The direction of displacement of 26. The red power-like power transmission mechanism 50 collides the fixing member 3〇 from the tool force to the contact member 4, and the connected motion and the mountain convey the contact member 40 to receive the work. Therefore, the state of the heart side of the arm 13 is changed. Then, the tool exchange # I 3 rotates to the position retracted from the tool x glaze. Fig. 14 is a section taken in the direction of the glaze line direction along the central axis. 2075-9600-pp 26 200902225 A sectional view of the parent arm 13 is shown. The 15th 焱 土 土 土 — 的 的 的 《 《 《 《 《 《 《 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 Figure 16 is the state of the tool exchange 劈彳q + w tool W π table dry not ', in the 14th picture, the left half of the record is not fixed and w state. The right side of the w represents the fixing tool w. Here, referring to Fig. 15, the power-rotating main power transmitting mechanism 5A includes a rotation supporting member 56. The portion 64 and the notch portion 65 formed in the outer circumference of the support member 56 are recessed into a circular arc shape toward the belt ... &quot;4 and the notch portion (5). The notches are aligned. The circumferential side of the circular-shaped plate-shaped cutting member % is as shown in the second figure, and the 'fixing mechanism 9' includes the extending locking member 6G; and the rotating member 6' is one end of the line 0 side, and is set. The energy can capture the components of the card with the central axis. The rotation axis member θ is the center rotation. The rotation member 63 is pivoted about the center of the casing 抽. In other respects, it is fixedly disposed so that the locking member 60 is disposed in the direction of the center axis 0. Move and fix in the direction of the center axis. The axis 〇 is centered. On the other hand, the support member 56 is disposed on the exchange arm 13 _ toward the center line q: the parent arm 13 and the tool exchange f 13 is moved toward the central axis. Therefore, the 60 and the support member 56 can be moved toward each other in the opposite direction, and the locking member is moved by the tool exchange arm pair in the second embodiment. Further, the pair of locking members 60 are relatively moved. Displacement, and support member 56 2075-9600-pp 27 200902225 _ stop member 60' includes: the shaft portion 6 is embedded in the notch portion 64 and the notch portion 65 of Fig. 15, and the support member 5 is stopped and the shaft The portion 66' is formed with a gap between the shaft portions 61, and the crucible 62 is formed between the shaft portion 61 and the shaft portion 66. The groove portion 62 is formed so as to open the outer peripheral portion of the support member 56 by the recessed groove, and extends annularly in the circumferential direction toward the engagement. Therefore, as shown in the left half of Fig. 14, the state in which the supporting member 2 is located adjacent to the groove portion 62 is slidable without being locked by the locking member 6〇. Accordingly, the contact structure: and the fixing member 30 can advance and retreat toward the tool receiving portion 26. The contact member 40 is detached from the tool receiving portion by the tool receiving portion, and the contact member 40 is formed by the biasing force from the elastic member 46. The fixing member 3 is removed from the tool receiving portion 26: The notch portion 65 formed in the support member 56 is located adjacent to the card 60. Therefore, if the tool W is not displaced by the tool receiving portion 26 even if the tool exchange arm n 6 is connected, the ’ ’ 13 is displaced downward, and the supporting member ... the holding member 60 is also prevented from interfering. Further, the tool exchange arm member % and the shaft portion 61 of the card locking member 60 are fitted into the notch portion. When the displacement is below, 56 is stuck. So 'in the tool? The tool-receiving portion is not in a state in which the support member rotates or the like even if the tool exchange arm 3 is rotated, 40, the fixing member 30, and the power transmission mechanism: the contact member can be restrained and the tool exchange arm 13 is placed in the support mechanism Shake. In the state in which the groove portion 6 2 is adjacent to each other, the outer peripheral portion of the tool exchange arm 1 is rotated by the center axis 20 2075-9600-ρρ 28 200902225, and the tool is mounted on the spindle of the machine tool waiting for the tool 匣. Further, when the tool w is entered into the tool + the adjacent 9 is connected to the 〇 + 8 and 26, the contact member 40 and the fixing member 30 are not advanced and retracted by the fixing mechanism 9 疋 . U疋, but to the tool receiving portion 26, then, the contact member 40 and the tool w are in contact with each other, and the fixing member 3 and the assembly member 56 are protruded toward the tool receiving portion 26. Thus, the member 30 will tool W Pushing and fixing. The mouth _ thus 'in the state where the tool W enters the tool receiving portion (9), is formed in the notch portion of the supporting member 56, and is adjacent to the position of the member member 6 The right arm of the yoke is not displaced by the tool exchange arm 13 along the central axis 0. At this time, as shown in Fig. 16, since the notch portion 64 is located adjacent to the locking member 60, the shaft portion 61 is embedded in the notch portion. The support member 56 is locked. Moreover, the solid (four) member is pressed and fixed. Therefore, even if the tool exchange arm 13 rotates, etc., the tool can be well held within the tool receiving portion to suppress the tool W from becoming inclined. In the 15th and 16th drawings, the tool exchange device 10G of the second embodiment is provided with a pulling mechanism 7Q that assists in gripping the tool w received in the tool receiving portion 26. The pulling mechanism 7〇 Including: a ball μ is formed on a shaft portion of the contact member 40 The circumferential surface of 4〇a may be immersed in the groove portion 75 extending in the circumferential direction of the shaft portion; the support portion 73 supports the ball to be rotatable; the elastic member 72' connects the support portion 73 to the shaft portion 4 〇a is biased; and the cover 7 is disposed on the body portion 23 and supports one end of the member 20 of the elastic 2075-9600-PF 29 200902225. In Fig. 15 'in the tool w not entered the tool receiving portion 26, In a state in which the fixing member 30 protrudes toward the tool receiving portion 26, the ball 74 of the pulling mechanism presses the portion of the circumferential surface of the shaft portion 40a opposite to the groove portion 75 on the opposite side of the tool portion 26. &amp; Then the 'tool 1^ starts to enter In the tool receiving portion 26, when the shaft portion is slightly retracted from the tool receiving portion 26, the ball 74 enters the groove portion 75. The first drawing shows a cross section of the state in which the ball 74 enters the groove portion 75. Thus, FIG. The groove portion 75 is formed in a V-shaped cross section, and is defined by the inclined surface 7 7 and the inclined surface 76 on the tool receiving portion 26 side by the inclined &amp; 7 7 α. Further, the inclined surface 77 is inclined to As the tool 26 = the diameter of the shaft of the contact member 4G becomes smaller. This ^ | τ phantom thousand Although it is made into an inclined surface, it can also be a curved surface. The rafter is so. Then, the ball 74 enters the groove portion 75, and pushes the ball 74 to push the raking ffi77, and the 26 之 轴 shaft In the away from the tool receiving department

The direction of Zb is biased. Further, the fixing member 30 is moved toward the working direction and the w roller members 30b and ... are in contact with each other, and the fixing members are in contact with each other, and are pressed and fixed. Further, even when the viewing member 30b and the broken line of the drawing are shown, and W is in contact, the seventh is a non-contacting energy. Because the inclined surface 77 is in contact with the inclined surface 76, it is also advantageous: from the second, even if the light member is in contact with the pressing force from the ball η, the contact 2075-96〇〇-ρρ 30 200902225 is accepted away from the tool. The direction of the portion 26 is biased. Then, the biasing force from the ball 74 is applied, and after the roller member 40b is applied, the μ is issued by the tool and fixed. ... 曰 With the parent arm 13 facing down, the mechanism 90 fixes the fixing member 3 〇. 'With the fixing, the pull-in mechanism 7 〇 even after the work, the tool W, and the biasing force of the fixed member 3 () exchange arm 13 to start the receiving member ,, the tool can also be used 90. The fixing member 3 is fixed to the crucible. Therefore, the fixing tool is tilted or tilted. The positional deviation of the tool W is generated. (Third Embodiment) The replacing device 1GG of the present invention will be described with reference to Fig. 18. In addition, for the real (four) state The tool map is the same as the structure shown in the figure or the phase: =:, and the symbol of the ! and the description thereof is omitted. / Tian, Hua, with the same reference to Figure 18, the fixing mechanism 9〇 The utility model is provided in the main body portion 23; and the movable member 2!, the upper end portion of the system. The material (4) the (four) member 21, the stopper member 21 is received in the body (4), and the pair of support members 56 can be disposed. The axis 〇 direction phase:; the valley portion 24 is connected to the through hole 27. The inner peripheral surface of the through hole accommodating portion 24 protrudes from the protruding portion 27a formed by the manner of the stopper member 21; ^. Do, including, large out 2〗 a, · and the tube 21b, the line of the guitar: become more than this The protruding portion 21a is large. The through hole 27 of the protruding portion protrudes to the outside of the main body portion 23. Further, the portion of the protruding portion 21a = 2075-9600 - ρρ 200902225 protrudes toward the plate 14. The cylindrical portion 21b is formed in a cylindrical shape, and the inside is formed. The elastic member 22 is housed. The elastic member 22 biases the stopper member 21 toward the plate 14. Here, the support member 56 is configured in the same manner as the support member 56 of the work placement (10) of the second embodiment. Side: missing, one by one, or on the other hand, among the circumferential surfaces of the protruding portion 21a, the opposing portion is farther from the supporting member than the portion of the circumferential surface of the tubular portion 21b and the branch 56. Further, when the support member is adjacent to the peripheral portion, the support stopper member 21 is rotated without contact. As the solid member and member 40 is also moved toward the tool receiving portion, the member 3 can be moved forward and backward. The contact and contact are in the state shown in Fig. 18, in order for the stopper mechanism to abut against the plate 14, and the tool exchange arm 13 is raised. The large outlet plate 14 causes the biasing force of the member of the stopper member 21 and Pushing against the peripheral portion of the protrusion m from the elastic structure and thus the stopper member 21 And the supporting member 5 and the supporting member extend annularly around the central axis 0. The moving plate 14 is thus rotated about the central axis of the shape shown in Fig. 18 to support; 13, the member 56 is also not locked by the fixing mechanism 2〇75-96〇〇^pf 32 200902225 90. Here, the plate 14 can also be used as the rotation of the device 100. The rotation is synchronously rotated, and the rotating member 63 and the rotating shaft 2 are otherwise formed. In the aspect, it is provided to the outer casing 15 so as not to be displaced toward the center axis. The orientation position is thus replaced by the plate 14, and the upper end contacts the friction of the upper end portion of the rotating member 63. In the state where the two V-plates 14 (rotating members 63) push the stopper member 21 above the stopper member, the tool exchange arm "t then" the tool W contacts the contact structure: by the tool w. Accepting and avoiding, and fixing member contact member 4. From the work out, and fixing the tool receiving portion 26 in the tool receiving portion 26, the rotation of the supporting member 56, the member is advanced and retracted. , the _= structure 7 and the contact structure notch portion 64 are located adjacent to the larval member 21, and then rotated. Then, the 'tool exchange arm 13 is configured to use the elastic member 22 to construct the stopper; Since the upper end 21 of the protruding portion 21a is temporarily held toward the plate 14, the other side is moved by the direction in which the supporting members 5 and 14 are in contact with each other. The member 56 is relatively moved. Member 21 Thus, the tubular portion 21b is fitted into the support member 5 of the support member, and the notch portion of the support member 5:: 56. "And Lee 2075 «960〇-pp 33 200902225 Then, using the &amp; The crucible 3 abuts the segment 4A _ 'face 27b defined by the tubular portion 21b, and the stopper 椹 stopper member 21 Tool changer arm 13 starts to move together. The member g β t Ό is supported while maintaining the state in which the stopper member 21 does not move relative to each other, the portion 64. The cylindrical portion 21b of the 1 is embedded in the support member 56, so that the fixing member is 4 ± 1 and the tool can be suppressed. In the ', ' $ and the state of the fixed tool speaks, then, by the work: the position deviation occurs in the receiving portion 26. Pull out and install on the machine 1: The parent arm 13 is displaced like the board 14 and the tool of the spindle is machined. Then, the tool exchange arm 〗 3 is rotated as close as possible. Next, the I angle 'the tool exchange arm plate 14 abuts, and the upper end portion of the stop Y 2 and the 丨τ stop dynamic member 21 are the support member 56 and the tool exchange arm!: another aspect, because of the stop The member 21 moves in the same manner as the support member J, and then the tubular portion 21b is separated from the support member: = motion. The protrusion 21a is located adjacent to the support member (5): the portion 64, so that the 'removal of the support member 56 and the stopper member: the adjacent state' and the support member 56 becomes the snap-fit 13 of the rotatable 21 is displaced as close to the plate 14, And will work: An tool exchange arm shaft. The main body of the machine tool is here. The tool exchange arm 13 is held by the tool exchange arm 13. The tool exchange arm 13 is stopped, and the shape L is held, for example, in the case of holding the tool exchange arm 13

2075-9600-PF 34 200902225 In this case, by pressing the upper end portion of the retaining member 21 protruding from the surface of the body 5»the bucket 23, the fixing surface of the supporting member 56 can be released. After a can, the heart is moved by moving the contact member 4〇. Under the tool w. By removing the exchange device 100 from the tool receiving portion 26, the tool W can be manually removed in the tool of the third embodiment. Further, in the third embodiment, a pull-in mechanism (not shown) is provided, and the tool exchange device of the second embodiment can be obtained. The same effect. (Fourth Embodiment) A tool changing device 1 according to a fourth embodiment of the present invention will be described with reference to Fig. 19. In the configuration shown in Fig. 19, the same or equivalent components as those shown in Fig. 18: Fig. 18 are denoted by the same reference numerals and their description will be omitted. Referring to Fig. 19, the fixing mechanism 9 includes: a rotating member (5) configured to be rotatable about a central axis 转 of the rotating shaft 20; a bow guide shaft 85 fixed at one end to the rotating member 63; and a lock member 8〇, It is attached to the outer circumference of the guide shaft 85 and is arranged to slide in the direction of the center axis 〇. Also, the securing mechanism 90 includes an elastic member 84 that biases the pin member 8&quot; the moon-turning member 63. The pin member 8G is housed in the housing chamber 88 of the main body portion 23 and is disposed so as to be slightly movable in the "axis Q direction. The opening portion 89 &amp; 891" is formed in the housing palace, and the 1:1 state is closed. 53. The valley-to-opening 0p and the opening 89b are arranged in the direction of the central axis 0. 2075-9600-PF 35 200902225 The guide shaft 85 passes through the opening portion 89a and the opening portion 89b, and penetrates the tool exchange arm 13 in the center axis direction. The locking portion 86 is formed at the opening edge portion ' of the opening portion. The locking portion 86 protrudes so as to protrude from the peripheral surface of the housing chamber 88. The locking member 80 forms a barrel.. ± . Inside the pin member 80, a through-hole permeable hole 80a extending in the direction of the central axis 0 is defined. The guide shaft 85 is inserted into the through-hole 80a. The pin member 80 includes: a crotch contact; and the inside of the tubular portion 8 The weir portion 83 is provided at intervals, and the groove portion 82 extending in a meandering manner is formed in the same portion as the 411 and the dam portion 83. In the same portion 81, the 蹓nigl elastic member 84 is accommodated. The tubular portion 81 is embedded in the branch by moving from the position of the state shown in Fig. 19 to the side of the rotating member 63. The outer peripheral portion of the holding member 56 takes a piece 56 + π 缺 64, Μ ' ' and can hold the supporting structure. The 锷 81 81 is detached from the main body portion 23 to "lock on the locking portion 86" to suppress the tube Department of the limb H Zd Luo Luo. Further, the end portion of the 63 side is turned into a double member, and the opening portion 89a protrudes outward. In the upper end of the guide shaft 85; "the end of the side large output member 80. The core forms an enlarged diameter core, and the push pin can be pushed here, on the side of the rotating member 63 shown in Fig. 19, and Leo &quot The tool parent arm 13 is raised to the end of the groove member at the end of the support member 56. Thus, the support member 56 is not adjacent to the lock member 8QJ. 56 can be rotated The support member test member 40 and the fixed member receiving portion 26 advance and retreat. 仟 仟 &lt; 30 can be connected to the tool

2075-9600-PF 200902225 Thus, the bear that is rotatable in the support member 56 rotates around the center axis 0, and gradually becomes the tool parent arm i 3 tool w starts to enter the tool receiving portion 26, and the tool receiving portion 26 retreats And the support member 56, the contact member 40 pushes the tool w from 30. When the 'removing member is fixed', the elastic member is used to lock the contact state of the pin member 8 and the enlarged diameter portion 63. On the other hand, since the supporting member % and the worker are displaced as far away from the rotating member 63, they start to be relatively displaced as they start. Then, the cartridge 仟 56 pairs of the pin members 80 portion 64, and the support member % is inserted into the state of the notch fixing tool W of the support member 56. Thus, the retaining member 30 is here tilted by the 5 丨 guide shaft. In turn, the pin member 80 is prevented from coming into contact with the notch portion 64 of the 支持 #81-inserted support member 56 and the locking portion %. Therefore, after the lock mechanism 2, the _ starts to move away from the rotating member 63 with a part of the parent arm 1 3 and protrudes outward. Therefore, at this time, when the end of the pin member 80 is opened from the opening, it is necessary to remove the upper end of the tool holding tool w, but the tool can be removed from the tool: by 'pushing the pin member 80 and then' the tool Exchange,]3 remove the tool W. The moving member 63 ascends. The third angle is rotated by a predetermined angle, and the enlarged diameter portion g5a of the lock member that protrudes from the "tool exchange arm" 3 is abutted as close to the end of the rotation 80 and the current/guide surface.

2075-9600-PF 200902225 cc &lt; . 升 'other-face' because the supporting member 56 and the body portion 23 coincide and the structure of the ancient squad has risen close to the rotating member 63, so the member 56 starts to be opposite to the pin member 8G. Ground displacement. Then, the sleeve portion 81 is separated from the gap of the card holder, and the handle member 56 is removed, and the support member 56 is exchanged with the arm, and the W female is in the spindle of the machine tool, and the worker is replaced by the f 131⁄4 turn and Spindle, κ, ^ glaze retreat. At this time, since the support member 56 is stuck, the fixing member 30 is retracted by the accommodating portion 26. The fifth embodiment of the present invention will be described with reference to Fig. 20 and Fig. 24, and the tool exchange device Wnnn ® of the Japanese sun and the moon will be described. Further, in the configuration, the configurations of the i-th to the second to the twenty-fourth drawings are the same as those in which the same structure is not the same or equivalent. Referring to Figs. 20 and 21, the fixing member is provided with a through hole 99 which is provided on the opposite side of the end portion of the roller member 30b. ^Open/toward the central axis 0 square fixing mechanism 90 includes · 4 , magnetic slave ^ ^ . The locking member 95 is inserted into the through hole 99, and the rotating member 63, is &quot; and the fixed locking mechanism... the center line 0 is the center rotation, ... through hole 94 :,::. :^^^ κ , and extends toward the center axis 0 direction. The locking member 95 includes a shaft portion 92 which is a groove portion in which the sleeve portion 91 and the shaft portion 9.3 extend in a ring shape with the space portion 93' interposed therebetween. Between the two, the setting limit is shown in Fig. 22 to Fig. _ is a plan view showing the through hole 99 of the 2075-9600-ρρ 38 200902225 and the portion around it as viewed downward from the central axis direction. It is the plan of the state of the state of the retreat. Fig. 24 is a plan view showing a state in which the rear portion 26 is protruded. A plan view of a process in which either the state of acceptance or the state of ... is indicated. As shown in Fig. 22, the through hole 99 includes a first through-hole 1 perforation 96; a dimple perforation 96 and a communication hole 97, and an i-th through hole 96 and a second Through 2: the portion of the perforation 98,. The first through hole 96 and the second intersecting movement direction S are arranged, and the first through hole = is formed away from the tool receiving portion 26 in the form of a perforation %, although even she is located at the boundary of the fifth embodiment of the second embodiment Part, but not limited to this.帛2 through hole 98 The first through hole 96 and the 2nd space π 0δ &amp; 1 are separated from each other, and the communication hole 97 is formed to be connected to the moving direction s, and can also form a second through hole 98 t It becomes an extension to the moving direction S. And FIG. 24' will move on the fixed member 30

The width of the shaft portion 92 is set to the width R2, and the width of the shaft A 91 is set to the width. Instead, it will be on the fixed component.向 in the direction orthogonal to S] + also the movement of the 卞川^ 0 ^ The width of the male perforation 96 is set to the width U, and the width of the hole 98 is set to the width L2, and the width of the hole is set to the width L3e and will be connected The width of the hole 97 and the shaft portion 91 is larger than the width L1 of the first through hole 96.

2075-9600-PF 39 200902225 and the width of the second through hole 98 L2 T Q Φ , 旯 and the width of the communication hole 9Υ

Ld is bigger. Therefore, the 'shaft portion 91 is fitted into the first hollow hole μ 96 and the second through hole 98, and the fixing member 3 can be locked. On the other hand, the implementation of the shaft portion 92 is the same as the width LI, and the width L2 is 1 at the m-axis portion 92 through the communication hole 97, and can be in the first bay perforation 96 and The third through hole 98 moves between. Here, the makeup energy shown in Fig. 21 is τ θ Λ τ . ^ The tool is not attached to the tool receiving portion 26, the fixing member 30 becomes the worker, and the tool exchange arm 13 is raised - 26 The state of retreat. The arm 13 is raised and the shaft portion 92 is located in the through hole. Specifically, the shaft portion 92 is as in the 22nd. The second through hole 98 is located in the second through hole 98. Even if the tool exchange breaks into the second + wear: ?, and is displaced downward, the shaft portion 91 enters the perforation 98, and the fixed Dan 1卞du and the card are suppressed. The stop member q only interferes. Further, the fixing member 3 can be locked by entering the locking member 95. In the hole 98, the member 56 is locked, and the contact member 40, the support member 56, and the like are vibrated when the tool exchange arm n2 contacts the member 40 and the support member, and the parent switch I 13 rotates. &amp; component 3. In the state shown in Fig. 21, the member 3 is fixed. The lock is applied, and the contact member moves to the tool receiving portion 26 to receive the tool w. "The tool exchange arm U rotates and W^W starts into the cooker receiving portion 26, the contact member 4◦ and the work contact" and the contact member 4° starts to shift toward the tool receiving portion 26, and the solid 2075-9600-ρρ 40 200902225 The fixed member 30 starts to protrude toward the tool receiving portion 26. At this time, as shown in Fig. 24 and Fig., the thin portion 92 faces the fixing member 3 in order to pass through the communication hole 97' from the second through hole (4) and enter the first through hole 96'. However, when the contact member 40 contacts the tool W, the shaft portion 92 is located in the first through hole 96. 'Then' the tool exchange arm 13 is moved downward. Thus, the fixed member 30 is relatively opposed to the locking member 95. The shaft portion 91 is inserted into the i-th through hole 96. Thus, the fixing member 30 is locked to the locking member while maintaining the pressing state of the fixing member 30 against the tool W. Then, the tool exchange arm 13 is used Displace the predetermined distance downward, and pull out the tool w provided on the spindle of the machine tool, and pull out the new tool waiting for the tool. After the tool w is pulled out, the tool exchange arm 13 rotates at a predetermined angle and then rises. The shaft portion 92 is again located in the through hole 99. In addition to the fixed state of the fixing member 3' and the new tool is mounted on the spindle of the machine tool. Then, the tool exchange arm 13 rotates and retreats to a position away from the spindle. At this time, since the fixing member 30 can move in the moving direction s Since the tool W is in contact with the fixing member 30, it can be retracted from the tool receiving portion 26 by receiving the pressing force. Further, as shown in Fig. 20, the tool changing device 1 of the fifth embodiment is 〇〇' A pull-in mechanism 70' that selectively retracts the contact member 4's from the tool receiving portion 26 is also provided, but is not limited thereto. For example, as shown in Fig. 25, it is also possible to provide the fixing member 3 to select 2075-9600- PF 41 200902225 A biasing mechanism 1 70 that is biased toward the tool receiving portion 26. The biasing mechanism Π0 includes a ball 174 formed on a circumferential surface of the shaft portion 30a of the member 30 and can be immersed in the shaft portion 3 a circle of 〇a: a groove portion 175 extending in the direction; a support portion 173 for rotating the ball 17; and an elastic member 172 for biasing the support portion 173 toward the shaft portion (10) into a cover 17 for the history of the book (4) 23 And support the elastic member Ha of a known 0. The fixed member 30 is pressed from the state of the tool receiving portion 26_ to the peripheral surface of the portion 30a on the tool receiving portion 26 side. *, the fixing member 3 is "retracted from the tool receiving portion" to the side. When the receiving portion 26 is displaced, the balls 174 reach the groove portion 175. Referring to Fig. 26, the inner peripheral surface of the groove portion 175 is defined by the inclined surface 177 and the inclined surface 176 on the side of the tool receiving portion 26 of the inclined surface 177. Further, the fixing member 30 is biased toward the tool receiving portion 26 by the ball m contacting the inclined surface 176 and the (four) inclined surface 176. Therefore, the tool W can be temporarily held by the biasing force from the elastic member 172 during the period in which the fixing member 30 is mistaken; the day door _ lock. Further, in addition, the inclined surface 176 is inclined so that the diameter of the shaft portion 30a becomes larger as it goes toward the tool receiving portion 26. The embodiments of the present invention are described as the above, but the embodiments shown in the drawings are to be considered as illustrative and not restrictive. The scope of the shovel 〆 〆 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The present invention is not limited to the above numerical values and ranges. 2075-9600-pf 42 200902225 [Industrial Applicability] The present invention is suitable for tool exchange devices. [Simplified Schematic Description] Fig. 1 shows the implementation of the present invention. The automatic tool exchange of the form is a front view of the schematic structure. Fig. 2 is a cross-sectional view of the π-n line shown in Fig. 1. The third figure is the tool exchange / M at the lower side than the second figure. Fig. 4 is a cross-sectional view of the Bayibei line shown in Fig. 3. Fig. 5 is a cross-sectional view taken along line v-V shown in Fig. 3. Fig. 6 is a tool acceptance A cross-sectional view of the tool exchange arm when the tool W is received in the part. Fig. 7 is a front view showing the tool exchange device of the tool exchange step after the state shown in Fig. 6. Fig. 8 shows the time when the tools have been pulled out. 'ffl 〇° of the tool exchange arm Fig. 9 shows the tool of this embodiment Fig. 10 is a cross-sectional view showing a second modification of the tool exchange device of the embodiment. Fig. 11 is a view showing a tool change device according to a third modification of the embodiment. A front view of the tool exchange arm.

Fig. 12 is a side view of a tool exchange arm in a state in which a tool has been mounted. 2075-9600-PF 43 200902225 Fig. 3 is a cross-sectional view showing a second embodiment of the present invention. A cross-sectional view of the exchange arm in the direction of the 〇 direction along the central axis DJ Figure 15 is a cross-section of the tool arm in the state of the unfixed tool. Figure 16 shows the state of the fixed tool. Fig. 18 is a cross-sectional view showing a state in which the ball enters the groove portion. Fig. 18 is a cross-sectional view of the sixth tool exchange arm according to the third embodiment of the present invention. Fig. 19 is a cross-sectional view showing the tool arm of the fifth embodiment of the present invention. Fig. 20 is a cross-sectional view showing the tool exchange arm according to the fifth embodiment of the present invention. Fig. 21 of the tool exchange device is a cross-sectional view in which the tool shown in Fig. 20 is exchanged. The through hole in a part of the cross section and the through hole in the lower view and the through hole in the lower view and the second 2 shows the direction from the central axis to the surrounding Plan view of a portion. FIG. 23 are diagrams of the plan view of the axial direction center to the portion located in the surrounding.

Figure 24 is a plan view showing a portion from the central axis direction to the periphery thereof. 2075-9600-PF 200902225 Figure 25 is a cross-sectional view of the biasing mechanism. Figure 26 is a cross-sectional view of the vicinity of the groove portion. [Main component symbol description] 10 Motor, 11 transmission, 12 drive mechanism, 13 tool exchange arm, 14 plates, 15 housing, 20 shaft, 21 stopper member, 26 tool receiving portion, 56 support member 2075-9600- PF 45

Claims (1)

200902225 X. Patent application scope: 1. A tool exchange device comprising: a power source (10) capable of generating power; an output shaft (20) arranged to be rotatable; and a drive mechanism 'utilizing the power source (1〇) The output shaft (20) is driven by power; the tool exchange arm (13) is disposed on the output shaft (2〇); the tool receiving portion (26) is formed on the tool exchange arm (13), and the tool is acceptable ( W); the contact member (40) receives the tool (W) for the tool receiving portion (26), and the direction of the approaching direction from the tool receiving portion (26) to the tool (w) is different The tool receiving portion (26) protrudes from the tool receiving portion (26) and is retractable from the tool receiving portion (26) to the tool exchange arm (13). The fixing member (3〇) is arranged to advance and retract the tool receiving portion (26), push the tool accepted in the tool receiving portion (26), and be fixed to the tool receiving portion (26) And the power transmitting mechanism (50), by entering the tool receiving portion (26) And with this contact member ⑷ ⑺) contacts, and the force applied to the contact member to convey the ⑽ ⑼ fixing member), and driving the fixing member (30). 2. If you apply for a patent scope! The tool exchange device of the item, wherein the tool receiving portion (26) is formed as a recess for accepting the tool (7); and the inner table 2075-9600-PF 46 of the tool exchange arm (13) defining the tool receiving portion (26) The surface of 200902225 is located in front of the protruding direction of the contact member (40) of the contact member (4〇). 3. The tool changing device of claim 1 or 2, wherein the power transmitting mechanism (50) includes a support member (56) that is configured to be rotatable, and the support member includes: a first support portion (47) The contact member (40) is supported to be advanced and retractable, and the second support portion (37) supports the fixed member (3 〇) to advance and retreat; the first support portion (47) supports the contact member (4) The distance between the support position of the support member and the center of rotation of the support member (56) is greater than the support position of the second support portion (37) supporting the solid member (3) and the rotation of the support member ($6) The distance from the center is smaller. 4. The tool exchange device of claim ii, further comprising: a first biasing mechanism (46) for biasing the contact member (10) toward the tool receiving portion (26); and a second biasing mechanism (36), the 兮a receiving portion 峨f the solid-member (10) toward the tool 5. The tool-exchange device according to item i of the patent application, &quot;including a fixing mechanism (90), which can be switched as follows , "Keep the fixed member (3〇) push the tool into the state of weeping ^1, and then pick up the state of the tool (7) in the part (26); and the second state, make the): The tool receiving portion (26) can advance and retreat. The cow (30) has a supporting mechanism (5C) of the power transmitting mechanism (5G) of claim 5, which is set to be rotatable 2075 ^9600-pp 47 200902225, and includes an i-th support portion (47) that supports the contact member (4〇) to be advanced and retractable, and supports the fixing member (3〇) as a second support portion that can advance and retreat ( 37) and a notch portion (64, 65) formed at the outer peripheral portion; the fixing mechanism (90) includes a locking member (6〇), The locking member can be locked by inserting the notch portion (64, 65); and the concave portion can be recessed further away from the supporting member (56) than the locking portion And allowing the rotation of the support member (56); and the support member (56) is disposed to be relatively movable in the axial direction of the output shaft (2). 7. The tool exchange device of claim 6 Wherein the output shaft (20) is arranged to be movable in the axial direction of the output shaft (20) by the power from the power source (1?); the tool exchange arm (13) is fixed to the output shaft (20) being arranged to be movable in the axial direction of the output shaft (20); the locking portion of the locking member (60) and the concave portion are arranged in the axial direction of the output shaft (2〇); the locking member (60) a fixing portion provided to any one of the tool exchange devices other than the tool exchange arm (13) and the wheel-out shaft (20); the support member (56) to the locking member (6〇) 8. The tool shifting device of claim 6, wherein the output shaft (20) is configured to utilize The power source (1〇) is movable in the axial direction of the output shaft (20); the tool exchange arm (13) is disposed to be opposite to the output shaft (2) by being fixed to the output shaft (2)轴向) axial movement; 2075-9600-PF 48 200902225 The locking member (21) is disposed on the tool exchange arm 〇3) and is arranged to be movable in the axial direction of the output shaft (20); The mechanism (90) includes: a biasing member biasing the locking member (21) toward the axial direction of the output shaft (20); and a pressing member disposed on the tool exchange arm (13) and the output shaft Any part of the tool changing device other than (2), and resisting the biasing force from the biasing member, 'moves the locking member (21) in the axial direction of the output shaft (20). 9. The tool changing device of claim 8, wherein the locking member (21) is disposed to protrude from the tool exchange arm (13), and the pressing member pushes the locking member (21) The portion protruding from the tool exchange arm (13). 10. The tool changing device of claim 5, wherein the fixing member (30) forms a through hole (99) that penetrates in the axial direction of the output shaft (2) and the through hole (99) The first and second through holes (96, 98) are included in the moving direction of the fixing member (3), and are formed to overlap each other; the first through hole (96) and the second The width of the overlapping portion of the through hole (98) and the width direction of the moving direction of the fixing member (3) are smaller than the widths of the first and second through holes (96, 98); The mechanism (90) includes a first shaft portion (92) inserted into the first through hole (96) and the second through hole (the width of the through hole 'and the direction in which the moving direction of the fixing member intersects) 98) and the overlapping portion of the first and second through holes (96, 98) has a smaller width" and the first and second through holes (96, 98) and the first through 2075-9600 are movable —pf1 49 200902225 The overlapping portion of the hole (96) and the second through hole (98); and the second shaft portion (91) and the moving direction of the fixing member (30) Direction of width 'than the first! The second through holes (96, 98) are smaller and larger than the overlapping portions of the second and second through holes (96, 98). 11. The tool changing device of claim 5, wherein the fixing member (30)' forms a through hole (99) penetrating in the axial direction of the output shaft (2), and the through hole (99) comprises The first and second through holes (96, 98) are arranged in the moving direction of the fixing member (10), and the communication hole (97) penetrates in the axial direction of the output shaft U), and the first and the first 2 the through holes (96, 98) are in communication, and the width of the direction in which the moving member is moved in the direction of the fork is formed to be narrower than the width of the i-th and second through holes (10), 98); (90) including the right. The loan τ A / 3 has a width of the first shaft portion (92) inserted into the through hole and the moving direction of the fixing member α i bait U 〇) 1 through hole (96), 2nd, Q. , the Le Z shell perforation (98) and the communication hole (97) are smaller, and are arranged to be able to describe the second through hole and the communication hole (97); and the second axis The width of the direction in which the moving direction of the fixing member (3〇) intersects is smaller than that of the first and second perforations (96, 98), and is larger than the communicating hole (9 7 12. The tool exchange device according to the scope of the patent application, wherein the contact member (4°) has an inclined surface (10) or a curved surface formed on the circumferential surface: further includes a pressing member (74), and &amp;&amp; ^ ^ By pushing the inclined surface or the curved surface ', the contact member (4〇) can be pulled in the direction away from the tool receiving portion (26), 2075-9600-PF 50 200902225 When the pressing member protrudes from the contact member (4) toward the tool receiving portion (26), when the member is displaced in a direction retracted from the tool receiving portion (26), the inclined surface or the curved surface can be pushed. 1 3, the tool changing device of claim j, wherein the fixing member (30) has an inclined surface (丨6) or a curved surface formed on the circumferential surface; and the pressing member (1 7 4 The 'fixing member (3 〇) can be biased toward the tool receiving portion (26) by pushing the inclined surface or the curved surface; the pressing member (174) is from the fixing member (30) When the tool receiving portion (26) is retracted, the inclined surface (176) or the curved surface can be pressed when moving toward the tool receiving portion (26). 2075-9600-PF 51