1337913 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種自動托板交換機（automatic pallet changer); 更具體而言，係關於一種自動托板交換機，用以於一軸與一止擋 件間供給及收回液壓油，該轴係一體形成有一葉片，該止擋件則 用以限制該葉片之旋轉，以藉由液壓油之一壓力而帶動該形成有 葉片之軸旋轉，且該自動托板交換機亦用以於一用於容置該軸及 該止擋件之外殼與該軸之上液壓板及下液壓板間供給及收回液壓 油，以藉由液壓油之壓力而使該軸上下運動，藉此使一托板與該 軸之運動有機地聯鎖。 【先前技術】 利用適當的工具、以各種切削或非切削成形方式加工一金屬或 非金屬材料之機械設備稱為機床。 根據在利用一刀尖或一鑽頭之一加工過程中是否產生碎屑而 定’可將機床劃分成切削機床與金屬成形機床。 切削機床於加工過程中會產生材料碎屑，其包含車床（lathe )、 銑床（milling machine )' 加工中心（machining center )、鑽床（drilling machine )、鏜床（boring machine )、磨床（grinding machine )、 切齒床（gear cutting machine)、專用加工機床等等。金屬成形機 床則不於加工過程中產生材料碎屑，其包含機械壓力機 (mechanical press)、氣動壓力機（pneumatic press)、剪板折'彎 機(cutting and bending machine)、鍛造機（forging machine )、 拉製機（drawing machine)等等。 1337913 隨著技術之發展及對生產率要求之提高，已開發出一種自動化 數控切削機床。近來’數控切削機床之開發曾被劃分成車床系列 與銑床系列，然而，其現在被整合於一起，因而出現了一種多功 能加工中心。由於工業領域中對加工中心之需求甚廣，因而加工 中心之市場迅速擴大。 加工中心係為一種可於一單個機器中執行各種切削加工之機 床，其不僅具有一自動更換刀具之功能，且亦具有一自動加工一 工件之至少二表面之功能。加工中心被區分成用於加工一旋轉工 件之旋轉加工中心與用於加工一非旋轉工件之非旋轉加工中心。 用於加工非旋轉工件之非旋轉加工中心係從NC銑床或NC鑽床 改良而來，其包含一自動刀具交換機（automatic tool changer ; ATC )、一多刀刀座（tool magazine )以及一自動托板交換機 (automatic pallet changer ； APC)。 用於加工旋轉工件之旋轉加工中心則係從NC車床改良而來，用 以於在執行切削加工之後執行例如分度、凹槽加工、孔加工、攻 螺紋等各種加工，其亦包含ATC及APC。 如上所述，當前之趨勢係旋轉加工中心與非旋轉加工中心皆實 質採用APC。 根據其傳動類型而定，APC可劃分成ώ輪-轴（cam-shaft )型、 齒條-齒輪（rack-pinion)型、滾珠-螺桿（ball-screw)型及葉片-止擋件（vane-stopper)型。 第1圖顯示一習知凸輪-軸型自動托板交換機（APC)。該凸輪-轴型APC包含一軸120與一凸輪機構150，軸120係上下運動， 7 1337913 凸輪機構150則與軸120聯鎖以進行旋轉。 於凸輪-軸型APC中，軸120藉由從一流體壓力或如馬達之一動 力傳遞裝置（power transmitting means )接收動力而上下運動，與 軸120聯鎖之凸輪機構15〇則被構造成隨軸丨2〇之上下運動而旋 轉。然而’ S APC具有料龍元件，故其製造及維護 較為困難，致使製作時間較長且成本升高。 第2圖顯示一習知齒條_齒輪型自動托板交換機（Apc) ^該齒 條-齒輪型APC包含一齒條160及一齒輪16卜齒條16〇於其一側 上形成一齒部，齒輪161則具有與齒條16〇之齒部相嚙合之一 部。 口齒條-齒輪型APC被構造成藉由一動力傳遞裝置使齒條16〇 上下運動，並藉由齒條160之上下運動而帶動齒輪161旋轉故 其結構複雜，因而難以製造。再者，因採用簡易之齒哺合型動力 傳遞方法，故難以準確、穩定地傳遞動力。 第3圖顯示一習知滾珠_螺桿型Apc。該滾珠_螺桿型Apc包含 -中心轴以及一滾珠17〇’纟中中心軸上形成一螺旋型滾道⑺。 在滾珠-螺桿型APC中，一活塞被固定至一外殼，以包圍該中心 轴’該活塞係藉由-流體壓力而上下運動，且活塞之上下運動亦 吏又置於。亥活塞中之滚珠！ 7〇沿中心軸之螺旋型滚道⑺上下運 動藉以τ動中心轴旋轉。然而，滾珠螺桿型Apc結構複雜，因 :難以製造。再者’在自上下運動轉換成旋轉運動之能量轉換過 程中會出現能量損失’且滚珠17〇與螺旋型滾道⑺間之摩擦會 1337913 此外，其利用一流體作為一動力傳遞媒介，因而若於一流體供 給及收回過程中不能迅速供給及收回流體，即會產生一排斥力。 此外，若流體供給及收回過快，亦會因元件間之衝突而產生排斥 力0 【發明内容】1337913 IX. Description of the Invention: [Technical Field] The present invention relates to an automatic pallet changer; more specifically, to an automatic pallet switch for a shaft and a stopper The hydraulic oil is supplied and withdrawn, and the shaft is integrally formed with a blade for limiting the rotation of the blade to drive the blade-formed shaft to rotate by the pressure of one of the hydraulic oils, and the automatic support The plate switch is also used for supplying and retrieving hydraulic oil between a casing for accommodating the shaft and the stopper and a hydraulic plate and a lower hydraulic plate above the shaft, so that the shaft is moved up and down by the pressure of the hydraulic oil Movement whereby the pallet is organically interlocked with the movement of the shaft. [Prior Art] A mechanical device that processes a metal or non-metal material in various cutting or non-cutting forms using a suitable tool is called a machine tool. The machine can be divided into a cutting machine and a metal forming machine according to whether or not debris is generated during machining using one of the tips or one of the drills. The cutting machine produces material debris during the machining process, including lathe, milling machine's machining center, drilling machine, boring machine, grinding machine, Gear cutting machine, special processing machine, etc. Metal forming machines do not produce material debris during processing. They include mechanical presses, pneumatic presses, cutting and bending machines, and forging machines. ), drawing machine, and so on. 1337913 With the development of technology and increased productivity requirements, an automated CNC cutting machine has been developed. Recently, the development of CNC cutting machine tools has been divided into a series of lathes and milling machines. However, they have now been integrated, resulting in a multi-function machining center. Due to the wide demand for processing centers in the industrial sector, the market for processing centers is rapidly expanding. The machining center is a machine that can perform various cutting operations in a single machine, which not only has the function of automatically changing the tool, but also has a function of automatically machining at least two surfaces of a workpiece. The machining center is divided into a rotary machining center for machining a rotating workpiece and a non-rotating machining center for machining a non-rotating workpiece. The non-rotating machining center for machining non-rotating workpieces is modified from an NC milling machine or an NC drilling machine, which includes an automatic tool changer (ATC), a multi-tool tool magazine, and an automatic pallet. Switch (automatic pallet changer; APC). The rotary machining center for machining rotating workpieces is modified from the NC lathe to perform various machining such as indexing, groove machining, hole machining, tapping, etc. after performing the cutting process, which also includes ATC and APC. . As mentioned above, the current trend is that APC is used both in rotary machining centers and non-rotating machining centers. Depending on the type of transmission, APC can be divided into a cam-shaft type, a rack-pinion type, a ball-screw type, and a vane-stop (vane). -stopper) type. Figure 1 shows a conventional cam-shaft type automatic pallet switch (APC). The cam-shaft type APC includes a shaft 120 and a cam mechanism 150. The shaft 120 is moved up and down, and the 7 1337913 cam mechanism 150 is interlocked with the shaft 120 for rotation. In the cam-shaft type APC, the shaft 120 is moved up and down by receiving power from a fluid pressure or a power transmitting means such as a motor, and the cam mechanism 15 interlocking with the shaft 120 is configured to follow The shaft 丨 2 运动 moves up and down to rotate. However, 'S APC has a material element, so it is difficult to manufacture and maintain, resulting in longer production time and higher cost. Figure 2 shows a conventional rack_gear type automatic pallet switch (Apc). The rack-and-pin type APC includes a rack 160 and a gear 16 and a rack 16 which forms a tooth on one side thereof. The gear 161 has a portion that meshes with the tooth portion of the rack 16〇. The rack-and-pinion type APC is constructed such that the rack 16 is moved up and down by a power transmission device, and the gear 161 is rotated by the upper and lower movements of the rack 160, so that the structure is complicated and it is difficult to manufacture. Furthermore, since the simple tooth-feeding type power transmission method is adopted, it is difficult to transmit power accurately and stably. Figure 3 shows a conventional ball-screw type Apc. The ball_screw type Apc includes a central shaft and a ball 17〇', and a spiral type raceway (7) is formed on the central axis. In the ball-screw type APC, a piston is fixed to a casing to surround the center shaft. The piston is moved up and down by the fluid pressure, and the upper and lower movements of the piston are placed again. The ball in the Piston! 7〇 The spiral raceway (7) along the central axis moves up and down to rotate the central axis of the τ. However, the ball screw type Apc has a complicated structure because it is difficult to manufacture. Furthermore, 'the energy loss occurs during the energy conversion from the up-and-down motion to the rotary motion' and the friction between the ball 17〇 and the spiral raceway (7) is 1337913. Furthermore, it uses a fluid as a power transmission medium, thus A fluid can not be quickly supplied and withdrawn during a fluid supply and recovery process, which produces a repulsive force. In addition, if the fluid supply and recovery are too fast, the repulsive force will be generated due to the conflict between the components.
本發月之目的在於提供一種自動托板交換機（automatic pallet changer’APC)，其中利用一葉片及一止擋件來簡化Apc之結構， 從而容易製造及易於維護該Apc。 本發明之另一目的在於提供一種自動托板交換機，其中於一流 體供給及收回過程中適當地控制_流體之一流率。The purpose of this month is to provide an automatic pallet changer (APC) in which a blade and a stopper are used to simplify the structure of the APC, thereby making it easy to manufacture and easy to maintain the APC. Another object of the present invention is to provide an automatic pallet exchange in which a flow rate of one of the fluids is appropriately controlled during the supply and retraction of the first-class body.
為達成本發月之上述目的，提供一種自動托板交換機（）， 包含·一可旋轉之圓柱形中空軸；—上部液壓板及一下部液壓板， 分別设置於該轴之上側及下側且與該轴形成_體；—葉片，設置 於該上部液壓板與該下部液壓板間，以包圍該轴之-外表面之一 部分’且與該㈣成—體；-止擋件，設置於該軸之料表面上， 以限制該軸旋轉；—外殼，用以容納該軸及該止擔件，且其中具 有-液壓供給口；-固定臂，耦接至該外殼，以固定該止擋件: 以及一托板’與該幸由聯鎖，以上、下、左、右地運動。β ， '成動部形成於該 平父1主池 向與該“之該-側相隔_所期望角度之另一側 Α較佳地，該液壓油流動部包含H動部以H㈣ 郤4第-流動部係形成一矩形堪形狀，其—深度自該葉片之— 側或另-側朝該葉片之—圓周方向逐漸變淺，而該第二流動部係 9 1337913 形成一三角形堰形狀，其一深度及一寬度自該葉片之一側或另一 側朝該葉片之該圓周方向逐漸變淺及變窄，藉以供給及收回液壓 油，並且吸收一震動。 争又佳地，該止擋件係設置於該上部液壓板與該下部液壓板間， 以由該固定臂限制其左右旋轉運動β 較佳地，-用以在其中插入該固定臂之縱向伸長裤圓形固定部 形成於該止檔件之料表面中，以由該固定臂固定該止播件。 【實施方式】 在以下實例及對照實例中將例示本發明之可行且當前較佳之實 施例& 第4圖係為根據本發明之一自動托板交換機（Apc)之一立體 分解圖’帛5圖係為-轴之-立體圖，第6(a)圖及第6(b)圖係 為根據本發明之自動托板交換機（Apc)之—剖面圖及—端視圖， 第7圖係為顯示軸之旋轉運動之一實例之示意圖，第8圖則係為 顯示轴之上下運動之一實例之示意圖。 參見第4圖及第5圖，該APC包含：一可旋轉之圓柱形中空軸 20 ,上部液壓板23及一下部液壓板24，分別設置於軸2〇之上 側及下側且與軸2〇形成一體；一葉片21，設置於上部液壓板23 與下部液壓板24 @ ’以包圍軸2G之-外表面之—部分，且與軸 20形成一體，一止擋件3〇，設置於軸2〇之該外表面上，並與葉 片21之一側或另一侧相接觸，以限制軸2〇旋轉；一外殼ι〇，用 以令置軸20及止棺件30 ;-固定臂u，耗接至外殼1〇，以固定 止擋件30 ;以及—托板40，與軸2〇聯鎖，以上、下、左、右地 1551^15 運動。 側、⑧壓板23與下部液壓板24係分別設置於上側及下 12G形成—體’且形成為與外殼^之__内圓周面 , 觸。 '片21係叹置於上部液壓板23與下部液壓板24間以包圍軸 20之—外表面之一部分，且與軸20形成—體，葉片21具有一所 立 形狀以包圍軸20之該外表面之一部分，並被固定成與上 Φ 液堃板23之一下表面、及下部液壓板24之一上表面相接觸。 由此，葉片21與上部液壓板23與下部液壓板％以及轴2〇相聯 鎖。 於葉片21之一側及另一側上，形成_液壓油流動部22，用作動 力傳遞媒介之液壓油從中流過，以傳遞動力給軸2〇。 液壓油流動部22包含一第一流動部22a以及一第二流動部 22b，第一流動部22a係形成一矩形堰形狀，其一深度自葉片2 ^ 之一側或另一側朝葉片21之一圓周方向逐漸變淺，而第二流動部 • 22b係形成一三角形堰形狀，其一深度及一寬度自葉片2丨之一側 或另一側朝葉片21之該圓周方向逐漸變淺及變窄，藉以供給及收 回液壓油’並且吸收一震動。 當將液壓油於外殼10之一液壓油口丨2供給及回收時，液壓油 會流過第一流動部22a及第二流動部22b。液壓油流過第一流動部 22a及第二流動部22b之量及流速相依於各該第—流動部22a及第 二流動部22b之尺寸及形狀。 倘若流過第一流動部22a及第二流動部22b之液壓油量增大， 1337913 則軸20之一旋轉速度亦將增大。然而，止擋件30與葉片21間會 發生碰撞，進而產生一排斥力。 相反地’倘若流過第一流動部22a及第二流動部22t>之液壓油 量減少’則軸20之旋轉速度降低，且收回充注於止擋件3〇與葉 片21間之液壓油之過程被延遲，進而產生一排斥力。 因此，第一流動部22a及第二流動部22b分別形成矩形堰形狀 及三角形堰形狀，該矩形堰形狀之深度自葉片21之一側或另一側 朝葉片21之圓周方向逐漸變淺，該三角形堰形狀之深度及寬度自 葉片21之一側或另一側朝葉片21之該圓周方向逐漸變淺，藉以 正確限制液壓油之量及流速，以有效控制軸2〇之旋轉。 止擋件30係與軸20—同容納於外殼丨〇中以限制軸加之旋轉， 其夾置於上部液壓板23與下部液壓板24間，並藉由一耦接至外 妓10之固定臂11而固定至外殼1〇。 ，此處，-用以在其中插人固定们4縱向伸㈣圓形固定部3】 形成於止檔件30之該外表面中，以由固定臂u固定止擋件儿。 由於固定部31係形成為縱向伸長之#圓狀，故止撐件3〇之左 右旋轉運較觸定臂1】關，但可容許於固定部Μ與固定臂 11間之一距離範圍内進行上下運動。 參見第6⑷圖 '第6⑻圖、第7圖及第8圖若從形成於外殼 ⑴中之液壓油口 12向止擋件3〇與葉片21之—側間供給液壓油， 並經由s亥外殼之另—液壓油口 ^ ^ 收口充/主於止擋件30與葉片21 另一側間之液壓油，便可使軸20旋轉。 而且’若向止擋件3〇盘埜η ?ι Β ,, ' 側間供給液廢油，並收回 12 1337913 充注於止擋件30與葉片-側間之液壓油，便可使向旋轉。 用於供給及收回止料30與葉片21之_側或另_側間之液壓 油之液壓油□ 12’係於外殼1()中對應於形成於葉片^之一側及 另-側中之第-流動部22a及第二流動部咖而形成。 液壓油亦供給至上部_板23之—上側與下部液壓板Μ之一 下側以及自此收回，進而產生一壓力並藉由該壓力使轴加上下運 動。此時，轴20在形成於止擋件3〇外表面中之固定部Η血固定 臂π間之距離範圍内上下運動，其中固定臂u _接至外殼1〇 以固定止擋件30。 與葉片2卜轴20、止擋件3〇及外殼1〇相接觸之接觸面係分別 與其相間HG5毫米之間隙，藉以防止在供給及㈣液麼油之 過程中液壓油出現茂漏。因此，無需利用—單獨之密封部 防止液壓油洩漏。 此外，由於與葉片2卜轴20、止擋件3〇及外殼 觸面係分別相間隔- 〇.〇5毫米之門㈤^广 觸之接 該油膜具有潤清油之功效間隙’故祕油會形成一油膜， 產業利用性 根據本發明，错由姻“與止揚件，可簡化A%之結構 而使其容易製造及維護。 進 旦此卜正確控制經由液屋油流動部所供給及收回之液墨由 Γ效2之㈣速度得到提高且排斥力得聊低，進而改善咖 根據本發明’無需利用額外之裝置便可使轴進行旋轉運 13 1337913 動及上/下運動。 此外，因各該部件皆係藉由一精密之加工製程而製成，故可防 止液壓油透過料部件間之接觸面發生㈣，“無需提供一額 外密封部件，而且因液壓油會形成—潤滑膜，故無需利用單獨之 潤滑油即可自然地達成潤滑作用。 熟習此項技藝者將可理解，可輕易地根據上文說明所揭露之概 念及具體實施例而修改或設計出其他祕達成本發明相同目的之 實施例m項技藝者亦將可理解，此等等效之實施例並不背 離在隨附中請專利範圍巾所述之本發明之精神及範圍。 【圖式簡單說明】 第1圖係為—f知&輪-轴型自動托板交換機（APC)之示意圖； 第2圖、、為—習知齒條-齒輪型自動托板交換機（APC)之示意 圖； ' · 第3圖係為—習知滚珠軸桿型自動托板交換機（APC )之示意 圖； 〜 第4 BH系為根據本發明之一自動托板交換機（Apc)之—立體 分解圖； 第5圖係為_幸由之―立體圖； 第6(&) 81係為根據本發明之自動托板交換機（APC)之-剖面 圖； 第6(b)圖係為第（㈣圓之一端視圓； 第7圖係為顯示軸之旋轉運動之一實例之示意圖；以及 第8圖係為顯示軸之上下運動之-實例之示意圖。 14 1337913 【主要元件符號說明】 10 :外殼 11 :固定臂 12 :液壓油口 20 :軸 21 :葉片 22 :液壓油流動部 22a :第一流動部 22b :第二流動部 23 :上部液壓板 24 :下部液壓板 30 :止擋件 31 :固定部 40 :托板 120 :軸 150 :凸輪 160 :齒條 161 :齒輪 170 :滾珠 171 :滚道 15In order to achieve the above object of the present month, an automatic pallet switch () is provided, comprising: a rotatable cylindrical hollow shaft; an upper hydraulic plate and a lower hydraulic plate, respectively disposed on the upper side and the lower side of the shaft and Forming a body with the shaft; a blade disposed between the upper hydraulic plate and the lower hydraulic plate to surround a portion of the outer surface of the shaft and forming a body with the (four); a stopper disposed at the shaft a surface of the shaft material to limit the rotation of the shaft; an outer casing for accommodating the shaft and the support member, and having a hydraulic supply port therein; and a fixing arm coupled to the outer casing to fix the stopper : And a pallet 'with the fortunate interlocking, moving above, below, left and right. β , 'the forming portion is formed in the main pool of the flat parent 1 to the other side of the "the side of the "the desired angle", preferably, the hydraulic oil flow portion contains the H moving portion to H (four) but 4 - the flow portion forms a rectangular shape, the depth of which gradually becomes shallower from the - side or the other side of the blade toward the circumferential direction of the blade, and the second flow portion 9 1337913 forms a triangular shape, A depth and a width gradually become shallower and narrower from one side or the other side of the blade toward the circumferential direction of the blade, thereby supplying and retracting the hydraulic oil, and absorbing a shock. Between the upper hydraulic plate and the lower hydraulic plate, the left and right rotational movements β are restricted by the fixed arm. Preferably, a longitudinally elongated trousers for inserting the fixed arm therein are formed. In the surface of the material of the gear member, the stopper member is fixed by the fixing arm. [Embodiment] In the following examples and comparative examples, the feasible and currently preferred embodiment of the present invention will be exemplified. One of the inventions is an automatic pallet switch (Apc) The three-dimensional exploded view '帛5 is a-axis-stereoscopic view, and the sixth (a) and sixth (b) drawings are a cross-sectional view and an end view of the automatic pallet switch (Apc) according to the present invention. Figure 7 is a schematic diagram showing an example of the rotational motion of the shaft, and Figure 8 is a schematic diagram showing an example of the upper and lower motion of the shaft. Referring to Figures 4 and 5, the APC includes: a rotatable The cylindrical hollow shaft 20, the upper hydraulic plate 23 and the lower hydraulic plate 24 are respectively disposed on the upper side and the lower side of the shaft 2〇 and integrated with the shaft 2〇; a blade 21 is disposed on the upper hydraulic plate 23 and the lower hydraulic plate 24 @ 'to surround the portion of the outer surface of the shaft 2G and integral with the shaft 20, a stop member 3〇 disposed on the outer surface of the shaft 2〇 and with one side of the blade 21 or another The side is in contact with each other to limit the rotation of the shaft 2; a casing ι is used to fix the shaft 20 and the retaining member 30; the fixed arm u is consumed to the outer casing 1 to fix the stopper 30; The plate 40 is interlocked with the shaft 2〇, and moves above, below, left, and right by 1551^15. The side, the 8 pressure plate 23 and the lower hydraulic plate 24 are respectively set. The upper and lower 12G are formed into a body 'and formed to be in contact with the inner circumferential surface of the outer casing ^. The piece 21 is slid between the upper hydraulic plate 23 and the lower hydraulic plate 24 to surround the outer surface of the shaft 20 A portion is formed integrally with the shaft 20, and the blade 21 has a shape to surround a portion of the outer surface of the shaft 20, and is fixed to one of the lower surface of the upper Φ liquid helium plate 23 and one of the lower hydraulic plates 24. The upper surface is in contact with each other. Thereby, the blade 21 and the upper hydraulic plate 23 are interlocked with the lower hydraulic plate % and the shaft 2〇. On one side and the other side of the blade 21, a hydraulic oil flow portion 22 is formed for use as The hydraulic oil of the power transmission medium flows through it to transmit power to the shaft 2〇. The hydraulic oil flow portion 22 includes a first flow portion 22a and a second flow portion 22b. The first flow portion 22a is formed in a rectangular shape with a depth from one side of the blade 2^ or the other side toward the blade 21. A circumferential direction gradually becomes shallower, and the second flow portion 22b forms a triangular shape, and a depth and a width thereof gradually become shallower and change from one side or the other side of the blade 2 toward the circumferential direction of the blade 21. Narrow, to supply and recover hydraulic oil' and absorb a shock. When hydraulic oil is supplied and recovered to one of the hydraulic ports 丨2 of the outer casing 10, the hydraulic oil flows through the first flow portion 22a and the second flow portion 22b. The amount and flow rate of the hydraulic oil flowing through the first flow portion 22a and the second flow portion 22b depend on the size and shape of each of the first flow portion 22a and the second flow portion 22b. If the amount of hydraulic oil flowing through the first flow portion 22a and the second flow portion 22b is increased, 1337913, the rotational speed of one of the shafts 20 will also increase. However, a collision occurs between the stopper 30 and the blade 21, thereby generating a repulsive force. Conversely, if the amount of hydraulic oil flowing through the first flow portion 22a and the second flow portion 22t is reduced, the rotational speed of the shaft 20 is lowered, and the hydraulic oil charged between the stopper 3 and the blade 21 is retracted. The process is delayed, which in turn produces a repulsive force. Therefore, the first flow portion 22a and the second flow portion 22b respectively form a rectangular 堰 shape and a triangular 堰 shape, the depth of the rectangular 堰 shape gradually becoming shallower from one side or the other side of the blade 21 toward the circumferential direction of the blade 21, The depth and width of the triangular 堰 shape gradually become shallower from one side or the other side of the blade 21 toward the circumferential direction of the blade 21, thereby properly limiting the amount and flow rate of the hydraulic oil to effectively control the rotation of the shaft 2〇. The stopper 30 is housed in the casing 与 with the shaft 20 to restrict the rotation of the shaft, and is sandwiched between the upper hydraulic plate 23 and the lower hydraulic plate 24, and is coupled to the fixed arm of the outer cymbal 10 by a fixed arm 11 is fixed to the outer casing 1〇. Here, the longitudinal fixing portion (4) for inserting the fixing members 4 therein is formed in the outer surface of the stopper member 30 to fix the stopper by the fixing arm u. Since the fixing portion 31 is formed in a longitudinally elongated #round shape, the left and right rotation of the stopper 3 is lower than that of the contact arm, but can be allowed to be performed within a distance between the fixed portion Μ and the fixed arm 11. Move up and down. Referring to Figure 6(4), Figures 6(8), 7 and 8 provide hydraulic oil from the hydraulic port 12 formed in the casing (1) to the side between the stopper 3〇 and the blade 21, and through the casing The other - hydraulic port ^ ^ closing charge / mainly between the stopper 30 and the other side of the blade 21 hydraulic oil, the shaft 20 can be rotated. Moreover, if the oil is supplied to the side of the stopper 3, the liquid oil is supplied between the sides, and the hydraulic oil filled between the stopper 30 and the blade-side is retracted. . The hydraulic oil □ 12' for supplying and retrieving the hydraulic oil between the stop 30 and the _ side or the other side of the blade 21 is attached to the outer casing 1 ( ) corresponding to one side and the other side of the blade The first flow portion 22a and the second flow portion are formed. The hydraulic oil is also supplied to the lower side of the upper and lower hydraulic plates 上部 of the upper plate 23 and retracted therefrom, thereby generating a pressure and by which the shaft is moved downward. At this time, the shaft 20 is moved up and down within a distance between the fixed portion of the blood stab fixing arm π formed in the outer surface of the stopper member 3, wherein the fixing arm u_ is attached to the outer casing 1 to fix the stopper 30. The contact surfaces in contact with the blade 2 shaft 20, the stopper member 3, and the outer casing 1 are respectively spaced apart from each other by a distance of 5 mm from each other to prevent leakage of the hydraulic oil during the supply of the oil. Therefore, there is no need to use a separate seal to prevent hydraulic oil from leaking. In addition, because the blade 2 shaft 102, the stopper 3〇 and the outer casing contact system are respectively spaced apart - 〇. 〇 5 mm door (5) ^ wide contact with the oil film has the effect of moistening oil gap ' An oil film is formed, and the industrial applicability according to the present invention is erroneously simplified by the structure of "A%" and can be easily manufactured and maintained. The correct control is supplied and recovered by the liquid house oil flow department. The liquid ink is improved by the speed of (4) and the repulsive force is low, so that the coffee can be rotated according to the invention. The shaft can be rotated and moved up/down without using an additional device. The parts are made by a precision machining process, so that the hydraulic oil can be prevented from passing through the contact surface between the material parts (4), "there is no need to provide an additional sealing part, and the hydraulic oil will form a lubricating film, so it is not necessary Lubrication can be achieved naturally with a separate lubricant. It will be appreciated by those skilled in the art that, in light of the teachings herein. The equivalent embodiments do not depart from the spirit and scope of the invention as described in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic diagram of a wheel-axis type automatic pallet switch (APC); Fig. 2 is a conventional rack-and-pin type automatic pallet switch (APC) Schematic diagram of '3' is a schematic diagram of a conventional ball-shaft type automatic pallet switch (APC); ~ 4th BH is a stereo decomposition of an automatic pallet switch (Apc) according to the present invention Figure 5; Figure 3 is a perspective view; Section 6 & 81 is a cross-sectional view of an automatic pallet changer (APC) according to the present invention; and Figure 6(b) is a (4) One end of the circle is a circle; Figure 7 is a schematic diagram showing an example of the rotational motion of the shaft; and Figure 8 is a schematic diagram showing an example of the upper and lower movement of the shaft. 14 1337913 [Description of main components] 10: Shell 11: fixed arm 12: hydraulic port 20: shaft 21: blade 22: hydraulic oil flow portion 22a: first flow portion 22b: second flow portion 23: upper hydraulic plate 24: lower hydraulic plate 30: stopper 31: Fixing portion 40: pallet 120: shaft 150: cam 160: rack 161: gear 170: ball 171: raceway 1 5