TWI529030B - Automatic tool changer - Google Patents

Description

Automatic tool changer

The present invention relates to an automatic tool changer (ATC: Automatic Tool Changer), and more particularly to a mechanism for gripping a tool holder by a changer arm.

As a mechanism for holding the tool holder by the exchange arm as the automatic tool changer, the following mechanisms are known in the prior art (for example, refer to Patent Document 1). That is, as shown in Fig. 26, a lock pin 101 capable of advancing and retracting is disposed in the exchange arm 100, and the front end of the lock pin 101 is always protruded from the nip portion 100a of the exchange arm 100 by the spring 102. Further, when the opening side of the nip portion 100a is rotated (rotated) by the exchange arm 100 and faces the tool holder H, and the tool holder H is fitted to the nip portion 100a, the tool holder H is held by the nip portion 100a and A state in which the pin 101 is locked and clamped.

Further, when the exchange arm 100 is rotated in the reverse direction while the tool holder H is fixed to the spindle of the machine tool or the like, the lock pin 101 is retracted and the exchange arm 101 and the clamp portion 100a are released from the tool holder H. Clamping. Further, a locking mechanism is provided which locks (fixes) the lock pin 101 in a state in which the tool holder H is clamped to prevent the lock pin 101 from retreating, and releases the lock when the clamp is released.

(Patent Document 1) Japanese Patent Laid-Open No. Hei 11-254261

However, in the clamp mechanism of the tool holder as described above, the front end of the lock pin 101 is always in a state of protruding from the nip portion 100a of the exchange arm 100. Therefore, when the tool holder H is fitted to the clamping portion 100a, the tool holder H will touch the locking pin 101, and the locking pin 101 will be retracted by the tool holder H and fitted to the clamping portion 100a at the tool holder H. Thereafter, the lock pin 101 advances again to grip the tool holder H. In other words, each time the tool holder H is clamped, the tool holder H collides with the locking pin 101, and the exchange arm 100 (especially the locking pin 101) or the tool holder H is subjected to a strong impact force. Further, the operating speed of the automatic tool changer is progressing toward high speed, and the rotational speed of the exchange arm 100 is also fast, so that the impact force caused by the collision of the tool holder H with the lock pin 101 will become large. As a result, the exchange arm 100 or the tool holder H is damaged, and a large impact sound is emitted to the surroundings.

Further, in the above-described clamping mechanism, the tool holder H is fitted to the nip portion 100a while the lock pin 101 is retracted, and when the fitting is completed, the lock pin 101 is advanced again to start the nip. In other words, the clamping of the clamping portion 100a and the locking pin 101 is performed before the fitting of the tool holder H and the clamping portion 100a is completed. Therefore, the clamping of the tool holder H may be unstable.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic tool changer which does not cause damage to an exchange arm or the like without causing a loud sound to the surroundings and stably holding the tool holder.

In order to achieve the above object, the invention of claim 1 provides an automatic tool changing device in which an output shaft of an exchange arm is disposed on one end side, and moves forward and backward in the axial direction in conjunction with the main cam and An automatic tool changer that is disposed around the center of the shaft and that has a clamping portion for holding the tool holder, and is provided with a clamping body that is openably and closably disposed on the side of the exchange arm, and And clamping the tool holder or releasing the clamping portion; and the driving shaft is disposed in the output shaft, and moves forward and backward in the axial direction of the output shaft in conjunction with the main cam; And a driving means for driving the opening and closing of the driving body in conjunction with the advancing and retracting movement of the driving shaft, wherein the driving shaft is interlocked with the main cam, and the arm is not clamped at the position of the tool holder The holder is opened, and the holder is closed at a position where the exchange arm holds the tool 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.

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. Therefore, the exchange arm or the clamp body or the tool holder is not damaged by the collision of the tool holder and the clamp body, and no large impact sound is emitted to the surroundings. Moreover, since the holder is closed at the position where the exchange arm holds the holder, and the holder is clamped, the holder is closed after the holder is fitted (clamped) to the grip portion of the exchange arm, and 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.

Hereinafter, the present invention will be described based on the embodiments shown in the drawings.

Fig. 1 is a front view showing the automatic tool changer 1 of the present embodiment; Fig. 2 is a bottom view of Fig. 1; and Fig. 3 is a front view showing a state in which the body cover 50 of Fig. 1 is removed; The figure is a perspective view in 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 moves forward and backward in the axial direction in conjunction with the cam wheel (main cam) 4, and rotates around the center of the shaft, while holding the tool holder H by the exchange arm 3 or releasing the clamping.

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, the cam gear set 4 is meshed by the worm gears 5a, 4a. And rotate.

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, on the outer circumference of the output shaft 2, an outer peripheral spline 2a extending in the axial direction is formed, and on the inner circumference of the swirling ring 6, an inner peripheral bolt groove that engages with the outer peripheral bolt groove 2a is formed ( 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) around 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 shift lever 8 is attached. The follower side cam follower 8b 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 the first lever shaft 8c located at the end portion on the side of the drive side cam follower 8a and the center portion are coupled 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. Movement (swinging). Along with this up and down movement, the output shaft 2 advances and retreats (reciprocating motion) in the axial direction.

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 follower 9b of the lock lever 9 is attached. Located at the base end (upper end) side of the drive shaft 7. Here, the lock lever 9 has a substantially U-shape, and the above-described second lever shaft 8d is coupled to the center portion, and is configured to be swingable with 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 disk-shaped pressing portion 71a, and the follower side cam follower 9b of the lock lever 9 is positioned 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 lock cam is set so that the follower side cam follower 9b does not follow the pressing portion 71a (see FIGS. 18 to 21). The cam shape of the groove 4d can thereby reduce the size of the cam gear set 4.

As shown in Figs. 1 and 3, the exchange arm unit 20 is disposed on the end side of the output shaft 2, and a part of the unit cover 20a of the exchange arm unit 20 is shown in Figs. 8 and 9. 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 the tool holder H (for fitting the tool holder H) is formed, and such an exchange arm 3 is disposed with respect to the output shaft 2 Point symmetry. Here, in the present embodiment, the exchange arm 3 is formed in two bodies, but may be integrally formed.

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 H, by the opening of the clamp 21, the clamping with the clamping portion 3a can be released. In other words, as shown in Fig. 10, the holding groove H1 is formed in the outer periphery of the tool holder H, and the holding portion 3a is formed so as to be fitted to the holding groove H1. Then, as shown in Fig. 11, the clamp piece 21 is closed in a state where the clamp portion 3a is fitted into the clamp groove H1, so that the clamp H3 can be held by the clamp portion 3a and the clamp block 21 (the In the state of Fig. (a), the clamping portion 3a can be released by the opening of the clamp member 21 (the state of Fig. 11(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. A clamp lever 23 is provided, and one end of the clamp lever 23 extends to the side of the clamp portion 3a, and a clamp 21 is attached to the front end portion 23a. Further, a connecting shaft 24 parallel to the rod shaft 22 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 clamp shaft (advancing and retracting moving body) 25 that is parallel to the output shaft 2 and that moves forward and backward in the axial direction is disposed, and is further disposed. There is a spring (pressing means) 26 that presses the clamp shaft 25 upward (on the side of the pressing plate 71). 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, the connecting rod (connecting body) 28 that connects the connecting shaft 24 (the clamping rod 23) and the clamp shaft 25 is configured to sandwich the connecting shaft 24 and the clamp shaft 25. A pair (two bodies) is provided, 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, passes through the connecting rod 28, connects the shaft 24, and The lever shaft 22 is a shaft, and the clamp lever 23 is rotated in the direction of the arrow D1 in Fig. 9. Then, with the rotation, the clip 21 is opened to retreat from the nip portion 3a. Thus, in a state in which the clamp 21 is opened, the tool holder H does not come into contact with the clamp block 21, and is in a free 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 so that the side of the nip portion 3a is advanced, and the holder H can be held by the nip 21 and the nip 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 due to the tool holder H, etc.). In other words, the pressing force due to the spring 26 does not greatly affect, and the clamping force due to the clamping block 21 is stabilized (the pressing force due to the spring 26 can be used to stabilize and reliably clamp) hold).

As described above, the lever shaft 22, the clamp lever 23, the coupling shaft 24, the clamp shaft 25, the spring 26, the connecting rod 28, and the abutment plate 29 can constitute a driving means for opening and closing the chuck 21, The driving means is disposed on the side of the exchange arm 3 (in other words, in the exchange arm unit 20).

Here, the cam shape of the turning cam groove 4b, the shift cam groove 4c, and the locking cam groove 4d of the cam gear set 4 (the interlocking of the output shaft 2 and the drive shaft 7 and the operation timing) are described by the automatic tool changing device 1 The operation and action are as follows, and the description is 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. 13.

First, in a state where the rotation angle θ of the cam gear set 4 is 0 degrees, as shown in Fig. 14, the rotation angle (rotation angle) Ψ of the output shaft 2 (i.e., the exchange arm 3) is 0 degrees (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 (direct drive position) of the drive shaft 7 is also at the uppermost position P3, in other words, the most backward position is on the side of the follower side cam follower 9b, and as described above, the clamp shaft 25 It is located above and becomes a state in which the clamp 21 is closed (tool clamping state).

Next, when the rotation angle θ of the cam gear set 4 reaches θ1 degrees, the exchange arm 3 starts to rotate, and when the rotation angle θ of the cam gear set 4 reaches θ2 degrees, the drive shaft 7 starts to advance downward. Then, when the rotation angle θ of the cam gear set 4 reaches θ3 degrees, as shown in Fig. 15, the drive shaft 7 reaches the lowermost position P4, in other words, reaches the most advanced position, and as described above, the clamping shaft The 25 will advance by the drive shaft 7 and the clamping lever 23 will be rotated, and the clamp 21 will open. In other words, it becomes the tool release state. In this case, the exchange arm based rotational angle [Psi] 3 become Ψ 1 degree.

From this state, when the rotation angle θ of the cam gear set 4 reaches θ4 degrees, as shown in Fig. 16, the drive shaft 7 starts to retreat by the spring 26, and as described above, the clamp shaft 25 will Retreating and rotating the clamping lever 23, the clamp 21 begins 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 θ of the cam gear set 4 reaches θ4 degrees, the rotation angle Ψ of the exchange arm 3 reaches Ψ 2 degrees, and when the rotation angle θ of the cam gear set 4 reaches θ 5 degrees, the exchange arm 3 The rotation angle Ψ will reach Ψ 3 degrees, and the rotation speed from the rotation angle Ψ 2 degrees to Ψ 3 degrees (the slope of the chart line T1 in Fig. 13) will become smaller than the rotation angle 0 to Ψ rotating speed of 2 degrees and still more slowly. On the other hand, when the rotation angle Ψ of the exchange arm 3 reaches Ψ 3 degrees, the grip portion 3a of the exchange arm 3 is completely in contact with the tool holder H (the tool holder H is fitted to the nip portion 3a), and The difference between the rotation angle Ψ 2 degrees and Ψ 3 degrees is set to about 1 degree. In other words, the cam shape of the swirl cam groove 4b can be set, and the swirling speed of the exchange arm 3 is decelerated before the grip portion 3a is in contact with the tool holder H.

Then, when the rotation angle θ of the cam gear set 4 reaches θ 5 degrees, the rotation angle Ψ of the exchange arm 3 reaches Ψ 3 degrees, and the rotation angle Ψ 3 is maintained. Further, when the rotation angle Ψ is Ψ3 degrees, in other words, when the tool holder H 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 H. status. From this state, when the rotation angle θ of the cam gear set 4 reaches θ6 degrees, as shown in Fig. 17, the drive shaft 7 will reach the uppermost position P3, and the same clamp 21 will be closed as described above, and by the clamp The holding portion 3a completes the clamping of the tool holder H. On the other hand, at the same time as the completion of the clamping, the exchange arm 3 starts to advance.

Secondly, when the rotation angle θ 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 θ of the cam gear set 4 has reached θ 8 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 is also advanced together 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 is separated from 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 71.

Then, when the rotation angle θ of the cam gear set 4 reaches θ9 degrees, as shown in Fig. 20, the exchange arm 3 starts to retreat, and when the rotation angle θ of the cam wheel set 4 reaches θ10 degrees, as in the 21st shown, the exchange arm rotation angle Ψ 3 of FIG arrive (180 °) Ψ 4 degrees.

Next, when the rotation angle θ of the cam gear set 4 reaches θ11 degrees, as shown in Fig. 22, the drive shaft 7 starts to advance, and as described above, the clamp 21 starts to open. At the same time, the retreating 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 θ of the cam gear set 4 reaches θ11 degrees, the stroke position of the exchange arm 3 reaches the position P5, and at the point when the rotation angle θ of the cam wheel set 4 reaches θ12 degrees, the stroke of the exchange arm 3 The position will reach the uppermost position P1, and the retreat speed from the position P5 to the uppermost position P1 (the inclination of the timing chart line T2 in Fig. 13) will become slower than the retreat speed from the lowermost position P2 to the position P5. Further, the distance from the position P5 to the uppermost position P1 is 1 mm or less, and is set to be significantly shorter than the distance from the lowermost position P2 to the position P5 of 100 mm or more. That is, the retreating speed is decelerated before the switching arm 3 reaches the uppermost position P1, and reaches the uppermost position P1 in the decelerated speed state, in other words, reaches the tool release state described later.

Then, when the rotation angle θ of the cam gear set 4 reaches θ12 degrees, as shown in Fig. 23, the drive shaft 7 reaches the lowermost position P4, and the same clamp 21 is opened as described above, and becomes the tool release state. At the same time, as described above, the exchange arm 3 will reach the uppermost position P1, and the exchange arm 3 starts to rotate in the opposite direction. In this state, when the rotation angle θ of the cam gear set 4 reaches θ 13 degrees, as shown in Fig. 24, the drive shaft 7 starts to retreat, and the clamp 21 starts to close as described above. At this time, the rotation angle Ψ of the exchange arm 3 becomes Ψ 5 degrees.

Further, when the rotation angle θ of the cam gear set 4 reaches θ14 degrees, as shown in Fig. 25, the drive shaft 7 reaches the uppermost position P3, and the same clamp 21 is closed as described above, and the clamp portion 3a The clamping of the tool holder H is completed. Next, when the rotation angle θ of the cam gear set 4 reaches θ15 degrees, the rotation angle Ψ of the exchange arm 3 reaches 180 degrees, and in this state, the rotation angle θ of the cam wheel set 4 reaches 360 degrees.

As described above, according to the automatic tool changer 1, the tool holder H is not in a state where the clamp 21 is opened until the tool holder H comes into contact with (engages) the grip portion 3a of the exchange arm 3 Will contact the clamp block 21. Therefore, the tool holder H and the clamp block 21 are not collided, and the exchange arm 3 or the clamp block 21 or the tool holder H is damaged, and no large impact sound is emitted to the surroundings. Further, after the tool holder H is fitted to the holding portion 3a of the exchange arm 3, since the holder 21 is closed and the holder H is held, the holder H can be stably held.

Further, before the grip portion 3a of the exchange arm 3 comes into contact with the tool holder H, since the rotation speed of the exchange arm 3 is decelerated, the impact force of the clamp portion 3a and the tool holder H can be alleviated, and the impact force can be further improved. The damage to the exchange arm 3 or the tool holder H or the like is suppressed, or the impact sounds to the surroundings are suppressed. Further, before the switching arm 3 is retracted to reach the uppermost position P1, since the retreating 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 tool holder H is loosened (open) between the shorter distances from the position P5 to the uppermost position P1, the positional accuracy of the tool holder H 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. Further, since no member or mechanism is disposed above the output shaft 2, 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 configured 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 H is held by the integrated block 21, the configuration is simplified.

The embodiments of the present invention have been described above, but the specific configuration is not limited to the above-described embodiments, and any design changes and the like that do not depart from the gist of the present invention are also included in the present invention. For example, the clamp 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.

1. . . Automatic tool changer

2. . . Output shaft

3. . . Exchange arm

3a. . . Grip

4. . . Cam wheel set (main cam)

4a. . . Spiral gear

4b. . . Swirling cam groove

4c. . . Shift cam groove

4d. . . Lock cam groove

5. . . Worm shaft

6. . . Swing loop

7. . . Drive shaft

71. . . Press plate

8. . . Shift lever

9. . . Lock lever

20. . . Exchange arm unit

twenty one. . . Clamp block

twenty two. . . Rod shaft

twenty three. . . Clamping lever

twenty four. . . Connecting shaft

25. . . Clamping shaft (forward and backward movement)

26. . . Spring (pressing means)

28. . . Connecting rod (connecting body)

29. . . Abutment plate

H. . . Tool holder

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 change device 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.

Fig. 11 is a plan view showing the exchange arm of the automatic tool changer of Fig. 1; (a) showing the state in which the tool holder is clamped; and (b) showing 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.

Fig. 13 is a timing chart showing the operation and action of the automatic tool changer of Fig. 1.

Fig. 14 is a perspective view showing a state in which the rotation angle θ of the cam wheel set of the automatic tool change device of Fig. 1 is 0 degree.

Fig. 15 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ3 degrees.

Fig. 16 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ4 degrees.

Fig. 17 is a perspective view showing a state in which the rotation angle θ of the cam wheel set of the automatic tool change device of Fig. 1 is θ6 degrees.

Fig. 18 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ7 degrees.

Fig. 19 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ 8 degrees.

Fig. 20 is a perspective view showing a state in which the rotation angle θ of the cam wheel set of the automatic tool change device of Fig. 1 is θ9 degrees.

Fig. 21 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool change device of Fig. 1 is θ10 degrees.

Fig. 22 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ11 degrees.

Fig. 23 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ12 degrees.

Fig. 24 is a perspective view showing a state in which the rotation angle θ of the cam gear set of the automatic tool changer of Fig. 1 is θ13 degrees.

Fig. 25 is a perspective view showing a state in which the rotation angle θ of the cam wheel set of the automatic tool changer of Fig. 1 is θ14 degrees.

Figure 26 is a front elevational view showing the clamping mechanism of the exchange arm of the conventional automatic tool changer.

1. . . Automatic tool changer

2. . . Output shaft

2b. . . Peripheral bolt slot

3. . . Exchange arm

3a. . . Grip

4. . . Cam wheel set (main cam)

4c. . . Shift cam groove

5. . . Worm shaft

6. . . Swing loop

7. . . Drive shaft

71. . . Press plate

8. . . Shift lever

8b. . . Follower side cam follower

9. . . Lock lever

twenty one. . . Clamp block

twenty two. . . Rod shaft

twenty three. . . Clamping lever

23a. . . Front end

twenty four. . . Connecting shaft

25. . . Clamping shaft (forward and backward movement)

26. . . Spring (pressing means)

28. . . Connecting rod (connecting body)

29. . . Abutment plate

H. . . Tool holder

Claims (1)

An automatic tool changing device is configured such that an output shaft of a switching arm is 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 a clamping tool holder is disposed on the exchange arm The automatic tool changing device of the nip portion is characterized in that it includes a holding body that is slidably provided on the side of the exchange arm, and that clamps the tool holder or releases the nip between the nip portion and the nip portion And a drive shaft disposed in the output shaft and moving forward and backward in the axial direction of the output shaft in conjunction with the main cam; and a driving means interlocking with the forward and backward movement of the drive shaft, and The lock body is driven to open and close; and the lock lever is configured to be swingable with the center portion as an axis, and the drive side is slidably inserted into the lock cam groove formed in the main cam, and the follower side is located at the drive shaft The end side, and the drive shaft is interlocked with the main cam, and the clamp can open the clamp at a position where the exchange arm does not clamp the tool holder, and the cutter arm holds the cutter The position of the frame closes the clamping body, and the driving means includes a spring that presses in a direction in which the clamping body is closed. When the main cam rotates, the driving side of the locking lever slides along the locking cam groove. Moving the following side of the lock lever, the advancement of the drive shaft advances the drive shaft to resist the urging force of the spring, and the clamp body is opened, and only needs to advance the drive shaft. In the case where the follower side of the lock lever is pressed against the drive shaft, In other cases, the aforementioned locking cam groove is set to a cam shape such that the aforementioned follower side does not follow the aforementioned drive shaft.