Ϊ232146 九、發明說明： 【發明所屬之技術領域】 本發明尤指其提供一種利用控制液壓管路排油端端口 定ΐ二的方式來減緩作動的速度，進而於接近 2二占時避免快速運_撞擊絲，崎低旋轉換刀振動及 了曰之具緩衝作用之加工中心機自動換刀裝 【先前技術】 按，加工中心機之加工主軸於更換刀具時，係以白私 換刀機構依預設之程式，自刀庫中更換選取適去之 獨型式的加工中心機，其換刀機“有: 槿^日守序減’以臥式加工中心機而'r，由於其換刀機 :冓的_運動係以一橫移機構來作加 庫 有直造的加工中心機’其換刀機構基本上包含 轉運動來說，其運動曲崎的早杜儿轉摘就以換刀的旋 即作快速運動，接設計，係為-開始旋轉 又1日％又冲，目刖自動換刀裝置 1·凸輪式自動換刀裝置··凸輪式 ϋ · 部分可利用凸輪曲線的設計置在加減速的 惟適當的凸輪曲線並不易製作，俜 體體積顯得龐大，輪轴，將使得整 2.峨自祕㈣置：咐自_==運動 1232146 換刀臂旋轉，其雖可獲致較大 奸穑，而^1"1 ’且制油壓馬達亦可降低整 _ + ^ 馬早一速度，本身並益蠻i亲今古+，火 換;位置時二= 的緩衝定位&檨出專利申請第9 2 2 Q 6◦4 7號 機Μ仫構，岣芩閱第1、2、3圖所示，該換刀Ϊ232146 IX. Description of the invention: [Technical field to which the invention belongs] The present invention particularly provides a method for controlling the speed of the oil discharge port on the hydraulic pipeline by slowing down the operating speed, thereby avoiding rapid operation when it is close to 22 _Impact wire, low vibration of low-speed rotary tool change and automatic tool change of the buffering machining center machine [Previous technology] Press, the processing spindle of the machining center machine is replaced by a white private tool change mechanism. The preset program is to replace the suitable type of machining center machine from the tool magazine. Its tool changer "has: Hibiscus ^ Japan Shouxianjian" with a horizontal machining center machine and 'r, because of its tool changer : 冓 的 _ The movement is based on a traverse mechanism to add a straight machining center machine. Its tool change mechanism basically includes rotary motion. For its movement, the early Du'er of Quqizhuang picks the tool immediately. It is designed for fast movement, and it is designed to be-starting to rotate for another day and then rushing. Automatic tool changer 1 · cam type automatic tool changer · cam type · Part of the design that can use the cam curve is set at acceleration and deceleration Proper cam curve It is not easy to make, the volume of the carcass appears huge, and the wheel axle will make the whole 2. E Ziji set: command from _ == movement 1232146 The blade change arm rotates, although it can lead to larger treacherous, but ^ 1 " 1 'And the hydraulic motor can also reduce the whole _ + ^ Ma Zaiyi speed, and it is not very prone to the ancient +, fire change; position two = the buffer positioning & issued patent application No. 9 2 2 Q 6 ◦ 4 No. 7 machine structure, see the figure 1, 2, 3, the tool change
漸…該油壓L ===== = =ΤΓ;Ι〇外，又油壓馬達14之轉軸賴二 ，销輪組丄6以轉軸銜接一換刀臂工7， 體1 8内之:方裝設有-塊體1 8，該塊 室1 9 Α σ 财二树且裝設魏壓油之液壓 置Si塞室1广⑽之前方設 2 =2!，另於換刀臂17上相對應-活塞 —纽件22，在進行換刀作業接近 ，禮件2 2可頂壓相對應之活塞 縮此(2°β)内移並壓 S = 室’以推動另·^塞向外凸伸適當 ^換77^供旋轉換刀時定點的緩衝作用；該油壓式 Ϊ 彳改善旋轉換刀時直接大力撞擊的情 二字?^2 2在頂壓相對應之活塞2 0 α (2 〇 β t _的大量迴油塵力將使活塞2〇α(2〇β) 1232146 的改善 2動作f生頓挫的情形’無法獲致相當順暢的減速運 W有鑛的情形’因此鶴㈣勒未獲致顯著 ^ 油壓式自祕刀裝置雖可改善凸輪式自動換刀 ^置f缺弊’但在加減速的設計上卻又無法獲得如凸< if圭化的運動曲線’故如能在油壓式自動： ϊΐ=ϊ運動上再加以改良’則將可使自動換刀t 【發明内容】 ΐ自，，置其主要係指換刀臂作旋轉運動接近定點 指 ϊϋ壓^錢壓馬達，使得油壓馬5=刀臂及節 :構提 要目的係提供—種具緩衝作用之加工中心 ί:二該節Ϊ機構係以-具有可變ίί;:節流桿 ^機構旋射，節流桿錢轉接犹 槽逐步縮減油壓馬達排油端的端σ大小 的背壓來快速順暢的減緩油壓馬達 ::油=生 機自 ，對方向之可變節流槽，使得油壓馬 流機構作正向或反向旋轉時，均可以 馬達排油端的端口大小，而由排;; 及來馬達旋轉作動速度，二= 本發明之又-目的係提供一種具緩衝作用之加工中心 1232146 機自動換刀裝置，其中，該節流機構之液壓管路上係設有 1c，塊❿可在液壓系統於啟動油壓馬達開始旋供 油日^提供一通暢開放的注油管路，使得油壓馬達可S Z啟動旋轉’進而帶動換刀臂開始旋轉即具快速運動的特 【實施方式】 凊芩閱第4、5、6、8圖，本發明自動換刀梦f 錢=的運動係由壓缸組驅動，其於本體3 _區設 山二該心軸31内設有一液壓室311，液麼室 液壓管路溪ΓΓί狀端σ並設有連通至液壓系統的 313，另液壓室311設有-具活塞 3 3 ’活塞桿3 3 —端連結心軸外套3 4， Κ軸外套34並鎖固連結換刀f35 鍵合於心轴3 1外❹7 h、， 鍵鋼3 6 管路3 1 ?诚、:t A :々曰1 4上，當液壓系統由液壓 心軸外，可推動活塞桿3 3前進，進而帶動 3 4及換刀臂3 5沿著長槽3 塞3 2將、豕Ϊ i當活基桿3 3直進伸出至接近定點時，活 31 1沾kッ縮減排油端階級狀端口，而減少液壓室 I =來==:311會產生-背 揚的逐步減= 運動係以：ϋ圖，本發明自動換刀裝置主要之旋轉 以=裝設於本體3 〇上，並以』ΐ傳 1傳動至心軸31’心軸31再以…的齒輪式 1232146 傳動組42傳動至節流機構，因此當油壓 ^^^:’可透過齒輪_組4 1、42帶^ :=::==1 又利，3 二 轉換刀的作業以以3^， Κ二tff1運動於末段接近定點時的動作2且有 作用’本發明於本體 二= ^旋生的背壓來快速順暢的減ί ί it速度，該節流機構係於本體3 0内設;^ 者〜軸31轉動之節流桿4 3，該節流桿4 3之 二 —節流槽4 3 1、第—流通槽4 3 2、ΐ-節3 Γ 4-尸流通槽4 3 4 ’其中第-節流槽: 節二㈡=之槽道3 3 5，而第二 道4 3 6，槽4 3 4於桿，具有相通之槽 面上開設呈i 8 Q3 1彳錢沿L桿4 3之環 8 Q度的讀，—端槽端將其槽寬盥# 賴節流槽’另第二節ί 〜罐Λ 槽4 31開設呈相對方向之可變式 7二，體3 〇於相對節流桿4 3位置 = ::^产，〇1，相通第-流通槽= Q 2 ’相通第二節流槽4 3 3之通孔3 〇 3以及 ==4 3 4之通孔3〇4;另本體3=: 4 4，兮I·、、, 2 3 〇 3、3 0 4上設有一止逆閥塊 /1 /1 〇"止逆闕塊4 4設有第一流道44 1、第二产道 道44 3'第四流道444 ’其中ΐ-产 之頂面端口係以管路連接至液壓系統，而底面端L 1連通至本體之通孔3〇1，第二流道4 4 2之頂面端 1232146 口係^管路輕至油壓馬達4Q，喊 體之通孔3 0 2 ’又第—流道4 4丄盥、本 橫=相通之流道4 4 5’並在該流以= 逆闕球44 7，另第三流道44Ί之頂=45内5又有止 接至液壓系統，而底面端口則連通至本連 4=底面端口則連通至本體之通孔30d 迺4與第四流道444間橫向設 -机 4 4 6，並在該流道4 4 6内 == 第-流道44i、第二流道44 2、=48’因此 ^444#^^ 3 0 4而與節流桿43之第 4 31、弟-流通槽4 3 2、第二節流槽 ^ 通槽434相通；請參閱第9、1〇、13、14弟—4 HU i 3所\9圖’當換刀臂3 5作初始正向旋 K = 纖、嶋_道443 3_;節‘4=，=3〇3，而通孔 二 =:，4 3 3::狀槽端 I *=道=;=闕球448至流道446，再 油壓馬達4 0可快速的齡叙钞絲、&工使仔 始旋轉即且快速運動㈣’進而▼動換刀臂3 5開 3 1連動換刀轉動’油壓馬達4 〇帶動心軸 第二節流槽4 3 3轉動後’節流桿4 3之 3 〇 3/斤收狀槽端逐漸脫離對應通孔 通孔3 0 3經第見面對應通孔3 0 3，油體則改由 弟—即流槽433、槽道43Θ、第二流通 10 1232146 ΪS 4ΐΐΐ3 ° 4 ’再由第四流道4 4 4流至油壓馬 二則由管路連通== 4 4 1相通之J向流:4 二道 而盔、、二丄… 口止迚閥球4 4 7的止逆 目通’而由弟二流道4 4 2進人通 >:^^32、槽道4 3 5及第—節流槽 二 員·速自通孔3 Ο Η非出至第_流道44丄 二1再將油體排送回液壓系統’由於油壓馬達4 〇:ΐ =:車”1、換刀臂3 5及節流桿4 3轉動時，‘ ;=Qr順暢快速，因此可快速作旋轉換刀；當竑 9 0度時（如第1 8圖），供油及迴油均仍= 為快速旋轉運動；惟當旋轉接近1 8 0度時(如Gradually ... the oil pressure L ======= ΤΓ; Ι〇 In addition, the hydraulic motor 14 has two rotating shafts, and the pin wheel set 丄 6 is connected with a rotating arm 7 by the rotating shaft, and inside the body 18: The square installation is provided with a block 18, the block room 1 9 Α σ Cai Ershu, and the hydraulic pressure Si plug room 1 installed with Wei Ya oil is set 2 = 2 !, and the other is on the tool changing arm 17 Corresponding to-piston-button 22, approaching the tool change operation, the gift 2 2 can press the corresponding piston to shrink (2 ° β) to move inward and press S = chamber 'to push the other plug outward Proper extension is appropriate ^ change 77 ^ for the cushioning effect of fixed point during rotary tool change; the oil pressure type 彳 彳 improve the situation of direct strong impact during rotary tool change? ^ 2 2 piston corresponding to the top pressure 2 0 α ( 2 〇β t _ a large amount of oil and dust return force will make the piston 20α (2〇β) 1232146 improved 2 action f situation frustrated 'cannot achieve a quite smooth deceleration operation W mine situation' Therefore Heli Not noticeable ^ Although the hydraulic self-secret knife device can improve the cam type automatic tool change ^ the lack of disadvantages ', but in the design of acceleration and deceleration, it is not possible to obtain a convex < if Guihua movement curve' Automatic in hydraulic type: ϊΐ = ϊ Further improvement on the movement will enable automatic tool change. [Abstract] The self-setting means that it mainly refers to the rotary motion of the tool changing arm, which is close to the fixed-point finger pressure and the pressure of the motor, so that the oil pressure horse 5 = the knife Arms and joints: The purpose of the structure is to provide a kind of processing center with buffering effect. :: The joint mechanism is provided with-variable. Ί: Throttle rod ^ mechanism is rotated, and the throttle lever is transferred to the slot gradually. Reduce the back pressure of the σ size at the oil discharge end of the oil pressure motor to quickly and smoothly reduce the oil pressure motor :: oil = life, since the variable throttle slot of the opposite direction makes the oil pressure horse flow mechanism rotate in the forward or reverse direction Both can be the size of the port of the motor's oil discharge end, and by the row ;; and the speed of the motor rotation, two = another purpose of the present invention is to provide a machining center 1232146 automatic tool changer with a buffering effect, where the section The hydraulic circuit of the flow mechanism is provided with 1c. The block can be used to start the oil supply on the hydraulic system when the hydraulic motor is started. ^ Provide a smooth and open oil injection circuit, so that the hydraulic motor can start rotation by SZ to drive the tool change. Rapid movement of arms [Embodiment] According to Figures 4, 5, 6, and 8, the movement of the automatic tool change dream f of the present invention is driven by the cylinder group, which is located in the main shaft 31 of the mountain 2 in the main body 3 _ area. A hydraulic chamber 311 is provided, and the hydraulic pipe of the fluid chamber is shaped like σ and connected to the hydraulic system 313. The other hydraulic chamber 311 is provided with a piston 3 3 'piston rod 3 3 -end connecting mandrel jacket 3 4. The K-axis outer sleeve 34 is locked and connected to the tool changer f35, which is bonded to the mandrel 3 1 and the outer shaft 7 h. The key steel 3 6 pipeline 3 1. Cheng:: t A: 々14. When the hydraulic system consists of Outside of the hydraulic mandrel, the piston rod 3 3 can be pushed forward, which in turn drives 3 4 and the tool changer arm 3 5 along the long groove 3 and plugs 3 2 and 活 i when the live base rod 3 3 goes straight and extends to a fixed point, Live 31 1 dimming and reducing the oil end class-like port, while reducing the hydraulic chamber I = to = =: 311 will produce-gradual reduction of backlash = movement is based on: Figure, the main rotation of the automatic tool changer of the present invention It is installed on the body 3 〇, and is transmitted to the spindle 31 with ΐΐ1. The spindle 31 is then transmitted to the throttling mechanism by a gear-type 1232146 transmission group 42, so when the oil pressure ^^^: ' Through gear_ 4 1, 42 with ^: = :: == 1 It is also good. 3 The operation of the second conversion knife is to move with 3 ^, Κ 二 tff1 when the last section approaches the fixed point. 2 It is effective. ^ Spin back pressure to quickly and smoothly reduce the ί it speed, the throttling mechanism is built in the body 30; ^ ~ ~ the shaft 31 rotates the throttle lever 4 3, the throttle lever 4 3 bis — Throttle trough 4 3 1, the first—circulation trough 4 3 2, ΐ—junction 3 Γ 4-mortem circulation trough 4 3 4 'where the first-throttling trough: No. 2 ㈡ = the channel 3 3 5 and the second The channel 4 3 6 and the groove 4 3 4 are on the pole, and have the same groove surface. The opening is i 8 Q3, and the money is read along the ring of the L pole 4 3 at 8 Q degrees. Throttle trough 'another second section ί ~ tank Λ trough 4 31 is opened in a variable direction in two opposite directions, the body 3 〇 position relative to the throttle rod 4 3 = = ^ production, 〇1, interlinked-circulation Slot = Q 2 'communicates with the through hole 3 of the second throttle groove 4 3 3 and == 4 3 of the through hole 3 04; the other body 3 =: 4 4, Xi I ,,, 2 3 〇 There is a non-return valve block / 1/1 on 3 and 4 and the non-return valve block 4 4 is provided with a first runner 44 1 and a second birth channel 44 3 'a fourth runner 444' where ΐ- The top port is connected to the hydraulic system by a pipeline, and the bottom end L 1 is connected to the through hole 3001 of the main body. The top end 1232146 of the second flow channel 4 4 2 is a pipeline that is as light as a hydraulic motor. 4Q, the through hole of the shout body 3 0 2 'And the first-flow path 4 4 丄 丄, the main cross = the same flow path 4 4 5' and in this flow = = counter ball 44 7 and the third flow path 44Ί The top = 45 and 5 are connected to the hydraulic system, while the bottom port is connected to the main 4 = the bottom port is connected to the through hole 30d of the body 迺 4 and the fourth flow channel 444 is laterally set-machine 4 4 6 And in the flow path 4 4 6 == the first flow path 44i, the second flow path 44 2, = 48 'Therefore ^ 444 # ^^ 3 0 4 and the 4th 31st, the brother of the throttle lever 43- The flow slot 4 3 2. The second throttle slot ^ The through slot 434 communicates; see Figures 9, 10, 13, and 14—4 HU i 3 Institute \ 9 'When the blade change arm 3 5 is initially rotated forward K = fiber, 嶋 _ 道 443 3_; knot '4 =, = 3〇3, and through hole two = :, 4 3 3 :: slot-shaped end I * = track =; = ball 448 to flow path 446, Re-hydraulic motor 4 0 can quickly age banknotes, & the worker starts to rotate immediately and move quickly 进而 'further ▼ move the knife change arm 3 5 open 3 1 linked knife change 'Hydraulic motor 4 〇 drives the second throttle slot 4 3 3 of the mandrel to rotate' After the throttle rod 4 3 of 3 〇3 / jin the end of the collecting groove gradually separated from the corresponding through-hole through-hole 3 0 3 Hole 3 0 3, the oil body is changed by the younger—that is, the flow channel 433, the channel 43Θ, the second circulation 10 1232146 ΪS 4ΐΐΐ3 ° 4 ', and then the fourth flow channel 4 4 4 to the hydraulic pressure, the second is the pipeline Connected == 4 4 1 J-direction flow of communication: 4 Erdao Helmet, Erji ... mouth check valve ball 4 4 7 non-reversing eye pass' and brother Erliu Channel 4 4 2 enters the person >: ^^ 32, channel 4 3 5 and the second throttling tank · speed self-through hole 3 〇 Η not out to the _ flow channel 44 丄 2 1 and then return the oil body to the hydraulic system 'due to the hydraulic motor 4 〇: ΐ =: car ”1, when the tool changing arm 3 5 and the throttle lever 4 3 rotate, '; = Qr is smooth and fast, so you can quickly perform a rotary tool change; when 竑 90 degrees (such as the first 8 Figure), both oil supply and oil return are still rapid rotation movements; however, when the rotation is close to 180 degrees (such as
Uf所示），節流桿43之第—節流槽431因二 致使其漸收狀槽端逐漸對應到通孔 = 端口逐步縮減，而減少關馬達4⑽迴油量H㈣ ==:=，並以_來減心 至停止狀ί 使料㈣4 G帅_的減迷 反之，請參閱第9、10、13、14、16、 17^18、19圖，當換刀臂3 5作初始反向旋轉時 (如第19圖所示），液壓系統係由第一流道44 供油’其底面端口連通至本體之通孔3 Q i，而通孔〆八 301相通至節流桿43之第—節流槽431，惟 3 (H係對應第—節流槽4 31之漸收狀槽端，使 阻2較大，，因而油體經止逆閥球44 7至流道，= 由弟二流道4 4 2流至油壓馬達40，進而使油壓馬達 Ϊ232146 4 0開始供油反向旋轉時，提供一通暢開放的注油管路， 使得油壓馬達4 0可快速的啟動旋轉，而具快速運動的特 性，油壓馬達4 〇帶動心軸31連動換刀臂3 5及節流桿 4 3反向轉動後，郎流桿4 3之第一節流槽4 31漸收狀 槽端逐漸脫離對應通孔3 〇1，而改以寬大的槽面對應通 孔301，油體則改由通孔3〇丄經第一節流槽43『、 槽迢4 3 5、第一流通槽4 3 2至通孔3 〇 2 ,再由第二 ml道4 4 2 〃丨l至油壓馬達4 〇，繼續使油壓馬達4 〇帶動 心軸31及換刀臂3 5轉動，油壓馬達4Q之迴油則由管 路連通至止逆閥塊44之第四流道44 4，第四流道 4 4 4與第二流道4 4 3相通之橫向流道4 4 6，因止逆 閥球4 4 8的止逆而無法相通，而由第四流道4 4 4進入 j孔3 0 4至第二流通槽4 3 4 '槽道4 3 6及第二節流 ^ 3 3，第二節流槽4 3 3因以寬大的槽面對應通孔 3” ‘因，由體可順暢快速自通孔3 〇 3排出至第 素=道4 4 3再將油體排送回液壓系統，由 於祕馬達4 0在初始帶動心轴31、換 轉9 ◦度時(如第18圖），供油及迴油 句速，故仍為快速旋轉運動；惟 18 0度時(如第17圖所示） 等口 =3因猶致使其漸收狀槽端逐漸對應到通Γ 】=,寻?油端端口逐步縮減，而減少油壓馬達Uf), the throttling rod 43-the throttling groove 431 gradually causes the end of the groove gradually corresponding to the through hole = the port gradually shrinks, and the off motor 4 关 return oil amount H㈣ ==: =, and Use _ to reduce the heart to a stop state. Make the material ㈣ 4 G handsome_'s reduction of converse, please refer to Figures 9, 10, 13, 14, 16, 17 ^ 18, 19. When the knife arm 3 5 is initially reversed When rotating (as shown in Figure 19), the hydraulic system is supplied by the first flow channel 44 ', and its bottom port communicates with the through hole 3 Q i of the body, and the through hole 〆 301 communicates with the throttling rod 43- Throttle groove 431, but 3 (H series corresponds to the gradually narrowing groove end of the first-throttle groove 4 31, making the resistance 2 larger, so the oil body passes the check valve ball 44 7 to the flow path, = from the second stream Channel 4 4 2 flows to the hydraulic motor 40, which in turn causes the hydraulic motor Ϊ 232 146 4 0 to start the reverse rotation of the oil supply. A smooth and open oil filling line is provided, so that the hydraulic motor 40 can quickly start to rotate. The characteristics of rapid movement, the hydraulic motor 4 〇 drives the spindle 31 in conjunction with the tool changer arm 3 5 and the throttle lever 4 3 after the reverse rotation, the first throttle groove 4 31 of the Lang flow lever 4 3 gradually closes the groove end gradually Off-correspondence The through hole 3 〇1, and the wide groove surface is corresponding to the through hole 301, and the oil body is changed from the through hole 30 to the first throttle groove 43 ′, the groove 4 3 5, and the first circulation groove 4 3 2 To the through hole 3 〇2, and then from the second ml channel 4 4 2 〃 丨 l to the hydraulic motor 4 〇, continue to make the hydraulic motor 4 〇 drive the spindle 31 and the tool change arm 35, the hydraulic motor 4Q The return oil is connected from the pipeline to the fourth flow path 44 4 of the check valve block 44, and the fourth flow path 4 4 4 and the second flow path 4 4 3 communicate with each other. Because of the check valve ball, 4 4 8 can not communicate with each other, but from the fourth channel 4 4 4 into the j hole 3 0 4 to the second flow channel 4 3 4 'channel 4 3 6 and the second throttle ^ 3 3, the second The throttle groove 4 3 3 corresponds to the through-hole 3 ”with a wide groove surface, and the body can be smoothly and quickly discharged from the through-hole 3 〇3 to the first element = channel 4 4 3 and then return the oil body to the hydraulic system. Because the secret motor 40 initially drives the mandrel 31 and changes 9 degrees (as shown in Fig. 18), the fuel supply and return speed are still fast rotating movements; but at 180 degrees (as shown in Fig. 17) (Shown) Equal port = 3 due to the gradual retraction of the groove end gradually corresponds to the through Γ] =, find the oil port Step down, while reducing hydraulic motor
來減緩油壓馬達40轉動的使“ 堡馬達4 0快速順暢的減速至停止狀能。 U 位置必須精確以利將刀具準择置刀至主軸 1232146 或刀庫内’目此為了準確置刀，本發日級心軸3 1之齒輪 式傳動組41上設有二止擋塊4 5、4 6，並於本俨3 0 亡相對止擔塊45、46的旋轉i8〇度位置上設^止擋 桿4 7、4 8，而可在旋轉換刀末段減速後抵収位，二 輔助旋轉運動的定位。 -It i本發明自動換刀餘之旋轉勒，_節流機 構逐步縮減油壓馬達·端排油量的方式，使得換= ，接近定點時，由油壓馬達排油端產生的f 減緩旋轉作動的速度，以使換刀f作旋轉運動時，;；動= 的末段自動產生無段變化的緩衝作用，在加減速的設 獲得最佳化的運動曲線（如第21圖所示） 生頓挫撞擊的情形’而有效降低加卫中讀換 ====== 何重，進而達到貫用之效益。 【圖式簡單說明】 =1圖：習式油壓式自動換刀裝置之前視圖。 ：習式油壓式自動換刀裝置之局部俯視圖。 圖1式關式自動換刀t置之側視圖。 =4圖.本發明自動換刀裝置之外觀示意圖。 —弟5圖：本發明自動換刀裝置之部分剖視圖。 第7圖 第8圖 弟6圖：本發喊賴動於定點定位之衫圖。 本發明直進運動於接近定點時之放大示音圖 本發明自動換刀襞置之另― 心3 第9圖：本發明之局部科分解圖。。》剖視圖。 第10圖：本發明節流桿之示意圖 1232146 =11圖：本發明節流桿之示意圖（二）。 =12圖：本發明節流桿之示意圖（三）。 =13圖：本發明止逆閥塊之示意圖。 f14圖：本發明旋轉運動之液壓控制圖。 =15圖：本發明正向旋轉之液壓流程圖。 ，16圖·本發明反向旋轉之液壓流程圖。 弟17圖：本發明初始正向旋轉〇度時節流桿與排油端出 口之對應示意圖。 第18圖：本發明正向旋轉9◦度時節流桿與排油端出口 之對應示意圖。 第19圖：本發明正向旋轉！8 〇度時節流桿與排油端出 口之對應示意圖。 第2 0圖：本發明旋轉定位之示意圖。 第21圖：本發明旋轉的運動曲線圖。 【主要元件符號說明】 習式部份： 0 :機架 11:油壓缸 2 ·活基桿 13:活動機架 4 :油壓馬達 1 5 :導桿 6 :齒輪組 17:換刀臂 8 :塊體 1 9 A、1 9 B 0 A、2 0 B :活塞 :液壓室 調整螺栓：21 A、2 1 B 2 2 :定位件 本發明部分： 3 〇 ··本體 3 0 1 :通孔 3 0 2 :通孔 3 0 3 :通孔 3 0 4 :通孔 31 :心軸 14 1232146 311:液壓室 314:長槽 3 3 :活塞桿 3 5 :換刀臂 4 0 :油壓馬達 4 2 ··齒輪式傳動組 4 31 :第一節流槽 4 3 3 :第二節流槽 4 3 5 :槽道 4 4 :止逆閥塊 4 4 2 :第二流道 4 4 4 :第四流道 4 4 6 :流道 4 4 8 :止逆閥球 4 7、4 8 :止擋桿 2、313 :液壓管路 :活塞 :心軸外套 :鍵銷 :齒輪式傳動組 :節流桿 2 第一流通槽 4 第二流通槽 6 槽道 1 第一流道 3 第三流道 5 流道 7 止逆閥球 、4 6 :止擔塊To slow down the rotation of the hydraulic motor 40 to make the "Bao Motor 40 quickly and smoothly decelerate to a stop. U position must be accurate to facilitate the placement of the tool into the spindle 1232146 or in the tool magazine." The gear-type transmission group 41 of the Japanese-grade mandrel 31 is provided with two stoppers 4 5 and 4 6, and is located at a position of 80 ° of rotation relative to the stoppers 45 and 46 at the position of 30 ° ^ The stop levers 4 7 and 4 8 can reach the closing position after deceleration at the end of the rotary tool change, and assist in the positioning of the rotary motion. -It i The automatic tool change of the present invention, the throttle mechanism gradually reduces the oil The method of oil displacement at the end of the pressure motor makes the change =. When the fixed point is approached, the f generated by the oil discharge end of the hydraulic motor slows down the speed of the rotation operation, so that when the tool change f rotates; The segment automatically generates a buffering effect without segment changes, and the optimal motion curve is obtained in the acceleration and deceleration settings (as shown in Figure 21). The situation of stupefaction and impact effectively reduces the read and change in the guard ====== What is the weight, and then achieve the benefits of consistent use. [Simplified illustration of the drawing] = 1 picture: The hydraulic oil type automatic tool change device View .: Partial top view of Xi type hydraulic automatic tool changer. Figure 1 Side view of closed type automatic tool changer. = 4 Figure. Schematic diagram of the appearance of the automatic tool changer of the present invention.-Brother 5: This Partial cross-sectional view of the automatic tool changing device of the invention. Figure 7 Figure 8 Figure 6 Figure 6: The figure of the shirt that yells for positioning at a fixed point. Zoomed-in sound diagram of the invention when the linear motion approaches the fixed point. Leave it another-Heart 3 Figure 9: An exploded view of a partial branch of the present invention ... "Sectional view. Figure 10: Schematic diagram of the throttle lever of the present invention 1232146 = 11 Figure: Schematic diagram of the throttle lever of the present invention (2). = Figure 12: Schematic diagram of the throttle lever of the present invention (3). Figure 13: Schematic diagram of the check valve block of the present invention. Figure f14: Hydraulic control diagram of the rotary motion of the present invention. = 15: Hydraulic pressure of forward rotation of the present invention. Flow chart, Figure 16 · Hydraulic flow chart of the reverse rotation of the present invention. Figure 17: Corresponding schematic diagram of the throttle rod and the discharge end outlet when the initial forward rotation of the present invention is 0 degrees. Figure 18: Forward rotation of the present invention Correspondence between throttle rod and drain outlet at 9 ° Fig. 19: The present invention rotates in the forward direction! The corresponding diagram of the throttle rod and the discharge end outlet at 80 degrees. Fig. 20: The diagram of the rotation positioning of the present invention. Fig. 21: The movement curve of the rotation of the present invention. [Description of main component symbols] Practice part: 0: frame 11: hydraulic cylinder 2 · movable base rod 13: movable frame 4: hydraulic motor 1 5: guide rod 6: gear set 17: tool change arm 8: Blocks 1 9 A, 1 9 B 0 A, 2 0 B: Piston: Hydraulic chamber adjustment bolt: 21 A, 2 1 B 2 2: Positioner Part of the invention: 3 〇 ·· Main body 3 0 1: Through Hole 3 0 2: Through hole 3 0 3: Through hole 3 0 4: Through hole 31: Mandrel 14 1232146 311: Hydraulic chamber 314: Long groove 3 3: Piston rod 3 5: Tool changing arm 4 0: Hydraulic motor 4 2 ·· Geared drive unit 4 31: First throttle groove 4 3 3: Second throttle groove 4 3 5: Channel 4 4: Check valve block 4 4 2: Second flow channel 4 4 4: Fourth runner 4 4 6: runner 4 4 8: check valve ball 4 7, 4 8: stop lever 2, 313: hydraulic line: piston: mandrel jacket: key pin: gear type transmission group: section Flow rod 2 First flow channel 4 Second flow channel 6 Channel 1 First flow channel 3 Third Channel 5 7 check valve ball flow channel, 46: stop supporting block