200920543 九、發明說明 【發明所屬之技術領域】 本發明係關於工具交換裝置’詳而 以可拆裝的方式裝設於工作機械的主軸 【先前技術】 以往的工作機械是具有工具交換裝 具匣之間自動進行工具交換。工具交換 和長形的臂本體。旋動軸能沿上下方向 下端設置臂本體。臂本體的長邊方向和 呈正交。臂本體可繞旋動軸的軸線旋動 別具備用來把持工具的把持部。在一對 具的狀態下，讓臂本體隨著旋動軸旋動 軸的工具裝設部之工具和待機於工具匣 工具進行互換。 習知的工具交換裝置，在使旋動軸 讓臂本體旋動後，再讓旋動軸及臂本體 設於主軸的工具裝設部。當旋動後工具 的軸線稍有偏差時，會發生問題。具體 具位置偏離主軸軸線的狀態進行裝設， 工具裝設部之前，工具和主軸的工具裝 突而互相干涉。在工具和主軸的工具裝 下，若強制將工具裝設於主軸的工具裝 會導致工具或主軸破損。爲了解決上述 S之是關於將工具 之工具交換裝置。 置，以在主軸和工 裝置係具備旋動軸 移動。在旋動軸的 旋動軸的軸線方向 。臂本體在兩端分 把持部分別把持工 ，藉此讓裝設於主 的工具交換位置之 及臂本體下降，並 上昇，而將工具裝 的位置相對於主軸 而言，若嘗試以工 在工具完全裝設於 設部之間會發生衝 設部相干涉的狀態 設部，最遭的情形 問題，例如日本特 -4- 200920543 許第3511857號公報記載的工具交換裝置，是具備 體對旋動軸固定成一體之臂固定機構。前述公報記 具交換裝置，在旋動軸及臂本體上昇且將工具插入 工具裝設部時，將臂固定機構之固定予以解除。 前述公報記載的工具交換裝置，是在旋動軸的 置將臂本體支承成可旋動之臂支承體。在臂支承體 固定機構。臂固定機構是具備：可相對於臂支承體 方向移動之臂固定銷。臂固定銷具有凸緣狀的突部 具有向上縮徑（直徑變小）的錐狀卡合面。臂本體 讓臂固定銷的突部從下側進行卡合之卡合槽。卡合 面呈向上縮徑（直徑變小）的錐狀，以和突部的卡 成密合抵接。彈簧恒將臂固定銷向上彈壓，以使突 於卡合槽，藉此將臂本體固定於臂支承體。結果， 本體和旋動軸一起旋動。 爲了將工具裝設於主軸的工具裝設部，若臂本 至上死點，工作機械的主軸頭的下部會抵接於臂固 上部（從臂支承體的上部突出），而將臂固定銷向 若臂固定銷下降，臂固定銷的突部會脫離臂本體的 。由於臂固定銷解除其對臂本體的限制，臂本體能 旋動軸而繞旋動軸的軸線旋動。由於能繞旋動軸的 立旋動，能使工具沿著工具裝設部的裝設面邊移動 嵌合。在將工具裝設於工具裝設部時，即使工具位 軸的軸線位置稍有偏離，仍能防止在工具和工具裝 間發生負荷。 將臂本 載的工 主軸的 下端設 設置臂 朝上下 。突部 具有： 槽的內 合面形 部卡合 能使臂 體上昇 定銷的 下壓。 卡合槽 獨立於 軸線獨 邊進行 置和主 設部之 -5- 200920543 【發明內容】 前述公報記載的工具交換裝置，由於在工具交換時臂 本體會和鐵製的工具一起進行1 8 0 °旋動，會有慣性力矩作 用於臂本體。在旋動軸從旋動狀態變成停止狀態的情形， 或旋動軸從停止狀態變成旋動狀態的情形，受到作用於臂 本體的慣性力矩，臂本體的卡合槽會將臂固定銷的突部之 錐面向下壓。在將臂固定銷向下壓的力量大的情形，臂固 定銷會下降，而導致卡合槽的錐面越過突部的錐面。在卡 合槽的錐面越過突部的錐面的情形，臂固定銷可能會將其 對臂本體的限制解除。若臂固定銷解除其對臂本體的限制 ，臂本體將無法隨著旋動軸進行正常的旋動。由於臂本體 無法隨著旋動軸進行正常的旋動，工具位置無法正確地互 換，而可能造成無法進行工具交換的事態。 本發明之目的是爲了提供一種工具交換裝置，即使在 臂本體的旋動中，仍能確實保持臂本體相對於旋動軸的固 定狀態。 爲了達成上述目的，請求項1的發明之工具交換裝置 ，係具備：將工作機械的主軸頭支承成能上下移動且能旋 動之旋動軸、設於前述旋動軸的下端且可繞前述旋動軸的 軸線旋動之臂本體、設於前述臂本體的至少一端且用來把 持工具之把持部、固定於前述旋動軸的下端且將前述臂本 體支承成可旋動之臂支承體、以可上下移動的方式設於前 述臂支承體之軸狀的臂固定構件、設於前述臂固定構件的 -6 - 200920543 兩端間之錐形的第1突部、設於前述臂支承體和前述第i 突部之間且將前述臂固定構件向上方彈壓之第1彈壓機構 、設於前述臂本體且對前述臂固定構件（被前述第1彈壓 機構向上方彈壓）之前述第1突部從下側進行卡合之第i 卡合部、用來將前述旋動軸沿上下方向進行移動驅動之第 1驅動機構、用來將前述旋動軸進行旋動驅動之第2驅動 機構、用來將前述臂本體進行旋動驅動之第3驅動機構； 前述主軸頭的下部抵接於前述臂固定構件的上部，並將前 述臂固定構件向下壓而使前述第1突部脫離前述第1卡合 部，藉此前述臂固定構件會解除前述臂本體的固定，藉由 前述第3驅動機構使解除固定後的前述臂本體進行旋動驅 動’將裝設於前述工作機械的主軸之工具用前述把持部把 持’並藉由前述第1驅動機構使前述旋動軸向下方進行移 動驅動，前述第1彈壓機構會讓前述第1突部卡合於前述 第1卡合部，以將前述臂本體固定於前述臂支承體，在前 述臂本體固定於前述臂支承體的狀態下，藉由前述第2驅 動機構將述旋動軸進行旋動驅動以使前述臂本體旋動， 並藉由前述第1驅動機構將前述旋動軸向上方進行移動驅 動’以將前述把持部所把持的工具裝設於工作機械的主軸 ’在具備此構造的工具交換裝置中，其特徵在於： 前述臂固定構件是在前述第1突部的上部具備：垂直 向上延伸且能和前述第1卡合部進行卡合之第1直線部。 因此’即使是臂固定構件下降而使第1卡合部偏離臂 固定構件的第1突部的情形，第1卡合部仍能卡合於第1 200920543 直線部。臂固定構件可繼續將臂本體固定住，即使 體的旋動中，仍能確實保持臂本體相對於旋動軸的 態。 請求項2之工具交換裝置，係進一步具備：可 裝設在前述把持部的工具且能從前述臂本體的內部 把持部進行前進後退移動之抵接構件、將前述抵接 前述把持部側彈壓之第2彈壓機構、以可上下移動 設於前述臂支承體之軸狀的抵接構件固定軸、設於 接構件固定軸的兩端間之錐形的第2突部、在前述 部的上部朝垂直方向延伸之第2直線部、設於前述 體和前述第2突部之間且將前述抵接構件固定軸向 壓之第3彈壓機構、設於前述抵接構件且用來讓前 突部或前述第2直線部卡合之第2卡合部；在前述 部或前述第2直線部卡合於前述第2卡合部的情形 制前述抵接構件之朝與前述把持部的相反側的移動 由前述第1驅動機構使前述臂本體上昇時，前述主 下部抵接於前述抵接構件固定軸的上部，將前述抵 固定軸向下壓，而使前述第2突部及前述第2直線 前述第2卡合部，藉此將前述抵接構件之朝與前述 的相反側的移動之限制予以解除。 因此，即使抵接構件固定軸下降而使第2卡合 體偏離抵接構件固定軸的第2突部的錐體的情形， 合部仍會卡合於第2直線部。抵接構件固定軸會繼 抵接構件的移動，即使在臂本體的旋動中，仍能確 在臂本 固定狀 抵接於 朝前述 構件朝 的方式 前述抵 第2突 臂支承 上方彈 述第2 第2突 ，會限 ，在藉 軸頭的 接構件 部脫離 把持部 部的錐 第2卡 續限制 實保持 -8- 200920543 把持部之工具把持力。 【實施方式】 以下，針對將本發明具體化之一實施形態之工具交換 裝置1 ’參照圖式來做說明。 首先，槪略說明工具交換裝置1的構造。如第1圖所 示’工作機械（圖示省略）是將工具交換裝置1組裝於主 軸頭3的內部。工具交換裝置1，是將裝設於工作機械的 主軸9(參照第8圖）之工具6和移動至工具匣（圖示省 略）的待機位置之工具6，利用後述工具交換裝置1的旋 動動作及昇降動作來進行互換。工具交換裝置1係具備： 工具父換用的驅動馬達1 5、沿鈴垂方向貫穿主軸頭3的內 部之驅動軸18、旋動軸25、工具交換臂丨〇。驅動馬達15 係固定於主軸頭3的上部。驅動軸1 8係連結於驅動馬達 1 5的驅動軸（圖示省略）。旋動軸2 5位於驅動軸1 8的側 方’隨著驅動軸18的旋動運動而繞軸線旋動，且能沿上 下方向移動。工具交換臂10，係連結於旋動軸25的下端 ，且呈大致水平延伸。工具交換臂10的長邊方向和旋動 軸25的軸線呈正交。在工具交換臂1〇的兩端，具有用來 把持工具之把持部1 7、1 7。 接著說明驅動軸1 8。如第1圖所示，分別設於主軸頭 3的上部及下部之軸承1 9、2 0，係將驅動軸1 8的上端部 及下端部軸支成可旋動。在驅動軸18的軸方向中央，將 圓柱構件3 9固定於該軸上。圓柱構件3 9，在外周面的上 -9- 200920543 部具有槽凸輪22，在槽凸輪22的下方具有槽凸輪23。 圓柱構件39的下面具有平面槽凸輪24。 在槓桿40的中央具有卡合件43。卡合件43與槽凸 23相卡合。槓桿40能以支承點44爲支點進行擺動。設 槓桿40前端之接觸件41，係卡合於後述的圓筒構件36 圓周槽（圖示省略）。在旋動軸25的中央，將圓筒構 36固定於該軸上。當驅動軸18轉動1圈時，槓桿40會 動於槽凸輪23而進行擺動，而使旋動軸25及工具交換 10在軸方向往返1回。 擺動構件42，係卡合於槽凸輪22。當驅動軸18旋 時，擺動構件42會從動於槽凸輪22而進行擺動。藉由 動構件42之擺動，會將主軸9 (參照第8圖）所具備的 具把持機構（圖示省略）向下壓。擺動構件42將前述 具把持機構向下壓時，工具交換裝置1會從主軸9的工 裝設部9a將工具保持具7(用來保持工具6)拔出。 在主軸頭3的內部下部將齒輪34支承成可旋動， 輪34具有擺動件35(參照第2圖）。擺動件35(參照 2圖）係卡合於平面槽凸輪24。擺動子35從動於平面 凸輪24’藉此使齒輪34旋動。當齒輪34旋動時，嚙合 齒輪34的外軸齒輪29也會旋動。如後述般，臂旋動軸 嵌合於外軸齒輪29。由於臂旋動軸51和臂本體52爲一 成型而構成，臂本體52會隨著外軸齒輪29的旋動而進 旋動。 在驅動軸18的軸方向的上部，在該軸上具有圓柱 在 輪 於 的 件 從 臂 動 擺 工 工 具 齒 第 槽 於 5 1 體 行 狀 -10- 200920543 的平行凸輪21。平行凸輪21，係具有凸緣狀的板凸輪21a 、21b之複合凸輪。板凸輪21a、21b分別抵接於後述的輥 子38、38。在旋轉軸25的上端部具有栓槽軸37。在栓槽 軸3 7的外周具有凸緣部3 7a。在凸緣部3 7a的上下面分別 軸支著輥子3 8、3 8。在驅動軸1 8旋轉1圈的期間，栓槽 軸37、旋動軸25及工具交換臂10會旋動18(Γ。 接著說明旋動軸25。如第1圖所示，在旋動軸25的 上方外周具有栓槽25a，在最下端具有板狀的凸緣25b。 凸緣25b固定於大致呈水平延伸的工具交換臂10的中央 部位。在旋動軸2 5的上部具有：順沿旋動軸25的軸線之 既定深度的孔3 2。在孔3 2插通後述的支承構件3 1。支承 構件31是形成長軸狀（具有比孔3 2的內徑更小的外徑） 。上部機械框28係固定於主軸頭3的上部，且具有孔28a 。支承構件31，係透過上部機械框28的孔28a來軸支著 旋動軸2 5的上部。 如第2圖所示，在旋動軸2 5的下端外插著圓筒狀的 外軸齒輪29。在外軸齒輪29的上方，將軸承30配置於外 軸齒輪2 9和旋動軸2 5之間。位於主軸頭3的下部之下部 機械框26具有孔26a。下部機械框26，係透過軸承27將 插入孔26a的外軸齒輪29支承成可旋動。 在外軸齒輪2 9之下端部之相對向的位置，具有向下 開口的凹部71a、71b。凹部71a、71b，可和工具交換臂 10的後述的臂旋動軸51的凸部72a、72b嵌合。藉由凹部 71a、71b和凸部72a、72b互相嵌合，而使臂旋動軸51和 -11 - 200920543 外軸齒輪29 —起旋動。 接著詳細說明工具交換臂1 0的構造。如第2圖、第3 圖、第4圖所示，工具交換臂10係具備：臂本體52、俯 視呈圓形的臂支承體16。在臂本體52的長邊方向兩側具 有把持部17、17。臂支承體16係從上下方夾住臂本體52 的中央以將臂本體52支承成可旋動。 接著說明臂本體52。如第3圖及第4圖所示，臂本體 52係具備圓盤狀的本體部53和臂部54、54。臂部54、54 分別固定於本體部5 3的左右兩側。各臂部5 4、5 4的前端 具有俯視「C」字形的把持部1 7。把持部1 7、1 7的方向 設定成，前述「C」字形的方向以本體部5 3爲中心而互相 相反。把持部1 7是具備朝把持部1 7的內側突出之工具卡 止部56。工具卡止部56係卡合於工具保持具7(參照第8 圖）的外周面之卡止槽7a(參照第8圖）。 如第2圖所示，在本體部53的上面中央設有凹狀部 分。在凹狀部分的中心具有：順沿軸心而貫穿之貫穿孔 5 3 a。後述之圓筒狀的臂旋動軸5 1，係嵌合於貫穿孔5 3 a 並用螺絲（圖示省略）固定於本體部5 3。在本體部5 3之 凹狀部分的外側’在相對向的位置具有一對孔5 5、5 5。後 述之臂固定銷91及輥子軸固定銷92，係沿鉛垂方向分別 設於各孔5 5中。 如第2圖及第5圖所示，在臂旋動軸51的軸方向中 央具有朝徑方向外側延伸之凸緣5 1 a。如第5圖所示，凸 緣5 1 a的外周面，在和後述的臂固定銷9 1相對向的位置 -12- 200920543 具備錐面5 1 b。錐面5 1 b，係朝臂旋動軸5 1的徑方向內側 向斜下方傾斜，其錐角（鉛垂線和傾斜面所形成的角度） 大致10°。錐面51b，係對臂固定銷91之後述的卡止凸緣 1 0 〇從下側進行卡合。卡止凸緣1 0 〇的後述錐部1 〇 1 (參 照第6圖），係抵接於錐面5 1 b。藉由使錐部1 〇 1抵接於 錐面51b，而將臂固定銷91和臂旋動軸51連結在一起。 亦即’使臂固定銷91所具有的臂支承體16和臂本體52 連結在一起。臂固定銷91的形狀容後詳述。 如第2圖所示，在臂部54、54的內部，分別具備貫 穿於孔5 5和把持部1 7之間的插通孔5 8。插通孔5 8具備 朝孔5 5側縮徑的段部（圖示省略）。插通孔5 8將輥子軸 8〇支承成可滑動（可前進後退移動）。在輥子軸8〇之把 持部17的一端，將輥子8 1軸支成旋轉自如。輥子8 1將 抵接於把持部1 7內側之工具保持具7 (參照第8圖）施以 緊壓固定。在輥子軸8 0之軸方向中央，具有朝孔5 5側縮 徑之段部（圖示省略）。輥子軸80的段部卡止於插通孔 58的段部。藉由插通孔58的段部和輥子軸80的段部，來 防止輥子軸80從插通孔58插出。 在插通孔5 8的段部和輥子軸8 0的段部之間，設有圓 筒狀的彈簧8 5。彈簧8 5恒將輥子軸8 0朝把持部1 7側彈 壓。在輥子軸80之朝孔55側突出的端部，具有錐面80a 。錐面80a的傾斜，係對應於後述輥子軸固定銷92之卡 止凸緣150的錐部151(參照第7圖）的面。當輥子軸固 定銷92上昇時，卡止凸緣15〇會從下側抵接於錐面80a。 -13- 200920543 當卡止凸緣150抵接於錐面80a時，可限制輥子軸 孔5 5側的滑動。藉由輥子軸8 0的輥子8 1將工具保 朝工具卡止部5 6側緊壓，使把持部1 7確實地把持 保持具7。 接著說明臂支承體16。如第2圖及第3圖所示 承體16係具備大致圓盤狀的上凸緣61和圓盤狀的 63。在上凸緣61的中央部，具有向下突出的突出部 臂旋動軸51外插於突出部61a。在下凸緣63的中 用來嵌合突出部6 1 a的軸孔5 7。藉由螺絲（圖示省 突出部61a固定於下凸緣63。上凸緣61是透過突 來固定於旋動軸25。在上凸緣61和下凸緣63之間 本體52的本體部53而予以支承。 如第3圖所示，上凸緣61在以俯視中央爲基 稱位置具備貫穿孔65、65。上凸緣61，以接近貫驾 、65的方式在以俯視中央爲基點之對稱位置，具備 於貫穿孔65、65之貫穿孔67、67。上凸緣61在 67、67的內側，設有大致順沿圓周之孔73、73。 軸51的凸部72a、72b是從孔73、73的下側向上 孔73、73的作用，是爲了避免上凸緣61千涉隨著 52的旋動而進行旋動的凸部72a、72b。 如第2圖所示，下凸緣63，在以軸孔57爲基 稱位置，且在與上凸緣61的貫穿孔65、65相對向 置，具備段差插通孔68、68。段差插通孔68、68 向下縮徑的段部（圖示省略）。下凸緣6 3 ’在與 80朝 持具7 住工具 ，臂支 下凸緣 6 1 a ° 央具有 略）將 緣2 5b 挾持臂 點之對 P孔65 孔徑大 貫穿孔 臂旋動 突出。 臂本體 點之對 的各位 係具備 上凸緣 -14- 200920543 6 1的貫穿孔67、67相對向的各位置，具備段差插^ 、69 (和段差插通孔68、68同樣的具有段部）。 臂支承體16，係隔著突出部61a而具備一對的 機構201和一對的輥子軸固定機構202。臂固定機 ，係用來將臂本體52固定於臂支承體16 (或解除 。輥子軸固定機構2 02，係用來限制輥子軸8 0的滑 構。 接著說明臂固定銷91的形狀。如第6圖所示 定銷91呈長軸形，且在軸方向中央位置具備卡止凸 。卡止凸緣100係具備：錐部101、基台部102、 1 〇 3。錐部1 0 1，係具備向上縮徑（上端徑小於下端 錐形。基台部1 02，係沿錐部1 〇 1的下端徑部分（ 的外周朝徑方向外側延伸，且具有與臂固定銷9 1 向平行延伸的周面。直線部1 〇 3係具有：從錐部1 ( 端徑部分（上部）以與臂固定銷91的軸方向平行 向上延伸之周面。錐部1 0 1的傾斜角度（錐面相對 定銷9 1的軸方向的角度）爲丨0。，和臂旋動軸5 1 5 1 b (參照第5圖）的傾斜角度大致相同。 接著說明輥子軸固定銷9 2的形狀。如第7圖 輥子軸固定銷92呈長軸形，在軸方向中央位置具 凸緣150。卡止凸緣150係具備：錐部151、基台部 直線部1 5 3。錐部1 5 1具有向上縮徑的錐體。基台 是從錐部1 5 1的底部外周朝鉛垂下方延伸。直線部 是從錐部1 5 1的上端徑部分（上部）以與輥子軸固； 通孔69 臂固定 構20 1 固定） 動之機 ，臂固 1 緣 1 0 0 直線部 徑）之 底部） 的軸方 U的上 的方式 於臂固 之錐面 所示， 備卡止 152、 部152 153， 定銷92 -15- 200920543 的軸方向平行的方式向上延伸。 接著說明臂固定機構201。如第2圖所示，在下凸緣 63的段差插通孔69，插通著臂固定銷91。在段差插通孔 69的段部的上面和卡止凸緣1〇〇的基台部102(參照第6 圖）的底面之間，配置彈簧95。藉由彈簧95恒將臂固定 銷95朝向上方彈壓。 當臂固定銷91相對於臂支承體16上昇時，卡止凸緣 100的錐部101會卡合於臂旋動軸51的錐面51b(參照第 12圖）。因此，臂固定銷91會將臂本體52和臂支承體 1 6固定住’而限制臂本體52相對於臂支承體1 6的旋動。 在前述狀態下’臂本體52可和旋動軸25以一體的方式進 行旋動。 第1 1圖顯示，抵接於臂固定銷91的上部之主軸頭3 的下部’對抗彈簧95的彈壓將臂固定銷9 1向下壓的狀態 。臂固定銷9 1之卡止凸緣1 〇 〇，會離開臂旋動軸5 1的錐 面5 1 b。因此，臂固定銷9 1會將臂本體52和臂支承體1 6 的固定予以解除。當臂本體52和臂支承體16的固定解除 時，可容許臂本體52單獨相對於臂支承體1 6旋動。在前 述的狀態，臂本體52和旋動軸25各自獨立旋動。 接著說明輥子軸固定機構92。如第2圖所示，在下凸 緣63的段差插通孔68，插通著輥子軸固定銷92。在段差 插通孔68的段部上面和卡止凸緣1 50的基台部1 52 (參照 第7圖）的底面之間，配置著彈簧93。藉由彈簧93，恒 將輥子軸固定銷92朝上方彈壓。 -16- 200920543 當輥子軸固定銷92上昇的情形，卡止凸緣150的錐 部151會對輥子軸80的錐面80a從下側進行卡合。輥子 軸固定銷92會限制輥子軸80在段差插通孔68的滑動， 而使輥子81對工具保持具7 (卡止於把持部1 7 )之緊壓 能夠維持。 對抗彈簧93的彈壓而將輥子軸固定銷92向下壓時， 卡止凸緣150的錐部151會離開輥子軸80的錐面80a。輥 子軸固定銷92會容許輥子軸80朝孔55側的滑動。在此 狀態下，可進行把持部1 7之工具保持具7的拆裝。 接著說明臂本體52的工具交換位置（A )和臂待機位 置（B)。如第4圖所示’臂本體52是以突出部61a (參 照第2圖）爲中心進行旋動。在工具交換位置（A )，在 一方把持部1 7的內側’存在著裝設於主軸9之工具保持 具7，在另一方把持部17的內側，存在著裝設於工具匣之 工具保持具7。藉由一對把持部17來把持各工具保持具7 ，並使旋動軸25和臂本體52 —起旋動180°’而使各工具 保持具7的位置互換。然後，各把持部1 7會解除各工具 保持具7的保持。在前述狀態下，一方的把持部1 7會保 持位於主軸9的附近。位於主軸9附近的把持部1 7，會妨 礙主軸9的工具裝設部9a所裝設的工具6之切削加工。 藉由使臂本體52單獨旋動既定角度，臂本體52會變成待 機位置（B )。由於一方的把持部1 7離開主軸9 ’把持部 17不會妨礙主軸9所裝設的工具6之切削加工。 接著說明上述構造之工具交換裝置1的工具交換步驟 -17- 200920543 。工具交換步驟主要由4個步驟組成。在第1步驟 本體52單獨旋動既定角度，而從臂待機位置（b) 工具交換位置（A )。然後，將保持著使用後的工 裝設於主軸9)之工具保持具7、保持著工具匣的朝 的工具保持具7 ’用把持部1 7、1 7予以保持。在第 ’工具交換臂10隨著旋動軸25 —起移動至最低點 ’工具交換臂10隨著旋動軸25 —起旋動180。，而 6、6的位置互換。在第3步驟，工具交換臂1〇隨 軸25 —起上昇。將保持著新工具6之工具保持具 於主軸9，將保持著使用後的工具6之工具保持具 於工具匣。在第4步驟，把持部17、17脫離各工 具7、7。然後，臂本體52單獨朝與第1步驟相反 旋動，從工具交換位置（A)返回臂待機位置（B) 針對第1〜4步驟的各種動作進行具體說明。 首先說明第1步驟。如第8圖所示，位於臂待 (B)之工具交換臂10移動至上死點。臂旋動軸5 部72a、7 2b分別卡合於外軸齒輪的凹部71a、71b 頭3的下部抵接於臂固定銷91及輥子軸固定銷92 於上凸緣61的上方），並將臂固定銷91及輥子 銷9 2向下壓。在前述的情形’臂固定銷91的卡 100並未卡合於臂旋動軸51的凸緣51a所具備的錐 (參照第5圖）。臂固定銷91’會解除臂本體52 承體16的固定，而容許臂旋動軸51 (亦即臂本體 獨相對於臂支承體16進行旋動。 ，使臂 移動至 具6 ( i工具6 2步驟 。然後 使工具 著旋動 7裝設 7收納 具保持 的方向 。以下 機位置 1的凸 。主軸 (突出 軸固定 止凸緣 面5 1b 和臂支 52 )單 -18- 200920543 主軸頭3的下部，係將輥子軸固定銷92向下壓。而 使輥子軸固定銷92的卡止凸緣1 5 0的錐部1 5 1，脫離輕子 軸80的錐面80a。藉此’輥子軸固定銷92容許輥子軸80 朝孔55側的滑動。 若驅動軸18旋動，擺動件35會沿著平面槽凸輪24 擺動’而使嚙合於齒輪34之外軸齒輪29旋動。由於臂固 定銷91已解除臂旋動軸51的固定，臂旋動軸51會隨著 外軸齒輪29的旋動而進行旋動。與該臂旋動軸51成爲一 體之臂本體52也會旋動。臂本體52會從第4圖所示的臂 待機位置（B)旋動至工具交換位置（A)。 把持部1 7之工具卡止部5 6，係卡止於裝設在主軸9 的工具裝設部9a之工具保持具7的卡止槽7a。工具保持 具7，是將輥子軸8 0朝孔5 5側彈壓，而使輥子軸8 0朝孔 5 5側移動。輥子8 1受到彈簧8 5的彈壓，會對卡合於把持 部1 7的工具卡止部5 6之工具保持具7施以緊壓彈壓。如 此般，把持部1 7把持著工具保持具7。另一方的把持部 1 7，則藉由相同的方法把持著：用來保持工具匣（圖示省 略）之位於待機位置的工具6之工具保持具7。如此完成 第1步驟。 接著說明第2步驟。如第8圖所示，在第1步驟用把 持部1 7、1 7把持住工具保持具7、7的狀態下，驅動軸1 8 進一步旋動。若驅動軸18旋動’從動於槽凸輪22之擺動 構件42會進行擺動。藉由擺動構件42之擺動，會將主軸 9的工具把持機構（圖示省略）向下壓。若將主軸9的工 -19- 200920543 具把持機構向下壓，工具保持具7可脫離主軸9。由於驅 動軸18旋動時槓桿40會跟著擺動，如第9圖所示，旋動 軸25會向下移動。伴隨此動作，工具交換臂1〇會向下移 動，而能從主軸9拔出工具保持具7。 彈簧9 3、95會將抵接於主軸頭3的下部而下降後的 臂固定銷91及輥子軸固定銷92向上推。如第1〇圖所示 ’若旋動軸25及工具交換臂1〇移動至最低點，在臂固定 機構201 ’臂固定銷91之卡止凸緣1〇〇，會對臂旋動軸51 的凸緣5 1 a所具有的錐面5 1 b (參照第5圖）從下側進行 卡合。因此’卡止凸緣1 0 0的錐部1 〇 1會和錐面5 1 b形成 密合卡合。臂固定銷91會將臂本體52和臂支承體16固 定在一起’而限制臂本體5 2單獨相對於臂支承體1 6的旋 動。在此狀態下’臂本體52是和旋動軸25成爲一體而進 行旋動。 在輥子軸固定機構2 0 2 ’卡止凸緣丨5 〇的錐部1 5 i ( 參照第7圖）’會對輥子軸80的錐面80a從下側進行卡 合。藉由輥子軸固定銷9 2來限制輥子軸8 0的滑動，而使 輥子81對工具保持具7的緊壓彈壓能夠保持。因此，在 把持部1 7，能將工具保持具7確實地保持住。 在用把持部1 7、1 7把持住工具保持具7的狀態下， 若驅動軸18進一步旋動’平行凸輪21開始旋動。由於平 行凸輪21的板凸輪21a、21b是抵接於栓槽軸37之輥子 38’故旋動軸25及工具交換臂會旋動〗8〇。。由於工具 交換臂1 〇是在把持部1 7、1 7把持著工具保持具7的狀態 -20- 200920543 下進行旋動，起因於鐵製的工具6、6、工具保持具7、7 等的重量之慣性力矩會作用於臂本體5 2。因此，即使旋動 軸2 5停止旋動時，作用於臂本體5 2的慣性力會造成其仍 想繼續旋動。又即使是在旋動軸25開始旋動的情形，作 用於臂本體25的慣性力會造成其仍想繼續停止。不管是 那個情形，作用於臂本體2 5的慣性力，會將卡合於錐面 51b (屬於臂旋動軸51的凸緣51a)之臂固定銷91的卡止 凸緣1 0 0向下壓。 這時，相對於錐面5 1 b，由於卡止凸緣1 00的錐部 1 〇 1向下偏移，錐面5 1 b可能會越過卡止凸緣1 0 0的錐部 1 〇 1。即使是錐面5 1 b越過卡止凸緣1 0 0的錐部1 0 1的情 形，對於錐面5 1 b仍會有直線部1 03的抵接。因此，臂固 定機構201之臂固定銷91會維持臂本體52和臂支承體16 的固定。在工具交換臂10旋動時，臂固定銷91可確實保 持臂本體52和臂支承體16的固定，而能防止工具交換臂 1〇〇的旋動位置之偏移。 在輥子軸固定機構02也是，作用於臂本體52的慣性 力，會將和輥子軸80的錐面80a抵接之輥子軸固定銷92 的卡止凸緣150向下壓。這時，卡止凸緣150的錐部151 相對於輥子軸80的錐面80a會向下偏移，輥子軸80的錐 面80a可能會越過卡止凸緣1 50的錐部1 5 1。即使是輥子 軸8 0的錐面8 0 a越過卡止凸緣1 5 0的錐部1 5 1的情形， 直線部153仍會抵接於輥子軸80的錐面80a。輥子軸固定 銷92會限制輥子軸80的滑動。在工具交換臂10旋動時 -21 - 200920543 ，輥子軸固定銷92會限制輥子軸80的滑動，而能確實地 防止工具保持具7從把持部1 7脫落。因此工具交換臂1 0 能正確且安全地旋動1 8 0°，而使工具6、6的位置互換。 接著說明弟3步驟。在第2步驟將工具6、6的位置 互換的狀態下，若驅動軸18進一步旋動，槓桿40會擺動 ，而使旋動軸25向上移動，工具交換臂10也會隨著向上 移動。如第8圖及第9圖所示，若工具交換臂10移動至 上死點，主軸頭3的下部會抵接於臂固定銷91及輥子軸 固定銷92，並將臂固定銷91及輥子軸固定銷92向下壓。 臂固定機構201會解除錐面5lb和錐部101的卡合，而容 許臂本體52單獨相對於臂支承體16的旋動。在此狀態下 ’臂本體52可和旋動軸25各自獨立旋動。當工具保持具 7沿著主軸9的工具裝設部9a插入時，臂本體52會隨著 工具保持具7的動作而進行擺動。因此，即使是把持部i 7 所把持的工具保持具7的位置偏離主軸9的工具裝設部9a 的情形，工具交換裝置1仍能確實地將工具保持具7裝設 於工具裝設部9a。因此，在工具交換裝置1，可防止在工 具保持具7和工具裝設部9a之間發生負荷。 在輥子軸固定機構202，會解除輥子軸80的錐面80a 和錐部151的卡合。輕子軸固定機構20 2會容許輥子軸80 之朝孔5 5側的滑動。因此，把持部1 7可解除工具保持具 7的把持。 接著說明第4步驟。如第8圖所示，在第3步驟，是 在主軸9的工具裝設部9a插入新的工具保持具7，各把持 -22 - 200920543 部1 7、1 7則解除其對工具保持具7的把持。臂旋動軸5 1 的凸部72a、72b分別嵌合於外軸齒輪29的凹部71a、71b 。若驅動軸18進一步旋動，擺動件35會沿著平面槽凸輪 24擺動。齒輪34會從動於擺動件35而朝與第丨步驟相反 的方向旋動，嚙合於齒輪34之外軸齒輪29也會朝與第1 步驟相反的方向旋動。由於臂固定銷9 1是將臂本體52和 臂支承體16的固定予以解除，臂旋動軸51會隨著外軸齒 輪29的旋動而進行旋動。若臂旋動軸51旋動，和臂旋動 軸51成爲一體的臂本體52也會旋動。臂本體52會從工 具交換位置（A)旋動至臂待機位置（B)。 在 當於本 彈壓機 ，彈簧 相當於 相當於 明的「 線部」 「抵接 部」， 圖所示 明的「 明的「 18、槓 以上的說明’備2圖、第3圖所示的把持部17相 發明的「把持部」。彈簧92相當於本發明的「第1 構」，彈簧8 5相當於本發明的「第2彈壓機構」 93相當於本發明的「第3彈壓機構」。輥子軸8〇 本發明的「抵接構件」。第6圖所示的臂固定銷9 j 本發明的「臂固定構件」，其錐部丨〇〗相當於本發 第1突部」，直線部1 03相當於本發明的「第丨直 。第7圖所示的輥子軸固定銷92相當於本發明的 構件固疋軸」，錐部丨5〗相當於本發明的「第2突 直線部15 3相當於本發明的「第2直線部」。第2 之臂旋動軸51的凸緣5U之錐面51b相當於本發 第1卡合部」’輥子軸80的錐面80a相當於本發 弟2卡合部」。第1圖所示的驅動馬達1 5、驅動軸 桿40以及圓柱構件3 9的槽凸輪23，是相當於本發 -23- 200920543 明的「第1驅動機構」。第1圖所示之驅動馬達 軸1 8、平行凸輪21、栓槽軸3 7、輥子3 8，是相 明的「第2驅動機構」。第1圖所示之驅動馬達 軸18、圓柱構件39的平面槽凸輪24、擺動件 3 4、外軸齒輪2 9、臂旋動軸5 1，是相當於本發甲 驅動機構」。 如以上所說明，在本實施形態之工具交換裝 在構成臂固定機構201之臂固定銷91的卡止凸 ’於錐部1 〇 1的上部設置直線部1 03。在構成輥 機構202之輥子軸固定銷92的卡止凸緣150中 151的上部設置直線部153。當工具交換臂1〇旋 ’起因於鐵製的工具6、6及工具保持具7、7等 慣性力矩會作用於臂本體5 2。在工具交換臂1 〇 用於臂本體5 2的慣性力，會將和臂旋動軸5 1的 的錐面51b卡合之臂固定銷91的卡止凸緣1〇〇 因此，卡止凸緣100的錐部101相對於卡止凸緣 面51b會向下偏移。即使是卡止凸緣51a的錐面 卡止凸緣100的錐部101的情形，在卡止凸緣5 5lb仍會有直線部103抵接。臂固定機構201之 91仍可保持其對臂旋動軸51的固定。在工具交主 動時，臂固定銷91可確實地保持其對臂旋動軸： ，而能防止工具交換臂10的旋動位置偏移。 在輥子軸固定機構202也是，作用於臂本體 性力，會將和輥子軸8 0的孔5 5側的端部抵接之 1 5、驅動 當於本發 1 5、驅動 3 5、齒輪 的「第3 置 1，是 緣100中 子軸固定 ，在錐部 動180°時 的重量之 旋動時作 {凸緣5 1 a 向下壓。 5 la的錐 5 lb越過 1 a的錐面 臂固定銷 I臂1 0旋 5 1的固定 ! 5 2的慣 輥子軸固 -24- 200920543 定銷92的卡止凸緣150向下壓。卡止凸緣150的錐部1 相對於輥子軸80的錐面8 0a會向下偏移。即使是輥子 80的錐面80a越過卡止凸緣150的錐部151的情形，輥 軸80的錐面80a仍會抵接於直線部153。輥子軸固定機 2 02之輥子軸固定銷92會保持其對輥子軸80的固定。 工具交換臂10旋動時，輥子軸固定銷92可確實地保持 對輥子軸80的固定，在旋動中，可確實地防止工具從 持部17脫落。工具交換臂10可正確且安全地旋動18 0' 而將工具6、6的位置互換。 本發明的工具交換裝置，並不限於上述實施形態， 然能進行各種的變形。例如，在上述實施形態，在工具 換臂10之臂本體52中，本體部53和臂部54、54雖是 成一體，但本體部53和臂部54、54也能分別形成。又 凸緣6 1和突出部6 1 a也能分別形成。 工具交換臂10的把持部17、17的方向，只要是互 對稱的方向即可，也能採用和上述實施形態相反的方向 在上述實施形態，臂固定銷91的卡止凸緣100的 部1 0 1、輥子軸固定銷92的卡止凸緣1 5 0的錐部1 5 1、 緣5 1 a的錐面5 1 b，雖是截面都是呈直線狀，但也能形 曲線狀。 本發明之工具交換裝置可適用於，利用旋動軸所造 之臂本體的旋動動作，來將工具以可拆裝的方式裝設於 作機械的主軸之工具交換裝置。 5 1 軸 子 構 當 其 把 當 交 形 上 相 〇 錐 凸 成 成 工 -25- 200920543 【圖式簡單說明】 第1圖係工具交換裝置1的縱截面圖。 第2圖係工具交換裝置1的下部的縱截面圖。 第3圖係工具交換臂1〇的立體圖。 第4圖係工具交換臂丨〇的俯視圖。 第5圖係臂旋動軸51的錐面51b的縱截面圖。 第6圖係臂固定銷91的立體圖。 第7圖係輥子軸固定銷9 2的立體圖。 第8圖係顯示臂固定機構2 0 1及輥子軸固定機構2 0 2 的動作之說明圖（工具交換臂1 0上昇至上死點的狀態） 〇 第9圖係顯示臂固定機構201及輥子軸固定機構2〇2 的動作之說明圖（工具保持具7脫離主軸9的狀態）。 第10圖係顯示臂固定機構201及輥子軸固定機構202 的動作之說明圖（工具交換臂1 0移動至最低點的狀態） 〇 第U圖係顯示，對於臂旋動軸51的錐面51b，臂固 定銷91的卡止凸緣1〇〇的錐部ι〇1抵接前的狀態之說明 圖。 第1 2圖係顯示，對於臂旋動軸51的錐面5 1 b，臂固 定銷91的卡止凸緣1〇〇的錐部101抵接後的狀態之說明 圖。 【主要元件符號說明】 -26- 200920543 1 ·‘工具交換裝置 3 :主軸頭 6 :工具 7 :工具保持具 7 a :卡止槽 9 :主軸 9a :工具裝設部 1 0 :工具交換臂 1 5 :驅動馬達 1 6 :臂支承體 1 7 ‘把持部 1 8 :驅動軸 19、 20、 27、 30:軸承 2 1 :平行凸輪 2 1 a、2 1 b :板凸輪 22、23 :槽凸輪 24 :平面槽凸輪 25 :旋動軸 2 5 a :栓槽 2 5 b、5 1 a :凸緣 26 :下部機械框200920543 IX. [Technical Field] The present invention relates to a tool exchange device that is mounted in a removably manner on a spindle of a work machine. [Prior Art] A conventional work machine has an automatic exchange between tool exchange tools. Exchange tools. Tool exchange and elongated arm body. The rotary shaft can be provided with the arm body at the lower end in the up and down direction. The longitudinal direction of the arm body is orthogonal to each other. The arm body is rotatable about the axis of the rotary shaft and has a grip for holding the tool. In the state of a pair, The tool of the tool mounting portion that rotates the arm body with the rotary shaft and the tool 匣 tool are interchanged. a conventional tool changer, After the rotating shaft is rotated by the arm body, Further, the rotary shaft and the arm body are disposed on the tool mounting portion of the spindle. When the axis of the tool is slightly offset after the rotation, A problem will occur. Specifically, the device is mounted with the position deviated from the axis of the spindle, Before the tool installation department, The tool and the tool of the spindle interfere with each other and interfere with each other. Installed under the tools of the tool and spindle, If the tool is installed on the spindle, the tool or spindle may be damaged. In order to solve the above S, it is a tool exchange device for the tool. Set, It has a rotary axis movement on the spindle and the machine system. In the direction of the axis of the rotary shaft of the rotary shaft. The arm body is separately held at the two ends, Thereby, the arm body mounted at the main tool exchange position is lowered, And rise, And the position of the tool is relative to the main axis. If you try to work in the state where the tool is completely installed between the devices, a state in which the punches interfere with each other occurs. The most troubled situation, For example, the tool exchange device described in Japanese Patent Publication No. -4-200920543, No. 3511857, It is an arm fixing mechanism that is integrally fixed to the rotating shaft. The aforementioned bulletin records the exchange device, When the rotating shaft and the arm body are raised and the tool is inserted into the tool mounting portion, The fixing of the arm fixing mechanism is released. The tool exchange device described in the above publication, The arm body is supported as a rotatable arm support at the position of the rotary shaft. In the arm support body fixing mechanism. The arm fixing mechanism has: An arm fixing pin that is movable relative to the arm support. The arm fixing pin has a flange-like projection having a tapered engagement surface that is reduced in diameter (the diameter is reduced). Arm body The engagement groove that engages the projection of the arm fixing pin from the lower side. The engaging surface has a tapered shape with an upwardly reduced diameter (the diameter becomes smaller). It is in close contact with the card of the protrusion. The spring constantly presses the arm fixing pin upwards. In order to protrude from the engaging groove, Thereby the arm body is fixed to the arm support. result, The body and the rotating shaft are rotated together. In order to install the tool on the tool mounting portion of the spindle, If the arm is up to the top dead, The lower portion of the spindle head of the working machine abuts against the upper portion of the arm (projecting from the upper portion of the arm support), And the arm fixing pin is lowered toward the arm fixing pin, The protrusion of the arm fixing pin will be disengaged from the arm body. Since the arm fixing pin releases its restriction on the arm body, The arm body is capable of rotating the shaft and rotating about the axis of the rotary shaft. Due to the vertical rotation around the rotating shaft, The tool can be moved and fitted along the mounting surface of the tool mounting portion. When the tool is installed in the tooling department, Even if the axis position of the tool bit axis is slightly deviated, It still prevents loads between tools and tool sets. Set the lower end of the arm of the arm to the upper and lower arms. The protrusion has: The inner surface of the groove is engaged to push the arm up and down. The engagement groove is disposed independently of the axis and the main portion is provided. -5 - 200920543 [Explanation] The tool exchange device described in the above publication, Since the arm body will be rotated by 180 ° with the iron tool during tool exchange, There is a moment of inertia applied to the arm body. In the case where the rotary axis changes from the swirling state to the stopped state, Or when the rotary axis changes from a stopped state to a swirled state, Subjected to the moment of inertia acting on the arm body, The engaging groove of the arm body presses the taper of the protrusion of the arm fixing pin downward. In the case where the force of pressing the arm fixing pin is large, The arm fixing pin will drop, As a result, the tapered surface of the engaging groove passes over the tapered surface of the protrusion. In the case where the tapered surface of the engaging groove passes over the tapered surface of the protrusion, The arm fixing pin may lift the restriction on the arm body. If the arm fixing pin releases its restriction on the arm body, The arm body will not be able to rotate normally with the rotary axis. Since the arm body cannot rotate normally with the rotary axis, Tool positions cannot be interchanged correctly. It may cause a situation in which tool exchange is impossible. The purpose of the present invention is to provide a tool exchange device, Even in the rotation of the arm body, It is still possible to surely maintain the fixed state of the arm body with respect to the rotation axis. In order to achieve the above objectives, The tool exchange device of the invention of claim 1 The system has: Supporting the spindle head of the working machine as a rotating shaft that can move up and down and can be rotated, An arm body that is disposed at a lower end of the rotating shaft and that is rotatable about an axis of the rotating shaft, Provided at at least one end of the arm body for holding the gripping portion of the tool, Fixed to the lower end of the aforementioned rotating shaft and supports the arm body as a rotatable arm support body, a shaft-shaped arm fixing member that is provided on the arm support body so as to be movable up and down, a first protrusion that is tapered between the ends of the arm fixing member -6 - 200920543, a first biasing mechanism provided between the arm support and the i-th projection and biasing the arm fixing member upward; An i-th engaging portion that is engaged with the arm main body and that is engaged with the arm fixing member (which is biased upward by the first biasing mechanism) from the lower side, a first driving mechanism for moving the rotating shaft in the up and down direction, a second driving mechanism for driving the rotary shaft to be driven by rotation, a third driving mechanism for driving the arm body to be driven by rotation; a lower portion of the spindle head abuts against an upper portion of the arm fixing member, The arm fixing member is pressed downward to disengage the first protrusion from the first engaging portion. Thereby, the arm fixing member releases the fixing of the arm body, The third drive mechanism rotates and releases the arm body that has been unfixed. The tool attached to the main shaft of the machine tool is gripped by the grip portion, and the rotary shaft is rotated by the first drive mechanism. Move the drive down, The first biasing mechanism engages the first projection with the first engaging portion. Fixing the arm body to the arm support body, In a state in which the arm body is fixed to the arm support body, The rotating shaft is rotationally driven by the second driving mechanism to rotate the arm body. And the first drive mechanism moves the upper portion of the rotary shaft in the upper direction to attach the tool held by the grip portion to the spindle of the machine tool, and the tool exchange device having the structure is provided. It is characterized by: The arm fixing member is provided on an upper portion of the first protrusion: a first straight portion that extends vertically upward and is engageable with the first engaging portion. Therefore, even if the arm fixing member is lowered and the first engaging portion is displaced from the first projection of the arm fixing member, The first engaging portion can still be engaged with the first 200920543 straight portion. The arm fixing member can continue to fix the arm body, Even if the body is spinning, It is still possible to surely maintain the state of the arm body relative to the rotating shaft. The tool exchange device of claim 2, The system further has: An abutting member that can be moved forward and backward from the inner grip portion of the arm body by a tool that is attached to the grip portion The second biasing mechanism that abuts against the grip portion side, The shaft is fixed up and down by abutting members provided on the arm support body, a second projection that is tapered between the ends of the fixed shaft of the connecting member, a second straight portion extending in the vertical direction at an upper portion of the aforementioned portion, a third biasing mechanism that is disposed between the body and the second protrusion and that fixes the abutting member in the axial direction, a second engaging portion provided on the abutting member for engaging the protruding portion or the second straight portion; When the second or the second straight portion is engaged with the second engaging portion, the movement of the abutting member on the side opposite to the grip portion is increased by the first driving mechanism when the arm body is raised. The main lower portion abuts on an upper portion of the abutting member fixing shaft, Pressing the aforementioned abutting axial direction, And the second protrusion and the second line, the second engagement unit, Thereby, the restriction of the movement of the abutting member toward the opposite side is released. therefore, Even if the abutting member fixing shaft is lowered to bias the second engaging body away from the cone of the second projection of the abutting member fixing shaft, The joint will still engage in the second straight portion. The abutment member fixing shaft will follow the movement of the abutting member, Even in the rotation of the arm body, It is still possible to confirm that the arm is fixedly abutting against the member toward the member, and the second second protrusion is projected upward from the second arm support. Limit, In the joint member of the shaft head, the cone of the grip portion is separated. The second card is restrained. -8- 200920543 The tool holding force of the grip portion. [Embodiment] Hereinafter, The tool exchange device 1' according to one embodiment of the present invention will be described with reference to the drawings. First of all, The configuration of the tool changer 1 will be briefly described. As shown in Fig. 1, the working machine (not shown) is a device in which the tool changing device 1 is assembled inside the main shaft head 3. Tool switching device 1, It is a tool 6 that is mounted on the spindle 9 of the machine tool (see Fig. 8) and a tool 6 that moves to the standby position of the tool 匣 (not shown). The switching is performed by the turning operation and the lifting operation of the tool changing device 1 which will be described later. The tool exchange device 1 has: The drive motor used by the tool father 1 5 a drive shaft 18 that penetrates the inner portion of the spindle head 3 in the bell-down direction, Rotating shaft 25, Tool exchange arm. The drive motor 15 is fixed to the upper portion of the spindle head 3. The drive shaft 18 is coupled to a drive shaft (not shown) of the drive motor 15 . The rotary shaft 25 is located on the side of the drive shaft 18 and rotates about the axis as the drive shaft 18 rotates. It can move in the up and down direction. Tool exchange arm 10, Attached to the lower end of the rotary shaft 25, And it extends roughly horizontally. The longitudinal direction of the tool exchange arm 10 and the axis of the rotary shaft 25 are orthogonal. At both ends of the tool exchange arm 1〇, Having a grip portion for holding the tool 17 1 7. Next, the drive shaft 18 will be described. As shown in Figure 1, Bearings respectively provided on the upper and lower portions of the spindle head 3, 2 0, The upper end portion and the lower end portion of the drive shaft 18 are pivotally supported. In the center of the axial direction of the drive shaft 18, A cylindrical member 39 is fixed to the shaft. Cylindrical member 3 9, On the outer circumference, the upper -9-200920543 has a grooved cam 22, A groove cam 23 is provided below the groove cam 22. The lower surface of the cylindrical member 39 has a planar grooved cam 24. There is a catching member 43 at the center of the lever 40. The engaging member 43 is engaged with the groove projection 23. The lever 40 can swing with the support point 44 as a fulcrum. a contact 41 at the front end of the lever 40, It is engaged with a circumferential groove (not shown) of a cylindrical member 36 to be described later. In the center of the rotary shaft 25, The cylindrical structure 36 is fixed to the shaft. When the drive shaft 18 rotates one turn, The lever 40 swings against the slot cam 23, The rotary shaft 25 and the tool exchange 10 are reciprocated one time in the axial direction. Swing member 42, It is engaged with the groove cam 22. When the drive shaft 18 is rotated, The swinging member 42 is swung by the groove cam 22. By the swinging of the moving member 42, The holding mechanism (not shown) provided in the spindle 9 (refer to Fig. 8) is pressed downward. When the swinging member 42 presses the aforementioned holding mechanism downward, The tool changer 1 pulls out the tool holder 7 (for holding the tool 6) from the mounting portion 9a of the spindle 9. The gear 34 is rotatably supported at the inner lower portion of the spindle head 3, The wheel 34 has a swinging member 35 (refer to Fig. 2). The swinging member 35 (refer to Fig. 2) is engaged with the flat groove cam 24. The sway 35 is driven by the planar cam 24' thereby rotating the gear 34. When the gear 34 is rotated, The outer shaft gear 29 of the meshing gear 34 is also rotated. As will be described later, The arm rotation shaft is fitted to the outer shaft gear 29. Since the arm rotation shaft 51 and the arm body 52 are formed by one molding, The arm body 52 is rotated in accordance with the rotation of the outer shaft gear 29. In the upper portion of the drive shaft 18 in the axial direction, On the shaft, there is a cylinder on the side of the wheel. The workpiece is moved from the arm to the toothed groove. The parallel groove 21 of the body is -10-200920543. Parallel cam 21, a flanged plate cam 21a, 21b composite cam. Plate cam 21a, 21b abuts on the roller 38, which will be described later, 38. A bolt shaft 37 is provided at an upper end portion of the rotary shaft 25. A flange portion 37a is provided on the outer circumference of the pinch shaft 37. Rollers 38 are axially supported on the upper and lower surfaces of the flange portion 37a, respectively. 3 8. While the drive shaft 18 is rotated one revolution, Bolting shaft 37, The rotary shaft 25 and the tool exchange arm 10 will rotate 18 (Γ. Next, the rotation shaft 25 will be described. As shown in Figure 1, The upper circumference of the rotary shaft 25 has a bolt groove 25a, At the lowermost end, there is a plate-like flange 25b. The flange 25b is fixed to a central portion of the tool exchange arm 10 which extends substantially horizontally. On the upper part of the rotary shaft 25 has: A hole 3 2 of a predetermined depth along the axis of the rotary shaft 25 is rotated. The support member 31 to be described later is inserted into the hole 3 2 . The support member 31 is formed in a long axis shape (having an outer diameter smaller than the inner diameter of the hole 32). The upper mechanical frame 28 is fixed to the upper portion of the spindle head 3, And has a hole 28a. Support member 31, The upper portion of the rotary shaft 25 is pivotally supported by the hole 28a of the upper mechanical frame 28. As shown in Figure 2, A cylindrical outer shaft gear 29 is inserted outside the lower end of the rotary shaft 25. Above the outer shaft gear 29, The bearing 30 is disposed between the outer shaft gear 29 and the rotary shaft 25. The mechanical frame 26 located below the lower portion of the spindle head 3 has a hole 26a. Lower mechanical frame 26, The outer shaft gear 29 of the insertion hole 26a is supported by the bearing 27 so as to be rotatable. In the opposite position of the lower end of the outer shaft gear 29, a recess 71a having a downward opening, 71b. Concave portion 71a, 71b, The convex portion 72a of the arm rotation shaft 51, which will be described later, of the tool exchange arm 10, 72b chimera. By the recess 71a, 71b and convex portion 72a, 72b fits each other, The arm rotation shaft 51 and the -11 - 200920543 outer shaft gear 29 are rotated together. Next, the configuration of the tool exchange arm 10 will be described in detail. As shown in Figure 2, Figure 3, As shown in Figure 4, The tool exchange arm 10 has: The arm body 52, The arm support 16 is circular in a plan view. A grip portion 17 is provided on both sides of the arm body 52 in the longitudinal direction. 17. The arm support body 16 sandwiches the center of the arm body 52 from above and below to support the arm body 52 to be rotatable. Next, the arm body 52 will be described. As shown in Figures 3 and 4, The arm body 52 includes a disk-shaped main body portion 53 and an arm portion 54, 54. Arm 54, 54 are respectively fixed to the left and right sides of the body portion 53. Each arm 5 4 The front end of the 5 4 has a grip portion 17 in a "C" shape. Holding unit 1 7 The direction of 1 7 is set to The direction of the aforementioned "C" shape is opposite to each other around the main body portion 53. The grip portion 17 is provided with a tool catching portion 56 that protrudes toward the inner side of the grip portion 17. The tool locking portion 56 is engaged with the locking groove 7a of the outer peripheral surface of the tool holder 7 (see Fig. 8) (see Fig. 8). As shown in Figure 2, A concave portion is provided at the center of the upper surface of the body portion 53. In the center of the concave portion has: A through hole 5 3 a that runs along the axis. A cylindrical arm rotating shaft 5 1 to be described later It is fitted into the through hole 5 3 a and fixed to the main body portion 53 by a screw (not shown). There is a pair of holes 5 5 at opposite positions on the outer side of the concave portion of the body portion 53. 5 5. An arm fixing pin 91 and a roller shaft fixing pin 92, which will be described later, They are respectively disposed in the respective holes 55 in the vertical direction. As shown in Figures 2 and 5, At the center of the axial direction of the arm rotation shaft 51, there is a flange 5 1 a extending outward in the radial direction. As shown in Figure 5, The outer peripheral surface of the flange 5 1 a, The tapered surface 5 1 b is provided at a position -12-200920543 which is opposed to the arm fixing pin 9 1 to be described later. Cone 5 1 b, Tilting obliquely downward toward the inner side in the radial direction of the arm rotation shaft 5 1 The taper angle (the angle formed by the vertical line and the inclined surface) is approximately 10°. Cone surface 51b, The locking flange 110, which will be described later, is engaged with the arm fixing pin 91 from the lower side. The tapered portion 1 〇 1 of the locking flange 1 0 后 (refer to Fig. 6), It is abutted on the tapered surface 5 1 b. By abutting the tapered portion 1 〇 1 against the tapered surface 51b, The arm fixing pin 91 and the arm rotating shaft 51 are coupled together. That is, the arm support body 16 and the arm body 52 which the arm fixing pin 91 has are joined together. The shape of the arm fixing pin 91 will be described in detail later. As shown in Figure 2, At the arm 54, 54 inside, There are respectively insertion holes 58 which are passed between the hole 55 and the holding portion 17. The insertion hole 58 has a step portion (not shown) that is reduced in diameter toward the hole 55 side. The insertion hole 58 supports the roller shaft 8 to be slidable (movable forward and backward movement). At one end of the grip portion 17 of the roller shaft 8〇, The roller 8 1 shaft is rotatably freely supported. The roller 8 1 presses the tool holder 7 (refer to Fig. 8) abutting on the inside of the grip portion 17 to be pressed and fixed. In the center of the axis of the roller shaft 80, There is a section (not shown) which is reduced in diameter toward the hole 5 5 side. The segment of the roller shaft 80 is locked to the segment of the insertion hole 58. By inserting the section of the through hole 58 and the section of the roller shaft 80, The roller shaft 80 is prevented from being inserted out of the insertion hole 58. Between the section of the insertion hole 58 and the section of the roller shaft 80, A cylindrical spring 8 5 is provided. The spring 8 5 constantly presses the roller shaft 80 toward the grip portion 17 side. At the end of the roller shaft 80 that protrudes toward the side of the hole 55, Has a tapered surface 80a. The inclination of the tapered surface 80a, It corresponds to the surface of the tapered portion 151 (see Fig. 7) of the locking flange 150 of the roller shaft fixing pin 92 to be described later. When the roller shaft fixing pin 92 is raised, The locking flange 15A abuts against the tapered surface 80a from the lower side. -13- 200920543 When the locking flange 150 abuts against the tapered surface 80a, The sliding of the roller shaft 5 5 side can be restricted. The tool is held against the tool locking portion 56 by the roller 8 1 of the roller shaft 80, The grip portion 17 is surely gripped by the holder 7. Next, the arm support body 16 will be described. As shown in Figs. 2 and 3, the body 16 has a substantially disk-shaped upper flange 61 and a disk-shaped 63. In the central portion of the upper flange 61, The projection shaft 51 having the downward projection is externally inserted into the projection 61a. In the lower flange 63, a shaft hole 57 for fitting the projection 6 1 a is fitted. The lower projection 63 is fixed by a screw (the illustrated projection 61a is shown). The upper flange 61 is fixed to the rotary shaft 25 by a projection. The body portion 53 of the body 52 is supported between the upper flange 61 and the lower flange 63. As shown in Figure 3, The upper flange 61 has a through hole 65 at a position in the center of the plan view. 65. Upper flange 61, Close to driving, The way of 65 is in a symmetrical position with the center of the plan as a base point. Provided in the through hole 65, Through hole 67 of 65, 67. The upper flange 61 is at 67. The inside of 67, Providing a hole 73 substantially along the circumference, 73. The convex portion 72a of the shaft 51, 72b is from the hole 73, The lower side of the 73 is up to the hole 73, The role of 73, In order to avoid the convex portion 72a in which the upper flange 61 is swung with the rotation of 52, 72b. As shown in Figure 2, Lower flange 63, In the position based on the shaft hole 57, And in the through hole 65 with the upper flange 61, 65 relative orientation, With a stepped insertion hole 68, 68. Segment insertion hole 68, 68 The section of the downward diameter (not shown). The lower flange 6 3 ' is in the tool with the 80 holding tool 7 Arm lower flange 6 1 a ° center has a slight edge 2 5b holding arm point pair P hole 65 hole diameter through hole arm rotation protruding. Each of the pair of arm body points has a through hole 67 of the upper flange -14- 200920543 6 1 , 67 relative positions, With step difference ^, 69 (and the stepped through hole 68, 68 has the same section). Arm support 16, A pair of mechanisms 201 and a pair of roller shaft fixing mechanisms 202 are provided via the protruding portion 61a. Arm fixing machine It is used to fix the arm body 52 to the arm support 16 (or to release). Roller shaft fixing mechanism 2 02, It is used to limit the sliding of the roller shaft 80. Next, the shape of the arm fixing pin 91 will be described. As shown in Figure 6, the pin 91 has a long axis shape. It has a locking projection at the center of the axial direction. The locking flange 100 is provided with: Cone 101, Base station 102, 1 〇 3. Cone 1 0 1, The system has an upward diameter reduction (the upper end diameter is smaller than the lower end cone shape). Abutment 1 02, The outer diameter of the lower end portion of the tapered portion 1 〇 1 extends outward in the radial direction. And having a circumferential surface extending in parallel with the arm fixing pin 91. The straight line 1 〇 3 series has: From the tapered portion 1 (the end diameter portion (upper portion), the circumferential surface extending in parallel with the axial direction of the arm fixing pin 91. The inclination angle of the tapered portion 1 0 1 (the angle of the tapered surface with respect to the axial direction of the fixed pin 9 1) is 丨0. , The inclination angle of the arm rotation axis 5 1 5 1 b (refer to Fig. 5) is substantially the same. Next, the shape of the roller shaft fixing pin 92 will be described. As shown in Fig. 7, the roller shaft fixing pin 92 has a long axis shape. A flange 150 is provided at the center in the axial direction. The locking flange 150 is provided with: Cone portion 151, Base portion Straight portion 1 5 3. The tapered portion 151 has a cone that is upwardly reduced in diameter. The abutment extends from the outer periphery of the bottom of the tapered portion 151 to the vertically lower side. The straight portion is from the upper end diameter portion (upper portion) of the taper portion 15 1 to be axially fixed to the roller; Through hole 69 arm fixed structure 20 1 fixed) moving machine, The angle of the axis U of the arm of the 1st edge of the line 1 0 0 of the straight line) is shown by the cone of the arm. Card 152, Department 152 153, The axial direction of the fixed pin 92 -15- 200920543 extends upward in a parallel manner. Next, the arm fixing mechanism 201 will be described. As shown in Figure 2, The stepped insertion hole 69 in the lower flange 63, The arm fixing pin 91 is inserted. Between the upper surface of the step portion of the step insertion hole 69 and the bottom surface of the base portion 102 (see Fig. 6) of the locking flange 1〇〇, Configure the spring 95. The arm fixing pin 95 is constantly biased upward by the spring 95. When the arm fixing pin 91 rises relative to the arm support 16, The tapered portion 101 of the locking flange 100 is engaged with the tapered surface 51b of the arm rotating shaft 51 (see Fig. 12). therefore, The arm fixing pin 91 fixes the arm body 52 and the arm support 16 and restricts the rotation of the arm body 52 with respect to the arm support 16. In the foregoing state, the arm body 52 can be rotated integrally with the rotary shaft 25. Figure 1 shows that The lower portion of the spindle head 3 abutting against the upper portion of the arm fixing pin 91 is pressed against the biasing force of the spring 95 to press the arm fixing pin 9 1 downward. The locking flange 1 of the arm fixing pin 9 1 〇 〇, It will leave the tapered surface 5 1 b of the arm rotation shaft 5 1 . therefore, The arm fixing pin 91 releases the fixing of the arm body 52 and the arm support 16. When the fixing of the arm body 52 and the arm support 16 is released, The arm body 52 can be individually swayed relative to the arm support 16. In the state described above, The arm body 52 and the rotary shaft 25 are each independently rotated. Next, the roller shaft fixing mechanism 92 will be described. As shown in Figure 2, The stepped insertion hole 68 is formed in the step of the lower flange 63, The roller shaft fixing pin 92 is inserted. Between the upper surface of the stepped insertion hole 68 and the bottom surface of the base portion 1 52 (see Fig. 7) of the locking flange 150, A spring 93 is disposed. With spring 93, The roller shaft fixing pin 92 is constantly biased upward. -16- 200920543 When the roller shaft fixing pin 92 rises, The tapered portion 151 of the locking flange 150 engages the tapered surface 80a of the roller shaft 80 from the lower side. The roller shaft fixing pin 92 limits the sliding of the roller shaft 80 in the step insertion hole 68. The pressing of the roller 81 to the tool holder 7 (locked to the grip portion 17) can be maintained. When the roller shaft fixing pin 92 is pressed downward against the spring pressure of the spring 93, The tapered portion 151 of the locking flange 150 will leave the tapered surface 80a of the roller shaft 80. The roller shaft fixing pin 92 allows the roller shaft 80 to slide toward the side of the hole 55. In this state, The attachment and detachment of the tool holder 7 of the grip portion 17 can be performed. Next, the tool exchange position (A) and the arm standby position (B) of the arm body 52 will be described. As shown in Fig. 4, the arm body 52 is rotated about the projection 61a (refer to Fig. 2). In the tool exchange position (A), There is a tool holder 7 attached to the main shaft 9 at the inner side of the one grip portion 17, On the inside of the other grip portion 17, There is a tool holder 7 mounted on the tool holder. Holding each tool holder 7 by a pair of grips 17 The position of each tool holder 7 is interchanged by rotating the rotary shaft 25 and the arm body 52 together by 180°'. then, Each grip portion 17 releases the holding of each tool holder 7. In the aforementioned state, The grip portion 1 of one side is kept in the vicinity of the main shaft 9. a grip portion 17 located near the main shaft 9 The cutting of the tool 6 mounted on the tool mounting portion 9a of the spindle 9 is hindered. By rotating the arm body 52 individually by a predetermined angle, The arm body 52 will become the standby position (B). Since the grip portion 17 of one of the leaves leaves the spindle 9', the grip portion 17 does not interfere with the cutting of the tool 6 mounted on the spindle 9. Next, the tool exchange step -17-200920543 of the above-configured tool exchange device 1 will be described. The tool exchange step consists of four main steps. In the first step, the body 52 individually rotates the predetermined angle, And from the arm standby position (b) tool exchange position (A). then, a tool holder 7 that holds the used tool on the spindle 9) The tool holder 7' holding the tool holder 7' 1 7 to maintain. The tool exchange arm 10 is moved to the lowest point with the rotary shaft 25, and the tool exchange arm 10 is rotated 180 with the rotary shaft 25. , And 6, The position of 6 is interchanged. In the third step, The tool exchange arm 1〇 rises with the shaft 25. Keep the tool holding the new tool 6 on the spindle 9, The tool that keeps the used tool 6 is kept in the tool. In the fourth step, Holding unit 17, 17 separate from each tool 7, 7. then, The arm body 52 is separately rotated in the opposite direction to the first step. Returning to the arm standby position (B) from the tool exchange position (A) The various operations in the first to fourth steps will be specifically described. First, the first step will be described. As shown in Figure 8, The tool exchange arm 10 located at the arm to be (B) moves to the top dead center. The arm rotates the shaft 5 part 72a, 7 2b are respectively engaged with the recess 71a of the outer shaft gear, 71b, the lower portion of the head 3 abuts against the arm fixing pin 91 and the roller shaft fixing pin 92 above the upper flange 61), The arm fixing pin 91 and the roller pin 92 are pressed downward. In the above case, the card 100 of the arm fixing pin 91 is not engaged with the cone provided in the flange 51a of the arm rotation shaft 51 (refer to Fig. 5). The arm fixing pin 91' releases the fixing of the arm body 52 of the arm body 52, The arm rotation shaft 51 is allowed to be rotated (i.e., the arm body is rotated relative to the arm support body 16). , Move the arm to 6 (i tool 6 2 steps). Then turn the tool around. 7 Install 7 Hold the direction in which the holder is held. The following machine position 1 is convex. Main shaft (protruding shaft fixing flange face 5 1b and arm bracket 52) single -18- 200920543 The lower part of the spindle head 3, The roller shaft fixing pin 92 is pressed downward. And the tapered portion 1 5 1 of the locking flange 150 of the roller shaft fixing pin 92 It is separated from the tapered surface 80a of the lepton shaft 80. Thereby, the roller shaft fixing pin 92 allows the roller shaft 80 to slide toward the side of the hole 55. If the drive shaft 18 is rotated, The oscillating member 35 is oscillated along the plane groove cam 24 to rotate the shaft gear 29 engaged with the gear 34. Since the arm fixing pin 91 has released the fixing of the arm rotating shaft 51, The arm rotation shaft 51 is rotated in accordance with the rotation of the outer shaft gear 29. The arm body 52 that is integral with the arm rotation shaft 51 is also rotated. The arm body 52 is rotated from the arm standby position (B) shown in Fig. 4 to the tool exchange position (A). The tool locking portion 5 of the grip portion 17 The locking groove 7a of the tool holder 7 attached to the tool mounting portion 9a of the spindle 9 is locked. Tool holder 7, Is to press the roller shaft 80 toward the hole 5 5 side, The roller shaft 80 is moved toward the hole 5 5 side. The roller 8 1 is biased by the spring 8 5 , The tool holder 7 that is engaged with the tool locking portion 56 of the grip portion 17 is pressed and biased. As such, The grip portion 17 holds the tool holder 7. The other side of the grip 1 7 Then hold it in the same way: The tool holder 7 of the tool 6 for holding the tool 匣 (not shown) in the standby position. This completes the first step. Next, the second step will be described. As shown in Figure 8, In the first step, the holding unit 17 is used. 1 7 hold the tool holder 7, 7 state, The drive shaft 1 8 is further rotated. If the drive shaft 18 is rotated, the swinging member 42 that is driven by the groove cam 22 will swing. By the swinging of the swinging member 42, The tool holding mechanism (not shown) of the spindle 9 is pressed downward. If the spindle 9 is -19-200920543 with the holding mechanism pressed down, The tool holder 7 can be detached from the spindle 9. Since the drive shaft 18 is rotated, the lever 40 will follow, As shown in Figure 9, The rotary shaft 25 will move downward. Accompanied by this action, The tool exchange arm 1〇 will move down, The tool holder 7 can be pulled out from the spindle 9. Spring 9 3, 95 pushes up the lower arm fixing pin 91 and the roller shaft fixing pin 92 which abut against the lower portion of the spindle head 3. As shown in Figure 1, if the rotary shaft 25 and the tool exchange arm 1〇 move to the lowest point, At the locking flange 1 of the arm fixing mechanism 201' arm fixing pin 91, The tapered surface 5 1 b (see Fig. 5) of the flange 5 1 a of the arm rotation shaft 51 is engaged from the lower side. Therefore, the tapered portion 1 〇 1 of the locking flange 1 0 is in close contact with the tapered surface 5 1 b. The arm fixing pin 91 fixes the arm body 52 and the arm support 16 together to restrict the rotation of the arm body 52 alone with respect to the arm support 16. In this state, the arm body 52 is integrated with the rotary shaft 25 to be rotated. The tapered portion 1 5 i (see Fig. 7) of the roller shaft fixing mechanism 2 0 2 'locking flange 丨 5 会对 engages the tapered surface 80a of the roller shaft 80 from the lower side. The sliding of the roller shaft 80 is restricted by the roller shaft fixing pin 92. The pressing force of the roller 81 against the tool holder 7 can be maintained. therefore, In the control unit 17, The tool holder 7 can be held securely. In the use of the grip portion 17 1 7 holds the tool in the state of holding the tool 7, If the drive shaft 18 is further rotated, the parallel cam 21 starts to rotate. Due to the plate cam 21a of the parallel cam 21, 21b is a roller 38' abutting against the pinch shaft 37. Therefore, the rotary shaft 25 and the tool exchange arm are rotated. . Since the tool exchange arm 1 is in the grip portion 17, 1 7 holding the state of the tool holder 7 -20- 200920543 under the rotation, Due to the iron tool 6, 6, Tool holder 7, The inertia moment of the weight of 7 etc. acts on the arm body 52. therefore, Even if the rotary shaft 2 5 stops rotating, The inertial force acting on the arm body 52 causes it to still continue to rotate. Even in the case where the rotary shaft 25 starts to rotate, The inertial force acting on the arm body 25 causes it to still stop. Regardless of the situation, The inertial force acting on the arm body 25, The locking flange 110 of the arm fixing pin 91 that is engaged with the tapered surface 51b (the flange 51a belonging to the arm rotating shaft 51) is pressed downward. At this time, Relative to the tapered surface 5 1 b, Since the tapered portion 1 〇 1 of the locking flange 100 is downwardly displaced, The tapered surface 5 1 b may pass over the tapered portion 1 〇 1 of the locking flange 100. Even if the tapered surface 5 1 b passes over the tapered portion 1 0 1 of the locking flange 1 0 0, There is still abutment of the straight portion 103 for the tapered surface 5 1 b. therefore, The arm fixing pin 91 of the arm fixing mechanism 201 maintains the fixing of the arm body 52 and the arm support 16. When the tool exchange arm 10 is rotated, The arm fixing pin 91 can securely fix the arm body 52 and the arm support body 16, It can prevent the offset of the swivel position of the tool exchange arm 1〇〇. In the roller shaft fixing mechanism 02, too, The inertial force acting on the arm body 52, The locking flange 150 of the roller shaft fixing pin 92 that abuts against the tapered surface 80a of the roller shaft 80 is pressed downward. At this time, The tapered portion 151 of the locking flange 150 is downwardly offset with respect to the tapered surface 80a of the roller shaft 80. The tapered surface 80a of the roller shaft 80 may pass over the tapered portion 151 of the locking flange 150. Even if the tapered surface 80 a of the roller shaft 80 passes over the tapered portion 15 1 of the locking flange 150, The straight portion 153 still abuts against the tapered surface 80a of the roller shaft 80. The roller shaft fixing pin 92 limits the sliding of the roller shaft 80. When the tool exchange arm 10 is rotated -21 - 200920543 , The roller shaft fixing pin 92 limits the sliding of the roller shaft 80, It is possible to surely prevent the tool holder 7 from coming off the grip portion 17. Therefore, the tool exchange arm 10 can correctly and safely rotate 180°, And make the tool 6, The position of 6 is interchanged. Next, the third step will be explained. In the second step, the tool 6, 6 positions in the state of interchange, If the drive shaft 18 is further rotated, The lever 40 will swing, And moving the rotary shaft 25 upward, The tool exchange arm 10 also moves upward. As shown in Figures 8 and 9, If the tool exchange arm 10 moves to the top dead center, The lower portion of the spindle head 3 abuts against the arm fixing pin 91 and the roller shaft fixing pin 92, The arm fixing pin 91 and the roller shaft fixing pin 92 are pressed downward. The arm fixing mechanism 201 releases the engagement of the tapered surface 5lb and the tapered portion 101. The rotation of the arm body 52 alone relative to the arm support 16 is permitted. In this state, the arm body 52 can be independently rotated with the rotary shaft 25. When the tool holder 7 is inserted along the tool mounting portion 9a of the spindle 9, The arm body 52 swings in accordance with the movement of the tool holder 7. therefore, Even if the position of the tool holder 7 held by the grip portion i 7 is deviated from the tool mounting portion 9a of the spindle 9, The tool changer 1 can still reliably mount the tool holder 7 to the tool mounting portion 9a. therefore, In the tool changer 1, It is possible to prevent the load from being generated between the tool holder 7 and the tool mounting portion 9a. In the roller shaft fixing mechanism 202, Engagement of the tapered surface 80a of the roller shaft 80 and the tapered portion 151 is released. The lightweight sub-shaft fixing mechanism 20 2 allows sliding of the roller shaft 80 toward the side of the hole 5 5 . therefore, The grip portion 17 can release the grip of the tool holder 7. Next, the fourth step will be described. As shown in Figure 8, In the third step, Yes, a new tool holder 7 is inserted into the tool mounting portion 9a of the spindle 9. Each control -22 - 200920543 Department 1 7 1 7 releases its grip on the tool holder 7. The convex portion 72a of the arm rotation shaft 5 1 , 72b is respectively fitted into the recess 71a of the outer shaft gear 29, 71b. If the drive shaft 18 is further rotated, The oscillating member 35 is swung along the plane groove cam 24. The gear 34 will follow the swinging member 35 and rotate in the opposite direction to the second step. The shaft gear 29 meshed with the gear 34 also rotates in the opposite direction to the first step. Since the arm fixing pin 91 is to release the fixing of the arm body 52 and the arm support 16, The arm rotation shaft 51 is rotated in accordance with the rotation of the outer shaft gear 29. If the arm rotation shaft 51 is rotated, The arm body 52 that is integrated with the arm rotation shaft 51 is also rotated. The arm body 52 is rotated from the tool exchange position (A) to the arm standby position (B). In the present press, The spring is equivalent to the "line part" and "abutment part" of the Ming. The picture shown in the figure "18" The above description of the bar The "holding portion" of the grip portion 17 shown in Fig. 3 is invented. The spring 92 corresponds to the "first structure" of the present invention. The spring 8 5 corresponds to the "second biasing mechanism" 93 of the present invention, and corresponds to the "third biasing mechanism" of the present invention. Roller shaft 8〇 "Abutment member" of the present invention. The arm fixing pin 9 j shown in Fig. 6 is an "arm fixing member" of the present invention, The taper 丨〇 is equivalent to the first protrusion of the hair," The straight portion 1 03 corresponds to "the first straight line of the present invention. The roller shaft fixing pin 92 shown in Fig. 7 corresponds to the member fixing shaft of the present invention, The tapered portion 〗5 corresponds to the "second straight portion 15 3 of the present invention, which corresponds to the "second straight portion" of the present invention. The tapered surface 51b of the flange 5U of the second arm rotation shaft 51 corresponds to the first engagement portion "", and the tapered surface 80a of the roller shaft 80 corresponds to the engagement portion 2 of the present invention. The drive motor 1 shown in Fig. 1 The drive shaft 40 and the groove cam 23 of the cylindrical member 39, It is the "first drive mechanism" equivalent to this -23-200920543. The drive motor shaft shown in Fig. 1 8 Parallel cam 21, Bolting shaft 3 7, Roller 3 8, It is a "second drive mechanism". The drive motor shaft 18 shown in Fig. 1 a planar groove cam 24 of the cylindrical member 39, Swinging piece 3 4, Outer shaft gear 2 9, Arm rotation axis 5 1, It is equivalent to this hairpin drive mechanism." As explained above, In the tool exchange device of the present embodiment, the locking projections constituting the arm fixing pins 91 of the arm fixing mechanism 201 are provided with straight portions 103 on the upper portion of the tapered portion 1 〇 1 . A straight portion 153 is provided at an upper portion of the locking flange 150 151 constituting the roller shaft fixing pin 92 of the roller mechanism 202. When the tool exchange arm 1 is circling ‘ caused by the iron tool 6, 6 and tool holder 7, The inertia moment of 7 is applied to the arm body 52. In the tool exchange arm 1 〇 for the inertial force of the arm body 52, The locking flange 1 of the arm fixing pin 91 that engages with the tapered surface 51b of the arm rotating shaft 5 1 is thus The tapered portion 101 of the locking flange 100 is downwardly offset with respect to the locking flange surface 51b. Even in the case where the tapered surface of the locking flange 51a locks the tapered portion 101 of the flange 100, The linear portion 103 is still abutted at the locking flange 55 lb. The arm fixing mechanism 201 91 can still maintain its attachment to the arm rotation shaft 51. When the tool is active, The arm fixing pin 91 can positively hold its opposite arm rotation axis: , It is possible to prevent the rotational position of the tool exchange arm 10 from shifting. In the roller shaft fixing mechanism 202, too, Acting on the arm body, Abutting the end on the side of the hole 5 5 of the roller shaft 80, Drive as in this issue 15 Drive 3 5, "Set 3 of gears Is the edge 100 neutron fixed, When the weight of the taper is rotated by 180°, the flange 5 1 a is pressed downward. 5 la cone 5 lb over 1 a cone surface arm fixing pin I arm 1 0 rotation 5 1 fixing! 5 2 Conventional roller shaft fixing -24- 200920543 The locking flange 150 of the fixing pin 92 is pressed downward. The tapered portion 1 of the locking flange 150 is offset downward relative to the tapered surface 80a of the roller shaft 80. Even in the case where the tapered surface 80a of the roller 80 passes over the tapered portion 151 of the locking flange 150, The tapered surface 80a of the roller shaft 80 still abuts against the straight portion 153. The roller shaft fixing pin 92 of the roller shaft fixing machine 2 02 maintains its fixing to the roller shaft 80. When the tool exchange arm 10 is rotated, The roller shaft fixing pin 92 can surely maintain the fixing of the roller shaft 80, In the spin, It is possible to surely prevent the tool from falling off from the holding portion 17. The tool exchange arm 10 can correctly and safely rotate the 18 0' and the tool 6, The position of 6 is interchanged. Tool exchange device of the present invention, Not limited to the above embodiment, However, various deformations can be made. E.g, In the above embodiment, In the arm body 52 of the tool change arm 10, The body portion 53 and the arm portion 54, 54 is integrated, However, the body portion 53 and the arm portion 54, 54 can also be formed separately. Further, the flange 61 and the projection 6 1 a can also be formed separately. a grip portion 17 of the tool exchange arm 10, Direction of 17, As long as they are in a mutually symmetrical direction, It is also possible to adopt a direction opposite to the above embodiment in the above embodiment. The portion 1 0 1 of the locking flange 100 of the arm fixing pin 91, The tapered portion 1 5 1 of the locking flange 150 of the roller shaft fixing pin 92, Cone 5 1 b of edge 5 1 a, Although the sections are all linear, But it can also be curved. The tool exchange device of the present invention is applicable to, The rotation of the arm body made by the rotary shaft, The tool is removably mounted to the tool changer of the machine's main shaft. 5 1 Axis structure When it is formed as a cross-section of the cross-section of the cross-section of the cone -25- 200920543 [Simplified description of the drawing] Figure 1 is a longitudinal section of the tool-exchange device 1. Fig. 2 is a longitudinal sectional view of the lower portion of the tool changing device 1. Figure 3 is a perspective view of the tool exchange arm 1〇. Figure 4 is a top view of the tool exchange arm 。. Fig. 5 is a longitudinal sectional view showing a tapered surface 51b of the arm rotation shaft 51. Fig. 6 is a perspective view of the arm fixing pin 91. Fig. 7 is a perspective view of the roller shaft fixing pin 92. Fig. 8 is an explanatory view showing the operation of the arm fixing mechanism 201 and the roller shaft fixing mechanism 2 0 2 (the state in which the tool exchange arm 10 is raised to the top dead center) 〇 Fig. 9 shows the arm fixing mechanism 201 and the roller shaft Description of the operation of the fixing mechanism 2〇2 (the state in which the tool holder 7 is separated from the spindle 9). Fig. 10 is an explanatory view showing the operation of the arm fixing mechanism 201 and the roller shaft fixing mechanism 202 (the state in which the tool exchange arm 10 is moved to the lowest point) 〇 the U-picture shows For the tapered surface 51b of the arm rotation shaft 51, Description of the state before the taper portion 〇1 of the locking flange 1 of the arm fixing pin 91 abuts. Figure 12 shows the For the tapered surface 5 1 b of the arm rotation shaft 51, Description of the state in which the tapered portion 101 of the locking flange 1 of the arm fixing pin 91 abuts. [Explanation of main component symbols] -26- 200920543 1 · 'Tool changer 3 : Spindle head 6 : Tool 7: Tool holder 7 a : Locking groove 9 : Spindle 9a: Tooling Department 1 0 : Tool exchange arm 1 5 : Drive motor 1 6 : Arm support 1 7 ‘Handle 1 8 : Drive shaft 19 20. 27. 30: Bearing 2 1 : Parallel cam 2 1 a, 2 1 b : Plate cam 22, twenty three : Slot cam 24 : Plane groove cam 25 : Rotating axis 2 5 a : Bolt slot 2 5 b, 5 1 a : Flange 26 : Lower mechanical frame
26a、 28a、 32、 55、 73:孑L 28 :上部機械框 29 :外軸齒輪 -27 200920543 3 1 :支承構件 3 4 :齒輪 3 5 :擺動件 3 6 :圓筒構件 37 :栓槽軸 3 7 a :凸緣部 3 8、8 1 :輥子 3 9 :圓柱構件 4 0 :槓桿 4 1 :接觸件 42 :擺動構件 43 :卡合件 44 :支承點 5 1 :臂旋動軸 5 1b、80a ：錐面 5 2 :臂本體 5 3 :本體部 54 :臂部 5 6 :工具卡止部 5 7 :軸孔 5 8 :插通孔 6 1 :上凸緣 6 1 a :突出部 63 :下凸緣 -28 200920543 65、67 :貫穿孔 68、69 :段差插通孔 7 1 a、7 1 b :凹部 72a、 72b ：凸部 8 0 :輥子軸 85、93、95:彈簧 91 :臂固定銷 9 2 :輥子軸固定銷 1 00、1 50 :卡止凸緣 1 0 1、1 5 1 :錐部 1 0 2、1 5 2 :基台部 1 0 3、1 5 3 :直線部 201 :臂固定機構 202 :輥子軸固定機構26a, 28a, 32, 55, 73: 孑L 28 : upper mechanical frame 29 : outer shaft gear -27 200920543 3 1 : support member 3 4 : gear 3 5 : oscillating member 3 6 : cylindrical member 37 : bolt groove shaft 3 7 a : flange portion 3 8 , 8 1 : roller 3 9 : cylindrical member 40 : lever 4 1 : contact member 42 : swinging member 43 : engaging member 44 : bearing point 5 1 : arm rotating shaft 5 1b 80a: tapered surface 5 2 : arm body 5 3 : body portion 54 : arm portion 5 6 : tool locking portion 5 7 : shaft hole 5 8 : insertion hole 6 1 : upper flange 6 1 a : protruding portion 63 : lower flange -28 200920543 65, 67: through hole 68, 69: step insertion hole 7 1 a, 7 1 b : recess 72a, 72b: convex portion 80: roller shaft 85, 93, 95: spring 91: Arm fixing pin 9 2 : Roller shaft fixing pin 1 00, 1 50 : locking flange 1 0 1 , 1 5 1 : taper 1 0 2, 1 5 2 : abutment portion 1 0 3, 1 5 3 : straight line Part 201: arm fixing mechanism 202: roller shaft fixing mechanism