Automated conveying apparatus

Abstract

To provide an automated conveying apparatus formed compactly.SOLUTION: An automated conveying apparatus includes: a holding part 321 which is provided so as to rotatable around a revolving center axis 202 extending in a first direction parallel to a horizontal direction and may hold an object to be conveyed; a pinion 366 which is provided so as to be rotatable around the revolving center axis 202 with the holding part 321; a rack 361 extending in a second direction which is orthogonal to the first direction and inclines relative to the horizontal direction and a vertical direction and configured to engage with the pinion 366; and a piston cylinder 356 which extends in the second direction and causes the rack 361 to slide in the second direction.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to an automatic transport device. [Background technology]

[0002] For example, JP 2022-20366 A (Patent Document 1) discloses a machine tool including a tool rest, a magazine, and an automatic tool changer for changing tools mounted on the tool rest and the magazine. The automatic tool changer has an arm unit that can rotate around a central axis of rotation, and a pair of grippers that are provided at phase positions shifted by 180° in the circumferential direction of the central axis of rotation and can hold a tool. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-20366 Summary of the Invention [Problem to be solved by the invention]

[0004] In the machine tool disclosed in the above-mentioned Patent Document 1, an automatic transfer device (automatic tool changer) transfers tools between a tool rest in a machining area and a magazine outside the machining area. In this case, the automatic transfer device is required to be compact in configuration because it moves in a limited space in both the horizontal and vertical directions.

[0005] SUMMARY OF THE PRESENT INVETION An object of the present invention is to provide an automatic transport device that is compact in construction. [Means for solving the problem]

[0006] The automatic conveying device according to the present invention includes a holding section rotatably arranged about a predetermined axis extending in a first direction parallel to the horizontal direction and capable of holding an object to be conveyed, a pinion rotatably arranged about the predetermined axis together with the holding section, a rack extending in a second direction perpendicular to the first direction and inclined with respect to the horizontal direction and the up-down direction and engaging with the pinion, and a piston cylinder extending in the second direction and sliding the rack in the second direction. Effect of the Invention

[0007] According to the present invention, it is possible to provide an automatic transport device having a compact structure. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view showing a machine tool equipped with an automatic transport device according to an embodiment of the present invention. [Diagram 2] 2 is a top view showing a tool changing process for the tool rest in FIG. 1. [Diagram 3] 1. FIG. 4 is a top view showing another embodiment of the tool changing process for the tool rest in FIG. [Figure 4] 1. FIG. 4 is a top view showing still another embodiment of the tool changing process for the tool rest in FIG. [Diagram 5] 2 is a perspective view showing the automatic transfer device (first position) in FIG. 1. [Figure 6] FIG. 2 is a perspective view showing the automatic transport device (first position) with a base portion removed. [Figure 7] 7 is a side view showing an aspect of the automatic conveying device in FIG. 6 during an extending operation of a piston cylinder. FIG. [Figure 8] 7 is a side view showing a state in which a piston cylinder is contracted in the automatic conveying device in FIG. 6. FIG. [Figure 9] 7 is another side view showing an aspect during an extending operation of the piston cylinder in the automatic conveying device in FIG. 6. [Figure 10] 7 is another side view showing a state in which the piston cylinder is in a contracting operation in the automatic conveying device in FIG. 6. FIG. [Figure 11] 8 is a cross-sectional view showing the automatic conveying device as seen in the direction of the arrows on line XI-XI in FIG. 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the accompanying drawings, in which the same or corresponding components are designated by the same reference numerals.

[0010] 1 is a perspective view showing a machine tool equipped with an automatic transport device according to an embodiment of the present invention, in which the internal structure of the machine tool is shown through a cover body that forms the exterior of the machine tool.

[0011] 1, machine tool 100 is a lathe that machines a workpiece by bringing a tool into contact with a rotating workpiece. Machine tool 100 is provided with a milling function that machines a workpiece by bringing a rotating tool into contact with a stationary workpiece.

[0012] Machine tool 100 is an NC (Numerically Controlled) machine tool in which various operations for machining a workpiece are automated by computer numerical control.

[0013] In this specification, an axis that is parallel to the left-right direction (width direction) of machine tool 100 and extends horizontally is referred to as the "Z axis", an axis that is parallel to the front-back direction (depth direction) of machine tool 100 and extends horizontally is referred to as the "Y axis", and an axis that extends vertically is referred to as the "X axis". The rightward direction in FIG. 1 is referred to as the "+Z axis direction", and the leftward direction is referred to as the "-Z axis direction". The forward direction of the paper in FIG. 1 is referred to as the "+Y axis direction", and the backward direction is referred to as the "-Y axis direction". The +Y axis direction corresponds to the front of the machine, and the -Y axis direction corresponds to the rear of the machine. The upward direction in FIG. 1 is referred to as the "+X axis direction", and the downward direction is referred to as the "-X axis direction".

[0014] For the convenience of explaining the structure of machine tool 100 and automatic conveying device 200 provided in machine tool 100, the X-axis, Y-axis, and Z-axis are set as described above, but these do not necessarily coincide with the X-axis, Y-axis, and Z-axis defined in a lathe.

[0015] First, there will be described the structure of the machine tool 100. The machine tool 100 has a bed 11, a first headstock 21, a second headstock 26, a tool rest 51, a magazine 10, and an automatic transfer device 200.

[0016] The bed 11 is a base member for supporting the first headstock 21, the second headstock 26, the tool rest 51, the magazine 10, the automatic transport device 200, etc., and is installed on the floor of a factory, etc. The bed 11 is made of metal such as cast iron.

[0017] The first headstock 21 and the second headstock 26 are attached to the bed 11. Each of the first headstock 21 and the second headstock 26 has a work spindle (not shown). A chuck for removably holding a workpiece is provided at the tip of the work spindle. The work spindle of the first headstock 21 is driven to rotate about a rotation center axis 106 parallel to the Z axis. The work spindle of the second headstock 26 is driven to rotate about a rotation center axis 107 parallel to the Z axis. The first headstock 21 and the second headstock 26 are disposed opposite each other in the Z axis direction so that the rotation center axis 106 and the rotation center axis 107 extend in a straight line.

[0018] The tool rest 51 is provided in the machining area. The machining area is a space where the workpiece is machined, and is substantially sealed by a cover body so that foreign matter such as chips or cutting oil resulting from the machining of the workpiece does not leak out of the machining area. The tool rest 51 is configured to be able to hold a plurality of tools. The tool rest 51 is a turret-type tool rest that can rotate around a central rotation axis 102 parallel to the Z-axis.

[0019] The tool rest 51 has a turret 52, a tool rest base 56, and a plurality of tool holders 61. The tool rest base 56 is attached to a cross slide (not shown).

[0020] The turret 52 is provided so as to protrude from the tool rest base 56 in the Z-axis direction in a direction approaching the first headstock 21 (-Z-axis direction). The turret 52 has a disk shape with the axial direction of a central rotation axis 102 being the thickness direction. The turret 52 is rotatable about the central rotation axis 102.

[0021] The multiple tool holders 61 are attached to the turret 52. The multiple tool holders 61 are connected to the turret 52 using bolts or the like. The multiple tool holders 61 are arranged side by side in the circumferential direction of the turning central axis 102. The tool holders 61 detachably hold tools. The tool holder 61 incorporates a clamping mechanism for clamping and unclamping the tools and a rotating mechanism for rotating the tools.

[0022] As the turret 52 rotates about the central axis 102, a tool held by the tool holder 61 moves in the circumferential direction of the central axis 102. When machining a workpiece held by the workpiece spindle of the first headstock 21 or the second headstock 26, the tool holder 61 is positioned at a workpiece machining position W. When exchanging tools with the automatic transport device 200 described later, the tool holder 61 is positioned at a tool rest-side tool exchange position K.

[0023] The tool rest 51 is supported by the bed 11 via a saddle 57 and a cross slide (not shown). The saddle 57 can be moved in the Z-axis direction by various feed mechanisms, guide mechanisms, servo motors, etc. The cross slide can be moved in an axial direction (referred to as the "Xa-axis direction") that is perpendicular to the Z-axis and inclined with respect to the X-axis and Y-axis by various feed mechanisms, guide mechanisms, servo motors, etc. By moving the saddle 57 and the cross slide in the Z-axis direction and the Xa-axis direction, respectively, the machining position of the workpiece by the tool held by the tool holder 61 can be moved within the Z-axis-Xa-axis plane.

[0024] The magazine 10 is provided outside the machining area. The magazine 10 is provided at a position away from the tool rest 51 in the +Z axis direction. The tool rest 51 is disposed between the first headstock 21 and the magazine 10 in the Z axis direction.

[0025] The magazine 10 is a device for storing a plurality of tools so as to sequentially supply the tools to a machining area according to the machining purpose. The magazine 10 stores rotary tools such as drills, end mills, milling cutters, etc., which are attached to tool holders 61 in the tool rest 51, and fixed tools such as external cutting tools, internal cutting tools, grooving tools, etc.

[0026] The magazine 10 has a support plate 111, a plurality of tool pots 120, and a motor (not shown). The support plate 111 has a disk shape centered on a central rotation axis 103 parallel to the Y axis. The plurality of tool pots 120 are attached to the support plate 111. The plurality of tool pots 120 are arranged at regular intervals along a circumferential path centered on the central rotation axis 103.

[0027] The support plate 111 can be rotated in positive and negative circumferential directions around the central axis 103 by a motor (not shown). When the support plate 111 rotates around the central axis 103, the tool pot 120 is transported in the circumferential direction of the central axis 103. When tools are exchanged with an automatic tool changer 31 (described later), the tool pot 120 is disposed at a magazine-side tool exchange position.

[0028] The automatic transfer device 200 is a device for transferring a tool as a transfer object. The automatic transfer device 200 is supported by a support frame 14. The support frame 14 extends in the Z-axis direction above the second headstock 26.

[0029] The automatic transfer device 200 has a first base 15 and a second base 231. The first base 15 is movable in the Z-axis direction relative to the support frame 14 by various feed mechanisms, guide mechanisms, servo motors, etc. The second base 231 is movable in the Y-axis direction relative to the first base 15 by various feed mechanisms, guide mechanisms, servo motors, etc. With this configuration, the automatic transfer device 200 is configured to be movable in both the Y-axis direction and the Z-axis direction.

[0030] The automatic transfer device 200 transfers tools between the tool rest 51 in the machining area and the magazine 10 outside the machining area by moving in the Z-axis direction. A shutter (not shown) that can be opened and closed is provided between the tool rest 51 and the magazine 10. The shutter has a plate shape parallel to the X-axis-Y-axis plane.

[0031] 2 to 4 are top views showing aspects of a tool changing process for the tool rest in Fig. 1. With reference to Fig. 1 to Fig. 4, the automatic transfer device 200 has a tool changing unit 310. The tool changing unit 310 changes tools with the tool holder 61 positioned at the tool rest side tool changing position K in the tool rest 51, and changes tools with the tool pot 120 positioned at the magazine side tool changing position in the magazine 10.

[0032] The tool exchange unit 310 has a holder 321. The holder 321 detachably holds a tool T. The holder 321 has a claw shape capable of gripping a tool. The tool exchange unit 310 has a pair of holders 321p, 321q as the holder 321, and is a double-arm type capable of holding two tools T simultaneously. The holders 321p and 321q are provided at phase positions shifted from each other by 180° in the circumferential direction about a pivot axis 202 described later.

[0033] The tool exchange unit 310 may be a single-arm type capable of holding one tool T at a time.

[0034] The holding part 321 can be rotated around a rotation center axis 202 by a rotation mechanism described later. The rotation center axis 202 extends in the horizontal direction. The rotation center axis 202 is parallel to the tool center axis 105 of the tool T held by the holding part 321.

[0035] The multiple tool holders 61 include a first tool holder 61S, a second tool holder 61T, and a third tool holder 61U.

[0036] 2, the tool center axis 105 of the tool T held by the first tool holder 61S extends in the radial direction (Y-axis direction) of the swivel center axis 102 of the turret 52. The tool T held by the first tool holder 61S can be used to machine the workpieces held by the first headstock 21 and the second headstock 26. When the tool T held by the tool exchanger 310 is attached to the first tool holder 61S, the holding part 321 is positioned to face the first tool holder 61S in the radial direction (Y-axis direction) of the swivel center axis 102. The tool T held by the holding part 321 is inserted while sliding in the radial direction (-Y-axis direction) of the swivel center axis 102 relative to the first tool holder 61S.

[0037] As shown in Fig. 3, the tool center axis 105 of the tool T held by the second tool holder 61T extends in the Z-axis direction, and the tool T protrudes from the second tool holder 61T in the -Z-axis direction. The tool T held by the second tool holder 61T can be used to mainly machine a workpiece held by the first headstock 21. When the tool T held by the tool exchanger 310 is attached to the second tool holder 61T, the holder 321 is positioned so as to face the second tool holder 61T from the negative side of the Z-axis in the axial direction of the swivel central axis 102. The tool T held by the holder 321 is inserted into the second tool holder 61T while sliding in the axial direction of the swivel central axis 102 (+Z-axis direction).

[0038] As shown in Fig. 4, the tool center axis 105 of the tool T held by the third tool holder 61U extends in the Z-axis direction, and the tool T protrudes from the third tool holder 61U in the +Z-axis direction. The tool T held by the third tool holder 61U can be used to mainly machine a workpiece held by the second headstock 26. When the tool T held by the tool exchanger 310 is attached to the third tool holder 61U, the holder 321 is positioned so as to face the third tool holder 61U from the positive side of the Z-axis in the axial direction of the swivel central axis 102. The tool T held by the holder 321 is inserted into the third tool holder 61U while sliding in the axial direction of the swivel central axis 102 (-Z-axis direction).

[0039] Fig. 5 is a perspective view showing the automatic conveying device (first position) in Fig. 1. Fig. 6 is a perspective view showing the automatic conveying device (first position) with a base portion removed.

[0040] 5 and 6, the automatic conveying device 200 further has a base unit 210. The base unit 210 is connected to the support frame 14 via the first base 15 in FIG. 1. The base unit 210 has a second base 231. The second base 231 is made of a plate member disposed parallel to the Y-axis-Z-axis plane.

[0041] The automatic conveying device 200 further includes a rotating unit 220 and a rotating mechanism 240. The rotating unit 220 is disposed below the base unit 210. The rotating unit 220 is supported by the base unit 210 so as to be rotatable about a rotating central axis 201. The rotating central axis 201 extends in the X-axis direction (up and down direction). An extension line of the rotating central axis 201 extending in the -X-axis direction intersects with the turning central axis 202.

[0042] The base portion 210 further has a coupling 232. The coupling 232 is provided to be rotatable around the rotation center shaft 201 with respect to the second base 231. The rotating portion 220 has a coupling 262 and an arm portion 271. The coupling 262 faces the coupling 232 in the axial direction of the rotation center shaft 201. The coupling 262 is connected to the coupling 232. The arm portion 271 extends in an arm shape from the coupling 262 toward the outside in the radial direction of the rotation center shaft 201.

[0043] The rotation mechanism 240 rotates the rotation unit 220 around the rotation central axis 201. The rotation mechanism 240 has a first piston cylinder attached to the second base 231 and capable of outputting linear motion in the Y-axis direction, a second piston cylinder attached to the second base 231 and arranged at an interval in the Z-axis direction from the first piston cylinder and capable of outputting linear motion in the Y-axis direction, a first shaft member protruding from the arm unit 271 in the +Z-axis direction and rotating the rotation unit 220 in the positive circumferential direction around the rotation central axis 201 upon receiving the linear motion output from the first piston cylinder, and a second shaft member protruding from the arm unit 271 in the +Z-axis direction and rotating the rotation unit 220 in the negative circumferential direction around the rotation central axis 201 upon receiving the linear motion output from the second piston cylinder.

[0044] The tool exchange unit 310 (holding unit 321) is mounted on the rotating unit 220. The rotating unit 220 is disposed between the base unit 210 and the tool exchange unit 310 in the X-axis direction. The tool exchange unit 310 (holding unit 321) rotates integrally with the rotating unit 220 as the rotating unit 220 rotates around the rotation central axis 201. With this configuration, the posture of the tool exchange unit 310 (holding unit 321) changes between a first posture (posture shown in FIG. 2), a second posture (posture shown in FIG. 3) shifted from the first posture by +90°, and a third posture (posture shown in FIG. 4) shifted from the first posture by −90°.

[0045] Next, a mechanism for rotating the holder 321 around the central axis of rotation 202 in the automatic transport device 200 will be described in detail.

[0046] Since the tool exchange unit 310 rotates about a rotation central axis 201 extending in the Z-axis direction, the relationship between the tool exchange unit 310 and the Y-axis and Z-axis changes. In the following, the rotation mechanism of the holder 321 will be described representatively using the Y-axis and Z-axis when the tool exchange unit 310 is in the first posture. As shown in Fig. 5 and Fig. 6, when the tool exchange unit 310 is in the first posture, the rotation central axis 202 of the holder 321 extends in the Y-axis direction, and therefore the Y-axis direction corresponds to the "first direction" in the present invention.

[0047] Fig. 7 is a side view showing the state of the automatic conveying device in Fig. 6 during an extending operation of a piston cylinder. Fig. 8 is a side view showing the state of the automatic conveying device in Fig. 6 during a retracting operation of a piston cylinder. Fig. 9 is another side view showing the state of the automatic conveying device in Fig. 6 during an extending operation of a piston cylinder. Fig. 10 is another side view showing the state of the automatic conveying device in Fig. 6 during a retracting operation of a piston cylinder. Fig. 11 is a cross-sectional view showing the automatic conveying device as seen in the direction of the arrows on the line XI-XI in Fig. 7.

[0048] Fig. 9 shows the automatic conveying device 200 in a state where the mounting base 381 and various parts attached to the mounting base 381 and the shaft 336, which will be described later, have been removed from the automatic conveying device 200 in Fig. 7. Fig. 10 shows the automatic conveying device 200 in a state where the mounting base 381 and various parts attached to the mounting base 381 and the shaft 336, which will be described later, have been removed from the automatic conveying device 200 in Fig. 8.

[0049] 5 to 11, the automatic transfer device 200 (tool exchange unit 310) further includes a plate 331, a shaft 336, a housing 337, a first bearing 338, and a second bearing 339.

[0050] Plate 331 has a plate shape arranged parallel to the X-Z plane with the thickness direction being in the Y-axis direction. When viewed in the axial direction of pivot shaft 202 (Y-axis direction), plate 331 has a substantially rectangular shape having a pair of end sides extending in the Z-axis direction and a pair of end sides extending in the X-axis direction.

[0051] The plate 331 is connected to the rotating portion 220. The plate 331 is connected to the arm portion 271. An upper end portion of the plate 331 is connected to a tip portion of the arm portion 271 extending from the coupling 262 toward the outside in the radial direction of the rotation central shaft 201.

[0052] The shaft 336 extends on the axis of the pivot shaft 202. The shaft 336 has an axial shape centered on the pivot shaft 202. The shaft 336 penetrates the plate 331 in the Y-axis direction. The shaft 336 protrudes from the plate 331 in the -Y-axis direction and also in the +Y-axis direction. The shaft 336 is provided at a position away from the rotating portion 220 (arm portion 271) in the -X-axis direction. The shaft 336 penetrates the plate 331 at a position closer to the lower end than the upper end of the plate 331 in the X-axis direction.

[0053] Holding portions 321 (321p, 321q) are connected to the tip portion of shaft 336 in the -Y axis direction. Holding portion 321 is connected to shaft 336 on the negative Y axis side of plate 331.

[0054] The length of protrusion of shaft 336 from plate 331 on the negative side of the Y axis is greater than the length of protrusion of shaft 336 from plate 331 on the positive side of the Y axis. The distance between plate 331 and holder 321 in the Y axis direction is greater than the distance between plate 331 and rotation central axis 201 in the Y axis direction.

[0055] The housing 337 extends on the axis of the pivot central shaft 202. The housing 337 has a cylindrical shape centered on the pivot central shaft 202.

[0056] 11, the housing 337 has a first end 337m and a second end 337n. The first end 337m corresponds to the end of the housing 337 in the +Y-axis direction, and the second end 337n corresponds to the end of the housing 337 in the -Y-axis direction. The first end 337m is connected to the plate 331. The second end 337n is provided at a position away from the plate 331 in the -Y-axis direction. A shaft 336 is inserted inside the housing 337.

[0057] The first bearing 338 and the second bearing 339 support the shaft 336 so as to be rotatable around the central pivot axis 202. The first bearing 338 and the second bearing 339 are interposed between the shaft 336 and the housing 337. The first bearing 338 is a rolling bearing. The second bearing 339 is a sliding bearing.

[0058] The first bearing 338 and the second bearing 339 are provided apart from each other in the axial direction of the turning center shaft 202. The first bearing 338 is provided inside the first end portion 337m. The first bearing 338 is disposed between the shaft 336 and the plate 331 in the radial direction of the turning center shaft 202. The second bearing 339 is provided inside the second end portion 337n.

[0059] A space 320 is formed between the plate 331 and the holding part 321 in the axial direction of the pivot central axis 202. A tool (a blade of the tool) held by the holding part 321 is disposed in the space 320. When the holding part 321 pivots, the blade of the tool held by the holding part 321 moves in the circumferential direction around the pivot central axis 202 in the space 320.

[0060] The automatic transfer device 200 (tool exchange unit 310) further includes a pinion 366, a rack 361, a piston cylinder 356, and a linear guide 362.

[0061] The pinion 366 is provided rotatably together with the holder 321 (321p, 321q) about the turning center axis 202. The pinion 366 is connected to the shaft 336 on the positive side of the Y axis relative to the plate 331. The shaft 336 connects the holder 321 and the pinion 366.

[0062] The distance between the plate 331 and the pinion 366 in the Y-axis direction is smaller than the distance between the plate 331 and the holder 321 in the Y-axis direction.

[0063] The rack 361 engages with the pinion 366. The rack 361 extends in a second direction that is perpendicular to the first direction (Y-axis direction) and inclined relative to the horizontal direction (Z-axis direction) and the up-down direction (X-axis direction). The second direction is included in the X-Z plane and is non-parallel to the X-axis and Z-axis directions.

[0064] The angle between the second direction and the X-axis direction and the Z-axis direction is 45°. The angle between the second direction and the Z-axis direction may be in the range of 35° to 45°, or in the range of 25° to 45°. Alternatively, the angle between the second direction and the X-axis direction may be in the range of 35° to 45°, or in the range of 25° to 45°.

[0065] The piston cylinder 356 extends in a second direction parallel to the rack 361. The piston cylinder 356 causes the rack 361 to slide in the second direction.

[0066] The rack 361 and the piston cylinder 356 are disposed on the positive side of the Y-axis relative to the plate 331. The rack 361 and the piston cylinder 356 are attached to the plate 331. The rack 361 engages with the pinion 366 from the diagonally upper side, which is on the positive side of the X-axis and the negative side of the Z-axis.

[0067] The linear guide 362 is connected to the plate 331. The rack 361 is attached to the plate 331 via the linear guide 362. The rack 361 is supported by the linear guide 362 so as to be capable of sliding in the second direction.

[0068] The piston cylinder 356 is hydraulic. The piston cylinder 356 has a cylinder 357 and a piston rod 358. The cylinder 357 is connected to the plate 331. The piston rod 358 is fitted in the cylinder 357. The rack 361 is connected to the piston rod 358 via a connecting block 359. The rack 361 is provided in parallel with the piston rod 358 and the cylinder 357. The piston rod 358 and the rack 361 extend from the connecting block 359 in the same direction along the second direction.

[0069] As shown in FIG. 10, the piston rod 358 of the piston cylinder 356 is contracted. The rack 361 moves linearly in one direction along the second direction, and the pinion 366 rotates 180° in the positive circumferential direction (clockwise direction in FIG. 10) around the turning central axis 202. As shown in FIG. 9, the piston rod 358 of the piston cylinder 356 is extended. The rack 361 moves linearly in the opposite direction along the second direction, and the pinion 366 rotates 180° in the negative circumferential direction (counterclockwise direction in FIG. 9) around the turning central axis 202. As a result, the holding portion 321 is rotated ±180° around the turning central axis 202, and the positions of the holding portion 321p and the holding portion 321q can be interchanged with each other.

[0070] In this embodiment, the rack 361 and the piston cylinder 356 are disposed at an angle to the horizontal and vertical directions. This configuration prevents the long rack 361 and the piston cylinder 356 from affecting the size of the automatic conveying device 200 in the horizontal and vertical directions, and allows the automatic conveying device 200 to be configured compactly.

[0071] Moreover, first bearing 338 is disposed between shaft 336 and plate 331 in the radial direction of turning central shaft 202. With this configuration, compared to a structure in which first bearing 338 is accommodated in housing 337 between plate 331 and holding portion 321, it is possible to reduce the diameter of housing 337 and ensure a large space 320 between plate 331 and holding portion 321 in the axial direction of turning central shaft 202. Since the blade portion of the tool held by holding portion 321 is disposed in space 320, it is possible to suppress restrictions on the tool shape (shape of the blade portion) that can be held by holding portion 321.

[0072] Moreover, the rack 361 and the piston cylinder 356 are attached to the plate 331. With this configuration, the plate 331 supports the rack 361 and the piston cylinder 356 in addition to supporting the shaft 336 via the first bearing 338, so that the configuration of the automatic conveyor 200 can be simplified.

[0073] Furthermore, the pinion 366, the rack 361 and the piston cylinder 356 are provided on the opposite side of the plate 331 from the holder 321. With this configuration, it is possible to ensure a larger space 320 between the plate 331 and the holder 321 in the axial direction of the turning central shaft 202.

[0074] In addition, the object to be transported in the present invention is not limited to a tool, but may be, for example, a workpiece.

[0075] 6 to 8, the automatic transfer device 200 (tool exchange unit 310) further includes a mounting base 381, a rotating block 371, a first contact portion 372, and a second contact portion 373.

[0076] The mounting base 381 is connected to the plate 331. The mounting base 381 is provided on the positive side of the Y axis relative to the plate 331. The mounting base 381 is provided above the shaft 336 that protrudes from the plate 331 in the +Y axis direction. The mounting base 381 is provided so as to straddle the rack 361 and the piston cylinder 356. The mounting base 381 has a bottom surface 381u. The bottom surface 381u is a flat surface that is parallel to the Y-axis-Z axis plane and faces downward (in the -X axis direction). The bottom surface 381u faces the shaft 336 with a gap provided in the X axis direction.

[0077] The revolving block 371 is connected to the shaft 336. The revolving block 371 is arranged alongside the pinion 366 in the axial direction of the revolving central shaft 202. The revolving block 371 extends from the shaft 336 outward in the radial direction of the revolving central shaft 202 at a predetermined phase position in the circumferential direction of the revolving central shaft 202. The revolving block 371 revolves ±180° around the revolving central shaft 202 in conjunction with the rotation of the shaft 336 around the revolving central shaft 202.

[0078] The rotating block 371 has a first side surface 371s and a second side surface 371t. The second side surface 371t is disposed on the rear side of the first side surface 371s. The first contact portion 372 and the second contact portion 373 are connected to the rotating block 371. The first contact portion 372 protrudes from the first side surface 371s. The second contact portion 373 protrudes from the second side surface 371t. The first contact portion 372 and the second contact portion 373 are made of screw members, and are configured such that the protruding lengths from the first side surface 371s and the second side surface 371t, respectively, are adjustable.

[0079] As shown in FIG. 7, when the piston rod 358 of the piston cylinder 356 is extended, the first side surface 371s faces the bottom surface 381u with a gap therebetween. At this time, the first abutment portion 372 abuts against the bottom surface 381u. As shown in FIG. 8, when the piston rod 358 of the piston cylinder 356 is contracted, the second side surface 371t faces the bottom surface 381u with a gap therebetween. At this time, the second abutment portion 373 abuts against the bottom surface 381u. With this configuration, the pivot position of the holding portion 321 can be accurately determined.

[0080] The automatic transfer device 200 (tool exchange unit 310) further includes a first proximity switch 382 and a second proximity switch 383.

[0081] The first proximity switch 382 and the second proximity switch 383 are attached to the mounting base 381. The first proximity switch 382 and the second proximity switch 383 protrude from the bottom surface 381u. The first proximity switch 382 and the second proximity switch 383 are provided on either side of the X-Y plane including the turning center axis 202.

[0082] As shown in Fig. 7, when the piston rod 358 of the piston cylinder 356 is extended, the first side surface 371s is disposed adjacent to the first proximity switch 382. As shown in Fig. 8, when the piston rod 358 of the piston cylinder 356 is retracted, the second side surface 371t is disposed adjacent to the second proximity switch 383. With this configuration, the completion of the pivoting movement of the holding part 321 can be accurately detected.

[0083] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0084] 10 magazine, 11 bed, 14 support frame, 15 first base, 21 first headstock, 26 second headstock, 31 automatic tool changer, 51 tool rest, 52 turret, 56 tool rest base, 57 saddle, 61 tool holder, 61S first tool holder, 61T second tool holder, 61U third tool holder, 100 machine tool, 102, 103, 202 turning center axis, 105 tool center axis, 106, 107 rotation center axis, 111 support plate, 120 tool pot, 200 automatic transfer device, 201 turning center axis, 210 base portion, 220 turning portion, 231 second base, 232, 262 coupling, 240 turning mechanism, 271 arm portion, 310 tool changer, 320 space, 321, 321p, 321q retaining portion, 331 plate, 336 shaft, 337 housing, 337m first end, 337n second end, 338 first bearing, 339 second bearing, 356 piston cylinder, 357 cylinder, 358 piston rod, 359 connecting block, 361 rack, 362 linear guide, 366 pinion, 371 swivel block, 371s first side, 371t second side, 372 first abutment portion, 373 second abutment portion, 381 mounting base, 381u bottom surface, 382 first proximity switch, 383 second proximity switch.

Claims

1. a holding unit that is rotatably provided around a predetermined axis extending in a first direction parallel to the horizontal direction and that is capable of holding an object to be transported; a pinion rotatably provided around the predetermined axis together with the holding portion; a rack extending in a second direction perpendicular to the first direction and inclined relative to the horizontal direction and the vertical direction, the rack engaging with the pinion; a piston cylinder extending in the second direction and causing the rack to slide in the second direction.

2. a shaft extending on the predetermined axis and connecting the holding portion and the pinion; a plate through which the shaft passes in the first direction; 2. The automatic transport device according to claim 1, further comprising a bearing disposed between said shaft and said plate in a radial direction of said predetermined axis, said bearing supporting said shaft so as to be rotatable about said predetermined axis.

3. The automated transport apparatus of claim 2 , wherein the rack and the piston cylinder are attached to the plate.

4. the pinion, the rack, and the piston cylinder are provided on the opposite side of the holding portion with the plate in between, The automatic conveying device according to claim 3 , wherein a space is provided between the plate and the holder in the first direction, in which the object to be conveyed held by the holder is disposed.

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