WO1992022400A1

WO1992022400A1 - Automatic change device

Info

Publication number: WO1992022400A1
Application number: PCT/JP1992/000734
Authority: WO
Inventors: Koichiro Kitamura
Original assignee: Kitamura Machinery Co., Ltd.
Priority date: 1991-06-10
Filing date: 1992-06-08
Publication date: 1992-12-23
Also published as: JPH04365533A

Abstract

An automatic change device which comprises: a base, two pairs of pawls which are movable in first, second and third directions relative to a base and detachably holding a tool; first, second, and third moving mechanisms for moving the pawls in the first, second and third directions; and a common driving means for moving the first, second and third moving mechanisms; whereby the first, second and third moving mechanisms can be moved by the one driving means.

Description

Description Automated exchange equipment Technical field

The present invention relates to an automatic changer, for example, an automatic tool changer for exchanging tools between a tool magazine of a machine tool and a spindle. In the following description, an automatic tool changer will be described, but the present invention is also applicable to a workpiece or the like.

Background

Generally, an automatic tool changer has a device main body movable between a tool magazine and a spindle, and the device main body is provided with claws for holding a tool in a detachable manner. The pawls are relative to the base (base) of the device body, for example, up and down, back and forth, rotating

It is configured to be movable in three directions.

In the conventional automatic tool changer, three driving devices are provided for moving the claws in the three directions, one for vertical movement, one for front and rear, and one for rotation. A motor, a piston-cylinder mechanism, or the like is used as the driving device. As a result, the automatic tool changer became large and heavy, and its mounting space became large and maintenance was also negative.

Summary of the Invention

The present invention can be downsized, has a small mounting space, and The purpose is to provide an automatic tool changer that can be easily adjusted.

The gist of the present invention is to provide a base, two sets of claws movable in first, second, and third directions relative to the base to detachably hold a tool or a work piece; A first, second, and third moving mechanism for moving in the first, second, and third directions; and a common driving means for moving the first, second, and third moving mechanisms. The automatic exchange device is characterized in that a few moving mechanisms are driven by one driving means.

BRIEF DESCRIPTION OF THE FIGURES

Fig. 1 is a front view showing an outline of a machine tool equipped with the automatic tool changer of the present invention.

Fig. 2 is a side view of the machine tool of Fig. 1 viewed from the left.

Fig. 3 is a sectional view showing the housing part of the automatic tool changer of the present invention.

FIG. 4 is a perspective view showing an outline of the automatic tool changer of the present invention. FIG. 5 is a top view showing a part of the automatic tool changer of FIG.

Figure 6 is a cross-sectional view along the line VI-VI of Figure 5.

Figure 7 is a front view of the automatic tool changer of Figure 4.

Figure 8 is a rear view of the automatic tool changer of Figure 4.

Fig. 9 is a cross-sectional view along the line IX-IX in Fig. 7.

Fig. 10 is a cross-sectional view taken along the line X-X in Fig. 5 showing the longitudinal movement mechanism.

Figure 11 is a cross-sectional view along the line XI-XI of Figure 10 Figure showing that is located on the XI-XI line

Fig. 12 is a side view of the automatic tool changer of Fig. 4.

Fig. 13 is a bottom view of the automatic tool changer of Fig. 4.

Figure 14 is a cross-sectional view taken along the line XIV-XIV

Fig. 15 is a cross-sectional view taken along line XV-XV in Fig. 5 showing the rotation mechanism.

Figure 16 shows the one-way clutch mechanism.

Sectional view along the VI line

Fig. 17 is a timing chart of the front / rear cam, the vertical cam, and the rotating cam.

Fig. 18 is a perspective view schematically showing a part of the longitudinal movement mechanism. Fig. 19 is a side view showing the notch shaft.

Fig. 20 is a sectional view of the notch axis in Fig. 19

Figure 21 shows one end view of the notch shaft in Figure 19.

Figure 22 is the other end view of the notch axis in Figure 19

Fig. 23 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 24 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 25 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Figure 26 is an operation diagram schematically showing the operation of the automatic tool changer in Figure 4.

Fig. 27 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4. Fig. 28 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 29 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 30 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 31 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 32 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 33 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 34 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 35 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 36 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4-Fig. 37 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4

Fig. 38 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 39 is an operation diagram schematically showing the operation of the automatic tool changer of Fig. 4.

Fig. 40 schematically shows the operation of the automatic tool changer of Fig. 4. Operation diagram

Detailed Description of the Preferred Embodiment

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a front view showing a machine tool 10 equipped with an automatic tool changer 20 (Automatic Tool Channel, hereinafter ATC) according to the present invention, and FIG. 2 is a side view thereof. A table 12 is set on the bed 11 so as to be movable in the X and Y directions. Bed 11 is provided with a column 13 and column 13 extends vertically upward. Column 13 has a head 14 movable in the Z direction. Head 14 is located above table 12. The head 14 is provided with a rotatable spindle 15, and the tool T is inserted into the spindle 15. On the side of the column 13 a tool magazine 16 with an endless track formed by a sprocket (not shown) and a roller chain 9 is provided. A large number of pots Pi are set in the roller chain 9, and the tools Ti can be stored in the pots Pi. The port Pi is intermittently sent along the endless track, and a predetermined tool Ti is appropriately transferred to a tool change position. The axis of the tool T i stored in the pot P i is oriented in the X direction. Since the end trajectory is located behind the table 12, it does not hinder the movement of the table 12. These elements and other elements whose description is omitted can be operated by the operation panel 18. ATC 20 is provided between the spindle 15 and the tool magazine 16. Hereinafter, AT C 20 will be described in detail. The column 13 has an ATC housing 21 fixedly provided. A motor 28 is installed on one side of the ATC housing 21, and a gear 24 is fixed to an output shaft of the motor 28. On the other side of the ATC housing 21, a turning shaft 22 with a gear 21 a is rotatably provided via a bearing 30. A reduction mechanism 22 a composed of a gear train is arranged between the gear 24 and the gear 21 a. The pivot axis 22 is inclined in all of the X, Υ, and Z directions. For example, it is inclined so as to take an equal angle to one X, Y, X direction. A turning bracket 29 is fixed to the turning shaft 22, and a base 23 is fixed to a tip of the turning bracket 29. The base 23 is provided so as to be inclined at an angle of, for example, 45 ° with respect to the rotation axis 22. An ATC body 40 is installed on the base 23. The ATC main body 40 can entirely rotate around the rotation axis 22.

Hereinafter, the structure of the ATC main body 40 will be described in detail. For simplicity, the front and rear (frout, back- fr top ~ b (top, bottom) ^ are defined for the ATC body as shown in Fig. 4. The ATC body 40 has a plate-like shape bent to one side. A swivel slide 41 is provided, which is fixedly attached to the base 23. At the upper and lower parts of the swivel slide, a cross-opening collar 42 is provided along its longitudinal direction, that is, in the front-back direction. A thin ATC cover 43 is fixed to the outside of the swivel slide 41 so as to entirely surround the ATC body 40. A cross-port lamp 4 is provided beside the swivel slide 41. Through 2 In addition, a slider 44 is provided, and the slider 44 is movable in the front-rear direction relative to the swivel slide 41.

The slider 44 is provided with a forward / backward movement mechanism 70 for moving the arm back and forth, up / down, and rotation, a vertical movement mechanism 100 and a rotation (movement) mechanism 130. As shown in FIG. 9, a cylinder / stone mechanism 50 for driving these three moving mechanisms is set on a slider 44 along the front-back direction. The cylinder 51 has a mounting flange 51a, and is fixed to the slider 44 via a bolt. Both ends of the cylinder 51 are closed by end covers 52 and 53. On the other hand, a pipe 54 is connected to the end cover 53, which leads to a left chamber 55 in the cylinder. Another pipe 57 is connected to the other end of the cylinder, and communicates with the right chamber 56 of the cylinder.

A piston 58 is provided in the cylinder 51 so as to be movable in the front-rear direction along the cylinder 51. An annular groove is formed near both ends of the piston, and a 0 ring 59 is set there. A rack 60 is formed on the upper part of the piston, and a part of the rack 60 faces an opening 51a provided in the center of the cylinder.

Above the piston 58, a force shaft 161 is rotatably provided via a bearing 64. The cam shaft 16 1 is provided so as to be orthogonal to the piston 58 and crosses the ATC body 40 in the left-right direction. The camshaft 16 1 has an integrally formed spur gear 16 2, the lower part of which is a cylinder It protrudes downward from the opening 51a. The spur gear 16 2 is engaged with the rack 60 facing the cylinder opening 51 a. The cam shaft 16 1 is provided with a front / rear cam 62, a rotating cam 61, and a vertical cam 63 via a key, and the three cams rotate integrally with the cam shaft 16 1.

The front-rear movement mechanism 70 will be described with reference to FIGS. The front-rear movement mechanism 70 is a mechanism for moving the slider 44 in the front-rear direction with respect to the swivel slide 41 along the cross-port collar 42. A front and rear cam 62 having the shape shown in FIG. 10 is provided so as to be able to rotate integrally with the cam shaft 16 1. A rod guide 71 is disposed behind the front and rear cams 63 in a front-to-rear direction. The rod guide 71 has a cylindrical hole 71a, one end of which is closed by a spring receiver 72. The mouth guide 71 has a mounting flange 71b protruding radially at a front end thereof, and the mounting flange 71b is fixed to a rear end of the slider 44 by bolts. .

A slide body 73 is inserted into the cylindrical hole 71 a of the rod guide 71. The slide body 73 can reciprocate forward and backward along the cylindrical hole 71a. A roller 75 is rotatably attached to a front portion of the slide body 73 via a pin 74 so that the roller 75 comes into contact with the front and rear cam 62. The slide body 73 has a cylindrical hole 73 a extending from the middle to the rear end thereof. A spring 76 is arranged between the bottom of the cylindrical hole 73 a and the spring receiver 72. The spring 76 works in a direction to always press the slide body 73 against the front and rear cam 62. Sura A rack 77 is formed on the top of the guide body 73.

In the middle part of the rod guide door 1, a shaft setting part 71c is formed so as to protrude above the rod guide. The shaft setting portion 71c has a cylindrical hole 71d. The cylindrical hole 71 d is formed so as to be orthogonal to the axial direction of the rod guide 71, and the lower central portion thereof opens into the cylindrical hole 71 a of the mouth guide 71. A shaft 78 with a spur gear 79 is rotatably arranged in the cylindrical hole 71d of the shaft setting part 71c. The spur gear 79 is a rack 77 of a slide body 73. Is engaged.

The shaft 78 protrudes from the shaft setting portion 71a as shown in FIG. 11, and an arm 80 is attached to the protruding portion. At the tip of the arm 80, a roller 82 is rotatably provided via a pin 81. When the shaft 78 rotates, the roller 82 performs a circular motion around the shaft 78 having a radius equal to the length of the arm of the arm 80, and moves so as to draw a semicircle around the shaft 78. Therefore, the distance between the beginning and the end of the semicircle is equivalent to twice the length of the arm 80.

The roller 82 at the tip of the arm 80 is engaged with the vertical guide groove 83 a of the roller guide 83 as shown in FIG. The mouth guide 83 is fixed to the rear end of the swivel slide 41 via a bolt. In addition, as shown in FIG. 5, a proximity switch 175 is provided to detect the forward / backward movement of the turning slide 41.

The above-described longitudinal movement mechanism 70 is configured so that the slider 44 moves parallel to the turning slide 41 in the longitudinal direction. Slider 4 4 The bracket 90 is fixed with bolts. The arm bracket 90 is arranged parallel to the bottom surface of the ATC body 40. Reference numeral 177 in FIG. 6 is also a proximity switch. In addition, reference numeral 175 in FIG. 5 is an adjustment liner.

The vertical movement mechanism 100 will be described with reference to FIGS. A groove 101 is formed on the side surface of the disc-shaped vertical cam 63. A slight convex portion is provided on the outer periphery of the vertical force member 63 corresponding to a predetermined portion of the groove 101, and a proximity switch 176 is arranged so as to detect the convex portion. By detecting that the roller 107 is engaged with a predetermined portion of the groove 101 by the proximity switch 176, the vertical position of the arm bracket 90 can be detected.

On the side surface of the arm bracket 90, a substantially triangular plate-shaped bearing plate 102 is fixed by a bolt in parallel with the vertical cam 63. The bearing plate 102 is located adjacent to the vertical cam 63 at a predetermined distance. A fulcrum shaft 103 is fixed between an upper portion of the bearing plate 102 and an upper rear portion of the slider 44 in parallel with the force shaft 161.

An L-shaped lever 104 is rotatably mounted on the fulcrum shaft 103. The L-shaped lever 104 has a short side and a long side, and a through hole is provided in the short side. The fulcrum shaft 103 is inserted into the through hole. The root of the long side is located between the bearing plate 102 and the vertical cam 63. A pair of hooks 105 are fixed to the end of the long side of the lever 104. Roller shaft 106 is provided in the middle of the long side of lever 104 A roller 107 is rotatably mounted at the tip of the roller shaft 106. The roller 107 is engaged with the groove 101 of the vertical cam 63.

Below the arm bracket 90, an upper and lower bracket 108 with a flat plate is arranged. On the lower surface of the arm bracket 90, a shallow recess 90a corresponding to the shape of the upper and lower brackets 108 is formed, and a hole is formed at an end of the recess 90a. The lower ends of the upper and lower shafts 109 are fixed to the upper and lower brackets 108, and the upper and lower shafts 109 extend upward through the holes of the arm bracket 90. The vertical shaft 109 extends through a vertical hole provided in the housing 160. A ball bush 17 1 is provided in this hole, and the ball bush 17 1 guides the upper and lower shafts 109 so that they can move up and down smoothly. The vertical axis 109 has substantially the same length as the total height of the ATC body 40, and two enlarged diameter portions 109a are provided at a predetermined interval at the upper end thereof. The tip of the hook 105 is slidably engaged between the two enlarged diameter portions 109a. A telescopic arm cover 178 is provided beside the lever 104 and the vertical shaft 109. The lower end of the arm cover 178 is fixed to the upper surface of the housing 160 as shown in FIG.

A cylindrical guide sleeve 110 is fixed to the arm bracket 90 and protrudes downward from the arm bracket. The upper and lower brackets 108 have a large-diameter hole, and the guide sleeve 110 penetrates the hole. The vertical bracket 108 can move up and down along the guide sleeve 110. The upper and lower brackets 108 are provided with claw brackets 1 1 1. A bush 119 is arranged between the nail bracket 111 and the guide sleeve 110. Guides 172 are fixed to the lower surface of the arm bracket 90 to guide the claw bracket 1 1 1. In FIG. 13, reference numeral 173 denotes an oil distribution plate. A piping system 180 is connected to the oil distribution plate 173.

A pair of claws 112 are provided at both ends of the nail bracket 111, respectively. The pawl 1 1 2 is set to be openable and closable about the fulcrum 1 1 3. A panel 114 is arranged between the pair of claws 111, and presses the tips of the claws 112 so as to close them. The upper part of the nail bracket is covered by a plate-like cover 116, and the part of the nail 112 from the root is also covered by the cover 116.

A stop mechanism 1 15 is provided between the rear ends of the pair of claws 1 1 2. The stopper mechanism 115 is composed of a stopper 117 that can be moved up and down by a spring 116 and a vertical pin 118 for retracting the stopper 117 downward. You. The pins 118 are fixed at predetermined positions on the arm bracket 90. When the nail bracket 1 1 1 is in the lower position and moves upward from it to the position shown in Fig. 14, the pin 1 18 pushes the stopper 1 1 17 down and the nail 1 1 1 Make 2 openable. In other positions, the pawls 112 cannot be opened, and there is no danger that the tool held by the pawls 112 will fall during transfer. A hole for the pin 1 18 is provided at a position of the force par 1 16 corresponding to the stopper 1 17. On the lower side of the nail bracket 1 11, there is provided a cylindrical shape sleeve 120, which surrounds the guide sleeve 110. In the autas leave 120, two cam grooves 121 are formed in the vertical direction, and are arranged at opposing positions.

A rotating shaft 123 is rotatably provided in the cylindrical hole of the guide sleeve 110. A roller receiver 125 is provided below the rotation shaft 123 so as to rotate integrally with the shaft 123. Two cam followers 122 are provided on the roller receiver 125 at positions facing each other. The cam follower 1 2 2 is engaged with the cam groove 1 2 1. Rotor shaft 1 2 3 Lower end and roller holder 1

Sparing 1 26 is arranged between 25. A cover 127 is provided outside the status leave 120.

By the up-down movement mechanism 100 described above, the up-down bracket 108 and the claw bracket 111 are moved parallel to the arm bracket 90 in the up-down direction. Referring to FIGS. 5, 15, and 16, the turning mechanism 130 will be described. The swivel mechanism 130 has a function of rotating the claw bracket 111 at a rotation angle of 180 ° counterclockwise (as viewed from above the ATC body). A rotating cam 62 having the shape shown in FIG. 15 is provided on the shaft 161 so as to be integrally rotatable. In front of the arm turning cam 62, a rod guide 131 having a cylindrical hole 131a is fixedly provided to the slider 44. Piston rod 1 in cylindrical guide 1 3 1 a

32 is inserted so that it can reciprocate in the front-rear direction. The rear end of piston rod 1 32 (on the side of the rotating cam) is split into two forks. A roller 134 is provided rotatably therethrough via a pin 133. A spring holder 1 35 is fixed to the front end of the rod guide 1 31. A panel 1336 is arranged between the front end of the piston rod 1332 and the spring holder 135. The spring 13 6 pushes the piston rod 13 2 backward, so that the roller 13 4 is always in contact with the arm turning cam 62.

A hole is provided in the vertical direction slightly behind the piston rod 132, and a roller 1337 with a shaft is set there. Most of the roller 1337 protrudes downward from the piston rod 1332.

A notch shaft 138 is provided below the screw rod 132 in the vertical direction. The notch shaft 13 8 is set as a vertical shaft 13 9 that is fixed to the arm bracket 90 and protrudes upward, and the notch shaft 13 8 is set to the shaft 13 9 It can rotate around. A U-shaped groove 140 is formed in the upper part of the notch shaft 1380, and the roller 140 is engaged with the groove 140.

The side view, cross-sectional view, and one and other end views of the notch shaft 138 are shown in 19-22. The U-shaped groove 140 has an open end and a closed end. The closed end is semicircular and its center coincides with the rotary axis 14a of the notch axis 1338. The open end is slightly offset from the rotation axis 141a. The width of the U-shaped groove 140 corresponds to the roller 133. The reciprocating path of the rollers is in the front-rear direction, and is slightly displaced from the rotary shaft 141a of the notch shaft 138 (see Fig. 5). Therefore, piston rod 1 32 and When the roller 134 moves reciprocally, the notch shaft 138 performs a reciprocating circular motion at a predetermined rotation angle. The rotation angle can be set to 90 °, for example.

A bearing housing 150 is provided outside the notch shaft 135 via a bearing. The notch shaft 1338 and the bearing housing 150 are connected via a one-way clutch mechanism 170 described below.

Four notches 1 41 are formed at equal intervals in the middle of the notch shaft 1 38. Four notch recesses 151 are formed on the inner peripheral surface of the bearing housing 150 at equal intervals. The notch 14 1 of the notch shaft 13 8 and the notch recess 15 1 of the bearing housing 150 are arranged in an alignable manner. As shown in FIG. 16, notches 152 are arranged in the notch recesses 151, respectively. The notch 152 is pressed inward by a short plunger 1553 installed outside the notch recess 151.

In Figure 16, only when notch shaft 1 3 8 rotates clockwise, notch 1 5 2 engages notch 1 4 1 and bearing housing 1 5 5 also rotates in the same direction. . When the notch shaft 1338 rotates in the counterclockwise direction, the notch is accommodated in the notch recess 151, and the bearing housing 150 does not rotate.

On the outside of the bearing housing 150, four roller recesses 154 are formed at equal intervals. In FIG. 16, the roller 155 is engaged in one opening 154. The mouth 1 5 5 can rotate on one end of the rod-shaped roller support 1 5 6 It is provided in. The other end of the roller support member 156 is rotatably supported on an arm bracket 90 by a pin 157. On the opposite side of the roller support member 156 from the roller 155, a panel receiver 159 for pressing the roller 155 to the bearing housing 150 is provided. The panel receiver 159 is slidably disposed in a panel hole 160a provided in the housing 160. The other end of the spring hole 16a is closed by a spring retainer 161. A spring 158 is arranged between the spring receiver 159 and the panel retainer 161, and presses the back of the spring receiver 159 in the direction of the bearing housing 150.

The strength of pressing the roller 155 against the roller recess 154, that is, the strength of the panel 158, is based on the total pressing force of the short plunger 153 on the notch 155. Also set a stronger. This is because when the notch shaft 13 rotates counterclockwise in Fig. 16, the one-way clutch mechanism 170 works reliably, and the notch shaft 13 This is to ensure that the vehicle can idle. On the other hand, when the notch shaft 1380 rotates clockwise, the roller 155 is pushed out of the recess 154, and the bearing housing 150 moves in the same direction as the notch shaft. Set the intensity of panel 1 58 to the extent that it can be rotated.

In this way, the notch shaft 135 and the bearing housing 150 are connected via the one-way clutch mechanism 170, and the bearing housing 150 is moved in one direction (clockwise in FIG. 16). It is configured to be rotationally driven only.

Gears are integrated with the lower end of the bearing housing 150 1 6 9 is formed. The gear 169 is engaged with a gear 124 on the upper end of the rotating shaft 123. Therefore, when the bearing housing 150 rotates, the gear and the rotation shaft 123 rotate.

Next, the operation of the ATC 20 will be described.

An example of the tool changing operation will be described. First, the main body 40 is placed on the tool magazine 16 side, and a new tool is extracted from the tool magazine 16 with one of the claws 1 2 1. Next, the apparatus main body 40 is moved to the spindle 15 side. Then, the tool of the agent is removed from the spindle 15 with the other claw 1 2 1, and a new tool is inserted into the spindle 15 with the other claw 1 2 1. Further, the apparatus main body 40 is moved to the tool magazine 16 again, and the tool of the agent is returned to the tool magazine 16 with the other claw 12 1. In the above operation, the one and other claws 12 1 are appropriately moved in the first, second and third directions by the first, second and third moving mechanisms 70, 100 and 130. The first, second and third mobile mechanisms 70, 100, 130 are driven by a common driving means 50.

A T C body 40 swing movement

Assume that the ATC body 40 is arranged at the position on the tool magazine 16 side shown in FIGS. The face of the nail bracket 1 1 1 of the ATC body is arranged vertically and is parallel to the orbital plane of the tool magazine.

The motor 28 is driven to rotate the rotary shaft 22 a predetermined angle counterclockwise when viewed from above. At this time, together with the pivot 29 The table 23 and the swivel slide 41 also rotate. At this time, the ATC body 40 together with the swivel slide 41 rotates around the swivel axis 29 as a whole, and moves to the position on the spindle 15 side shown in FIG. At this time, the surface of the nail bracket 1 1 1 turns horizontally from the vertical direction.

When the motor 28 is driven in the opposite direction and the pivot 29 is rotated clockwise by a predetermined angle, the ATC body is moved from the position on the spindle 15 shown in Fig. 4 to the tool magazine 16 shown in Figs. Can be turned to the side position.

Move arm bracket 90 back and forth

Oil is introduced into one of the chambers 55 or 56 in the cylinder 51, and the piston 58 is moved in the front-rear direction. The rack 60 on the top of the piston 58 also moves, and the gear 162 and the camshaft 161, which engage with it, rotate. The front and rear cams 62 rotate together with the cam shaft 16 1, and the spring holder 73 with the rack 77 moves in the front and rear direction relative to the rod guides 71 according to the shape of the front and rear force drums 62. I do. The spur gear 79 engaged with the rack 77 rotates, and the arm 80 turns. The roller 82 engaged with the groove 83a of the roller guide 8-3 moves on a semicircle centered on the shaft 71c, and the roller guide 83 moves relative to the rod guide 71. Translate in the front-back direction. However, since the roller guide 83 is provided in a fixed relationship with the swivel slide 41 fixed to the base 23, in actuality (from the viewpoint of the inertial system), the roller 82 becomes the mouth guide 83. A single vibration is made in the vertical direction along the groove 8 3a, and the rod guide 71 moves in parallel in the front-rear direction. Do. Since the rod guide 71 is provided in a fixed relation to the slider 44, the slider 44 moves together with the rod guide 71 in the front-rear direction relative to the swivel slide 41. When the front and rear cams 63 rotate in this way, the arm bracket 90 moves together with the slider 44 in the front-rear direction with respect to the turning slide 41. Then, together with the arm bracket 90, the claw bracket 11 1 and the claw 12 1 also move in the front-rear direction.

Vertical bracket 1 0 8 Vertical movement

When the vertical cam 63 is rotated, the roller 107 engaged with the groove 101 moves in accordance with the shape of the groove 101, and the long side of the lever 104 becomes a single side and It rotates around the axis 103 in it. The vertical axis 109 moves up and down by the action of the hook 105 and the engaging portion 109a. Since the lower end of the vertical axis 109 is fixed to the upper surface of the upper and lower brackets 108, the upper and lower brackets move up and down. The nail bracket 1 1 1 provided with two pairs of claws 1 2 1 is fixed in relation to the upper and lower brackets 108 in the vertical direction, so it moves up and down together with the upper and lower brackets 108 . As described above, when the up-and-down cam 63 rotates, the claw bracket 111 moves up and down together with the up-down bracket 108. Along with the claw bracket 1 1 1, the autus leave 1 20 also moves up and down as guided by the guide sleeve 1 10. The rotating shaft 1 2 3 does not move like the guide sleeve 110. The vertical groove 1 2 1 engaging with the cam follower 1 2 2 at the tip of the rotation shaft 1 2 3 It moves up and down while sliding on the cam follower 122 that does not move up and down.

Claw bracket 1 1 1 Rotary movement

When the rotation cam 61 is rotated, the screw rod 132 moves forward and backward relative to the rod guide 131, according to the shape of the cam. The roller 1337 also moves back and forth with the piston rod 132 while engaging with the U-shaped groove 140 at the top of the notch shaft 1338. Since the rotating shaft 141a of the notch shaft 1380 is displaced from the reciprocating path of the roller 1337 by a predetermined distance, the notch shaft 1338 makes a reciprocating rotation within a predetermined arc range. Due to the action of the one-way clutch mechanism 170, the bearing housing 150 rotates with the notch shaft 138 only when the notch shaft 138 rotates clockwise in FIG. When the switch shafts 13 8 rotate counterclockwise, they remain stopped. Rotating shaft 1 23 The spur gear 124 at the upper end is engaged with the bearing housing 150 and the spur gear 169 at the outer periphery at the lower end, so that when the bearing housing 150 rotates clockwise, it rotates counterclockwise. To rotate. The diameters of the two spur gears 169 and 124 are set to, for example, 2Z1. At this time, the car follower 122 also rotates counterclockwise with the rotating shaft 123, and the action of the cam follower 122 and the groove 122 engaging with the cam follower 122 causes the stator leave 120 to react. Rotate clockwise. Then, the nail brackets 111 and the nails 121 rotate together with the butterfly leave 120.

Timing of back and forth, up and down, and rotational movement Fig. 17 shows an example of the timing of the forward and backward movement of the arm bracket 90, the vertical movement of the vertical bracket 108, and the rotation (movement) of the claw bracket 111. The rotation direction of the three cams in Fig. 17 is from 0 ° to the clockwise direction in Fig. 4 (in Fig. 4). In the following, a description will be given with a clockwise rotation angle of 10 and a counterclockwise rotation angle of − according to FIG. At the time of tool change, a combination of the three movements of back and forth, up and down, and rotation and the turning movement of the ATC body 40 is performed.

Example of tool change operation

Hereinafter, an example of the tool changing operation will be described with reference to FIGS. In FIGS. 23 to 28, the ATC body is located on the spindle 15 side, and in FIGS. 29 to 40, the ATC body is located on the tool magazine 16 side. In Figures 23 to 28, the ATC body 40 and the spindle 15 are viewed obliquely from the front of the machine tool, and in Figures 29 to 40, the ATC body 40 and the tool magazine pot are mounted on the machine tool 10 Looking from above. In addition, a tool is generally composed of a tool body (not shown) and a tool holder, but for simplicity, only the holder is illustrated, and the following description will be made as a replacement operation of holders H1 to H3.

Fig. 2 3

Oil is introduced into the right chamber 56 of the cylinder 51, the piston 58 with the rack 60 is moved forward, and the three cams are rotated clockwise from the 0 ° position. When the cam position is in the range of 15 ° to 65 °, the arm bracket 90 and the claw bracket 1 1 1 move forward (arrow A). And claws 1 2 1 spin Hold the holder H1 in the socket 15. Since the claw bracket 1 1 1 is at the position shown in Fig. 23 with respect to the arm bracket 90, the stop mechanism 1 15 has been released and the claw 1 2 1 can be opened. It has become.

Fig. 24

Rotate the three cams further to 110 °. The nail bracket 1 1 1 moves downward (arrow B) together with the upper and lower brackets. Claw 1 2 1 removes holder H 1 from spindle 15. At this time, the holder H1 in the spindle is in an ankle-ramp state in advance.

Fig. 25

Rotate the three cams from 110 ° to 144 °. Claw bracket 1 1 1 rotates 180 ° counterclockwise (arrow C). The positions of the holders H 1 and H 2 are switched, and the holder H 2 is arranged below the spindle 15.

Fig. 26

Oil is introduced into the left chamber 55 of the cylinder and the racked screw is moved backward to rotate the three cams counterclockwise. The notch shaft rotates counterclockwise in Fig. 16 when the force position is in the range of 1450 ° to 110 °, but the one-way clutch 170 activates the pawl bracket 1 1 1 Does not rotate. When the cam position is in the range of 110 ° to 80 °, the claw bracket 111 moves upward (arrow D) together with the upper and lower brackets 108.

Fig. 27

Rotate the three cams further counterclockwise to 0 °. Power Position from 65 ° to 15 °. The arm bracket 90 moves together with the arm bracket 90 in the range (1). At this time, the holder H 2 is released from the claws 1 2 1. In this state, the stop mechanism 115 is released.

Fig. 28

The motor 28 is driven to rotate the ATC body 40, and this is moved from the spindle 15 side to the tool magazine 16 side. By this turning, the claw bracket 1 1 1 changes direction from the horizontal direction (FIG. 4) to the vertical direction (FIGS. 1 and 2).

Fig. 2 9

Continue turning the three cams counterclockwise. The cam position is —10. From — 35 °, the nail bracket 1 11 1 moves downward (arrow F) in the ATC coordinate system together with the upper and lower brackets 108. However, when looking at the machine tool as shown in Figure 1, arrow F points to the left. Note that the tool magazine 16 is operated to move the pot P1 containing the holder H1 to a predetermined position in advance.

Fig. 30

Rotate the three cams further counterclockwise. cam! Rotate the bracket H 1 180 ° counterclockwise (arrow G) 180 ° in the range of —35 ° to —75 ° to move the holder H1 closer to the pull magazine 16 side.

Fig. 3 1

Rotate the three cams further counterclockwise. Claw bracket 1 1 when cam position is between 75 ° and 115 ° 1 does not rotate due to the action of the one-way clutch 170. The arm bracket 90 along with the arm bracket 90 moves forward (arrow I) in the ATC coordinate system, and to the left in FIG. — The axis of holder H1 coincides with the axis of the pot in tool magazine 16 at the position of 144 ° (see Fig. 32).

Fig. 3 2

When the cam position is in the range of 135 ° to 135 °, the jaw bracket 1 1 1 along with the upper and lower brackets 180 moves upward (arrow J) in the ATC coordinate system, and the holder H 1 is moved. Insert in the pot o

Fig. 3 3

The cam is further rotated in the counterclockwise direction, and the arm bracket 90 and the nail bracket 1 11 are moved backward (arrows) in the ATC coordinate system, to the right in FIG. 2, and to the right as shown in FIG. No3 Move to the waiting position (see Fig. 34). At this time, the claws 1 2 1 open the holder H1. In this state, the stop mechanism 115 of the claw 121 is released.

Figure 34.

Move the endless track of the tool magazine to move the pot P3 containing the new holder H3 to the tool change position.

Fig. 3 5

Rotate the three cams clockwise. Claw with arm bracket 90 when cam position is in the range from 200 ° to 1165 ° The bracket 1 1 1 moves to the front (arrow L) in the ATC coordinate system, and to the left in Fig. 2, and the nail grips the holder H3.

Fig. 36

Rotate the three cams further clockwise. Cam position—from 16.5 ° —13.5. In the ATC coordinate system, the nail bracket 1 11 1 moves downward (to the left in Fig. 1), and the nail 1 2 1 removes the holder H3 from the pot. .

Fig. 3 7

Cam position — 1 45 ° to — 95 ° Range of nail bracket 1 1 1 along with front and rear brackets 1 1 1 Moves backward (arrow N) in ATC coordinate system, rightward in Fig. 2 and tool magazine 1 6 power, R;

Fig. 3 8

Rotate the three cams further clockwise. The jaw bracket 1 1 1 1 rotates 180 ° in the range of cam position 1 115 ° to 1 75 °. It does not rotate in the range of 75 ° to 35 °.

Fig. 3 9

From cam position one 35 ° —10. The bracket 1111 moves up (arrow Q) in the ATC coordinate system together with the upper and lower brackets 108 in the range of, and to the right in FIG. Then, the state shown in FIG. 40 is obtained.

After that, drive the ATC to rotate the ATC body 40 and move it from the tool magazine 16 side to the spindle 15 side to obtain a state similar to the state shown in Fig. 23. And as mentioned above By the same procedure as the above procedure, the new holder H3 held by the claw 12 1 can be replaced with the old holder H 2 inserted in the spindle 15.

The present invention provides a base 23, two sets of claws 1 2 1 which are movable in the first, second and third directions relative to the base 23 and which detachably hold a tool or a work. First, second, and third moving mechanisms 70, 100, and 130 for moving 1 2 1 in the first, second, and third directions, and first, second, and third moving mechanisms 70, And a common driving means 50 for moving the first and second moving mechanisms 70, 100, and 130. Since the gist of the present invention is an automatic tool changer characterized by being driven by 0, the equipment can be downsized, installation space can be reduced, and adjustment is easy. o

Note that the present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the timing of the three cams may be varied. The tool magazine may be arranged so that the end trajectory is located on the horizontal plane. Further, the ATC body may be moved between the spindle side and the tool magazine side by a parallel movement instead of a turning movement.

Claims

The scope of the claims

1. The base (23) and the first, relative to the base (23)

Two sets of pawls (1 2 1) that can be moved in two or three directions to hold tools and workpieces in a detachable manner, and two pawls (1 2 1) are moved in the first, second and third directions. To move the first, second and third moving mechanisms (70, 100, 130) and the first, second, and third moving mechanisms (70, 100, 130) And the first, second and third moving mechanisms (70, 100, 130) are driven by one driving means (50). An automatic exchange device having a configuration.