201231212 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種自動工具交換裝置（ATC: Automatic Tool Changer)’尤其是關於—種藉由交換臂（changer arm) 來夾持工具架（tool holder)的機構。 【先前技術】 作爲自動工具交換裝置之藉由交換臂來夾持工具架的 機構’習知以來有如下的機構爲人所周知（例如，參照專 利文獻1)。亦即’如第26圖所示，在交換臂1〇〇內配設 有能夠進退的鎖定銷1〇1’且藉由彈簧102使鎖定銷101 之前端始終從交換臂100之夾持部l〇〇a突出。而且，當 夾持部l〇〇a之開口側因交換臂1〇〇旋動（旋轉）而面向工具 架H、且工具架Η嵌合於夾持部1〇 〇a時，就成爲工具架 Η藉由夾持部1 00a和鎖定銷1 〇 1而被夾持的狀態。 又’當交換臂1〇〇在工具架Η被固定於工具機之主軸 等的狀態下往反方向旋動時，鎖定銷1 01就會後退並可解 除交換臂101和夾持部l〇〇a對工具架Η之夾持。更且， 設置有：鎖定機構，其係在已夾持工具架Η的狀態下爲了 避免鎖定銷101後退，而將鎖定銷1〇1進行鎖定（固定）， 並在解除夾持時將鎖定予以解除。 (專利文獻1)日本特開平1 1_2542 6 1號公報 【發明內容】 -5- 201231212 (發明所欲解決之問題） 然而’在如上述的工具架之夾持機構中， 之前端，係成爲始終從交換臂100之夾持部 狀態。因此，在工具架Η嵌合於夾持部100a Η會碰觸到鎖定銷101，且鎖定銷ιοί會藉由 後退並在工具架Η嵌合於夾持部l〇〇a之後， 會再次前進而夾持工具架Η。換句話說，每次 Η時，工具架Η會碰撞到鎖定銷101，且交換 是鎖定銷101)或工具架Η，會承受較強的撞擊 自動工具交換裝置之動作速度正朝高速化進展 1〇〇之旋動速度也很快，使得因工具架Η與鎖 碰撞而引起的撞擊力將會變大。結果，會對交 工具架Η帶來損傷，又會對周圍發出大的撞擊 又，在上述的夾持機構中，係一邊使鎖定 —邊將工具架Η嵌合於夾持部l〇〇a，當接近 使鎖定銷101再次前進而開始夾持。換句話說 架Η和夾持部l〇〇a之嵌合完成之前，進行夾J 鎖定銷101之夾持。因此，工具架Η之夾持會 因此，本發明之目的在於提供一種自動工 ，其不會對交換臂等帶來損傷，又不會對周圍 響，而且能夠穩定夾持工具架。 (解決問題之手段） 爲了達成上述目的，申請專利範圍第1項 鎖定銷101 1 00a突出的 時，工具架 工具架Η而 鎖定銷101 夾持工具架 臂1〇〇(尤其 力。而且， ，且交換臂 定銷1 0 1相 換臂100或 音。 銷101後退 嵌合完成時 ，會在工具 寺部100a和 不穩定。 具交換裝置 發出大的聲 所述的發明201231212 VI. Description of the Invention: [Technical Field] The present invention relates to an automatic tool changer (ATC: Automatic Tool Changer)', in particular, to holding a tool holder by a change arm (tool) Holder). [Prior Art] As a mechanism for gripping a tool holder by an exchange arm as an automatic tool changer, the following mechanism has been known (for example, refer to Patent Document 1). That is, as shown in Fig. 26, a locking pin 1〇1' capable of advancing and retracting is disposed in the exchange arm 1〇〇, and the front end of the locking pin 101 is always kept from the clamping portion of the exchange arm 100 by the spring 102. 〇〇a stands out. Further, when the opening side of the grip portion l〇〇a is rotated (rotated) to face the tool holder H and the tool holder is fitted to the grip portion 1〇〇a, it becomes a tool holder. The state is clamped by the clamping portion 100a and the locking pin 1 〇1. Further, when the exchange arm 1 is rotated in the reverse direction while the tool holder is fixed to the spindle of the machine tool, the lock pin 101 is retracted and the exchange arm 101 and the clamp portion are released. a clamp on the tool holder. Furthermore, a locking mechanism is provided which locks (fixes) the locking pin 1〇1 in order to prevent the locking pin 101 from retreating in a state in which the tool holder is clamped, and locks the locking pin when the clamping is released. Lifted. (Patent Document 1) Japanese Laid-Open Patent Publication No. Hei No. Hei No. Hei No. Hei No. Hei No. Hei No. Hei. No. Hei. From the state of the nip portion of the exchange arm 100. Therefore, when the tool holder is fitted to the clamping portion 100a, the locking pin 101 is touched, and the locking pin ιοί is retracted by being retracted and after the tool holder is fitted to the clamping portion 10a. And the clamping tool frame is Η. In other words, each time the boring, the tool frame will collide with the locking pin 101, and the exchange is the locking pin 101) or the tool holder, which will withstand the strong impact. The speed of the automatic tool change device is moving toward high speed. The swaying speed of the cymbal is also very fast, so that the impact force caused by the collision of the tool cymbal and the lock will become larger. As a result, damage to the tool holder is caused, and a large impact is generated on the periphery. In the above-described clamping mechanism, the tool holder is fitted to the holder portion while being locked. When the proximity of the locking pin 101 is advanced, the clamping is started. In other words, the clamping of the clip J locking pin 101 is performed before the fitting of the frame and the grip portion l〇〇a is completed. Therefore, the clamping of the tool holder is made. Therefore, it is an object of the present invention to provide an automatic worker which does not cause damage to the exchange arm or the like, does not ring to the surroundings, and can stably hold the tool holder. (Means for Solving the Problem) In order to achieve the above object, when the first locking pin 101 1 00a of the patent application range is protruded, the tool holder tool is clamped and the locking pin 101 is clamped to the tool holder arm 1 (especially force. Moreover, And the exchange arm fixed pin 1 0 1 phase change arm 100 or sound. When the pin 101 is retracted and fitted, it will be unstable in the tool temple 100a. The invention with the large sound of the exchange device
S -6- 201231212 ’提供一種自動工具交換裝置，係使在一端部側配設有交 換臂的輸出軸，與主凸輪連動而於軸向進行進退運動並且 繞軸中心旋動’且在前述交換臂設置有夾持工具架的夾持 部之自動工具交換裝置，其特徵爲，具備：夾持體，其係 開閉自如地設置於前述交換臂側，且與前述夾持部來夾持 前述工具架、或是解除夾持；及驅動軸，其係配設於前述 輸出軸內’且與前述主凸輪連動而於前述輸出軸之軸向進 行進退運動；以及驅動手段，其係與前述驅動軸之進退運 動連動’而對前述夾持體進行開閉驅動，且前述驅動軸係 與前述主凸輪連動，俾可在前述交換臂未夾持前述工具架 的位置打開夾持體，而在前述交換臂夾持前述工具架的位 置閉合夾持體。 依據本發明，在交換臂未夾持工具架的位置、換句話 說在夾持工具架之前，可藉由與驅動軸連動的驅動手段來 打開夾持體，且工具架和夾持體不會接觸。又，在交換臂 夾持工具架的位置，可藉由與驅動軸連動的驅動手段來閉 合夾持體，且工具架和夾持體會接觸。 (發明效果） 依據申請專利範圍第1項所述的發明，在交換臂夾持 工具架之前，會打開夾持體，而工具架和夾持體不會接觸 。因此，不會因工具架和夾持體碰撞，而對交換臂或夾持 體、或是工具架帶來損傷，又不會對周圍發出大的撞擊音 。而且，由於在交換臂夾持工具架的位置閉合夾持體，且 201231212 夾持工具架，所以在工具架嵌合（被夾持）於交換臂的夾持 部之後會將夾持體閉合，而能夠穩定夾持工具架。又，由 於驅動軸配設於輸出軸內，而且驅動軸於輸出軸之軸向進 行進退運動，所以能夠將裝置整體小型化、輕量化，更且 最適於將輸出軸進行垂直配置的直立式之自動工具交換裝 置。 【實施方式】 以下，根據圖示之實施形態說明本發明。 第1圖係顯示本實施形態的自動工具交換裝置1之前 視圖；第2圖是第1圖的仰視圖；第3圖是拆下第1圖的 本體蓋5 0之狀態下的前視圖；第4圖是第3圖之狀態下 的立體圖。該自動工具交換裝置1，係朝垂直方向延伸而 配設有輸出軸2的直立式之自動工具交換裝置，且在輸出 軸2之前端部側（下端側）配設有交換臂3，且輸出軸2會 —邊與凸輪輪組（cam wheel)(主凸輪）4連動而於軸向進行 進退運動並且繞軸中心旋動，一邊利用交換臂3來夾持工 具架Η、或是解除夾持。 具體而言，如第3圖、第4圖所示，在凸輪輪組4之 外周形成有蝸形齒輪（worm gear)4a和迴旋凸輪槽4b，且 在凸輪輪組4之其中一方的側面形成有環狀的移位凸輪槽 4c，更如第5圖、第6圖所示’在另一方的側面形成有環 狀的鎖定凸輪槽4d。蝸形齒輪4a，係與蝸桿軸（worm shaft) 5之蝸形齒輪5a嚙合，且當蝸桿軸5藉由馬達51而S -6- 201231212 'Provides an automatic tool changer that has an output shaft with a switching arm disposed on one end side, moves forward and backward in the axial direction in conjunction with the main cam, and rotates around the center of the shaft' and exchanges in the foregoing The arm is provided with an automatic tool changing device that clamps a clamping portion of the tool holder, and is characterized in that: a clamping body is provided that is openably and closably provided on the side of the exchange arm, and clamps the tool with the clamping portion And a drive shaft disposed in the output shaft and engaging with the main cam to advance and retreat in an axial direction of the output shaft; and a driving means coupled to the drive shaft The forward and backward movements are interlocked to drive and open the clamping body, and the driving shaft is interlocked with the main cam, and the clamping body can be opened at a position where the exchange arm does not clamp the tool holder, and the exchange arm is The position of the aforementioned tool holder is clamped to close the holder. According to the present invention, the holder can be opened by the driving means interlocking with the drive shaft at a position where the exchange arm does not hold the holder, in other words, before the holder is clamped, and the holder and the holder are not contact. Further, at the position where the exchange arm holds the tool holder, the holder can be closed by a driving means that is interlocked with the drive shaft, and the holder and the holder come into contact with each other. According to the invention of claim 1, the holder is opened before the exchange arm holds the holder, and the holder and the holder are not in contact with each other. Therefore, the exchange arm or the holder or the tool holder is not damaged by the collision of the tool holder and the holder without causing a large impact sound to the surroundings. Moreover, since the clamping body is closed at the position where the exchange arm holds the tool holder, and 201231212 holds the tool holder, the clamping body is closed after the tool holder is fitted (clamped) to the clamping portion of the exchange arm, It is able to hold the tool holder stably. Further, since the drive shaft is disposed in the output shaft and the drive shaft moves forward and backward in the axial direction of the output shaft, the entire device can be reduced in size and weight, and is more suitable for the vertical arrangement in which the output shaft is vertically arranged. Automatic tool changer. [Embodiment] Hereinafter, the present invention will be described based on the embodiments shown in the drawings. 1 is a front view showing the automatic tool changing device 1 of the present embodiment; FIG. 2 is a bottom view of the first drawing; and FIG. 3 is a front view showing a state in which the main body cover 50 of FIG. 1 is removed; 4 is a perspective view of the state of Fig. 3. The automatic tool changer 1 is an upright automatic tool changer that is disposed in the vertical direction and is provided with an output shaft 2, and an exchange arm 3 is disposed on the end side (lower end side) of the output shaft 2, and the output is output. The shaft 2 will be moved forward and backward in the axial direction in conjunction with the cam wheel (main cam) 4 and rotated around the center of the shaft, while the exchange arm 3 is used to clamp the tool holder or to release the clamp. . Specifically, as shown in FIGS. 3 and 4, a worm gear 4a and a swirl cam groove 4b are formed on the outer circumference of the cam gear group 4, and are formed on one side of one of the cam wheel groups 4. The annular shift cam groove 4c has an annular locking cam groove 4d formed on the other side surface as shown in Figs. 5 and 6 . The snail gear 4a is meshed with the worm gear 5a of the worm shaft 5, and when the worm shaft 5 is driven by the motor 51
-8- S 201231212 被驅動時，凸輪輪組4就會通過蝸形齒輪5 a、4 a之嚙合 而旋轉。 如第7圖所示，迴旋凸輪槽4b，係與配設於迴旋環6 之外周的複數個鋼珠6a嚙合。在此，在輸出軸2之外周 ’係形成有延伸於軸向的外周栓槽（spline)2a，而在迴旋 環6之內周，係形成有與外周栓槽2a嚙合的內周栓槽（未 圖示），且輸出軸2相對於迴旋環6構成可在軸向滑動自 如。然後，當凸輪輪組4旋轉時，迴旋環6就會通過迴旋 凸輪槽4b和鋼珠6a之嚙合而旋轉，且輸出軸2會伴隨此 旋轉而繞軸中心旋動（旋轉）。 如第3圖、第4圖所示，在移位凸輪槽4c，係滑動自 如地插入有移位桿（shift lever)8之驅動側凸輪隨動件（cam f〇ll〇wer)8a，而移位桿8之隨動側凸輪隨動件8b是裝設 於輸出軸2之移位槽2b。在此，移位槽2b，係配設在輸 出軸2之上端部，而與輸出軸2之軸向呈垂直的圓板狀之 夾持部，是以包夾隨動側凸輪隨動件8b的方式配設於上 下而構成。又，移位桿8，係大致呈「Z」字形，且以： 位於驅動側凸輪隨動件8a側之端部的第1桿軸8c、和位 於中央部並與後述的鎖定桿9連結的第2桿軸8d爲軸， 並以可擺動的方式配設。然後，當凸輪輪組4旋轉時，驅 動側凸輪隨動件8a就會沿著移位凸輪槽4c而滑動，且以 桿軸8c、8d爲軸而使隨動側凸輪隨動件8b可上下運動（ 擺動）。伴隨此上下運動，輸出軸2就會於軸向進行進退 運動（往復運動）。 -9- 201231212 如第5圖、第6圖所示，在鎖定凸輪槽4d，係滑動自 如地插入有鎖定桿9之驅動側凸輪隨動件9a，而鎖定桿9 之隨動側凸輪隨動件9b，係位於驅動軸7之基端部（上端 部）側。在此，鎖定桿9，係大致呈「\」字形，且在中央 部連結有上述的第2桿軸8d，並以第2桿軸8d爲軸而構 成擺動自如。又，驅動軸7，係與輸出軸2同軸地配設在 輸出軸2內，且構成可在軸向進退運動自如，而基端部（ 上端部）’係從輸出軸2之上端突出，且安裝有按壓盤71 。該按壓盤71，係具備圓板狀的按壓部71a，而鎖定桿9 之隨動側凸輪隨動件9b是位於該按壓部71a之上方，且 隨動側凸輪隨動件9b之上方成爲解放狀態（自由狀態）。另 一方面，驅動軸7之下端部，係延伸至輸出軸2之下端部 ，且如後述般地抵接於抵接板29(參照第12圖）。 當凸輪輪組4以如此的構成旋轉時，驅動側凸輪隨動 件9a就會沿著鎖定凸輪槽4d而滑動，且隨動側凸輪隨動 件9b會以第2桿軸8d爲軸而上下運動（擺動）。然後，藉 由該隨動側凸輪隨動件9b在後述的時序往下運動，按壓 部71a就會往下方按壓，而驅動軸7會往下方前進。又， 如後述般，只有在需要僅使驅動軸7往下方前進的情況及 位置，隨動側凸輪隨動件9b才會對按壓部71a進行按壓 ，而在其他的情況下，是以隨動側凸輪隨動件9b亦可不 與按壓部71a相接的方式，來設定鎖定凸輪槽4d之凸輪 形狀（凸輪軌跡）。亦即，在驅動軸7和輸出軸2 —起位於 下方的情況時，是以隨動側凸輪隨動件9b不追隨按壓部 -10- 201231212 "71a的方式（參照第18圖至第21圖）’來設定鎖定凸輪槽 4d之凸輪形狀，藉此可謀求凸輪輪組4之小型化。 如第1圖、第3圖所示，在輸出軸2之前端部側，係 配設有交換臂單元20，且於第8圖、第9圖顯示將交換臂 單元20的單兀蓋20a之一部分拆下後的狀態。如圖所示 ，交換臂3係呈板狀，且以板面垂直地位處於輸出軸2之 軸向的方式配設。在該交換臂3之端部，係形成有夾持工 具架Η(供工具架Η嵌合）的圓弧狀之夾持部3a，且如此的 交換臂3是相對於輸出軸2配設成點對稱。在此，在本實 施形態中，雖然是將交換臂3形成二體，但是亦可形成一 體。 配設有：與該交換臂3之各夾持部3a相對向，且呈 開閉自如的夾塊（夾持體）21，藉由夾塊21閉合就可與夾持 部3a來夾持工具架Η，而藉由夾塊21打開則可解除與夾 持部3a的夾持。亦即，如第1〇圖所示，在工具架η之外 周係形成有夾持槽Η1，且以嵌合於該夾持槽Η1的方式形 成有夾持部3a。然後，如第11圖所示，藉由夾塊21在夾 持部3 a嵌合於夾持槽Η 1的狀態下閉合，就可利用夾持部 3a和夾塊21來夾持工具架Η(第1 1圖（a)之狀態），而藉由 夾塊21打開則可解除與夾持部3a的夾持（第1 1圖（b)之狀 態）。 具體而言，如第8圖、第9圖所示，將與輸出軸2平 行的桿軸（lever shaft)22當作旋轉軸，且旋動自如地配設 有呈Π字狀的夾緊桿（Clamp lever)(旋動體）23，而該夾緊 -11 - 201231212 桿23之一端部是延伸於夾持部3a側，且於其前端部23a 安裝有夾塊21。又，在夾緊桿23之開口側，係安裝有與 桿軸2 2平行的連結軸2 4。 另一方面，在輸出軸2和連結軸24之間，係配設有 與輸出軸2平行、且於軸向進退運動自如的夾緊軸（ci amp shaft)(進退運動體）25，進而配設有將該夾緊軸25往上方（ 按壓盤71側）推壓的彈簧（按壓手段）26。亦即，如第12圖 所示，在夾緊軸25之上端固定有止動件25a，且在該止動 件25a和基底板（base plate)27之間，配設有彈簧26，並 對夾緊軸25始終起向上之作用力。 又，如第9圖所示，將連結軸24(夾緊桿23)和夾緊軸 2 5予以連結的連結棒（連結體）2 8，係以包夾連結軸2 4和 夾緊軸25的方式配設一對（2體），而連結棒28之兩端部 係構成旋動自如。更且，如第12圖所示，以架設於二個 夾緊軸25之下端部的方式，配設有板狀的抵接板29。然 後，如後述般在驅動軸7不按壓抵接板29的狀態下，係 以夾緊軸25藉由彈簧26而位於上方，連結棒28相對於 連結軸24和夾緊軸25大致呈垂直位處的方式，配設有連 結軸24、夾緊軸25及連結棒28。 在如此的狀態下，當驅動軸7往下方前進並按壓抵接 板29時，夾緊軸25就會抵抗彈簧26之推壓力而往下方 前進，且通過連結棒2 8、連結軸24，並以桿軸22爲軸而 使夾緊桿23往第9圖中箭頭D1方向旋動。然後，伴隨該 旋動，夾塊21會以從夾持部3a後退的方式打開。如此在When the -8-S 201231212 is driven, the cam gear set 4 is rotated by the engagement of the worm gears 5a, 4a. As shown in Fig. 7, the swirling cam groove 4b is engaged with a plurality of steel balls 6a disposed on the outer circumference of the swirling ring 6. Here, the outer circumference of the output shaft 2 is formed with a peripheral spline 2a extending in the axial direction, and on the inner circumference of the swirling ring 6, an inner peripheral bolt groove is formed which is engaged with the outer peripheral bolt groove 2a ( Not shown), and the output shaft 2 is slidable in the axial direction with respect to the swirling ring 6. Then, when the cam gear set 4 is rotated, the swirling ring 6 is rotated by the engagement of the swirling cam groove 4b and the steel ball 6a, and the output shaft 2 is rotated (rotated) about the center of the shaft accompanying this rotation. As shown in FIGS. 3 and 4, in the shift cam groove 4c, a drive side cam follower 8a of a shift lever 8 is slidably inserted, and The follower side cam follower 8b of the shift lever 8 is a shift groove 2b provided in the output shaft 2. Here, the shift groove 2b is disposed at an upper end portion of the output shaft 2, and a disc-shaped holding portion perpendicular to the axial direction of the output shaft 2 is a wrap-around follower side cam follower 8b. The method is configured to be arranged up and down. Further, the shift lever 8 has a substantially "Z" shape, and has a first lever shaft 8c located at an end portion on the side of the drive side cam follower 8a and a central portion connected to a lock lever 9 to be described later. The second rod shaft 8d is a shaft and is swingably arranged. Then, when the cam gear set 4 rotates, the drive side cam follower 8a slides along the shift cam groove 4c, and the follower side cam follower 8b can be moved up and down with the lever shafts 8c, 8d as axes. Exercise (swing). Along with this up and down movement, the output shaft 2 advances and retreats in the axial direction (reciprocating motion). -9- 201231212 As shown in Figs. 5 and 6, in the lock cam groove 4d, the drive side cam follower 9a of the lock lever 9 is slidably inserted, and the follower side cam of the lock lever 9 follows. The piece 9b is located on the base end (upper end) side of the drive shaft 7. Here, the lock lever 9 has a substantially "\" shape, and the above-described second lever shaft 8d is coupled to the center portion, and is oscillated by the second lever shaft 8d as an axis. Further, the drive shaft 7 is disposed coaxially with the output shaft 2 in the output shaft 2, and is configured to be movable forward and backward in the axial direction, and the base end portion (upper end portion) protrudes from the upper end of the output shaft 2, and A pressing plate 71 is mounted. The pressing plate 71 is provided with a disc-shaped pressing portion 71a, and the follower side cam follower 9b of the lock lever 9 is located above the pressing portion 71a, and the upper side of the follower side cam follower 9b becomes liberated State (free state). On the other hand, the lower end portion of the drive shaft 7 extends to the lower end portion of the output shaft 2, and abuts against the abutment plate 29 as will be described later (see Fig. 12). When the cam gear set 4 is rotated in such a configuration, the drive side cam follower 9a slides along the lock cam groove 4d, and the follower side cam follower 9b pivots with the second lever shaft 8d as the axis. Movement (swinging). Then, the follower side cam follower 9b moves downward at a timing to be described later, and the pressing portion 71a is pressed downward, and the drive shaft 7 advances downward. Further, as will be described later, the follower side cam follower 9b presses the pressing portion 71a only when it is necessary to advance only the drive shaft 7 downward, and in other cases, it follows The side cam follower 9b may also set the cam shape (cam track) of the lock cam groove 4d so as not to be in contact with the pressing portion 71a. In other words, when the drive shaft 7 and the output shaft 2 are located below, the follower side cam follower 9b does not follow the pressing portion -10-201231212 "71a (refer to Figs. 18 to 21). In the drawing, the cam shape of the lock cam groove 4d is set, whereby the cam wheel set 4 can be downsized. As shown in Fig. 1 and Fig. 3, the exchange arm unit 20 is disposed on the end side of the output shaft 2, and the unitary cover 20a of the exchange arm unit 20 is shown in Figs. 8 and 9. Part of the state after removal. As shown in the figure, the exchange arm 3 has a plate shape and is disposed such that the plate surface is vertically positioned in the axial direction of the output shaft 2. At the end of the exchange arm 3, an arc-shaped holding portion 3a for holding a tool holder (for fitting the tool holder) is formed, and such an exchange arm 3 is disposed with respect to the output shaft 2 Point symmetry. Here, in the present embodiment, although the exchange arm 3 is formed in two bodies, it may be formed integrally. A clip (clamping body) 21 that is openable and closable with respect to each of the holding portions 3a of the exchange arm 3 is provided, and the holder 21 can be clamped to the holder 3a by closing the holder 21 When the clip 21 is opened, the clamping with the grip portion 3a can be released. That is, as shown in Fig. 1, a holding groove 1 is formed in the outer periphery of the tool holder n, and a holding portion 3a is formed to be fitted to the holding groove 1. Then, as shown in Fig. 11, by the clip 21 being closed in a state in which the holding portion 3a is fitted to the holding groove 1, the holding portion 3a and the holder 21 can be used to clamp the tool holder. (The state of Fig. 1 (a)), and the clamping of the clamp portion 3a can be released by the opening of the clamp 21 (the state of Fig. 1 (b)). Specifically, as shown in FIGS. 8 and 9, the lever shaft 22 parallel to the output shaft 2 is regarded as a rotating shaft, and a clamping rod having a U-shape is rotatably provided. (Clamp lever) 23, and one end of the clamp -11 - 201231212 rod 23 extends on the side of the nip portion 3a, and a clamp 21 is attached to the front end portion 23a thereof. Further, a connecting shaft 24 parallel to the rod shaft 2 2 is attached to the opening side of the clamp rod 23. On the other hand, between the output shaft 2 and the connecting shaft 24, a ci amp shaft (advancing and retracting moving body) 25 which is parallel to the output shaft 2 and which is movable in the axial direction is provided, and is further provided. A spring (pressing means) 26 for pressing the clamp shaft 25 upward (on the side of the pressing plate 71) is provided. That is, as shown in Fig. 12, a stopper 25a is fixed to the upper end of the clamp shaft 25, and a spring 26 is disposed between the stopper 25a and the base plate 27, and The clamping shaft 25 always acts as an upward force. Further, as shown in Fig. 9, a connecting rod (connecting body) 28 that connects the connecting shaft 24 (clamping rod 23) and the clamp shaft 25 is attached to the coupling shaft 24 and the clamp shaft 25 A pair (two bodies) is disposed in a manner, and both ends of the connecting rod 28 are configured to be rotatable. Further, as shown in Fig. 12, a plate-shaped abutting plate 29 is disposed so as to be bridged to the lower end portions of the two clamp shafts 25. Then, as will be described later, in a state where the drive shaft 7 does not press the abutment plate 29, the clamp shaft 25 is positioned above by the spring 26, and the link bar 28 is substantially perpendicular to the link shaft 24 and the clamp shaft 25. The connecting shaft 24, the clamping shaft 25, and the connecting rod 28 are disposed in a manner. In such a state, when the drive shaft 7 advances downward and presses the abutment plate 29, the clamp shaft 25 advances downward against the urging force of the spring 26, and passes through the connecting rod 28, the coupling shaft 24, and The clamp lever 23 is rotated in the direction of the arrow D1 in Fig. 9 with the lever shaft 22 as an axis. Then, with this rotation, the clamp 21 is opened to retreat from the nip portion 3a. So in
-12- S 201231212 夾塊2 1已打開的狀態下，工具架Η，就不會接觸到夾塊 21，而相對於夾持部3a成爲出入自由狀態。 另一方面，如後述般當藉由驅動軸7而往抵接板29 之按壓被解除時，夾緊軸25就會藉由彈簧26而往上方後 退，且通過連結棒28、連結軸24，並以桿軸22爲軸而使 夾緊桿23往第9圖中箭頭D2方向旋動。然後，伴隨該旋 動，夾塊21就會以往夾持部3a側前進的方式閉合，且可 藉由夾塊21和夾持部3a來夾持工具架Η。藉此，在藉由 驅動軸7而往抵接板29之按壓被解除的狀態下，驅動軸7 係成爲僅與抵接板29相接的狀態。 在如此的夾持狀態下，如上所述，連結棒28是相對 於夾緊軸25而大致垂直地位處。換句話說，連結棒28係 :以從交換臂3通過連結棒28傳至夾緊軸25之力的進退 運動方向（垂直方向）之成分力變小的方式，換言之，以僅 有與夾緊軸25之軸向呈垂直之力會加載於夾緊軸25的方 式位處。因此，藉由來自交換臂3之力（因工具架Η而引 起的重力或離心力等），夾緊軸25就不會於軸向按壓。換 句話說，因彈簧26而引起的按壓力並不會造成很大影響 ，而因夾塊21而引起的夾持力會穩定（可利用因彈簧26 而引起的按壓力來穩定、確實地夾持）。 如以上所述，藉由桿軸2 2、夾緊桿2 3、連結軸2 4、 夾緊軸25、彈簧26、連結棒28及抵接板29，可構成對夾 塊2 1進行開閉驅動的驅動手段，而該驅動手段，係配設 在交換臂3側（換句話說交換臂單元20內）》 -13- 201231212 在此’有關凸輪輪組4的迴旋凸輪槽4b、移位凸輪槽 4c及鎖定凸輪槽4d之凸輪形狀（輸出軸2、驅動軸7之連 動及動作時序），藉由說明自動工具交換裝置1之動作、 作用如下，而省略說明。換句話說，以可獲得如下說明的 自動工具交換裝置1之動作、作用的方式，設定各凸輪槽 4b、4c、4d之凸輪形狀（凸輪軌跡）。 其次’針對如此構成的自動工具交換裝置1之動作、 作用，根據第1 3圖之時序圖加以說明。 首先，在凸輪輪組4之旋轉角0爲〇度的狀態下，如 第14圖所示，輸出軸2(即交換臂3)之旋轉角（迴旋角）矽爲 0度（基準位置）’而衝程位置（直接傳動位置）是在最上位 P1，換句話說成爲後退最多而接近凸輪輪組4的位置。又 ，在此狀態下’驅動軸7之衝程位置（直接傳動位置）也是 在最上位P3，換句話說後退最多而位於隨動側凸輪隨動 件9 b側，且如上所述’夾緊軸2 5位於上方，而成爲夾塊 2 1已閉合的狀態（工具夾緊狀態）。 其次，當凸輪輪組4之旋轉角0到達01度時，交換 臂3就開始旋動，進而當凸輪輪組4之旋轉角0到達02 度時，驅動軸7會往下方開始前進。然後，當凸輪輪組4 之旋轉角Θ到達Θ3度時，就如第15圖所示，驅動軸7會 到達最下位P 4 ’換句§舌說到達則進最多的位置，且如上 所述，夾緊軸25會藉由驅動軸7而前進並使夾緊桿23旋 動’而夾塊21就會打開。換句話說，成爲工具鬆開狀態 。此時，交換臂3之旋轉角0係成爲於1度。-12- S 201231212 When the clamp 2 1 is opened, the tool holder 不会 does not come into contact with the clamp 21, and is in a free access state with respect to the clamp portion 3a. On the other hand, when the pressing of the abutting plate 29 by the drive shaft 7 is released as will be described later, the clamp shaft 25 is retracted upward by the spring 26, and passes through the connecting rod 28 and the connecting shaft 24, The clamping lever 23 is rotated in the direction of the arrow D2 in the ninth diagram with the lever shaft 22 as the axis. Then, with the rotation, the clip 21 is closed in such a manner that the grip portion 3a side advances, and the holder frame can be held by the clip 21 and the grip portion 3a. As a result, in a state where the pressing of the contact plate 29 by the drive shaft 7 is released, the drive shaft 7 is brought into contact with only the contact plate 29. In such a clamped state, as described above, the connecting rod 28 is substantially perpendicular to the clamp shaft 25. In other words, the connecting rod 28 is a method in which the component force in the forward and backward movement direction (vertical direction) of the force transmitted from the exchange arm 3 to the clamp shaft 25 through the connecting rod 28 is reduced, in other words, only and clamped. A vertical force in the axial direction of the shaft 25 is applied to the position of the clamping shaft 25. Therefore, the clamping shaft 25 is not pressed in the axial direction by the force from the exchange arm 3 (gravity or centrifugal force caused by the tool holder). In other words, the pressing force due to the spring 26 does not greatly affect, and the clamping force due to the clamp 21 is stabilized (the pressing force due to the spring 26 can be used to stabilize and reliably clamp) hold). As described above, the shaft 2, the clamping rod 23, the coupling shaft 24, the clamping shaft 25, the spring 26, the connecting rod 28, and the abutment plate 29 can be configured to open and close the chuck 2 1 . The driving means is provided on the side of the exchange arm 3 (in other words, in the exchange arm unit 20). -13- 201231212 Here, the "revolving cam groove 4b of the cam wheel set 4, the shift cam groove" 4c and the cam shape of the lock cam groove 4d (the interlocking of the output shaft 2 and the drive shaft 7 and the operation timing), the operation and function of the automatic tool change device 1 will be described below, and the description thereof will be omitted. In other words, the cam shape (cam track) of each of the cam grooves 4b, 4c, and 4d is set so as to obtain the operation and action of the automatic tool changer 1 described below. Next, the operation and action of the automatic tool changer 1 configured as described above will be described based on the timing chart of Fig. 3 . First, in a state where the rotation angle 0 of the cam gear set 4 is a twist, as shown in Fig. 14, the rotation angle (swing angle) of the output shaft 2 (i.e., the exchange arm 3) is 0 (reference position)' The stroke position (direct drive position) is at the highest position P1, in other words, the position that is most retreated and approaches the cam wheel set 4. Further, in this state, the stroke position of the drive shaft 7 (direct drive position) is also at the uppermost position P3, in other words, the most retracted and is located on the side of the follower side cam follower 9b, and as described above, the 'clamping shaft 2 5 is located above, and becomes a state in which the clamp 2 1 is closed (tool clamping state). Next, when the rotation angle 0 of the cam gear set 4 reaches 01 degrees, the exchange arm 3 starts to rotate, and when the rotation angle 0 of the cam gear set 4 reaches 02 degrees, the drive shaft 7 starts to advance downward. Then, when the rotation angle 凸轮 of the cam gear set 4 reaches Θ3 degrees, as shown in Fig. 15, the drive shaft 7 will reach the lowest position P 4 ', and the tongue will say that the arrival is the most, as described above. The clamping shaft 25 is advanced by the drive shaft 7 and the clamping lever 23 is rotated 'and the clamp 21 is opened. In other words, become the tool release state. At this time, the rotation angle 0 of the exchange arm 3 is 1 degree.
S -14- 201231212 從如此的狀態起，當凸輪輪組4之旋轉角0到達$ 4 度時，就如第16圖所示，驅動軸7會藉由彈簧26而開始 後退’且如上所述，夾緊軸25會後退並使夾緊桿23旋動 ’而夾塊21就會開始閉合。與此同時，交換臂3之旋動 速度、換句話說輸出軸2之旋動速度會減速。亦即，在凸 輪輪組4之旋轉角0到達0 4度的時點，交換臂3之旋轉 角少會到達设2度，而在凸輪輪組4之旋轉角0到達0 5度 的時點，交換臂3之旋轉角0會到達03度，且從旋轉角幻 度至珍3度的旋動速度（第13圖中的時序圖線（chart line)Tl 之斜率），會變得比旋轉角〇度至02度的旋動速度還更慢 。另一方面，當交換臂3之旋轉角珍到達设3度時，交換臂 3之夾持部3a就會與工具架Η完全地接觸（工具架η嵌合 於夾持部3a)’而且，旋轉角02度和故3度之差異，係設 定爲1度左右。換句話說’可設定迴旋凸輪槽4b之凸輪 形狀’俾在眼看夾持部3a就要接觸到工具架η之前，使 交換臂3之旋動速度減速。 然後’當凸輪輪組4之旋轉角0到達05度時，交換 臂3之旋轉角少就會到達03度，並維持該旋轉角少3。又， 在旋轉角珍爲设3度之時點’換句話說在工具架η嵌合於交 換臂3之夾持部3a的時點’夾塊21將成爲打開至未與工 具架Η接觸之程度的狀態。從此狀態起，當凸輪輪組4之 旋轉角0到達06度時’就如第17圖所示，驅動軸7會到 達最上位Ρ3’且與上述同樣夾塊21會閉合，並藉由與夾 持部3a完成工具架Η之夾持。另一方面，在與該夾持之 -15- 201231212 完成同時，交換臂3會開始前進。 其次，當凸輪輪組4之旋轉角Θ到達Θ7度時’就如 第18圖所示，交換臂3會再次開始旋動，且在凸輪輪組4 之旋轉角0已到達08度之時點，如第19圖所示，交換臂 3之衝程位置會到達最下位P2，換句話說到達前進最多的 位置。如此交換臂3之衝程位置，從最上位P1到達最下 位P2的期間，驅動軸7也會與輸出軸2 —起前進，且構 成鎖定桿9之隨動側凸輪隨動件9b離開按壓盤71的狀態 。亦即，在此期間，如上所述，由於沒有必要使驅動軸7 往下方前進，所以隨動側凸輪隨動件9b不會與按壓盤7 1 接觸或追隨。 然後，當凸輪輪組4之旋轉角0到達0 9度時，就如 第20圖所示，交換臂3會開始後退，且在凸輪輪組4之 旋轉角0到達0 10度之時點，如第21圖所示，交換臂3 之旋轉角沙會到達04度（1 80度以上）。 接著，當凸輪輪組4之旋轉角0到達0 1 1度時，就如 第22圖所示，驅動軸7會開始前進，且如上所述，夾塊 2 1會開始打開。與此同時，交換臂3之後退速度、換句話 說輸出軸2之後退速度會減速。亦即，在凸輪輪組4之旋 轉角0到達0 1 1度之時點，交換臂3之衝程位置會到達位 置P5，而在凸輪輪組4之旋轉角0到達012度之時點， 交換臂3之衝程位置會到達最上位P1，且從位置P5至最 上位P 1的後退速度（第1 3圖中之時序圖線T2的傾斜）， 會變得比從最下位P2至位置P5之後退速度還更慢。而且S -14- 201231212 From this state, when the rotation angle 0 of the cam gear set 4 reaches $4 degrees, as shown in Fig. 16, the drive shaft 7 starts to retreat by the spring 26' and as described above. The clamping shaft 25 will retreat and the clamping lever 23 will be rotated 'and the clamp 21 will begin to close. At the same time, the rotational speed of the exchange arm 3, in other words, the rotational speed of the output shaft 2, is decelerated. That is, when the rotation angle 0 of the cam wheel set 4 reaches 0 4 degrees, the rotation angle of the exchange arm 3 is less than 2 degrees, and when the rotation angle 0 of the cam wheel set 4 reaches 0 5 degrees, the exchange is performed. The rotation angle 0 of the arm 3 will reach 03 degrees, and the rotation speed from the rotation angle to the 3 degree (the slope of the chart line T1 in Fig. 13) will become larger than the rotation angle 〇 The rotation speed to 02 degrees is still slower. On the other hand, when the rotation angle of the exchange arm 3 reaches 3 degrees, the grip portion 3a of the exchange arm 3 is completely in contact with the tool holder (the tool holder n is fitted to the clamp portion 3a)' The difference between the rotation angle of 02 degrees and the third degree is set to about 1 degree. In other words, the cam shape of the swirl cam groove 4b can be set to decelerate the rotational speed of the exchange arm 3 before the grip portion 3a comes into contact with the tool holder n. Then, when the rotation angle 0 of the cam gear set 4 reaches 05 degrees, the rotation angle of the exchange arm 3 reaches 03 degrees, and the rotation angle is maintained to be 3 less. Moreover, when the rotation angle is set to 3 degrees, in other words, when the tool holder n is fitted to the nip portion 3a of the exchange arm 3, the clamp 21 will be opened to the extent that it is not in contact with the tool holder. status. From this state, when the rotation angle 0 of the cam gear set 4 reaches 06 degrees, 'as shown in Fig. 17, the drive shaft 7 will reach the uppermost position ' 3' and the same clamp 21 will be closed as described above, and with the clamp The holding portion 3a completes the clamping of the tool holder. On the other hand, at the same time as the clamping of -15-201231212 is completed, the exchange arm 3 starts to advance. Secondly, when the rotation angle 凸轮 of the cam gear set 4 reaches Θ7 degrees, as shown in Fig. 18, the exchange arm 3 starts to rotate again, and when the rotation angle 0 of the cam gear set 4 has reached 08 degrees, As shown in Fig. 19, the stroke position of the exchange arm 3 reaches the lowest position P2, in other words, reaches the position where the advancement is the most. When the stroke position of the arm 3 is exchanged, the drive shaft 7 also advances with the output shaft 2 from the uppermost position P1 to the lowermost position P2, and the follower side cam follower 9b constituting the lock lever 9 leaves the pressing plate 71. status. That is, during this period, as described above, since it is not necessary to advance the drive shaft 7 downward, the follower side cam follower 9b does not come into contact with or follow the pressing plate 7 1 . Then, when the rotation angle 0 of the cam gear set 4 reaches 0 9 degrees, as shown in Fig. 20, the exchange arm 3 starts to retreat, and when the rotation angle 0 of the cam wheel set 4 reaches 0 10 degrees, such as As shown in Fig. 21, the angle of rotation of the exchange arm 3 reaches 04 degrees (1 80 degrees or more). Next, when the rotation angle 0 of the cam gear set 4 reaches 0 1 1 degree, as shown in Fig. 22, the drive shaft 7 starts to advance, and as described above, the clamp 2 1 starts to open. At the same time, the reverse speed of the exchange arm 3, in other words, the retraction speed of the output shaft 2, is decelerated. That is, when the rotation angle 0 of the cam gear set 4 reaches 0 1 1 degree, the stroke position of the exchange arm 3 reaches the position P5, and at the point when the rotation angle 0 of the cam wheel set 4 reaches 012 degrees, the exchange arm 3 The stroke position will reach the uppermost position P1, and the retreat speed from the position P5 to the uppermost position P 1 (the inclination of the timing chart line T2 in Fig. 3) will become faster than the backward speed from the lowermost position P2 to the position P5. Still slower. and
S -16- 201231212 ’從位置P5至最上位pi之距離爲imm以下，且比起從 最下位P2至位置P5之距離爲i00mm以上，還設定爲顯 著的短。亦即，在眼看交換臂3就要到達最上位P1之前 後退速度會減速，且在已減速的速度狀態下會到達最上位 P 1 ’換句話說到達後述的工具鬆開狀態。 然後，當凸輪輪組4之旋轉角0到達012度時，就如 第23圖所示’驅動軸7會到達最下位P4，且與上述同樣 夾塊21會打開’且成爲工具鬆開狀態。與此同時，如上 所述交換臂3會到達最上位P1，並且交換臂3開始往反 方向旋動。在此狀態下，當凸輪輪組4之旋轉角0到達0 13度時’就如第2 4圖所示，驅動軸7會開始後退，且如 上所述夾塊2 1開始閉合。此時，交換臂3之旋轉角设成爲 汐5度。 更且’當凸輪輪組4之旋轉角0到達014度時，就如 第25圖所示，驅動軸7會到達最上位P3，且與上述同樣 夾塊21會閉合’並與夾持部3a完成對工具架η之夾持。 接著，當凸輪輪組4之旋轉角0到達β 1 5度時，交換臂3 之旋轉角设會到達1 80度，且在此狀態下，凸輪輪組4之 旋轉角0會到達3 60度。 如以上所述，依據該自動工具交換裝置1，則在直至 工具架Η接觸到（嵌合於）交換臂3之夾持部3a爲止，在 夾塊21已打開的狀態下工具架Η並不會接觸到夾塊21。 因此，不會因工具架Η和夾塊21碰撞，對交換臂3或夾 塊21、或是工具架Η帶來損傷’又不會對周圍發出大的 -17- 201231212 撞擊音。而且，在工具架Η嵌合於交換臂3之夾持部3a 之後，由於夾塊21會閉合而夾持工具架Η，所以可穩定 夾持工具架Η。 又，在眼看交換臂3之夾持部3a就要接觸到工具架 Η之前，由於交換臂3之旋動速度會減速，所以可緩和夾 持部3a和工具架Η之撞擊力，且可更抑制帶給交換臂3 或工具架Η等之損傷、或帶給周圍之撞擊音。更且，在眼 看交換臂3就要後退而到達最上位Ρ1之前，由於交換臂 3之後退速度會減速，所以可緩和因交換臂3之後退而帶 來的撞擊力（慣性力）。與此同時，在交換臂3從位匱Ρ5 後退至最上位Ρ1之較短的距離間，由於工具架Η被鬆開（ 開放），所以可吸收工具架Η之位置精度的偏移。 另一方面，由於驅動軸7進退運動自如地配設在輸出 軸2內，更且僅在必要時使鎖定桿9移動，藉此可使凸輪 輪組4小型化，所以能夠將裝置1整體小型化、輕量化。 而且，在輸出軸2之上部，並未配置有構件或機構，故可 確保空間。因此，最適合作爲直立式之自動工具交換裝置 1，而且，能夠配置在工具機之主軸的上方等。又，由於 在交換臂3側集中構成或配設有交換臂單元20、驅動手段 22至29，所以能夠輕易地進行驅動手段22至29等的保 養、修理等。更且，由於是利用呈一體的夾塊21來夾持 工具架Η，所以構成變得簡易。 以上雖然已就本發明的實施形態加以說明，但是具體 的構成，並非被限於上述的實施形態，即使有不脫離本發S -16 - 201231212 'The distance from the position P5 to the highest position pi is im or less, and is set to be significantly shorter than the distance from the lowermost position P2 to the position P5 of i00 mm or more. That is, the reverse speed is decelerated before the switching arm 3 reaches the uppermost position P1, and reaches the uppermost position P 1 ' in the decelerated speed state, in other words, reaches the tool release state described later. Then, when the rotational angle 0 of the cam gear set 4 reaches 012 degrees, as shown in Fig. 23, the drive shaft 7 will reach the lowermost position P4, and the same clamp 21 will open as described above and become the tool release state. At the same time, the exchange arm 3 reaches the uppermost position P1 as described above, and the exchange arm 3 starts to rotate in the reverse direction. In this state, when the rotation angle 0 of the cam gear set 4 reaches 0 13 degrees, as shown in Fig. 24, the drive shaft 7 starts to retreat, and the clamp block 2 1 starts to close as described above. At this time, the rotation angle of the exchange arm 3 is set to 汐5 degrees. Further, 'when the rotation angle 0 of the cam wheel set 4 reaches 014 degrees, as shown in Fig. 25, the drive shaft 7 will reach the uppermost position P3, and the same clamp block 21 will close 'and with the nip portion 3a as described above. The clamping of the tool holder η is completed. Then, when the rotation angle 0 of the cam gear set 4 reaches β 15 degrees, the rotation angle of the exchange arm 3 is set to reach 180 degrees, and in this state, the rotation angle 0 of the cam wheel set 4 reaches 3 60 degrees. . As described above, according to the automatic tool changer 1, the tool holder is not in the state in which the clamp 21 is opened until the tool holder Η comes into contact with (engages) the nip portion 3a of the exchange arm 3. Will contact the clamp block 21. Therefore, there is no damage to the exchange arm 3 or the clamp block 21 or the tool holder due to the collision of the tool holder and the clamp block ‘, and no large -17-201231212 impact sound is emitted to the surroundings. Further, after the tool holder is fitted to the holding portion 3a of the exchange arm 3, since the holder 21 is closed and the tool holder is held, the tool holder can be stably held. Moreover, before the grip portion 3a of the exchange arm 3 is in contact with the tool holder, since the rotation speed of the exchange arm 3 is decelerated, the impact force of the clamp portion 3a and the tool holder can be alleviated, and the impact force can be further improved. Suppresses damage to the exchange arm 3 or the tool holder, or the surrounding impact sound. Further, before the switching arm 3 is retracted to reach the uppermost level Ρ1, since the reverse speed of the exchange arm 3 is decelerated, the impact force (inertial force) due to the retreat of the exchange arm 3 can be alleviated. At the same time, since the exchange arm 3 is retracted from the position 匮Ρ5 to the uppermost position Ρ1, since the tool holder is loosened (opened), the positional accuracy of the tool holder can be absorbed. On the other hand, since the drive shaft 7 is retractably moved in the output shaft 2, and the lock lever 9 is moved only when necessary, the cam wheel group 4 can be miniaturized, so that the apparatus 1 can be made small overall. And lightweight. Moreover, no member or mechanism is disposed above the output shaft 2, so space can be secured. Therefore, it is most suitable as an upright automatic tool changer 1, and can be disposed above the main shaft of the machine tool. Further, since the exchange arm unit 20 and the drive means 22 to 29 are collectively arranged or disposed on the side of the exchange arm 3, maintenance, repair, and the like of the drive means 22 to 29 and the like can be easily performed. Further, since the tool holder is held by the integral holder 21, the configuration is simplified. Although the embodiments of the present invention have been described above, the specific configuration is not limited to the above-described embodiments, and the present invention is not deviated from the present invention.
S -18- 201231212 明之要旨的範圍之設計變更等，也涵蓋於本發明中。例如 ’亦可將夾塊21 —體地設置於夾緊桿23。又，當然也可 適用於沿著水平方向配設有輸出軸2的水平式之自動工具 交換裝置中。 【圖式簡單說明】 第1圖係顯示本發明實施形態的自動工具交換裝置之 前視圖。 第2圖係顯示第1圖的自動工具交換裝置之仰視圖。 第3圖係顯示拆下第1圖的自動工具交換裝置之本體 蓋的狀態之前視圖。 第4圖係顯示第3圖之狀態的自動工具交換裝置之立 體圖。 第5圖係顯示第3圖的自動工具交換裝置之後視圖。 第6圖係顯示第5圖的自動工具交換裝置之立體圖。 第7圖係顯示第1圖的自動工具交換裝置之凸輪輪組 和迴旋環之位置關係的立體圖。 第8圖係從背面側觀看第1圖的自動工具交換裝置之 交換臂單元的立體圖。 第9圖係從正面側觀看第1圖的自動工具交換裝置之 交換臂單元的立體圖。 第1 0圖係顯示本發明實施形態的工具架之被夾持部 的前視圖。 第Π圖係顯示第1圖的自動工具交換裝置之交換臂 -19- 201231212 的俯視圖’其中⑷係顯不已夾持工具架的狀態；（b)係顯 示解除夾持後的狀態。 第12圖係沿著第1圖的自動工具交換裝置之垂直面 的剖視圖。 第圖係顯示第】圖的自動工具交換裝置之動作、 作用的時序圖。 第14圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲〇度的狀態之立體圖。 第15圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲0 3度的狀態之立體圖。 第16圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲04度的狀態之立體圖。 第17圖係顯不第！圖的自動工具交換裝置之凸輪輪 組之旋轉角Θ爲0 6度的狀態之立體圖。 第18圖係顯不第！圖的自動工具交換裝置之凸輪輪 組之旋轉角θ爲Θ7度的狀態之立體圖。 第19圖係顯不第！圖的自動工具交換裝置之凸輪輪 組之旋轉角Θ爲θ 8度的狀態之立體圖。 第2〇圖係顯不帛1 ®白勺自動工具交換裝置之凸輪輪 組之旋轉角0爲09度的狀態之立體圖。 第21圖係顯不第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲Θ 1 0度的狀態之立體圖。 第22圖係顯不帛1目白勺自動工具交換裝置之凸輪輪 組之旋轉角11Jg的狀態之立體圖。S -18- 201231212 Design changes and the like of the scope of the gist of the present invention are also encompassed by the present invention. For example, the clip 21 may be integrally provided to the clamp rod 23. Further, of course, it is also applicable to a horizontal automatic tool changer in which the output shaft 2 is disposed in the horizontal direction. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a front view showing an automatic tool changing device according to an embodiment of the present invention. Fig. 2 is a bottom plan view showing the automatic tool changer of Fig. 1. Fig. 3 is a front view showing the state in which the body cover of the automatic tool change device of Fig. 1 is removed. Fig. 4 is a perspective view showing the automatic tool changing device in the state of Fig. 3. Figure 5 is a rear view showing the automatic tool changer of Figure 3. Figure 6 is a perspective view showing the automatic tool changer of Figure 5. Fig. 7 is a perspective view showing the positional relationship between the cam wheel set and the gyro ring of the automatic tool changer of Fig. 1. Fig. 8 is a perspective view of the exchange arm unit of the automatic tool changer of Fig. 1 as seen from the back side. Fig. 9 is a perspective view of the exchange arm unit of the automatic tool changer of Fig. 1 as seen from the front side. Fig. 10 is a front elevational view showing the clamped portion of the tool holder according to the embodiment of the present invention. The second drawing shows a plan view of the exchange arm -19-201231212 of the automatic tool changer of Fig. 1 where (4) shows the state in which the tool holder is not clamped; and (b) shows the state after the clamp is released. Figure 12 is a cross-sectional view taken along the vertical plane of the automatic tool changer of Figure 1. The figure is a timing chart showing the action and action of the automatic tool changer of the first drawing. Fig. 14 is a perspective view showing a state in which the rotation angle 0 of the cam gear set of the automatic tool changer of Fig. 1 is a twist. Fig. 15 is a perspective view showing a state in which the rotation angle 0 of the cam gear set of the automatic tool changer of Fig. 1 is 0 3 degrees. Fig. 16 is a perspective view showing a state in which the rotation angle 0 of the cam gear set of the automatic tool changer of Fig. 1 is 04 degrees. Figure 17 is not the first! A perspective view of the state in which the rotational angle Θ of the cam wheel set of the automatic tool change device of the figure is 0 6 degrees. Figure 18 is not the first! The perspective view of the cam wheel set of the automatic tool changer of the figure is a state in which the rotation angle θ is Θ7 degrees. Figure 19 is not the first! The perspective view of the cam wheel set of the automatic tool changer of the figure is a state in which the rotation angle Θ is θ 8 degrees. The second figure shows a perspective view of the state in which the rotation angle 0 of the cam wheel set of the automatic tool changer of the automatic tool changer is 09 degrees. Fig. 21 is a perspective view showing a state in which the rotation angle 0 of the cam gear set of the automatic tool changer of Fig. 1 is Θ10 degrees. Fig. 22 is a perspective view showing a state in which the rotation angle of the cam wheel set of the automatic tool change device of the first object is 11 Jg.
S -20- 201231212 第23圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲012度的狀態之立體圖。 第24圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角β爲0 1 3度的狀態之立體圖。 第25圖係顯示第1圖的自動工具交換裝置之凸輪輪 組之旋轉角0爲Θ 14度的狀態之立體圖。 第26圖係顯示習知自動工具交換裝置之交換臂的夾 持機構之前視圖。 【主要元件符號說明】 1:自動工具交換裝置 2 :輸出軸 3 :交換臂 3 a :夾持部 4 :凸輪輪組（主凸輪） 4 a :蝸形齒輪 4b :迴旋凸輪槽 4c :移位凸輪槽 4d :鎖定凸輪槽 5 ·鍋桿軸 6 :迴旋環 7 :驅動軸 71 :按壓盤 8 :移位桿 -21 - 201231212 9 :鎖定桿 20 :交換臂單元 21 :夾塊（夾持體） 22 :桿軸 23 :夾緊桿（旋動體） 24 :連結軸 25:夾緊軸（進退運動體） 26 :彈簧（按壓手段） 28 :連結棒（連結體） 2 9 :抵接板 Η :工具架S -20-201231212 Fig. 23 is a perspective view showing a state in which the rotation angle 0 of the cam wheel set of the automatic tool change device of Fig. 1 is 012 degrees. Fig. 24 is a perspective view showing a state in which the rotation angle ? of the cam gear set of the automatic tool changer of Fig. 1 is 0 1 3 degrees. Fig. 25 is a perspective view showing a state in which the rotation angle 0 of the cam gear set of the automatic tool changer of Fig. 1 is Θ 14 degrees. Figure 26 is a front elevational view showing the holding mechanism of the exchange arm of the conventional automatic tool changer. [Description of main component symbols] 1: Automatic tool changer 2: Output shaft 3: Exchange arm 3 a : Clamping part 4: Cam wheel set (main cam) 4 a : Spiral gear 4b: Swirling cam groove 4c: Shift Cam groove 4d: Lock cam groove 5 · Pan shaft 6 : Swing ring 7 : Drive shaft 71 : Press plate 8 : Shift lever 21 - 201231212 9 : Lock lever 20 : Exchange arm unit 21 : Clamp block (clamping body) 22: Rod shaft 23: Clamping lever (rotating body) 24: Connecting shaft 25: Clamping shaft (moving and retracting body) 26: Spring (pressing means) 28: Connecting rod (connecting body) 2 9 : Abutting plate Η : Tool holder
S -22-S -22-