Automated conveying apparatus

Abstract

To provide an automated conveying apparatus which causes a holding part to rotate in a wider angle range with a compact structure.SOLUTION: An automated conveying apparatus includes: a base part 210; and a rotation part 220 supported by the base part 210 in a manner that the rotation part 220 may rotate about a first axis 201. The rotation part 220 has: a holding part 321 for detachably holding an object to be conveyed, and a revolving mechanism 351 which is configured to allow the holding part 321 to revolve about a revolving center axis 202 orthogonal to the first axis 201 and provided facing the holding part 321 in an axial direction of the revolving center axis 202. The first axis 201 is located at a position between the holding part 321 and the revolving mechanism 351 in the axial direction of the revolving center axis 202, the position being closer to the holding part 321 than the revolving mechanism 351.SELECTED DRAWING: Figure 9

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 that can rotate around a central axis of rotation, a first tool holder that is attached to the tool rest and into which a tool is inserted in the axial direction of the central axis of rotation, a second tool holder that is attached to the tool rest and into which a tool is inserted in the radial direction of the central axis of rotation, and an automatic tool changer.

[0003] The automatic tool changer has a gripping portion capable of gripping a tool, and a cam mechanism portion that changes the posture of the gripping portion between a posture in which it can grip a tool held in a first tool holder and a posture in which it can hold a tool held in a second tool holder. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-20366 Summary of the Invention [Problem to be solved by the invention]

[0005] In the machine tool disclosed in the above-mentioned Patent Document 1, a cam mechanism is used to change the attitude of the holding part for holding the workpiece by 90°, thereby enabling replacement of the tool held in the first tool holder and replacement of the tool held in the second tool holder.

[0006] Meanwhile, some machine tools are equipped with a first headstock and a second headstock facing the first headstock with the tool rest in between, as headstocks for rotating a workpiece. In such machine tools, it becomes necessary to change the attitude of the holding part between a first attitude in which the tool insertion direction is parallel to the radial direction of the tool rest's central axis of rotation, a second attitude in which the tool insertion direction is parallel to the tool rest's central axis of rotation and shifted +90° from the first attitude, and a third attitude in which the tool insertion direction is parallel to the tool rest's central axis of rotation and shifted -90° from the first attitude.

[0007] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide an automatic transfer device that is compact in configuration and capable of rotating a holding portion over a wider angular range. [Means for solving the problem]

[0008] According to one aspect of the present invention, an automatic transport device includes a base and a rotating unit supported by the base so as to be rotatable about a first axis. The rotating unit has a holding unit for detachably holding an object to be transported, and a turning mechanism configured to be able to turn the holding unit about a turning central axis perpendicular to the first axis and provided facing the holding unit in the axial direction of the turning central axis. The first axis is located between the holding unit and the turning mechanism in the axial direction of the turning central axis, and is located closer to the holding unit than the turning mechanism.

[0009] According to another aspect of the present invention, an automatic transport device includes a holding section for detachably holding an object to be transported, a rotating section on which the holding section is mounted and which is supported rotatably about a first axis extending in a first direction, a first shaft member connected to the rotating section and extending axially about a second axis extending in the first direction, a second shaft member connected to the rotating section and extending axially about a third axis extending in the first direction, the second shaft member and the first shaft member being disposed on the same circumference about the first axis, and a first notch provided so that the first shaft member can advance and retreat as the rotating section rotates about the first axis. The actuator includes a first block having a first cutout portion, a first actuator connected to the first block and sliding the first block between a first position and a second position separated from the first position in a second direction perpendicular to the first direction, a second block having a second cutout portion provided so that the second shaft member can advance and retreat with a rotational movement of the rotation part about the first axis, and a second actuator connected to the second block and sliding the second block between a third position and a fourth position separated from the third position in the third direction perpendicular to the first direction. When the first block is positioned at the first position and the second block is positioned at the third position, the first shaft member is disposed in the first cutout portion, the second shaft member is disposed in the second cutout portion, and the rotation part is disposed in a first phase position centered on the first axis. When the first block slides from the first position to the second position while the second block remains positioned at the third position, the first block pushes the first shaft member arranged in the first cutout portion in the positive circumferential direction about the first axis and the second shaft member retreats from the second cutout portion, causing the rotating portion to rotate from the first phase position to the second phase position which is shifted in the positive circumferential direction about the first axis from the first phase position. When the second block slides from the third position to the fourth position while the first block remains positioned at the first position, the second block pushes the second shaft member arranged in the second cutout portion in the negative circumferential direction about the first axis and the first shaft member retreats from the first cutout portion, causing the rotating portion to rotate from the first phase position to the third phase position which is shifted in the negative circumferential direction about the first axis from the first phase position.

[0010] According to yet another aspect of the present invention, an automatic transport device includes a holding section for detachably holding an object to be transported, a rotating section on which the holding section is mounted and supported for rotation about a first axis extending in a first direction, a first shaft member and a second shaft member connected to the rotating section and extending axially about a second axis and a third axis extending in the first direction, respectively, a first block having a first cutout portion arranged to allow the first shaft member to advance and retreat as the rotating section rotates about the first axis, a first actuator connected to the first block and sliding the first block in a second direction perpendicular to the first direction, a second block having a second cutout portion arranged to allow the second shaft member to advance and retreat as the rotating section rotates about the first axis, and a second actuator connected to the second block and sliding the second block in a third direction perpendicular to the first direction. When the first block is slid in the second direction by the first actuator, the first block pushes the first shaft member arranged in the first cutout portion in the circumferential direction of the first shaft, and the second shaft member retracts from the second cutout portion. When the second block is slid in the third direction by the second actuator, the second block pushes the second shaft member arranged in the second cutout portion in the circumferential direction of the first shaft, and the first shaft member retracts from the first cutout portion. Effect of the Invention

[0011] According to the invention, it is possible to provide an automatic transfer device capable of rotating the holding portion over a wider angular range with a compact configuration. [Brief description of the drawings]

[0012] [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] 1. FIG. 4 is another perspective view showing the automatic transfer device (first position) in FIG. [Figure 7] FIG. 7 is an exploded assembly view of the automatic transfer device (first position) in FIG. 6. [Figure 8] FIG. 8 is a perspective view showing a base portion in FIG. [Figure 9] 6 is a cross-sectional view showing the automatic transfer device (first position) as seen in the direction of the arrows on line IX-IX in FIG. 5. [Figure 10] 1 is a cross-sectional view showing an automatic conveying device moving from a first position to a second position. FIG. [Figure 11] FIG. 4 is a cross-sectional view showing the automatic transport device in a second position. [Figure 12] 1 is a cross-sectional view showing an automatic conveying device moving from a first position to a third position. FIG. [Figure 13] FIG. 11 is a cross-sectional view showing the automatic transport device in a third position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] 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.

[0014] 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.

[0015] 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.

[0016] Machine tool 100 is an NC (Numerically Controlled) machine tool in which various operations for machining a workpiece are automated by computer numerical control.

[0017] 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".

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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).

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The tool exchange unit 310 has a holding unit 321 and a turning mechanism 351. The holding unit 321 detachably holds a tool T. The holding unit 321 has a claw shape capable of gripping a tool. The tool exchange unit 310 has a pair of holding units 321p, 321q as the holding unit 321, and is of a double arm type capable of holding two tools T simultaneously. The tool exchange unit 310 may be of a single arm type capable of holding one tool T simultaneously.

[0037] The turning mechanism 351 is configured to be able to turn the holding portion 321 about a turning central axis 202. The turning central axis 202 is parallel to the tool central axis 105 of the tool T held by the holding portion 321.

[0038] The multiple tool holders 61 include a first tool holder 61S, a second tool holder 61T, and a third tool holder 61U.

[0039] 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.

[0040] 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).

[0041] 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).

[0042] In order to enable tool exchange for the first tool holder 61S, the second tool holder 61T, and the third tool holder 61U, the automatic transfer device 200 is provided with a mechanism for rotating the tool exchange unit 310 (holding unit 321) between a first position (position shown in FIG. 2), a second position (position shown in FIG. 3) shifted by +90° from the first position, and a third position (position shown in FIG. 4) shifted by -90° from the first position. The rotation mechanism will be described in detail below.

[0043] Fig. 5 and Fig. 6 are perspective views showing the automatic transfer device (first position) in Fig. 1. Fig. 7 is an exploded assembly view of the automatic transfer device (first position) in Fig. 6. Fig. 8 is a perspective view showing the base part in Fig. 7.

[0044] 5 to 8, the automatic transfer device 200 further includes a base portion 210. The base portion 210 is connected to the support frame 14 via the first base 15 in FIG.

[0045] The base portion 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.

[0046] The automatic conveying device 200 further includes a rotating unit 220. 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 first shaft 201. The first shaft 201 extends in the X-axis direction (up-down direction). An extension line of the first shaft 201 extending in the -X-axis direction intersects with the turning center axis 202.

[0047] More specifically, as shown in Fig. 8, the base portion 210 further has a coupling 232. The coupling 232 is provided to be rotatable about the first shaft 201 with respect to the second base 231. As shown in Fig. 7, the rotating portion 220 has a coupling 262. The coupling 262 faces the coupling 232 in the axial direction of the first shaft 201. The coupling 262 is connected to the coupling 232.

[0048] 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 about the first axis 201.

[0049] The rotating portion 220 further includes a plate 261. The plate 261 is made of a plate member arranged parallel to the Y-axis-Z-axis plane. The plate 261 is provided at a position spaced apart from the coupling 262 on the outer side in the radial direction of the first shaft 201.

[0050] The automatic conveying device 200 further has a first shaft member 271 and a second shaft member 272. The first shaft member 271 and the second shaft member 272 are connected to the rotating portion 220. The first shaft member 271 and the second shaft member 272 are connected to the plate 261.

[0051] The first shaft member 271 extends axially around the second shaft 206. The second shaft member 272 extends axially around the third shaft 207. The second shaft 206 and the third shaft 207 extend parallel to each other. The second shaft 206 and the third shaft 207 extend in the X-axis direction. The first shaft member 271 and the second shaft member 272 protrude from the plate 261 in the +X-axis direction.

[0052] The first shaft member 271 and the second shaft member 272 are disposed on the same circumference centered on the first shaft 201. That is, the distance between the first shaft 201 and the second shaft 206 is the same as the distance between the first shaft 201 and the third shaft 207.

[0053] The first shaft member 271 and the second shaft member 272 are cam followers that are rotatable about the second shaft 206 and the third shaft 207, respectively. The first shaft member 271 is supported by the plate 261 so as to be rotatable about the second shaft 206. The second shaft member 272 is supported by the plate 261 so as to be rotatable about the third shaft 207.

[0054] The automatic transfer device 200 further includes a first block 251, a second block 252, a first actuator 241, and a second actuator 242. The first block 251, the second block 252, the first actuator 241, and the second actuator 242 are mounted on a base portion 210.

[0055] The first actuator 241 and the second actuator 242 are attached to the second base 231. The first actuator 241 and the second actuator 242 are disposed between the second base 231 and the rotating part 220 in the X-axis direction. The first actuator 241 and the second actuator 242 are provided at an interval from each other in the Z-axis direction. The first actuator 241 and the second actuator 242 are provided symmetrically with respect to the X-axis-axis plane including the first axis 201. The first actuator 241 is provided on the negative side of the Z axis with respect to the X-axis-axis plane including the first axis 201, and the second actuator 242 is provided on the positive side of the Z axis with respect to the X-axis-axis plane including the first axis 201.

[0056] The first actuator 241 and the second actuator 242 are formed of pneumatic piston cylinders. The first actuator 241 and the second actuator 242 extend in the Y-axis direction. The first actuator 241 and the second actuator 242 output linear motion parallel to the Y-axis direction. The stroke range of the first actuator 241 in the Y-axis direction and the stroke range of the second actuator 242 in the Y-axis direction are the same.

[0057] The first block 251 and the second block 252 are connected to the first actuator 241 and the second actuator 242, respectively. The first block 251 is connected to a piston rod of the first actuator 241. The first block 251 slides in the -Y axis direction in association with the extension operation of the first actuator 241, and slides in the +Y axis direction in association with the contraction operation of the first actuator 241. The first block 251 is connected to a piston rod of the second actuator 242. The second block 252 slides in the -Y axis direction in association with the extension operation of the second actuator 242, and slides in the +Y axis direction in association with the contraction operation of the second actuator 242.

[0058] The first actuator 241 and the second actuator 242 may be hydraulic piston cylinders or electric piston cylinders. The first actuator and the second actuator in the present invention are not limited to piston cylinders and may be actuators capable of outputting linear motion.

[0059] The first block 251 has a first cutout portion 256. The first cutout portion 256 has a cutout shape recessed from the bottom surface of the first block 251 facing the -X-axis direction. The first cutout portion 256 has a first opening portion 256j. The first opening portion 256j opens facing the +Z-axis direction.

[0060] The second block 252 has a second cutout portion 257. The second cutout portion 257 has a cutout shape recessed from the bottom surface of the second block 252 facing the -X axis direction. The second cutout portion 257 has a second opening portion 257j. The second opening portion 257j opens facing the -Z axis direction.

[0061] In addition, the structure consisting of base portion 210, first block 251, second block 252, first actuator 241 and second actuator 242 mounted on base portion 210 is arranged symmetrically across the X-Z axis plane including first axis 201.

[0062] Fig. 9 is a cross-sectional view showing the automatic transfer device (first position) as seen in the direction of the arrows on line IX-IX in Fig. 5. Fig. 10 is a cross-sectional view showing the automatic transfer device moving from the first position to the second position. Fig. 11 is a cross-sectional view showing the automatic transfer device in the second position. Fig. 12 is a cross-sectional view showing the automatic transfer device moving from the first position to the third position. Fig. 13 is a cross-sectional view showing the automatic transfer device in the third position.

[0063] 9 to 13, first cutout portion 256 is provided so that first shaft member 271 can advance and retreat with the rotation of rotating portion 220 about first shaft 201. First actuator 241 slides first block 251 between first position 251A in Fig. 9 and second position 251B in Fig. 11. Second position 251B is a position away from first position 251A in the Y-axis direction (-Y-axis direction) perpendicular to the X-axis direction.

[0064] The second cutout portion 257 is provided so that the second shaft member 272 can advance and retreat with the rotation of the rotating portion 220 about the first shaft 201. The second actuator 242 slides the second block 252 between a third position 252A in Fig. 9 and a fourth position 252B in Fig. 13. The fourth position 252B is a position away from the third position 252A in the Y-axis direction (-Y-axis direction) perpendicular to the X-axis direction.

[0065] As shown in FIG. 5 to FIG. 9, in the first posture in which the tool exchange unit 310 (holding unit 321) exchanges tools with respect to the first tool holder 61S in FIG. 2, the first block 251 is positioned at the first position 251A, and the second block 252 is positioned at the third position 252A. The first position 251A and the third position 252A face each other in the Z-axis direction. The first position 251A and the third position 252A are symmetrical with respect to the X-axis-Y-axis plane including the first axis 201. The first opening 256j opens facing the second block 252 in the Z-axis direction. The second opening 257j opens facing the first block 251 in the Z-axis direction.

[0066] The first shaft member 271 is disposed in the first cutout portion 256. The second shaft member 272 is disposed in the second cutout portion 257. The first shaft member 271 abuts against a wall surface of the first cutout portion 256 on the negative side of the Y axis. The second shaft member 272 abuts against a wall surface of the second cutout portion 257 on the negative side of the Y axis. The first shaft member 271 and the second shaft member 272 are disposed at positions symmetrical with respect to the X-axis-Y-axis plane including the first axis 201.

[0067] The rotating portion 220 is disposed at a first phase position 220L centered on the first axis 201. The first axis member 271 and the second axis member 272 are disposed on the positive side of the Y axis with respect to the X-Z plane including the first axis 201. The holding portion 321 is disposed on the negative side of the Y axis with respect to the X-Z plane including the first axis 201.

[0068] 11, in the second posture in which the tool exchange unit 310 (holding unit 321) exchanges tools with respect to the second tool holder 61T in FIG. 3, the first block 251 is positioned at the second position 251B, and the second block 252 is positioned at the third position 252A. The second position 251B is a position symmetrical to the first position 251A across the X-Z plane including the first axis 201. The second position 251B is located on the opposite side of the third position 252A across the first axis 201.

[0069] The first shaft member 271 is disposed in the first cutout portion 256. The second shaft member 272 is disposed outside the second cutout portion 257. The first shaft member 271 abuts against a wall surface of the first cutout portion 256 on the positive side of the Y axis. The first shaft member 271 and the second shaft member 272 are disposed at positions symmetrical with respect to the X-axis-Z axis plane including the first axis 201.

[0070] The rotating part 220 is disposed at a second phase position 220M centered on the first axis 201. The second phase position 220M is a position shifted from the first phase position 220L in the positive circumferential direction (clockwise direction in top view) centered on the first axis 201. The second phase position 220M is a position shifted by +90° centered on the first axis 201 from the first phase position 220L.

[0071] As shown in Figures 9 and 11, the first shaft member 271 (second shaft 206) when the first block 251 is positioned at the first position 251A and the first shaft member 271 (second shaft 206) when the first block 251 is positioned at the second position 251B are arranged side by side on the same straight line extending in the Y-axis direction.

[0072] As shown in FIG. 13, in the third posture in which the tool exchange unit 310 (holding unit 321) exchanges tools with respect to the third tool holder 61U in FIG. 4, the first block 251 is positioned at the first position 251A, and the second block 252 is positioned at the fourth position 252B. The fourth position 252B is a position symmetrical to the third position 252A across the X-axis-Z-axis plane including the first axis 201. The fourth position 252B is located on the opposite side of the first position 251A across the first axis 201. The second position 251B and the fourth position 252B face each other in the Z-axis direction. The second position 251B and the fourth position 252B are in a positional relationship symmetrical to each other across the X-axis-Y-axis plane including the first axis 201.

[0073] The first shaft member 271 is disposed outside the first cutout portion 256. The second shaft member 272 is disposed in the second cutout portion 257. The second shaft member 272 abuts against a wall surface of the second cutout portion 257 on the positive side of the Y axis. The first shaft member 271 and the second shaft member 272 are disposed at positions symmetrical with respect to the X-axis-Z axis plane including the first axis 201.

[0074] The rotating part 220 is disposed at a third phase position 220N centered on the first axis 201. The third phase position 220N is a position shifted from the first phase position 220L in the negative circumferential direction (counterclockwise direction in top view) centered on the first axis 201. The third phase position 220N is a position shifted from the first phase position 220L by −90° centered on the first axis 201.

[0075] As shown in Figures 9 and 13, the second shaft member 272 (third shaft 207) when the second block 252 is positioned at the third position 252A and the second shaft member 272 (third shaft 207) when the second block 252 is positioned at the fourth position 252B are arranged side by side on the same straight line extending in the Y-axis direction.

[0076] 9 to 11, when the automatic conveying device 200 is changed from the first posture to the second posture, the first actuator 241 in FIG. 8 is extended, so that the first block 251 slides from the first position 251A to the second position 251B while the second block 252 is positioned at the third position 252A. In this case, the first block 251 pushes the first shaft member 271 arranged in the first cutout portion 256 in the positive circumferential direction about the first shaft 201, and the second shaft member 272 retracts from the second cutout portion 257.

[0077] When the first actuator 241 causes the first block 251 to slide in the Y-axis direction, the first block 251 pushes the first shaft member 271 arranged in the first cutout portion 256 in the circumferential direction of the first shaft 201, and the second shaft member 272 withdraws from the second cutout portion 257.

[0078] More specifically, the first block 251 slides from the first position 251A to the second position 251B while the wall surface of the first cutout portion 256 on the positive side of the Y axis is in contact with the first shaft member 271. The first shaft member 271 receives a force in the -Y axis direction from the first block 251 while rotating around the second shaft 206. As a result, the first shaft member 271 and the second shaft member 272 move in an arc shape in the positive circumferential direction around the first shaft 201. The first shaft member 271 remains disposed in the first cutout portion 256. The second shaft member 272 exits from the second cutout portion 257 through the second opening 257j. Through the above process, the rotating portion 220 rotates from the first phase position 220L to the second phase position 220M.

[0079] 9, 12 and 13, when the automatic conveying device 200 is changed from the first posture to the third posture, the second actuator 242 in Fig. 8 is extended, so that the second block 252 slides from the third position 252A to the fourth position 252B while the first block 251 is positioned at the first position 251A. In this case, the second block 252 pushes the second shaft member 272 arranged in the second cutout portion 257 in the negative circumferential direction about the first shaft 201, and the first shaft member 271 retracts from the first cutout portion 256.

[0080] When the second block 252 is caused to slide in the Y-axis direction by the second actuator 242, the second block 252 pushes the second shaft member 272 arranged in the second cutout portion 257 in the circumferential direction of the first shaft 201, and the first shaft member 271 withdraws from the first cutout portion 256.

[0081] More specifically, the second block 252 slides from the third position 252A to the fourth position 252B while the wall surface of the second cutout portion 257 on the positive side of the Y axis is in contact with the second shaft member 272. The second shaft member 272 receives a force in the -Y axis direction from the second block 252 while rotating around the third shaft 207. As a result, the first shaft member 271 and the second shaft member 272 move in an arc shape in the negative circumferential direction around the first shaft 201. The second shaft member 272 remains disposed in the second cutout portion 257. The first shaft member 271 exits from the first cutout portion 256 through the first opening 256j. Through the above process, the rotating portion 220 rotates from the first phase position 220L to the third phase position 220N.

[0082] In addition, when changing the automatic conveying device 200 from the second position to the first position, the first actuator 241 in FIG. 8 can be shortened, and when changing the automatic conveying device 200 from the third position to the first position, the second actuator 242 in FIG. 8 can be shortened.

[0083] In this embodiment, when the first block 251 slides from the first position 251A to the second position 251B while the second block 252 is positioned at the third position 252A, the first block 251 pushes the first shaft member 271 arranged in the first cutout portion 256 in the positive circumferential direction about the first axis 201, whereby the rotating part 220 rotates from the first phase position 220L to the second phase position 220M. In this case, as the rotating part 220 rotates, the second shaft member 272 connected to the rotating part 220 retracts from the second cutout portion 257, so that the second shaft member 272 in the second cutout portion 257 exceeds the movable range, and the rotation range of the rotating part 220 between the first phase position 220L and the second phase position 220M can be determined.

[0084] Similarly, when the second block 252 slides from the third position 252A to the fourth position 252B while the first block 251 is positioned at the first position 251A, the second block 252 pushes the second shaft member 272 arranged in the second cutout portion 257 in the negative circumferential direction about the first axis 201, whereby the rotating part 220 rotates from the first phase position 220L to the third phase position 220N. In this case, as the rotating part 220 rotates, the first shaft member 271 connected to the rotating part 220 retracts from the first cutout portion 256, so that the rotation range of the rotating part 220 between the first phase position 220L and the third phase position 220N can be determined beyond the movable range of the first shaft member 271 at the first cutout portion 256.

[0085] Therefore, the holding portion 321 for detachably holding the tool T can be rotated within a wider angular range.

[0086] Also, a structure is assumed in which the rotating part 220 is rotated between the first phase position 220L, the second phase position 220M, and the third phase position 220N using one piston cylinder and a rack and pinion mechanism. However, in such a structure, the stroke amount of the piston cylinder needs to be set sufficiently large in accordance with the rotation range of 180° between the second phase position 220M and the third phase position 220N, which results in an increase in size of the automatic conveying device. In contrast, in this embodiment, the first actuator 241 for rotating the rotating part 220 in an angle range of 90° between the first phase position 220L and the second phase position 220M and the second actuator 242 for rotating the rotating part 220 between the first phase position 220L and the third phase position 220N are arranged around the first shaft 201, so that the automatic conveying device 200 can be configured compactly.

[0087] Furthermore, the sliding direction (second direction) of the first block 251 between the first position 251A and the second position 251B and the sliding direction (third direction) of the second block 252 between the third position 252A and the fourth position 252B are the same Y-axis direction. With this configuration, the first actuator 241 for sliding the first block 251 and the second actuator 242 for sliding the second block 252 are arranged parallel to each other, so that the automatic transport device 200 can be configured more compactly.

[0088] In the present invention, the direction in which the first block is slid by the first actuator and the direction in which the second block is slid by the second actuator may not be parallel to each other.

[0089] Moreover, the first position 251A and the third position 252A face each other in the Z-axis direction, and the second position 251B and the fourth position 252B face each other in the Z-axis direction. With this configuration, the first block 251 and the second block 252 are slid in a symmetrical positional relationship, so that the automatic conveying device 200 can be made even more compact.

[0090] Furthermore, when the first block 251 is positioned at the first position 251A and the second block 252 is positioned at the third position 252A, the first opening 256j opens facing the second block 252 in the Z-axis direction, and the second opening 257j opens facing the first block 251 in the Z-axis direction. With this configuration, when the first shaft member 271 exits the first cutout portion 256 through the first opening 256j, interference between the first shaft member 271 and the wall surface of the first cutout portion 256 can be easily prevented, and when the second shaft member 272 exits the second cutout portion 257 through the second opening 257j, interference between the second shaft member 272 and the wall surface of the second cutout portion 257 can be easily prevented.

[0091] Moreover, the first shaft member 271 when the first block 251 is positioned at the first position 251A and the first shaft member 271 when the first block 251 is positioned at the second position 251B are arranged side by side on the same straight line extending in the Y-axis direction. With this configuration, it is possible to reduce the size of the first block 251 in which the first cutout portion 256 is provided while widening the rotation range of the rotation portion 220 between the first phase position 220L and the second phase position 220M. Furthermore, the second shaft member 272 when the second block 252 is positioned at the third position 252A and the second shaft member 272 when the second block 252 is positioned at the fourth position 252B are arranged side by side on the same straight line extending in the Y-axis direction. With this configuration, the rotation range of the rotation part 220 between the first phase position 220L and the third phase position 220N can be increased, while the second block 252 in which the second cutout part 257 is provided can be reduced in size.

[0092] Moreover, the second phase position 220M is shifted from the first phase position 220L by 90° in the positive circumferential direction about the first axis 201, and the third phase position 220N is shifted from the first phase position 220L by 90° in the negative circumferential direction about the first axis 201. With this configuration, the holding portion 321 for holding a tool can be rotated between three positions that are shifted by 90° each.

[0093] Moreover, the first shaft member 271 and the second shaft member 272 are cam followers. With this configuration, friction between the first shaft member 271 and the first block 251 and friction between the second shaft member 272 and the second block 252 are reduced, so that the rotating part 220 can rotate more smoothly.

[0094] In addition, the interval between the first phase position, the second phase position, and the third phase position in the present invention may be an angle less than 90° or an angle greater than 90°. In addition, the first shaft member and the second shaft member in the present invention are not limited to cam followers and may be, for example, cylindrical pin members. The transport object in the present invention is not limited to tools and may be, for example, a workpiece.

[0095] 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]

[0096] 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 first axis, 206 second axis, 207 third axis, 210 base portion, 220 rotating portion, 220L first phase position, 220M second phase position, 220N third phase position, 231 Second base, 232, 262 coupling, 241 first actuator, 242 second actuator, 251 first block, 251A first position, 251B second position, 252 second block, 252A third position, 252B fourth position, 256 first cutout portion, 257 second cutout portion, 256j first opening, 257j second opening, 261 plate, 271 first shaft member, 272 second shaft member, 310 tool exchange portion, 321, 321p, 321q holding portion, 351 turning mechanism, K tool exchange position on tool post side, T tool, W workpiece machining position.

Claims

[Claim 1] A base portion; a rotation portion supported by the base portion so as to be rotatable about a first axis, The rotating portion is A holding section for detachably holding an object to be transported; a rotation mechanism configured to be able to rotate the holding portion around a rotation central axis perpendicular to the first axis and provided opposite the holding portion in an axial direction of the rotation central axis; An automatic conveying device, wherein the first axis is disposed between the holding portion and the turning mechanism in the axial direction of the turning central axis and closer to the holding portion than the turning mechanism.

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