Rotation control device for oscillator and machine tool using same

Abstract

A rotation control device (100) for an oscillator (C) that controls the rotation angle of the oscillator (C) about a first rotation axis (A), the oscillator supporting a table (T) on which a workpiece is attached, the rotation control device (100) being provided with: a rotation shaft (1) that extends along the first rotation axis (A) and has an attachment end (11) on which the oscillator (C) is attached; a rotary motor (2) including a rotor (21) fixed to a side surface portion of the rotary shaft (1) and a stator (22) disposed on an outer side of the rotor so as to be coaxial with the rotor (21); and a first brake mechanism (3) that is provided on the mounting end (11) side with respect to the rotating shaft (1), and that acts on the mounting end (11) side in the rotating shaft (1).

Description

Technical Field

[0001] The present invention relates to a rotation control device for a swinger that controls the rotation angle of the swinger supporting a worktable for workpiece assembly about a first rotation axis. Background Art

[0002] For example, in order to reduce the number of changeover adjustments or perform more flexible machining, a five-axis machining center has been proposed in which the drive mechanism has not only three linear axes but also two rotation axes. As shown in Patent Document 1, for example, a five-axis machining center includes: a spindle head configured to be movable along three linear axes in the X direction, Y direction, and Z direction; a rotary table on which a workpiece is assembled and capable of rotating about the C axis; a swinger that supports the rotary table; and a rotation control device for the swinger that rotates the swinger about the A axis and controls its rotation angle to a specified angle.

[0003] The swinger includes: a flat support portion on which the rotary table is provided; and a pair of flat connection portions erected parallel to each other from both ends of the support portion. Further, at least one of the connection portions is fixed to an end portion of the rotation axis of the rotation control device of the swinger.

[0004] The rotation control device for the swinger drives the rotation axis by a direct drive motor and is configured to perform: indexing to maintain a state in which the rotation angle of the swinger is fixed to a specified angle; and synchronous control to change the rotation angle of the swinger in synchronization with the movement of the spindle head.

[0005] In the case of indexing the rotation angle of the swinger, for example, the rotation of the rotation axis is fixed by a braking mechanism provided at an end portion of the rotation axis on the side opposite to the side connected to the swinger. The braking mechanism includes, for example: a brake disc provided at the end portion of the rotation axis so as to expand outward in the radial direction; and a hydraulically driven piston that presses the brake disc against a specified pressing surface to exert a braking force.

[0006] However, if the rotation axis is fixed by such a braking mechanism and machining is performed under severe machining conditions such as heavy cutting in a state where the rotation angle of the swinger is indexed, the swinger may vibrate and it may be difficult to achieve the required machining accuracy.

[0007] Prior Art Documents

[0008] Patent Documents

[0009] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022 - 025174 Summary of the Invention

[0010] Problems to be Solved by the Invention

[0011] The present invention has been completed in view of the above problems, and an object thereof is to provide a rotational control device for a swinger that can make the swinger less likely to vibrate during cutting when the swinger is indexed to a specified angle.

[0012] Means for Solving the Problem

[0013] That is, the rotational control device for a swinger of the present invention controls the rotational angle of a swinger that supports a worktable on which a workpiece is mounted about a first rotation axis, and is characterized by including: a rotating shaft that extends along the first rotation axis and has a mounting end for mounting the swinger; a rotating motor that has a rotor fixed to a side surface portion of the rotating shaft and a stator disposed outside the rotor coaxially with the rotor; and a first braking mechanism that is provided on the mounting end side with reference to the rotating shaft and acts on the mounting end side in the rotating shaft.

[0014] If it is such a device, since the first braking mechanism is configured to act on the mounting end side for mounting the swinger in the rotating shaft, the distance from the workpiece that generates a cutting load to the first brake can be shortened, and compared with the case where a brake acts at a position far from the workpiece as in the past, the torsional rigidity of the entire rotational control device for the swinger can be improved. Therefore, even in the case of, for example, heavy cutting, the first braking mechanism can suppress vibration of the swinger or the workpiece, and can improve machining accuracy and machining efficiency.

[0015] As an arrangement of the first braking mechanism suitable for improving the overall torsional rigidity, at least a part of the first braking mechanism is provided on the mounting end side with respect to the stator.

[0016] In order to maintain the state in which the rotational angle of the swinger is indexed to a desired angle and be able to perform cutting in a state where high torsional rigidity is achieved, the first braking mechanism may be configured to act in a state where the swinger is indexed to a specified angle.

[0017] In order to exert a large braking force while compactly configuring the first braking mechanism and easily improve torsional rigidity, the first braking mechanism may include: a brake shoe that contacts / separates from a side surface portion of the rotating shaft; and a first hydraulic chamber that is formed outside the brake shoe and is supplied with hydraulic pressure that deforms the brake shoe toward the side surface portion of the rotating shaft.

[0018] In order to increase as much as possible the area where the brake shoe acts on the rotating shaft within a limited space and easily exert a braking force, at least a part of the brake shoe may be provided between the side surface portion of the rotating shaft and the stator.

[0019] In order to increase the braking torque by extending the distance from the first rotation axis to the point where the braking force of the first braking mechanism acts, it is possible that in the side surface portion of the rotating shaft, the outer dimension of the portion opposed to the first braking mechanism is formed larger than the outer dimension of the portion where the rotor is fixed.

[0020] In order to improve the bending rigidity of the entire swinger and the rotation control device, it is possible that there is also provided: a first bearing provided on the assembly end side with respect to the rotating shaft and rotatably supporting the rotating shaft, and the first braking mechanism is provided on the inner side of the first bearing when viewed along the first rotation axis. In addition, if such a configuration is adopted, the first bearing is provided closer to the swinger side than the first braking mechanism. Therefore, in the event of a failure of the first bearing, replacement operations and the like are easy to perform, and maintainability can also be made good.

[0021] In order to compactly configure the rotation control device itself of the swinger and increase the portion where the brake acts to further improve the braking force, it is possible that there is also provided: a second braking mechanism provided on the opposite end side opposite to the assembly end with respect to the rotating shaft and acting on the opposite end side in the rotating shaft.

[0022] In order to prevent vibration from occurring even during cutting with a higher machining load, it is possible that the second braking mechanism is configured to act further in a state where the first brake acts.

[0023] In order to increase the distance from the first rotation axis to the point where the braking force of the second braking mechanism acts as much as possible and easily increase the braking torque, it is possible that the second braking mechanism includes: a brake disc assembled to the opposite end of the rotating shaft and having a substantially annular or disc shape that expands toward the outside of the rotating shaft; a piston that contacts and separates from the panel portion of the brake disc; and a second hydraulic chamber that is supplied with hydraulic pressure for switching between an acting state and a released state by moving the piston, where the acting state is a state where the piston sandwiches the brake disc between it and a specified pressing surface, and the released state is a state where the piston separates from the brake disc.

[0024] In order to support the rotating shaft at two points together with the first bearing, improve the bending rigidity of the entire swinger, and reduce the overall outer dimension in the first axis direction even when the second braking mechanism is provided, it is possible that there is also provided: a second bearing provided on the opposite end side with respect to the rotating shaft and rotatably supporting the rotating shaft, and at least a part of the second braking mechanism is arranged and configured radially outside the second bearing.

[0025] In order to facilitate the power supply to the coil in the rotation control device of the swinger and quickly dissipate the heat generated by the coil, it is possible that the rotor is a permanent magnet, the stator is a coil, and a refrigerant supply space supplied with refrigerant is formed outside the stator in the radial direction.

[0026] The working device of the present invention is a machine tool, which includes: the swinger; the rotation control devices of a pair of the swingers; and a spindle that can be moved. It is characterized in that the swinger includes: a support portion that supports a worktable; and a pair of connection portions that connect between the support portion and the rotation control device of the swinger. For each of the connection portions, one rotation control device of the swinger is assembled respectively. If such a configuration is adopted, the first braking mechanism can be respectively arranged near each of the pair of connection portions of the swinger, so that the torsional rigidity of the swinger can be further improved. Therefore, if it is such a machine tool, even machining with a high machining load such as heavy cutting can be appropriately performed.

[0027] If the worktable is configured to be rotatable about a second axis extending in a direction different from the first rotation axis, the workpiece fixed to the worktable can further take various postures, the machining flexibility can be improved, and the number of changeover adjustments can be reduced. In addition, if an engaging structure is formed between the rotating shaft and the fitting end portion connected to the connection portion of the swinger, and the swinger is fixed to the fitting end portion through the engaging structure, it is easy to firmly fix the swinger to the rotating shaft, and the torsional rigidity can be easily improved.

[0028] Advantages of the Invention

[0029] If it is the rotation control device of the swinger of the present invention like this, the first braking mechanism is configured to act on the fitting end portion side of the swinger assembled in the rotating shaft, so that the distance from the workpiece generating the cutting load to the first brake can be shortened, and the overall torsional rigidity can be improved compared with the prior art. Therefore, even when heavy cutting is performed on the workpiece, it is not easy to generate phenomena such as vibration that deteriorate the machining accuracy. Brief Description of the Drawings

[0030] Figure 1 It is a schematic perspective view showing the rotation control device of the swinger of the first embodiment of the present invention and the machine tool using the device.

[0031] Figure 2 It is a schematic view showing the state in which the rotation control device of the swinger, the swinger, and the rotary worktable of the first embodiment are connected.

[0032] Figure 3This is a schematic diagram showing the state before connection of the rotation control device, the wobbler, and the rotary table of the wobbler according to the first embodiment.

[0033] Figure 4 This is a schematic cross-sectional view showing the internal structure of the rotation control device of the wobbler according to the first embodiment.

[0034] Figure 5 This is a schematic enlarged cross-sectional view of the first braking mechanism of the wobbler according to the first embodiment.

[0035] Figure 6 This is a schematic enlarged cross-sectional view of the second braking mechanism of the wobbler according to the first embodiment.

[0036] Figure 7 This is a schematic diagram showing the state before connection of the rotation control device, the wobbler, and the rotary table of the wobbler according to the second embodiment. Detailed Embodiment

[0037] Hereinafter, with reference to Figures 1 to 5 the rotation control device 100 of the wobbler C according to the first embodiment of the present invention and the machine tool 200 using this device will be described.

[0038] As Figure 1 shown, the machine tool 200 according to the first embodiment is a five-axis machining center, which is configured such that a workpiece and a tool can move relative to three orthogonal axes in the X-axis direction, the Y-axis direction, and the Z-axis direction, and the posture of the workpiece can be changed by rotating around the A-axis as the first rotation axis A and the B-axis as the second rotation axis B, respectively.

[0039] The machine tool 200 is configured as a horizontal machining center with the tool facing the horizontal direction. In addition, the direction in which the tool faces is defined as the Z-axis, the moving direction of the tool orthogonal to the Z-axis in the horizontal direction is defined as the X-axis, and the moving direction of the tool orthogonal to the Z-axis in the vertical direction is defined as the Y-axis. In addition, the first rotation axis A having an axis parallel to the X-axis in the initial state is defined as the A-axis, and the second rotation axis B having an axis parallel to the Y-axis is defined as the B-axis.

[0040] To briefly explain each mechanism, the machine tool 200 according to the first embodiment includes a bed BS extending in the Z-axis direction and a column CL erected in the Y-axis direction on the bed BS.

[0041] A pair of guide surfaces extending in the Z-axis direction are formed on the bed BS, and a first saddle SD1 for moving the workpiece in the Z-axis direction is provided on the guide surfaces. The first saddle SD1 is controlled by a Z-axis direction drive mechanism (not shown) including a ball screw, a servo motor, etc. to be in a specified position in the Z-axis direction with respect to the workpiece. An AB-axis unit 101 for rotating the workpiece about the A-axis and the B-axis is mounted on the first saddle SD1. The AB-axis unit 101 includes: a worktable T for fixing the workpiece and configured to be rotatable about the B-axis; a swinger C for supporting the worktable T; and a pair of rotation control devices 100 for rotating the swinger C about the A-axis and controlling its rotation angle.

[0042] A pair of guide surfaces extending in the X-axis direction are formed on the side surface of the column CL, and a second saddle SD2 is provided on the guide surfaces. The second saddle SD2 is controlled by an X-axis direction drive function (not shown) including a ball screw, a servo motor, etc. to be in a specified position in the X-axis direction. The second saddle SD2 includes a Y-axis direction drive mechanism for driving a spindle head MS to which a tool is mounted in the Z-axis direction in the Y-axis direction and controlling it to a specified position.

[0043] Next, with reference to Figure 1 and Figure 2 , details of the AB-axis unit 101 will be described. The worktable T includes a B-axis rotation mechanism T1 provided on the swinger C side and a worktable plate T2 provided on the upper side of the B-axis rotation mechanism T1 and having a substantially quadrilateral plate shape. The workpiece is fixed to the worktable plate T2 using a specified jig or the like.

[0044] The swinger C for supporting the worktable T is a cradle-shaped member that is substantially U-shaped in side view, and includes a flat support portion C1 for supporting the worktable T and a pair of connecting portions C2 erected from both end portions of the support portion C1. As shown in Figure 2 , the connecting portion C2 is fixed to a rotation shaft 1 of a rotation control device 100 described later by a bolt BL, for example, and the posture of the swinger C is changed about the A-axis by rotating through the rotation shaft 1. It should be noted that in Figure 2 , the AB-axis unit 101 has a substantially left-right symmetric structure, and only the left half side is shown schematically for easy observation. In addition, as shown in Figure 3As shown, an engaging structure M is formed between the fitting end portion 11 of the rotating shaft 1 and the connecting portion C2 of the swinger C. The components are fixed by the engagement of the engaging concave portion M1 formed in the connecting portion C2 and the engaging convex portion M2 formed in the central portion of the fitting end portion 11 for shaft support. As the posture of the swinger C changes, the postures of the table T supported by the swinger C and the workpiece fixed to the table T can also change around the A axis. That is, for the workpiece, its posture around the A axis can be changed by the swinger C, and its posture around the B axis can be changed by the rotation of the table board T2.

[0045] Next, refer to Figures 4 to 6 The details of the rotation control device 100 will be described. The rotation control device 100 divides the rotation angle of the rotating shaft 1 to which the connecting portion C2 of the swinger C is fixed into a desired angle by a so-called direct drive motor, or performs synchronous control of the rotation angle of the rotating shaft 1 in synchronization with the movement of the spindle head MS. In the first embodiment, one identical rotation control device 100 is provided at each of the two end portions of the swinger C. In the following description, one rotation control device 100 will be described in detail.

[0046] As Figure 4 shown, the rotation control device 100 includes: a rotating shaft 1 that extends along the A axis as the first rotation axis A and has a fitting end portion 11 for fitting the swinger C; and a rotation motor 2 that has a rotor 21 fixed to the side surface portion of the rotating shaft 1 and a stator 22 disposed outside the rotor 21. In addition, the rotation control device 100 includes a first bearing BE1 and a first braking mechanism 3 on the fitting end portion 11 side with respect to the rotating shaft 1, and a second bearing BE2 and a second braking mechanism 4 on the opposite side end portion 12 side that is opposite to the fitting end portion 11 side with respect to the rotating shaft 1. Moreover, the rotation control device 100 includes a main body 5 that houses the components outside the stator 22 and a cooling mechanism 6 for dissipating the heat generated in the rotation motor 2.

[0047] The details of each part of the rotation control device 100 will be described. As Figure 2 shown, the rotation control device 100 has a substantially axially symmetric structure with respect to the A axis. As Figure 4As shown, the rotating shaft 1 has a generally multi-stage cylindrical shape with an outer dimension that increases as it advances from the opposite-side end portion 12 side along the A axis toward the mounting end portion 11 side. The two end portions are supported by a first bearing BE1 provided on the mounting end portion 11 side and a second bearing BE2 provided on the opposite-side end portion 12 side so as to be rotatable about the A axis. Here, the first bearing BE1 and the second bearing BE2 are configured to withstand loads in both the thrust direction and the radial direction. In addition, the rotating shaft 1 is hollow, and this hollow portion communicates with the internal cavity of the swinger C and is used to allow a power cable, a hydraulic pipe, etc. to pass from the support portion C1 of the swinger C to the workbench T.

[0048] The rotation motor 2 is disposed at the central portion on the side surface of the rotating shaft 1. In the first embodiment, the rotor 21 is a permanent magnet fixedly provided in a ring shape on the side surface of the rotating shaft 1, and the stator 22 is an iron core and a coil provided outside the rotor 21 so as to face the permanent magnet. The rotation motor 2 is controlled such that, based on the output of a rotation encoder (not shown), the rotation angle of the rotating shaft 1 becomes an instruction angle set by the user.

[0049] The first braking mechanism 3 is, for example, a mechanism that, in a state where the rotation of the rotating shaft 1 is controlled to divide the rotation angle of the swinger C into a specified angle, acts on the rotating shaft 1 to brake the rotation about the A axis and maintains this state. It should be noted that the braking mentioned here is a concept that includes not only completely stopping the rotation of the rotating shaft 1 but also generating a specified rotational resistance while rotating the rotating shaft 1 by the rotation motor 2. As Figure 2 shown, the first braking mechanism 3 is disposed on the mounting end portion 11 side of the rotating shaft 1 and between the rotation motor 2 and the first bearing BE1. As Figure 5 shown in the enlarged view of, the first braking mechanism 3 includes: a brake shoe 31 that contacts / separates from the side surface of the rotating shaft 1; and a first hydraulic chamber 34 formed outside the brake shoe 31 and supplied with hydraulic pressure that deforms the brake shoe 31 toward the side surface of the rotating shaft 1.

[0050] The brake shoe 31 has a generally thin-walled cylindrical shape and includes: an ear portion 32 that extends outward in the radial direction of the rotating shaft 1; and an elastic deformation portion 33, which is a thin-walled portion that extends along the axial direction of the rotating shaft 1 from the inner diameter side of the ear portion 32. A circular flange body 35 is provided with a gap from the outer peripheral portion of the elastic deformation portion 33, and the first hydraulic chamber 34 is formed in this gap. Specifically, between the flange 35 and the brake shoe 31, O-ring 36 is arranged to close the aforementioned gap on the mounting end portion 11 side and its opposite side respectively, and the O-ring 36 is flattened, thereby forming the first hydraulic chamber 34. Here, instead of the O-ring 36, the first hydraulic chamber 34 can also be formed by various welding methods.

[0051] The thickness dimension of the flange body 35 is larger than the thickness dimension of the elastic deformation portion 33. When hydraulic pressure is supplied to the first hydraulic chamber 34, the elastic deformation portion 33 of the brake shoe 31 deforms toward the rotation shaft 1 side and is pressed against the side surface portion of the rotation shaft 1. That is to say, the first braking mechanism 3 is a hydraulically driven brake, and braking force and braking torque based on friction are generated by directly pressing the portion of the rotation shaft 1 with a larger outer dimension in the radial direction. In addition, a part of the brake shoe 31 and the flange body 35 is configured to enter between the rotation shaft 1 and the stator 22. In this way, the size of the swinger C in the A-axis direction of the rotation control device 100 will not be enlarged, the area of the brake shoe 31 facing the rotation shaft 1 can be increased as much as possible, and the braking force can be easily exerted.

[0052] The second braking mechanism 4 is configured to further act in a state where the first brake acts. The second braking mechanism 4 and the second bearing BE2 are provided together at the opposite end portion 12 of the rotation shaft 1, and the second braking mechanism 4 is disposed outside the second bearing BE2 in the radial direction. More specifically, as Figure 4 and Figure 6 shown, the second braking mechanism 4 includes: a brake disc 41, assembled to the opposite end portion 12 of the rotation shaft 1, and having a substantially annular shape or a disc shape that expands toward the outside of the rotation shaft 1; a piston 42, which contacts / separates from the panel portion of the brake disc 41; and a second hydraulic chamber 43, to which hydraulic pressure for switching between an acting state and a released state by moving the piston 42 is supplied, where the acting state is a state in which the piston 42 sandwiches the brake disc 41 between it and a specified pressing surface, and the released state is a state in which the piston 42 separates from the brake disc 41.

[0053] The piston 42 is configured to always press the brake disc 41 against the pressing surface 44 by a spring 45. By supplying hydraulic pressure to the second hydraulic chamber 43, the spring 45 is compressed, and the piston 42 becomes a state of separating from the brake disc 41.

[0054] For each rotation control device 100 of the swinger C of the first embodiment configured as described above, the first braking mechanism 3 is provided on the assembly end portion 11 side of the rotation shaft 1 to which the connecting portion C2 of the swinger C is fixed. Therefore, the separation distance between the two braking points that can act in the rotation direction around the A-axis as the AB-axis unit 101 as a whole can be made shorter than before. Therefore, the torsional rigidity of the AB-axis unit 101 around the A-axis in a state where the braking force acts through each first braking mechanism 3 can be made higher than before. Therefore, even when performing machining with a high machining load such as heavy cutting on the workpiece in a state where the rotation angle around the A-axis is divided into a specified angle, torsional vibration in the AB-axis unit 101 can be prevented.

[0055] Moreover, the first braking mechanism 3 directly presses a portion of the rotating shaft 1 with a large outer dimension by using a brake shoe 31 hydraulically, so that the rotating shaft 1 directly generates frictional force to perform braking. Therefore, it is easy to generate a large braking force or braking torque. In addition, in a state where a braking force is generated by the first braking mechanism 3, a braking force is further generated by the second braking mechanism 4, which can further make the rotating shaft 1 in a state where it is not easy to rotate. This also helps to improve the torsional rigidity of the AB axis unit 101 during braking.

[0056] Since the first bearings BE1 are provided on the side of the assembly end portion 11 closer to the first braking mechanism 3 than the first braking mechanism 3, the weights of the swing device C, the workbench T, and the workpiece are supported by the respective first bearings BE1. Therefore, the bending rigidity of the AB axis unit 101 can be improved, and the deformation amount in the vertical direction can be reduced as much as possible.

[0057] In addition, the rotation control device 100 of the swing device C of the first embodiment can be configured to be compact in the axial dimension, and at the same time improve the torsional rigidity and bending rigidity of the AB axis unit 101.

[0058] Other embodiments will be described. As Figure 7 shown, in the AB axis unit 101 of the second embodiment of the present invention, regarding the fitting structure M, it is also possible to use the fitting shaft protruding toward the swing device C in the assembly end portion 11 of the rotating shaft 1 as the engaging convex portion M1, and the fitting hole formed in the connecting portion C2 of the swing device C as the engaging concave portion M2 to fix between the rotating shaft 1 and the connecting portion C2. For example, the fitting shaft can also be fixed in the radial direction by a bolt BL or the like in a state of being inserted into the fitting hole.

[0059] Although it is a horizontal machining center in the first embodiment, the rotation control device of the swing device of the present invention can also be used in a vertical machining center. The swing device is not limited to being supported at both ends by a pair of rotation control devices. The swing device can also be supported at only one end by a rotation control device. In addition, even when the swing device is supported at both ends, it is also possible that the rotation angle is controlled by a rotation control device on one side, and the other side is not provided with a rotation control device and is set to be supported in a rotatable manner only by bearings or the like.

[0060] Regarding the first braking mechanism, it is not limited to the configuration described in the first embodiment. For example, a brake disc can be used in the same manner as the second braking mechanism, or an electromagnetic brake or the like can be used. The same applies to the second braking mechanism. In addition, the second braking mechanism can be omitted, and only the first brake can be provided on the side of the assembly end portion of the rotating shaft.

[0061] In the first embodiment, although the first bearings are arranged on the side of the assembly end portion closer to the first braking mechanism than the first braking mechanism, the first braking mechanism can also be arranged on the side of the assembly end portion closer to the first bearings than the first bearings.

[0062] The first rotation axis and the second rotation axis are not limited to the A-axis and the B-axis respectively, and may also be other rotation axes defined in the machine tool. That is to say, the names such as the A-axis, the B-axis, and the C-axis can be appropriately changed according to the orientation of the cutting tool of the machine tool.

[0063] Regarding the worktable, it may not have a rotation function either. That is to say, the worktable used for four-axis machining can also use the rotation control device of the wobbler of the present invention. In addition, the rotation control device of the wobbler of the present invention can be applied not only to a machine tool that only performs removal machining, but also to a machine tool that can also perform additive machining.

[0064] In addition, as long as it does not violate the gist of the present invention, various modifications of the embodiments and combinations of parts of the respective embodiments can also be made.

[0065] Explanation of Reference Numerals

[0066] 200: Machine tool;

[0067] 100: Rotation control device;

[0068] 101: AB-axis unit;

[0069] 1: Rotation axis;

[0070] 11: Assembly end;

[0071] 12: Opposite end;

[0072] 2: Rotation motor;

[0073] 21: Rotor;

[0074] 22: Stator;

[0075] 3: First braking mechanism;

[0076] 31: Brake shoe;

[0077] 34: First hydraulic chamber;

[0078] 4: Second braking mechanism;

[0079] 41: Brake disc;

[0080] 42: Piston;

[0081] 43: Second hydraulic chamber;

[0082] 44: Pressing surface;

[0083] C: Wobbler;

[0084] T: Worktable;

[0085] A: Axis A (first rotation axis);

[0086] B: Axis B (second rotation axis).

Claims

1. A rotation control device for a swinger that controls the rotation angle of the swinger about a first rotation axis, the swinger supporting a workbench for workpiece assembly, wherein the rotation control device of the swinger is characterized by comprising: A rotating shaft extending along the first rotation axis and having an assembly end for assembling the swinger; A rotation motor having a rotor fixed to a side surface portion of the rotating shaft and a stator disposed outside the rotor coaxially with the rotor; and A first braking mechanism provided on the assembly end side with respect to the rotating shaft and acting on the assembly end side in the rotating shaft.

2. The rotation control device for a swinger according to claim 1, wherein At least a part of the first braking mechanism is provided on the assembly end side with respect to the stator.

3. The rotation control device for a swinger according to claim 1, wherein The first braking mechanism is configured to act in a state where the swinger is indexed to a specified angle.

4. The rotation control device for a swinger according to claim 1, wherein The first braking mechanism comprises: A brake shoe that contacts / separates from a side surface portion of the rotating shaft; and A first hydraulic chamber formed outside the brake shoe and supplied with hydraulic pressure that deforms the brake shoe toward the side surface portion of the rotating shaft.

5. The rotation control device for a swinger according to claim 4, wherein At least a part of the brake shoe is provided between the side surface portion of the rotating shaft and the stator.

6. The rotation control device for a swinger according to claim 1, wherein In the side surface portion of the rotating shaft, the outer dimension of the portion opposed to the first braking mechanism is formed larger than the outer dimension of the portion where the rotor is fixed.

7. The rotation control device for a swinger according to claim 1, further comprising: A first bearing provided on the assembly end side with respect to the rotating shaft and rotatably supporting the rotating shaft, The first braking mechanism is provided inside the first bearing when viewed along the first rotation axis.

8. The rotation control device for a swinger according to claim 1, further comprising: A second braking mechanism provided on the opposite end side opposite to the assembly end with respect to the rotating shaft and acting on the opposite end side in the rotating shaft.

9. The rotation control device for a swinger according to claim 8, wherein The second braking mechanism is configured to act further in a state where the first braking mechanism acts.

10. The rotation control device for a swinger according to claim 8, wherein The second braking mechanism comprises: A brake disc assembled to the opposite end of the rotating shaft and having a substantially annular or disc shape that expands toward the outside of the rotating shaft; A piston that contacts / separates from a panel portion of the brake disc; And A second hydraulic chamber is supplied with hydraulic pressure for switching between an operating state and a release state by moving the piston, where the operating state is a state in which the piston clamps the brake disc between it and a specified pressing surface, and the release state is a state in which the piston separates from the brake disc.

11. The rotational control device for a swinger according to claim 8 further comprises: A second bearing provided at the opposite end with respect to the rotation axis and rotatably supporting the rotation axis. At least a part of the second braking mechanism is arranged and configured radially outward along the second bearing.

12. The rotational control device for a swinger according to claim 1, wherein: The rotor is a permanent magnet. The stator is a coil. A refrigerant supply space supplied with refrigerant is formed outside the stator in the radial direction.

13. A machine tool according to any one of claims 1 to 12, comprising: The swinger; A pair of rotational control devices for the swinger; and A spindle configured to be movable, and the machine tool is characterized in that: The swinger comprises: A support portion that supports a worktable; and A pair of connecting portions that connect between the support portion and the rotational control device of the swinger. One rotational control device for the swinger is assembled to each of the connecting portions.

14. The machine tool according to claim 13, wherein: The worktable is configured to be rotatable about a second axis extending in a direction different from the first rotation axis.

15. The machine tool according to claim 13, wherein: A fitting structure is formed between the rotation axis and the fitting end of the swinger and the connecting portion. The swinger is fixed to the fitting end by the fitting structure.

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