Telescopic tube driving mechanism, spindle unit, and machine tool

Abstract

The invention provides a telescopic tube driving mechanism, a spindle unit and a machine tool. The telescopic tube driving mechanism includes: a telescopic tube capable of moving in a first direction substantially parallel to a first axis with respect to a support body that supports the rotating body so as to be rotatable about the first axis; a drive device that moves the moving body in a second direction substantially perpendicular to the first direction; a first pin; a second pin; a third pin; a fourth pin; a first link connected to the moving body via a first pin; a second link connected to the first link via a second pin and connected to the support via a fourth pin; and a third link that is connected to the first link via a third pin and transmits the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, and the third pin are substantially disposed on a straight line when viewed in a direction along a third direction substantially perpendicular to both the first and second directions. The distance between the first pin and the second pin and the distance between the second pin and the third pin are substantially equal to the distance between the second pin and the fourth pin, respectively.

Description

Technical Field

[0001] The invention relates to a telescopic tube driving mechanism, a spindle unit and a machine tool. Background Art

[0002] There is known a technique for moving an extendable tube in order to open and close a chuck or the like.

[0003] As a related technology, Patent Document 1 discloses a collet opening and closing device for a main spindle table of an NC lathe. The collet opening and closing device described in Patent Document 1 includes a pipe, a sleeve fixed to the pipe, a clamp arranged on the outer peripheral surface of the sleeve, a substantially annular connecting rod, and a switch, wherein the switch is provided at the center of the connecting rod and movably engaged with the clamp. In the collet opening and closing device described in Patent Document 1, the pipe can be advanced and retreated by tilting the substantially annular connecting rod around a pin.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-110639 Summary of the invention

[0005] An object of the present invention is to provide an extension tube drive mechanism, a spindle unit, and a machine tool that can suppress vibration, noise, and heat generated when a rotating body rotates.

[0006] Several embodiments of the telescopic tube drive mechanism include: a telescopic tube that can move in a first direction substantially parallel to a first axis relative to a support body that supports a rotating body so as to be rotatable around a first axis; a drive device that moves the moving body in a second direction substantially perpendicular to the first direction; a first pin; a second pin; a third pin; a fourth pin; a first link that is connected to the moving body via the first pin; a second link that is connected to the first link via the second pin and to the supporting body via the fourth pin; and a third link that is connected to the first link via the third pin and transmits a force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin, and the fourth pin extend in a third direction substantially perpendicular to both the first direction and the second direction, respectively. When viewed in the direction along the third direction, the first pin, the second pin, and the third pin are substantially arranged on a straight line. The distance between the first pin and the second pin and the distance between the second pin and the third pin are substantially equal to the distance between the second pin and the fourth pin, respectively.

[0007] The spindle unit of several embodiments includes: a rotating body for holding an object; a supporting body for supporting the rotating body so as to be rotatable around a first axis; a rotation driving device for rotating the rotating body around the first axis; a telescopic tube for being movable relative to the supporting body in a first direction substantially parallel to the first axis; a driving device for moving the moving body in a second direction substantially perpendicular to the first direction; a first pin; a second pin; a third pin; a fourth pin; a first link connected to the moving body by means of the first pin; a second link connected to the first link by means of the second pin and connected to the supporting body by means of the fourth pin; and a third link connected to the first link by means of the third pin to transmit the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin and the fourth pin extend respectively along a third direction substantially perpendicular to both the first direction and the second direction. When viewed in the direction along the third direction, the first pin, the second pin and the third pin are substantially arranged on a straight line. A distance between the first pin and the second pin and a distance between the second pin and the third pin are respectively substantially equal to a distance between the second pin and the fourth pin.

[0008] Several embodiments of the machine tool include: a workpiece holding device; a machining head for holding a tool; and a machining head driving device for moving the machining head. The workpiece holding device includes: a rotating shaft for holding a workpiece; a support body for supporting the rotating shaft so as to be rotatable around a first axis; a rotation driving device for rotating the rotating shaft around the first axis; a telescopic tube for being movable in a first direction substantially parallel to the first axis relative to the support body; a driving device for moving the moving body in a second direction substantially perpendicular to the first direction; a first pin; a second pin; a third pin; a fourth pin; a first link connected to the moving body by means of the first pin; a second link connected to the first link by means of the second pin and connected to the supporting body by means of the fourth pin; and a third link connected to the first link by means of the third pin to transmit the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin and the fourth pin extend respectively along a third direction substantially perpendicular to both the first direction and the second direction. When viewed in the direction along the third direction, the first pin, the second pin and the third pin are substantially arranged on a straight line. A distance between the first pin and the second pin and a distance between the second pin and the third pin are respectively substantially equal to a distance between the second pin and the fourth pin.

[0009] According to the present invention, it is possible to provide an extension tube drive mechanism, a spindle unit, and a machine tool capable of suppressing vibration, noise, and heat generated when a rotating body rotates. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic cross-sectional view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Figure 2 This is a schematic cross-sectional view schematically showing a part of the spindle unit according to the first embodiment. Figure 3 This is a schematic cross-sectional view schematically showing a part of the spindle unit according to the first embodiment. Figure 4 It is a schematic front view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Figure 5 It is a schematic front view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Figure 6 This is a schematic rear view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Figure 7 It is a schematic front view schematically showing the main shaft unit according to the first embodiment. Figure 8 It is a schematic plan view schematically showing the spindle unit according to the first embodiment. Fig. 9 It is a schematic side view schematically showing the spindle unit according to the first embodiment. Fig.10 yes Figure 1 Cross-sectional view in the direction of DD arrow. Fig.11 This is a schematic cross-sectional view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Fig.12 This is a schematic cross-sectional view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Fig.13 This is a schematic cross-sectional view schematically showing a part of the telescopic tube driving mechanism according to the first embodiment. Fig.14 It is a schematic side view schematically showing the spindle unit according to the first embodiment. Fig.15 It is a schematic side view schematically showing the spindle unit according to the first embodiment. Fig.16 This is a schematic cross-sectional view schematically showing a part of a spindle unit according to a first modified example of the first embodiment. Fig.17 This is a schematic cross-sectional view schematically showing a part of a spindle unit according to a first modified example of the first embodiment. Fig.18This is a schematic cross-sectional view schematically showing a part of a spindle unit according to a second modified example of the first embodiment. Fig.19 This is a schematic front view schematically showing a part of a spindle unit according to a third modified example of the first embodiment. Fig. 20 It is a schematic front view schematically showing a machine tool according to a second embodiment. Fig.21 It is a schematic side view schematically showing a machine tool according to a second embodiment. Fig. 22 It is a schematic plan view schematically showing a machine tool according to a modified example of the second embodiment. DETAILED DESCRIPTION

[0011] Hereinafter, the telescopic tube drive mechanism 1, the spindle unit 10 and the machine tool 100 according to the embodiment will be described with reference to the drawings. In the following description of the embodiment, the same reference numerals are given to parts and components having the same functions, and repeated description of the parts and components given the same reference numerals is omitted.

[0012] (First Embodiment) Reference Figures 1 to 19 , the telescopic tube driving mechanism 1 and the spindle unit 10 according to the first embodiment will be described. Figure 1 1 is a schematic cross-sectional view schematically showing a portion of the telescopic tube driving mechanism 1 according to the first embodiment. Figure 1 Is Fig.10 The arrow EE in FIG. 1 represents a cross-sectional view of the surface. Figure 2 and Figure 3 This is a schematic cross-sectional view schematically showing a part of the spindle unit 10 according to the first embodiment. Figure 4 and Figure 5 It is a schematic front view schematically showing a part of the telescopic tube driving mechanism 1 according to the first embodiment. Figure 6 It is a schematic rear view schematically showing a part of the telescopic tube driving mechanism 1 according to the first embodiment. Figure 7 It is a schematic front view schematically showing the spindle unit 10 according to the first embodiment. Figure 8 It is a schematic plan view schematically showing the spindle unit 10 according to the first embodiment. Fig. 9 It is a schematic side view schematically showing the spindle unit 10 according to the first embodiment. Fig.10 yes Figure 1 Cross-sectional view in the direction of DD arrow. Figures 11 to 13 1 is a schematic cross-sectional view schematically showing a portion of the telescopic tube driving mechanism 1 according to the first embodiment. Fig.11 Yes Figure 1 A magnified portion of the image. Fig.11The pressed portion 52a of the toggle 50 is in an expanded state. Fig.12 The pressed portion 52a of the elbow 50 is in a contracted state. Fig.13 This shows a situation in which the position of the support sleeve 57 can be adjusted by the adjustment member 91 . Fig.14 and Fig.15 1 is a schematic side view schematically showing the spindle unit 10 according to the first embodiment. Fig.14 9 shows the state before the moving body 35 is moved in the second direction DR2 by the operation lever 93. Fig.15 The state after the moving body 35 is moved in the second direction DR2 by the operation lever 93 is shown. Fig.16 and Fig.17 This is a schematic cross-sectional view schematically showing a part of the spindle unit 10 according to the first modified example of the first embodiment. Fig.18 It is a schematic cross-sectional view schematically showing a part of the spindle unit 10 according to the second modified example of the first embodiment. Fig.19 FIG. 1 is a schematic front view schematically showing a portion of the spindle unit 10 of the third modified example of the first embodiment. Fig.19 In order to easily understand the internal structure of the third link 46 and the internal structure of the drive device 31, a part of the main shaft unit 10 is cut away.

[0013] like Figure 2 As illustrated, the telescopic tube drive mechanism 1 of the first embodiment includes a telescopic tube 2 , a drive device 31 , a first pin P1 , a second pin P2 , a third pin P3 , a fourth pin P4 , a first link 41 , a second link 44 , and a third link 46 .

[0014] The telescopic tube 2 is movable in a first direction DR1 parallel to the first axis AX. More specifically, the telescopic tube 2 is movable in a first direction DR1 parallel to the first axis AX relative to a support 75 that supports the rotating body 6 so as to be rotatable around the first axis AX.

[0015] In addition, when manufacturing parts, manufacturing errors may occur. In addition, there is a gap between two parts that move relative to each other. Therefore, in this specification, a slight error is allowed. For example, in this specification, "parallel" and "perpendicular" include substantially parallel and substantially perpendicular, respectively.

[0016] The driving device 31 moves the moving body 35 in a second direction DR2 perpendicular to the first direction DR1 .

[0017] The first link 41 is connected to the moving body 35 via the first pin P1. The first link 41 is movable and tiltable relative to the moving body 35 around the central axis of the first pin P1.

[0018] The second link 44 is connected to the first link 41 via the second pin P2. In addition, the second link 44 is connected to the support body 75 via the fourth pin P4. The second link 44 can tilt relative to the first link 41 around the center axis of the second pin P2. In addition, the second link 44 can tilt relative to the support body 75 around the center axis of the fourth pin P4.

[0019] The third link 46 is connected to the first link 41 via the third pin P3. The third link 46 transmits the force received from the moving body 35 via the first link 41 to the telescopic tube 2. The first link 41 is tiltable relative to the third link 46 about the central axis of the third pin P3.

[0020] exist Figure 2 In the example described, when the moving body 35 moves in the second direction DR2, the first link 41 moves obliquely around the center axis of the first pin P1 in the first rotation direction R1, and the second link 44 moves obliquely around the center axis of the fourth pin P4. In addition, if the first link 41 moves obliquely around the center axis of the first pin P1 in the first rotation direction R1, the third link 46 moves in the first direction DR1 parallel to the first axis AX (see Figure 3 ). On the other hand, Figure 3 In the described example, when the moving body 35 moves in the fifth direction DR5 opposite to the second direction DR2, the first link 41 moves obliquely around the center axis of the first pin P1 in the second rotation direction R2, and the second link 44 moves obliquely around the center axis of the fourth pin P4. In addition, if the first link 41 moves obliquely around the center axis of the first pin P1 in the second rotation direction R2, the third link 46 moves in the fourth direction DR4 opposite to the first direction DR1 (see Figure 2 . ).

[0021] Reference Figure 4 and Figure 5 , the mechanism by which the third link 46 moves in the first direction DR1 (or the fourth direction DR4) will be described in more detail.

[0022] exist Figure 4 In the described example, the first pin P1, the second pin P2, the third pin P3 and the fourth pin P4 extend along the third direction DR3 perpendicular to both the first direction DR1 and the second direction DR2. The first pin P1, the second pin P2, the third pin P3 and the fourth pin P4 are a plurality of pins arranged parallel to each other along the third direction DR3.

[0023] When viewed in the direction along the third direction DR3, the first pin P1, the second pin P2 and the third pin P3 are arranged on a straight line. Figure 4In the example described, the first pin P1, the second pin P2, and the third pin P3 are completely arranged on a straight line SL when viewed in the direction along the third direction DR3. In addition, even when the three pins are intended to be arranged on a straight line to manufacture the parts, a slight deviation may occur due to manufacturing errors or gaps between the pins and the connecting rods. Therefore, in the first embodiment, as long as the smooth movement of the first connecting rod 41, the second connecting rod 44, and the third connecting rod 46 is not hindered, the first pin P1, the second pin P2, and the third pin P3 are substantially located on a straight line SL when viewed in the direction along the third direction DR3.

[0024] exist Figure 4 In the described example, the first pin P1 is arranged at the first end 411 of the first link 41, and the third pin P3 is arranged at the second end 412 of the first link 41. In addition, the second pin P2 is arranged between the first pin P1 and the third pin P3.

[0025] exist Figure 4 In the described example, the second pin P2 is arranged at the first end portion 441 of the second link 44 , and the fourth pin P4 is arranged at the second end portion 442 of the second link 44 .

[0026] like Figure 4 As illustrated, the distance L1 between the first pin P1 and the second pin P2 (more specifically, the distance between the center axis of the first pin P1 and the center axis of the second pin P2) is equal to the distance L3 between the second pin P2 and the fourth pin P4 (more specifically, the distance between the center axis of the second pin P2 and the center axis of the fourth pin P4). In addition, even when the parts are manufactured with the intention of making the distance L1 and the distance L3 equal, a slight deviation may occur due to manufacturing errors or gaps between the pins and the connecting rods. Therefore, in the first embodiment, as long as the smooth operation of the first connecting rod 41, the second connecting rod 44, and the third connecting rod 46 is not hindered, the distance L1 and the distance L3 are substantially equal.

[0027] like Figure 4 As illustrated, the distance L2 between the second pin P2 and the third pin P3 (more specifically, the distance between the center axis of the second pin P2 and the center axis of the third pin P3) is equal to the distance L3 between the second pin P2 and the fourth pin P4 (more specifically, the distance between the center axis of the second pin P2 and the center axis of the fourth pin P4). In addition, even when the parts are manufactured with the intention of making the distance L2 and the distance L3 equal, a slight deviation may occur due to manufacturing errors or gaps between the pins and the connecting rods. Therefore, in the first embodiment, as long as the smooth movement of the first connecting rod 41, the second connecting rod 44, and the third connecting rod 46 is not hindered, the distance L2 and the distance L3 are substantially equal.

[0028] Since the above-mentioned geometric relationship is satisfied among the first pin P1, the second pin P2, the third pin P3, the fourth pin P4, the first link 41, the second link 44 and the third link 46, it is configured that when the first pin P1 moves in the second direction DR2, the third pin P3 and the third link 46 move in the first direction DR1 perpendicular to the second direction DR2 (refer to Figure 5 . ). In addition, since the above-mentioned geometric relationship is satisfied among the first pin P1, the second pin P2, the third pin P3, the fourth pin P4, the first link 41, the second link 44, and the third link 46, it is configured that when the first pin P1 moves in the fifth direction DR5, the third pin P3 and the third link 46 move in the fourth direction DR4 perpendicular to the fifth direction DR5 (refer to Figure 4 . ).

[0029] More specifically, regardless of the positions of the first pin P1 and the second pin P2, the triangle with the first pin P1, the second pin P2 and the fourth pin P4 as vertices is a first isosceles triangle T1 with the second pin P2 as the vertex. In addition, regardless of the positions of the second pin P2 and the third pin P3, the triangle with the second pin P2, the third pin P3 and the fourth pin P4 as vertices is a second isosceles triangle T2 with the second pin P2 as the vertex. Moreover, the first pin P1, the second pin P2 and the third pin P3 are arranged on a straight line. According to the above description, the total value α of the value of one base angle of the first isosceles triangle T1 and the value of one base angle of the second isosceles triangle T2 is always 90 degrees. Therefore, it is possible to ensure that when the first pin P1 moves in the second direction DR2, the third pin P3 and the third link 46 move in the first direction DR1 perpendicular to the second direction DR2. In addition, it is possible to ensure that when the first pin P1 moves in the fifth direction DR5, the third pin P3 and the third link 46 move in the fourth direction DR4 perpendicular to the fifth direction DR5.

[0030] exist Figure 4 In the described example, when the first pin P1 moves in the second direction DR2, substantially no force other than the force in the first direction DR1 is applied to the third link 46 from the third pin P3. In addition, when the first pin P1 moves in the second direction DR2, substantially no moment that causes the third link 46 to tilt and move is applied to the third link 46 from the third pin P3. Therefore, the tilting movement of the third link 46 around the first axis AX can be suppressed. According to the above description, in the first embodiment, when the rotating body 6 rotates, the vibration, noise and heat generated by the tilting movement of the third link 46 can be suppressed.

[0031] In addition, if Figure 2 and Figure 3As illustrated, in the first embodiment, since the movement of the moving body 35 in the second direction DR2 is converted into the movement of the third link 46 in the first direction DR1, the arrangement freedom of the driving device 31 is large. Therefore, when the installation space is limited, it is easy to arrange the entire telescopic tube driving mechanism 1 including the driving device 31 in the installation space.

[0032] Furthermore, in the first embodiment, the third link 46 can be moved in the first direction DR1 based on the geometric relationship between the plurality of pins (P1, P2, P3, P4) and the plurality of links (41, 44, 46). In this case, as long as the gap between each of the pins and each of the plurality of links is not too large, the third link 46 is unlikely to shake.

[0033] Next, the spindle unit 10 according to the first embodiment will be described.

[0034] like Figure 7 As illustrated, the spindle unit 10 includes the rotating body 6 , the supporting body 75 , the rotation driving device 77 , the telescopic tube 2 , the driving device 31 , the first pin P1 , the second pin P2 , the third pin P3 , the fourth pin P4 , the first link 41 , the second link 44 , and the third link 46 .

[0035] Since the telescopic tube 2, the driving device 31, the first pin P1, the second pin P2, the third pin P3, the fourth pin P4, the first link 41, the second link 44, and the third link 46 have been described above, repeated description of their structures will be omitted.

[0036] The rotating body 6 holds a holding object such as a workpiece. The support body 75 supports the rotating body 6 so as to be rotatable around the first axis AX. The rotation drive device 77 rotates the rotating body 6 around the first axis AX.

[0037] exist Figure 7 In the example described, the rotation drive device 77 has a stator 77a disposed on the support body 75 and a rotor 77b disposed on the rotating body 6 (more specifically, the rotating shaft 61). The rotation drive device 77 is a device that rotates the rotating body 6 by electromagnetic action. Alternatively, the rotation drive device 77 may be a device that rotates the rotating body 6 using a transmission belt or the like.

[0038] A plurality of bearings 13 are arranged between the rotating body 6 (more specifically, the rotating shaft 61 ) and the support body 75 .

[0039] Since the spindle unit 10 of the first embodiment includes the components of the above-described telescopic tube drive mechanism 1 , the spindle unit 10 of the first embodiment achieves the same effects as the telescopic tube drive mechanism 1 of the first embodiment.

[0040] (Optional additional structure) Next, refer to Figures 1 to 19 Optional additional structures that can be adopted in the telescopic tube driving mechanism 1 and the spindle unit 10 of the first embodiment will be described.

[0041] (Driving Device 31 and Moving Body 35) exist Figure 2 In the example described, the driving device 31 can move the moving body 35 in the second direction DR2. Figure 3 In the described example, the driving device 31 can move the moving body 35 in the fifth direction DR5 opposite to the second direction DR2.

[0042] exist Figure 2 In the described example, the driving device 31 is a cylinder 310 that moves the moving body 35 in the second direction DR2 and / or the fifth direction DR5. The cylinder 310 may be an air cylinder or a hydraulic cylinder. Figure 2 In the described example, the driving device 31 is composed of one cylinder 310. Alternatively, the driving device 31 may include a plurality of cylinders 310.

[0043] The driving device 31 (more specifically, the cylinder 310) is directly or indirectly fixed to the support body 75. Preferably, the driving device 31 is fixed to the support body 75 in a manner that it cannot move relative to the support body 75.

[0044] exist Figure 2 In the example described, the moving body 35 is a piston 36 driven by the cylinder 310. The piston 36 includes a piston body 361 disposed in a cylinder chamber 311 of the cylinder 310 and a connecting body 363 connecting the piston body 361 and the first pin P1.

[0045] The driving device 31 may be any device as long as it can move the moving body 35 in the second direction DR2 (and the fifth direction DR5). The driving device 31 may also include a motor. For example, the driving device 31 may also include a motor and a ball screw driven by the motor. In addition, the moving body 35 may also include a nut threadedly connected to the ball screw.

[0046] exist Figure 2 In the described example, the drive device 31 (more specifically, the cylinder 310) is arranged at a higher position than the telescopic tube 2. In this case, the drive device 31 does not interfere with components arranged in a space below the telescopic tube 2. For example, in the case where a support body moving device that moves the support body 75 in a direction parallel to the horizontal plane is provided, the drive device 31 does not interfere with the support body moving device.

[0047] exist Figure 2In the described example, the drive device 31 (more specifically, the cylinder 310) is arranged vertically above the telescopic tube 2. When the drive device 31 is arranged vertically above the telescopic tube 2, the size of the telescopic tube drive mechanism 1 or the spindle unit 10 in a plan view can be made compact.

[0048] exist Figure 2 In the example described, the second direction DR2 is parallel to the vertical direction. The second direction DR2 being parallel to the vertical direction means that the direction of the moving stroke of the moving body 35 is parallel to the vertical direction. In this case, the size of the telescopic tube drive mechanism 1 or the spindle unit 10 in the direction along the first axis AX can be made compact.

[0049] like Figure 8 As illustrated, in this specification, the direction opposite to the third direction DR3 is defined as the sixth direction DR6. In addition, a vertical plane passing through the edge of the support body 75 on the third direction DR3 side and parallel to the first axis AX is defined as a first plane PL1, and a vertical plane passing through the edge of the support body 75 on the sixth direction DR6 side and parallel to the first axis AX is defined as a second plane PL2. Figure 8 In the described example, the entire drive device 31 (more specifically, the entire cylinder 310) is arranged between the first plane PL1 and the second plane PL2. In this case, the size of the spindle unit 10 along the third direction DR3 can be made compact.

[0050] exist Fig. 9 In the described example, the moving body 35 (more specifically, the piston 36) includes a central portion 35M, a left arm 35L, and a right arm 35R. The left arm 35L extends from the central portion 35M in the left direction. The right arm 35R extends from the central portion 35M in the right direction. In addition, in this specification, "left side" means a position on the left side of the first axis AX when viewed from above and along the first direction DR1, and "right side" means a position on the right side of the first axis AX when viewed from above and along the first direction DR1.

[0051] (First connecting rod 41) exist Fig. 9 In the example described, the first link 41 includes a left first link 41L and a right first link 41R. The first pin P1 includes a left first pin P1-L and a right first pin P1-R. Furthermore, the third pin P3 includes a left third pin P3-L and a right third pin P3-R.

[0052] In a plan view and in the direction along the first direction DR1, the left first link 41L is arranged on the left side of the first axis AX. The first end 411L of the left first link 41L is connected to the left arm 35L via the left first pin P1-L in a manner rotatable relative to the left arm 35L. The second end 412L of the left first link 41L is connected to the third link 46 via the left third pin P3-L in a manner rotatable relative to the third link 46.

[0053] In a plan view and viewed in the direction along the first direction DR1, the right first link 41R is arranged on the right side of the first axis AX. The first end 411R of the right first link 41R is connected to the right arm 35R via the right first pin P1-R in a manner that allows rotation relative to the right arm 35R. The second end 412R of the right first link 41R is connected to the third link 46 via the right third pin P3-R in a manner that allows rotation relative to the third link 46.

[0054] (Second connecting rod 44) exist Figure 6 In the described example, the second link 44 includes the left second link 44L. The second pin P2 includes the left second pin P2-L. Furthermore, the fourth pin P4 includes the left fourth pin P4-L.

[0055] In a plan view and in the direction along the first direction DR1, the left second link 44L is arranged on the left side of the first axis AX. The first end 441L of the left second link 44L is connected to the left first link 41L by the left second pin P2-L in a manner that is rotatable relative to the left first link 41L. In addition, the second end 442L of the left second link 44L is connected to the support body 75 by the left fourth pin P4-L in a manner that is rotatable relative to the support body 75.

[0056] exist Figure 5 In the described example, the second link 44 includes the right second link 44R. The second pin P2 includes the right second pin P2-R. Furthermore, the fourth pin P4 includes the right fourth pin P4-R.

[0057] In a plan view and viewed in the direction along the first direction DR1, the right second link 44R is arranged on the right side of the first axis AX. The first end 441R of the right second link 44R is connected to the right first link 41R via the right second pin P2-R in a manner rotatable relative to the right first link 41R. In addition, the second end 442R of the right second link 44R is connected to the support body 75 via the right fourth pin P4-R in a manner rotatable relative to the support body 75.

[0058] (Third connecting rod 46) exist Figure 2In the described example, the third link 46 is composed of an assembly of a plurality of parts. The third link 46 includes a first portion 47a, a second portion 47b, and a bearing 47c disposed between the first portion 47a and the second portion 47b.

[0059] The first portion 47a is connected to the first link 41 via a third pin P3.

[0060] The second portion 47b is supported by the first portion 47a so as to be rotatable around the first axis AX. The second portion 47b is an annular body arranged inside the first portion 47a. A bearing 47c is arranged between the inner peripheral surface of the first portion 47a and the outer peripheral surface of the second portion 47b.

[0061] exist Figure 3 In the example described, the second portion 47b rotates together with the rotating body 6 (more specifically, the rotating shaft 61) around the first axis AX. In addition, the telescopic tube 2 rotates together with the rotating body 6 (more specifically, the rotating shaft 61) around the first axis AX (see Figure 3 ). Furthermore, the telescopic tube 2 is relatively movable relative to the rotating body 6 (more specifically, the rotating shaft 61) in a direction parallel to the first axis AX.

[0062] exist Figure 2 and Figure 3 In the described example, when the third link 46 moves in the first direction DR1, substantially no force other than the force in the first direction DR1 acts on the third link 46 from the third pin P3, and substantially no moment that causes the third link 46 to tilt and move acts on the third link 46 from the third pin P3. In this case, due to the movement of the third link 46 in the first direction DR1, the third link 46 including the first portion 47a, the second portion 47b, and the bearing 47c is difficult to tilt and move relative to the first axis AX. Therefore, after the third link 46 moves in the first direction DR1, when the rotating body 6 rotates together with the telescopic tube 2 and the second portion 47b of the third link 46, it is possible to suppress the generation of vibration, noise, and heat due to the tilting movement of the third link 46.

[0063] In addition, Figure 3 In the described example, according to the geometric relationship between the plurality of pins (P1, P2, P3, P4) and the plurality of connecting rods (41, 44, 46), when the rotating body 6 rotates, the position of the central axis of the third pin P3 in the direction along the second direction DR2 can be maintained. As a result, the third pin P3 and the third connecting rod 46 can be prevented from vibrating in the direction along the second direction DR2. In addition, when the second portion 47b of the third connecting rod 46 rotates around the first axis AX, a centering force acts on the second portion 47b. According to the above description, when the rotating body 6 rotates, the generation of vibration, noise and heat can be more effectively suppressed.

[0064] In addition, Figure 3 In the example described, the position of the center axis of the third pin P3 along the second direction DR2 (more specifically, the height of the center axis of the third pin P3) is consistent with the position of the first axis AX along the second direction DR2 (more specifically, the height of the first axis AX).

[0065] exist Fig. 9 In the example described, the third link 46 includes a left connecting portion 49L connected to the left first link 41L, a right connecting portion 49R connected to the right first link 41R, and a central portion 49M disposed between the left connecting portion 49L and the right connecting portion 49R. The central portion 49M is annular. In other words, the central portion 49M has a through hole portion 49h. The telescopic tube 2 may also be disposed so as to cross the through hole portion 49h.

[0066] exist Fig. 9 In the described example, the third link 46 connects the left first link 41L (more specifically, the second end 412L of the left first link 41L) and the right first link 41R (more specifically, the second end 412R of the right first link 41R). When the left first link 41L and the right first link 41R are connected by the third link 46, the tilting motion of the left first link 41L and the right first link 41R is stabilized.

[0067] Additionally, the left first link 41L (more specifically, the first end 411L of the left first link 41L) and the right first link 41R (more specifically, the first end 411R of the right first link 41R) may also be connected by means of a component (e.g., the moving body 35) different from the third link 46. Alternatively, the left first link 41L and the right first link 41R may also be formed integrally. In these cases, the tilting motion of the left first link 41L and the right first link 41R is further stabilized.

[0068] In addition, the left second link 44L and the right second link 44R may also be connected by a connecting member. Alternatively, the left second link 44L and the right second link 44R may also be formed integrally. In these cases, the tilting motion of the left second link 44L and the right second link 44R is stabilized.

[0069] (Second portion 47b, toggle 50 and support sleeve 57) exist Figure 2In the described example, the telescopic tube driving mechanism 1 includes: a toggle 50 that rotates around a fulcrum 54 by being pressed by the second portion 47b of the third link 46; and a support sleeve 57 that supports the fulcrum 54 of the toggle 50. In addition, the toggle 50 includes a pressed portion 52a pressed by the second portion 47b of the third link 46, a fulcrum 54, and a point of action 56. Figure 2 In the described example, the pressed portion 52 a is constituted by a protruding portion 52 that protrudes from the end of the toggle 50 in a direction away from the first axis AX.

[0070] exist Figure 2 In the described example, the pressed portion 52 a is pressed by the second portion 47 b of the third link 46 , so that the point of action 56 presses the telescopic tube 2 in the fourth direction DR4 opposite to the first direction DR1 .

[0071] More specifically, in Figure 2 In the example described, when the driving device 31 (more specifically, the cylinder 310) moves the moving body 35 in the second direction DR2, the first link 41 connected to the moving body 35 moves the third link 46 in the first direction DR1. When the third link 46 moves in the first direction DR1, the second portion 47b of the third link 46 presses the pressed portion 52a of the toggle 50 in a direction close to the first axis AX. As a result, the pressed portion 52a moves in a direction close to the first axis AX (see Figure 3 ). If the pressed portion 52a moves in a direction close to the first axis AX, the elbow joint 50 rotates around the fulcrum 54, and the action point 56 of the elbow joint 50 moves in the fourth direction DR4 opposite to the first direction DR1. The action point 56 moving in the fourth direction DR4 presses the telescopic tube 2 in the fourth direction DR4. In this way, the telescopic tube 2 moves in the fourth direction DR4. Figure 3 In the example described, the telescopic tube 2 moving in the fourth direction DR4 overcomes the biasing force of the biasing member 67 , and moves the chuck sleeve 66 in the fourth direction DR4 . As a result, the workpiece W or other holding object is held by the spring tube 68 .

[0072] exist Fig.10 In the described example, the telescopic tube drive mechanism 1 includes three toggles 50 arranged at equal angular intervals around the first axis AX. Of course, the number of toggles 50 included in the telescopic tube drive mechanism 1 is not limited to three.

[0073] exist Fig.11In the described example, the second portion 47b of the third link 46 has a pressing surface 48b that presses the pressed portion 52a of the elbow joint 50. The pressing surface 48b may also have a first pressing surface 481b (in other words, a tapered pressing surface) whose inner diameter increases as it moves toward the first direction DR1. In addition, the pressing surface 48b may also have a second pressing surface 482b that maintains the pressed portion 52a of the elbow joint 50 in a contracted state. In addition, the contracted state refers to a state in which the pressed portion 52a is relatively close to the first axis AX, and the expanded state refers to a state in which the pressed portion 52a is relatively away from the first axis AX compared to the contracted state. Fig.11 In the example described above, the pressed portion 52a is pressed by the first pressing surface 481b moving in the first direction DR1, so that the pressed portion 52a approaches the first axis AX. As a result, the state of the pressed portion 52a changes from the expanded state (see Fig.11 . ) changes to the contracted state (refer to Fig.12 . ).

[0074] exist Fig.11 In the described example, the toggle 50 includes a first arm 51 extending along the first axis AX, a second arm 53 extending in a direction away from the first axis AX, and a connection portion 55 connecting the first arm 51 and the second arm 53 .

[0075] The first arm 51 is arranged so as to pass through a groove 58v formed in the flange 58 of the support sleeve 57. In addition, at the end of the first arm 51, a pressed portion 52a is arranged.

[0076] A fulcrum 54 is arranged at the second arm 53 . Also, a point of action 56 is arranged at the connection portion 55 .

[0077] exist Fig.11 In the described example, the support sleeve 57 supports the fulcrum 54 of the wrist joint 50 so that the wrist joint 50 can rotate about the fulcrum 54. The support sleeve 57 includes a flange 58 that supports the fulcrum 54 of the wrist joint 50 and a sleeve portion 59 that extends along the first axis AX. Fig.11 In the described example, the support sleeve 57 (more specifically, the sleeve portion 59 ) has the end portion 59 a that contacts the adjustment member 91 .

[0078] (Adjustment component 91) exist Fig.13 In the described example, the telescopic tube driving mechanism 1 includes an adjustment member 91 for adjusting the relative position of the support sleeve 57 with respect to the rotating body 6 (more specifically, the rotating shaft 61) in the direction along the first axis AX. Fig.13 In the described example, the adjustment member 91 includes a nut 91 a screwed to the end portion of the rotating body 6 (more specifically, the end portion of the rotating shaft 61 on the first direction DR1 side).

[0079] exist Fig.13 In the example described, when the adjustment member 91 moves in the fourth direction DR4, the support sleeve 57 pressed by the adjustment member 91 moves in the fourth direction DR4. When the support sleeve 57 moves in the fourth direction DR4, the entire toggle 50 pressed by the flange 58 moves in the fourth direction DR4.

[0080] exist Figure 2 In the described example, the holding force acting on the object to be held from the holding body 65 can be adjusted by adjusting the position of the support sleeve 57 in the direction along the first axis AX.

[0081] exist Figure 2 In the described example, the adjustment member 91 can adjust the relative position of the support sleeve 57 with respect to the third link 46 in the direction along the first axis AX while maintaining the position of the third link 46. After the position of the adjustment member 91 is adjusted, the degree of the holding force acting on the holding object (e.g., workpiece W) from the holding body 65 can be confirmed by moving the moving body 35 in the second direction DR2. Preferably, the moving body 35 is configured to be manually movable in the second direction DR2. In this case, the operator can quickly confirm the degree of the holding force.

[0082] (Operation lever 93) exist Fig.14 In the described example, the telescopic tube driving mechanism 1 includes an operating rod 93 for operating the movable body 35. The operating rod 93 can move the movable body 35 in the second direction DR2 and can move the movable body in a fifth direction DR5 opposite to the second direction DR2. The operating rod 93 is attachable to and detachable from both the movable body 35 and the support body 75.

[0083] exist Fig.14 In the described example, the operating lever 93 includes an operating portion 931 operated by an operator, a first engaging portion 933 engageable with the moving body 35 , and a second engaging portion 935 engageable with the supporting body 75 .

[0084] exist Fig.14 In the described example, the moving body 35 includes a first engaging protrusion 358, and the supporting body 75 includes a second engaging protrusion 758. In addition, the first engaging portion 933 of the operating lever 93 includes a first engaging groove 933v that can be engaged with the first engaging protrusion 358, and the second engaging portion 935 includes a second engaging groove 935v that can be engaged with the second engaging protrusion 758. Fig.14 In the described example, the second engagement protrusion 758 is arranged at a lower position than the first engagement protrusion 358 , and is arranged on the third direction DR3 side than the first engagement protrusion 358 .

[0085] exist Fig.14 In the example described, in a state where the first engaging portion 933 is engaged with the first engaging protrusion 358 and the second engaging portion 935 is engaged with the second engaging protrusion 758, the movable body 35 is moved in the second direction DR2 by operating the operating portion 931 in the first operating direction MR1 around the second engaging protrusion 758. In this way, the telescopic tube 2 can be moved in the first direction DR1 manually. Fig.14 In the described example, the first operating direction MR1 is the downward direction. In this case, the operator can easily apply force to the operating portion 931. In particular, when the configuration is such that a holding force is applied to a holding object such as a workpiece W by moving the telescopic tube 2 in the first direction DR1, it is necessary to apply a relatively large force to the operating portion 931. When the first operating direction MR1 is the downward direction, the operator can easily apply a relatively large force to the operating portion 931.

[0086] exist Fig.15 In the example described, in a state where the first engaging portion 933 is engaged with the first engaging protrusion 358 and the second engaging portion 935 is engaged with the second engaging protrusion 758, the operating portion 931 is operated in the second operating direction MR2 opposite to the first operating direction MR1 around the second engaging protrusion 758, so that the movable body 35 moves in the fifth direction DR5. In this way, the telescopic tube 2 can be manually moved in the fourth direction DR4. Fig.15 In the described example, the second operating direction MR2 is the upward direction.

[0087] (Telescopic tube 2) The telescopic tube 2 can move in a first direction DR1 and can move in a fourth direction DR4 opposite to the first direction DR1. Figure 1 In the described example, the telescopic tube 2 is arranged inside the rotating body 6 (more specifically, the rotating shaft 61). In addition, the telescopic tube 2 is coaxial with the rotating body 6 (more specifically, the rotating shaft 61).

[0088] exist Figure 1 In the example described, the front end portion 2a and the rear end portion 2b of the telescopic tube 2 are respectively arranged inside the rotating body 6 (more specifically, the rotating shaft 61). In addition, a portion of the telescopic tube 2 is surrounded by a plurality of wrists 50.

[0089] exist Figure 1 In the described example, if the telescopic tube 2 is pressed in the fourth direction DR4 by the action point 56 of the toggle 50, the telescopic tube 2 moves in the fourth direction DR4. Figure 3 In the described example, when the action point 56 of the toggle 50 moves in the first direction DR1 , the telescopic tube 2 moves in the first direction DR1 by the urging force of the urging member 67 .

[0090] like Figure 1 As illustrated, the telescopic tube 2 may include the flange 21 pressed in the fourth direction DR4 by the point of action 56. In addition, the telescopic tube 2 may include a pressing surface 2s for pressing the holding body 65 (eg, the chuck sleeve 66).

[0091] (rotating body 6) exist Figure 2 In the example described, the rotating body 6 of the spindle unit 10 is driven by a rotation drive device 77 (if necessary, refer to Figure 7 . )'s driving force causes the support body 75 to rotate relative to the first axis AX.

[0092] The rotating body 6 may include a rotating shaft 61 that rotates around the first axis AX by the rotation drive device 77 and a holding body 65 that is disposed inside the rotating shaft 61. The rotating shaft 61 extends along the first axis AX. The holding body 65 holds a holding object such as a workpiece W.

[0093] The holding body 65 converts the pressing force received from the telescopic tube 2 (more specifically, the pressing surface 2 s of the telescopic tube 2 ) into a holding force for holding an object such as a workpiece W.

[0094] exist Figure 1 In the example described, the holding body 65 is a collet chuck. The holding body 65 includes a collet sleeve 66 and a collet 68. In addition, the holding body 65 may also include a force applying member 67.

[0095] The chuck sleeve 66 is pressed in the fourth direction DR4 by the telescopic tube 2. The spring tube 68 is arranged inside the chuck sleeve 66. The spring tube 68 has a holding surface 68s for holding an object (for example, a workpiece W).

[0096] exist Figure 1 In the described example, when the collet sleeve 66 is pressed in the fourth direction DR4 by the telescopic tube 2, the collet sleeve 66 moves in the fourth direction DR4. The inner surface of the collet sleeve 66 has a first inclined surface 66c, and the first inclined surface 66c approaches the first axis AX as it moves toward the first direction DR1, and the outer surface of the spring tube 68 has a second inclined surface 68c, and the second inclined surface 68c approaches the first axis AX as it moves toward the first direction DR1. Therefore, when the collet sleeve 66 moves in the fourth direction DR4, the first inclined surface 66c of the collet sleeve 66 presses the second inclined surface 68c of the spring tube 68 in the direction toward the first axis AX. In this way, the collet sleeve 66 holds the holding object such as the workpiece W arranged inside the spring tube 68 through the spring tube 68.

[0097] exist Figure 1 In the described example, the rotating body 6 (more specifically, the holding body 65 of the rotating body 6) has a biasing member 67. The biasing member 67 biases the chuck sleeve 66 in the first direction DR1. The biasing member 67 is, for example, a spring member. Figure 1 In the described example, the urging member 67 is disposed between the spring tube 68 and the chuck sleeve 66 .

[0098] exist Figure 3 In the described example, when the driving device 31 (more specifically, the cylinder 310) moves the moving body 35 in the fifth direction DR5 opposite to the second direction DR2, the first link 41 connected to the moving body 35 moves the third link 46 in the fourth direction DR4 opposite to the first direction DR1. When the third link 46 moves in the fourth direction DR4, the pressing surface 48b of the second portion 47b of the third link 46 moves in the direction away from the pressed portion 52a of the toggle 50, and the pressed portion 52a moves in the direction away from the first axis AX. When the pressed portion 52a moves in the direction away from the first axis AX, the toggle 50 rotates around the fulcrum 54, and the point of action 56 of the toggle 50 moves in the first direction DR1. When the point of action 56 of the toggle 50 moves in the first direction DR1, the chuck sleeve 66 and the telescopic tube 2 move in the first direction DR1 by the urging force of the urging member 67. In this way, the holding force of the spring tube 68 on the held object such as the workpiece W is released.

[0099] (First Modification of the Holding Body 65) exist Fig.16 In the example described, the holding body 65 is a hydraulic chuck and includes a first diaphragm 691 for applying holding force to a held object (eg, workpiece W), a space 692 filled with liquid, and a pressed portion 695. The pressed portion 695 may be a second diaphragm 695a or a piston.

[0100] exist Fig.16 In the described example, when the drive device 31 moves the movable body 35 in the second direction DR2, the third link 46 transmits the force received from the movable body 35 via the first link 41 to the telescopic tube 2. As a result, the telescopic tube 2 moves in the fourth direction DR4.

[0101] More specifically, when the driving device 31 (e.g., the cylinder 310) moves the moving body 35 in the second direction DR2, the first link 41 connected to the moving body 35 moves the third link 46 in the first direction DR1. When the third link 46 moves in the first direction DR1, the pressing surface 48b of the third link 46 presses the pressed portion 52a of the toggle 50 in a direction close to the first axis AX. As a result, the pressed portion 52a moves in a direction close to the first axis AX (see FIG. 2 ). Fig.17). If the pressed portion 52a moves in a direction close to the first axis AX, the toggle 50 rotates around the fulcrum 54, and the action point 56 of the toggle 50 moves in the fourth direction DR4. The action point 56 moving in the fourth direction DR4 presses the telescopic tube 2 in the fourth direction DR4. In this way, the telescopic tube 2 moves in the fourth direction DR4.

[0102] The telescopic tube 2 moving in the fourth direction DR4 presses the pressed portion 695 (for example, the second diaphragm 695a). When the pressed portion 695 (for example, the second diaphragm 695a) is pressed by the telescopic tube 2, the pressure in the space 692 increases. As a result, the first diaphragm 691 expands toward the object to be held, and the first diaphragm 691 holds the object to be held.

[0103] exist Fig.17 In the described example, if the driving device 31 (more specifically, the cylinder 310) moves the moving body 35 in the fifth direction DR5 opposite to the second direction DR2, the first link 41 connected to the moving body 35 moves the third link 46 in the fourth direction DR4 opposite to the first direction DR1. If the third link 46 moves in the fourth direction DR4, the pressing surface 48b of the third link 46 moves in the direction away from the pressed portion 52a of the elbow 50, and the pressed portion 52a moves in the direction away from the first axis AX. If the pressed portion 52a moves in the direction away from the first axis AX, the elbow 50 rotates around the fulcrum 54, and the point of action 56 of the elbow 50 moves in the first direction DR1. If the point of action 56 of the elbow 50 moves in the first direction DR1, the shape of the first diaphragm 691 returns to its original shape. As a result, the first diaphragm 691 releases the holding of the object.

[0104] (Moving direction of telescopic tube 2) exist Figure 2 or Fig.16 In the described example, when the third link 46 moves in the first direction DR1, the pressed portion 52a of the toggle 50 is pressed by the pressing surface 48b of the third link 46. In addition, due to the pressed portion 52a being pressed by the pressing surface 48b, the action point 56 of the toggle 50 presses the telescopic tube 2 in the fourth direction DR4. As a result, the telescopic tube 2 moves in the fourth direction DR4.

[0105] Instead, if Fig.18 As illustrated, the telescopic tube 2 may be configured to move in the first direction DR1 when the third link 46 moves in the first direction DR1. Fig.18In the described example, when the third link 46 moves in the first direction DR1, the pressed portion 52a of the toggle 50 is pressed by the pressing surface 48b of the third link 46. In addition, the point of action 56 of the toggle 50 presses the telescopic tube 2 in the first direction DR1 in accordance with the pressing of the pressed portion 52a by the pressing surface 48b. As a result, the telescopic tube 2 moves in the first direction DR1. In addition, the holding body 65 holds the holding object (for example, the workpiece W) by the movement of the telescopic tube 2 in the first direction DR1. More specifically, the spring tube 68 holds the holding object (for example, the workpiece W) by the movement of the telescopic tube 2 and the spring tube 68 in the first direction DR1.

[0106] exist Figure 2 , Fig.16 and Fig.18 In the example described, the third link 46 transmits force to the telescopic tube 2 via the toggle 50. Alternatively, Fig.19 As illustrated, the toggle 50 may also be omitted.

[0107] exist Figure 2 , Fig.16 , Fig.18 and Fig.19 In the described example, the object held by the holder 65 is the workpiece W as a processing object. Alternatively, the object held by the holder 65 may be a tool (for example, a tool for processing the workpiece or a measuring tool for measuring an arbitrary physical quantity).

[0108] (Second Embodiment) Reference Figures 1 to 22 , a machine tool 100 according to a second embodiment will be described. Fig. 20 It is a schematic front view schematically showing a machine tool 100 according to the second embodiment. Fig.21 It is a schematic side view schematically showing a machine tool 100 according to the second embodiment. Fig. 22 It is a schematic plan view schematically showing a machine tool 100 according to a modified example of the second embodiment.

[0109] In the second embodiment, the description is centered on the differences from the first embodiment. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment are omitted. Therefore, in the second embodiment, even if not explicitly described, matters already described in the first embodiment can of course be applied to the second embodiment.

[0110] like Fig. 20As illustrated, the machine tool 100 of the second embodiment includes: a workpiece holding device 10A; a machining head 102 that holds a tool 101; and a machining head driving device 104 that moves the machining head 102. The machining head driving device 104 can move the machining head 102 in a direction approaching the first axis AX (or in a direction away from the first axis AX). The machining head driving device 104 can also be a device that can move the machining head 102 three-dimensionally.

[0111] The workpiece holding device 10A includes: (1) a rotating shaft 61 that holds the workpiece W; (2) a support body 75 that supports the rotating shaft 61 so as to be rotatable about a first axis AX; and (3) a rotation drive device 77 that rotates the rotating shaft 61 about the first axis AX.

[0112] In addition, if Fig. 20 As shown in the example, the workpiece holding device 10A comprises: (4) a telescopic tube 2, which can be moved in a first direction DR1 substantially parallel to the first axis AX relative to the support body 75; (5) a driving device 31, which enables the movable body 35 to move in a second direction DR2 substantially perpendicular to the first direction DR1; (6) a first pin P1; (7) a second pin P2; (8) a third pin P3; (9) a fourth pin P4; (10) a first link 41, which is connected to the movable body 35 by means of the first pin P1; (11) a second link 44, which is connected to the first link 41 by means of the second pin P2, and is connected to the support body 75 by means of the fourth pin P4; (12) a third link 46, which is connected to the first link 41 by means of the third pin P3, and transmits the force received from the movable body 35 via the first link 41 to the telescopic tube 2. (13) The first pin P1, the second pin P2, the third pin P3 and the fourth pin P4 extend along a third direction DR3 substantially perpendicular to both the first direction DR1 and the second direction DR2. (14) When viewed in the direction along the third direction DR3, the first pin P1, the second pin P2 and the third pin P3 are substantially arranged on a straight line. Figure 4 As illustrated, (15) the distance L1 between the first pin P1 and the second pin P2 and the distance L2 between the second pin P2 and the third pin P3 are substantially equal to the distance L3 between the second pin P2 and the fourth pin P4.

[0113] The rotating shaft 61, the supporting body 75, the rotating driving device 77, the telescopic tube 2, the driving device 31, the first pin P1, the second pin P2, the third pin P3, the fourth pin P4, the first link 41, the second link 44, and the third link 46 have already been described in the first embodiment. Therefore, repeated description of their structures will be omitted.

[0114] The machine tool 100 according to the second embodiment achieves the same effects as the telescopic tube driving mechanism 1 according to the first embodiment.

[0115] (Optional additional structure) Next, refer to Figures 1 to 22 , an optional additional structure that can be adopted in the machine tool 100 of the second embodiment is described.

[0116] (Support body moving device 80) exist Fig. 20 In the described example, the machine tool 100 includes a support moving device 80 . The support moving device 80 moves the support 75 in a direction parallel to the horizontal plane. The support moving device 80 may include a guide rail 81 for guiding the support 75 and a motor 82 for moving the support 75 along the guide rail 81 .

[0117] (Base 105 and Cover 107) exist Fig. 20 In the described example, the machine tool 100 includes a base 105 and a multi-stage cover 107 (more specifically, a telescopic cover) that is telescopic with the movement of the support body 75. The base 105 supports the support body 75 via the guide rail 81. The cover 107 prevents chips, dust, etc. generated from the workpiece W from entering between the base 105 supporting the support body 75 and the support body 75. The first end 107a of the cover 107 is connected to the base 105 supporting the support body 75, for example, and the second end 107b of the cover 107 is connected to the support body 75, for example.

[0118] exist Fig. 20 and Fig.21 In the described example, the cover 107 is arranged vertically below the third link 46, and the drive device 31 is arranged above the third link 46. Therefore, there is no interference between the drive device 31 and the cover 107. In addition, since the drive device 31 is arranged above the third link 46, it is easy to ensure a space for arranging the cover 107. In other words, the cover 107 can be arranged using the space below the third link 46.

[0119] exist Fig. 20 In the example described, the drive device 31, the rotating shaft 61 and the cover 107 are arranged on a straight line in front view. Fig.21 In the described example, the drive device 31 , the rotating shaft 61 , the telescopic tube 2 , and the cover 107 are arranged on a straight line in a side view.

[0120] (Second cover 108) like Fig. 20 As illustrated, the machine tool 100 may include a second cover 108 that covers at least a portion of the support body 75 and the entire drive device 31 .

[0121] (Gate 109) exist Fig. 22In the described example, the machine tool 100 has a door 109 that allows the operator OP to access the workpiece holding device 10A. Fig. 22 In the described example, the operator OP can easily access the workpiece holding device 10A through the door 109 .

[0122] More specifically, in Fig.21 In the described example, since the entire drive device 31 (more specifically, the entire cylinder 310 ) is disposed between the first plane PL1 and the second plane PL2 , the workpiece holding device 10A can be disposed close to the door 109 . As a result, the operator OP can easily access the workpiece holding device 10A through the door 109 .

[0123] exist Fig. 22 In the described example, the machine tool 100 includes a second workpiece holding device 10B in addition to the workpiece holding device 10A. The second workpiece holding device 10B is disposed at a position farther from the door 109 than the workpiece holding device 10A.

[0124] The second workpiece holding device 10B has the same structure as the workpiece holding device 10A. For example, the second workpiece holding device 10B includes: (1) a second rotating shaft 61B for holding the second workpiece; (2) a second support body 75B for supporting the second rotating shaft 61B so as to be rotatable about a second axis AX2 parallel to the first axis AX; (3) a second rotation drive device 77B for rotating the second rotating shaft 61B about the second axis AX2; (4) a second telescopic tube 2B for being movable in a first direction DR1 relative to the second support body 75B; and (5) a second drive device 31B (more specifically, a second cylinder 310B) for transmitting force to the second telescopic tube 2B by moving the second movable body 35B in the second direction DR2 via a plurality of connecting rods 4B.

[0125] In this specification, a vertical plane passing through the edge of the second support body 75B on the third direction DR3 side and parallel to the second axis AX2 is defined as a third plane PL3, and a vertical plane passing through the edge of the second support body 75B on the sixth direction DR6 side and parallel to the second axis AX2 is defined as a fourth plane PL4. Fig. 22 In the described example, the entire second drive device 31B (more specifically, the entire second cylinder 310B) is disposed between the third plane PL3 and the fourth plane PL4. Therefore, the size of the second workpiece holding device 10B along the third direction DR3 is compact. Therefore, the distance between the second workpiece holding device 10B and the door 109 is not too large. Therefore, the operator OP can easily approach the second workpiece holding device 10B through the door 109.

[0126] The present invention is not limited to the above-mentioned embodiments or variations. Obviously, the embodiments or variations can be appropriately modified or changed within the scope of the technical concept of the present invention. In addition, the various technologies used in the embodiments or variations can also be applied to other embodiments or other variations as long as no technical contradictions occur. Moreover, any additional structure in the embodiments or variations can be appropriately omitted. Description of Reference Numerals

[0127] 1 telescopic tube drive mechanism, 2 telescopic tube, 2B second telescopic tube, 2a front end portion of the telescopic tube, 2b rear end portion of the telescopic tube, 2s pressing surface, 4B connecting rod, 6 rotating body, 10 spindle unit, 10A workpiece holding device, 10B second workpiece holding device, 13 bearing, 21 flange, 31 driving device, 31B second driving device, 35 moving body, 35B second moving body, 35L left arm, 35M central portion of the second moving body, 35R right arm, 36 piston, 41 first connecting rod, 41L left first connecting rod, 41R right first connecting rod, 44 second connecting rod, 44L left second connecting rod, 44R right second connecting rod, 46 third connecting rod, 47a first portion of the third connecting rod, 47b second portion of the third connecting rod points, 47c bearing, 48b pressing surface, 49L left connecting part, 49M central part of the third link, 49R right connecting part, 49h through hole part, 50 elbow joint, 51 first arm, 52 protruding part, 52a pressed part, 53 second arm, 54 fulcrum, 55 connecting part, 56 action point, 57 supporting sleeve, 58 flange, 58v groove, 59 sleeve part, 59a end part of supporting sleeve, 61 rotating shaft, 61B second rotating shaft, 65 holding body, 66 chuck sleeve, 66c first inclined surface, 67 force applying member, 68 spring tube, 68c second inclined surface, 68s holding surface, 75 supporting body, 75B second supporting body, 77 rotating drive device, 77B second rotating drive device, 77a stator, 77 b rotor, 80 support body moving device, 81 guide rail, 82 motor, 91 adjustment component, 91a nut, 93 operating rod, 100 machine tool, 101 tool, 102 machining head, 104 machining head driving device, 105 base, 107 cover, 107a first end of the cover, 107b second end of the cover, 108 second cover, 109 door, 310 cylinder, 310B second cylinder, 311 cylinder chamber, 358 first engaging protrusion, 361 piston body, 363 connecting body, 411, 411L, 411R first end of the first connecting rod, 412, 412L, 412L second end of the first connecting rod, 441, 441L, 441R first end of the second connecting rod, 442, 442L, 442R second The second end of the connecting rod, 481b the first pressing surface, 482b the second pressing surface, 691 the first diaphragm, 692 the space filled with liquid, 695 the pressed portion, 695a the second diaphragm, 758 the second engaging protrusion, 931 the operating portion, 933 the first engaging portion, 933v the first engaging groove, 935 the second engaging portion, 935v the second engaging groove, AX the first axis, AX2 the second axis, OP the operator, P1 the first pin, P1-L the first pin on the left side, P1-R the first pin on the right side, P2 the second pin, P2-L the second pin on the left side, P2-R the second pin on the right side, P3 the third pin, P3-L the third pin on the left side, P3-R the third pin on the right side, P4 the fourth pin, P4-L the fourth pin on the left side, P4-R the fourth pin on the right side, W the workpiece.

Claims

1. A telescopic tube driving mechanism, comprising: The telescopic tube is movable in a first direction substantially parallel to the first axis relative to a support body that supports the rotating body so as to be rotatable about the first axis; a driving device for moving the moving body in a second direction substantially perpendicular to the first direction; First pin; Second pin; Third pin; Fourth pin; a first connecting rod connected to the moving body via the first pin; a second connecting rod connected to the first connecting rod via the second pin and connected to the supporting body via the fourth pin; as well as The third link is connected to the first link by means of the third pin, and transmits the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin and the fourth pin extend respectively along a third direction substantially perpendicular to both the first direction and the second direction. When viewed in the direction along the third direction, the first pin, the second pin and the third pin are substantially arranged on a straight line, A distance between the first pin and the second pin and a distance between the second pin and the third pin are respectively substantially equal to a distance between the second pin and the fourth pin.

2. The telescopic tube driving mechanism according to claim 1, wherein: The third connecting rod has: a first portion connected to the first connecting rod by means of the third pin; A second part, supported by the first part so as to be rotatable around the first axis and to rotate together with the rotating body; as well as a bearing disposed between the first portion and the second portion, The telescopic tube rotates together with the rotating body about the first axis, and is relatively movable with respect to the rotating body in a direction parallel to the first axis.

3. The telescopic tube driving mechanism according to claim 2, wherein: Also comprising a toggle, the toggle being rotated about a fulcrum by being pressed by the second part, The toggle has: a pressed portion, pressed by the second portion; the fulcrum; as well as The action point presses the telescopic tube in the first direction or in a fourth direction opposite to the first direction according to the pressed portion being pressed.

4. The telescopic tube driving mechanism according to any one of claims 1 to 3, wherein: The first connecting rod comprises: a left first link, arranged on the left side of the first axis in a plan view and viewed in a direction along the first direction; and The right first link is arranged on the right side of the first axis in a plan view and along the first direction. The left first link and the right first link are connected via the third link.

5. The telescopic tube driving mechanism according to claim 4, wherein: The third connecting rod has: A left connecting portion connected to the left first connecting rod; a right connecting portion connected to the right first connecting rod; and The central portion is arranged between the left connecting portion and the right connecting portion, A through hole portion through which the telescopic tube passes is formed in the central portion.

6. The telescopic tube driving mechanism according to any one of claims 1 to 5, wherein: The driving device is arranged at a higher position than the telescopic tube. The second direction is substantially parallel to the vertical direction.

7. The telescopic tube driving mechanism according to any one of claims 1 to 6, wherein: It also includes an operating rod, which moves the moving body in the second direction. The operating rod is attachable to and detachable from both the moving body and the supporting body.

8. A spindle unit, comprising: A rotating body for holding an object; A support body, supporting the rotating body so as to be rotatable around a first axis; A rotation driving device, causing the rotating body to rotate around the first axis; a telescopic tube, movable relative to the support body in a first direction substantially parallel to the first axis; a driving device for moving the moving body in a second direction substantially perpendicular to the first direction; First pin; Second pin; Third pin; Fourth pin; a first connecting rod connected to the moving body via the first pin; a second connecting rod connected to the first connecting rod via the second pin and connected to the supporting body via the fourth pin; as well as The third link is connected to the first link by means of the third pin, and transmits the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin and the fourth pin extend respectively along a third direction substantially perpendicular to both the first direction and the second direction. When viewed in the direction along the third direction, the first pin, the second pin and the third pin are substantially arranged on a straight line, A distance between the first pin and the second pin and a distance between the second pin and the third pin are respectively substantially equal to a distance between the second pin and the fourth pin.

9. The spindle unit according to claim 8, wherein: The rotating body has: Axis of rotation; and a holding body, arranged inside the rotating shaft, holding the holding object, The holding body converts the pressing force received from the telescopic tube into a holding force for holding the object to be held.

10. The spindle unit according to claim 9, wherein: The holding body comprises a collet chuck or a hydraulic chuck.

11. The spindle unit according to claim 9 or 10, wherein: When the direction opposite to the third direction is defined as the sixth direction, the vertical plane passing through the edge of the support body on the third direction side and parallel to the first axis is defined as the first plane, and the vertical plane passing through the edge of the support body on the sixth direction side and parallel to the first axis is defined as the second plane, the driving device is configured as a whole between the first plane and the second plane.

12. A machine tool comprising: Workpiece holding device; Machining head, holding the tool; as well as A processing head driving device moves the processing head. The workpiece holding device comprises: Rotating axis, holding the workpiece; A support body, supporting the rotating shaft so as to be rotatable around a first axis; A rotation drive device, causing the rotation shaft to rotate around the first axis; a telescopic tube, movable relative to the support body in a first direction substantially parallel to the first axis; a driving device for moving the moving body in a second direction substantially perpendicular to the first direction; First pin; Second pin; Third pin; Fourth pin; a first connecting rod connected to the moving body via the first pin; a second connecting rod connected to the first connecting rod via the second pin and connected to the supporting body via the fourth pin; and The third link is connected to the first link by means of the third pin, and transmits the force received from the moving body via the first link to the telescopic tube. The first pin, the second pin, the third pin and the fourth pin extend respectively along a third direction substantially perpendicular to both the first direction and the second direction. When viewed in the direction along the third direction, the first pin, the second pin and the third pin are substantially arranged on a straight line, A distance between the first pin and the second pin and a distance between the second pin and the third pin are respectively substantially equal to a distance between the second pin and the fourth pin.

13. The machine tool according to claim 12, further comprising: A support moving device, which moves the support; A base supporting the support body; as well as The cover is extended and retracted along with the movement of the support body, The cover is arranged vertically below the third link. The driving device is arranged above the third link.

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