Tool exchanger

Abstract

To automate exchange of a tool holder when a deburring tool is installed on a robot, etc.SOLUTION: A tool exchanger 30 includes: a support arm 31 which supports a spindle body 10 in a tool exchange position 2 so that a main shaft 15 corresponds with an exchange axis 1; a driving lever 33 which is disposed at the support arm 31 and moves a trigger 19 from a processing position 3 to an attachment / detachment position 4; and a tool magazine 45 having a plurality of tool holding parts 491 to which a tool 251 may be attached, and a moving device 57 which moves the tool holding part 491 along the exchange axis 1 to attach the tool 251 in a stand-by position 6 to the main shaft 15 in the tool exchange position 2.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a tool changer. [Background technology]

[0002] A deburring tool that allows the tool holder to be easily replaced is known (for example, JP 2023-58946 A). This deburring tool includes a shank, a cylinder chamber, a body having a detent body holding hole and a tool holder holding hole, a pusher, a first elastic body that biases the pusher in the tip direction, a tool holder having a detent groove, and a cover that is arranged on the outside of the body and can reciprocate between an attachment / detachment position and a processing position along the shank axis, the cover having a pressing surface that covers the detent body holding hole at the processing position and an escape portion, and a detent body that is accommodated in the escape portion when the cover is located at the attachment / detachment position and the tool holder is pulled out of the tool holder holding hole. Summary of the Invention [Problem to be solved by the invention]

[0003] An object of the present invention is to automate the replacement of a tool holder when a deburring tool is installed on a robot or the like. [Means for solving the problem]

[0004] The first aspect of the present invention is A tool changing device for changing a tool of a spindle body, the tool changing device having a main spindle, a trigger that reciprocates along the main spindle between a processing position and an attachment / detachment position, and a tool that is attachable to and detachable from the main spindle and moves in a tip direction when the trigger moves to the attachment / detachment position, a support arm for supporting the spindle body at a tool change position so that the main axis coincides with a tool change axis; a drive lever disposed on the support arm for moving the trigger from the processing position to the detachment position; A tool magazine, comprising: A plurality of tool holders to which the tools can be attached; an advance / retract device that moves the tool holding unit along the tool exchange axis to mount the tool at a standby position on the tool exchange axis to the spindle at the tool exchange position; a tool magazine having a The tool changer has a

[0005] When the trigger is in the machining position, the tool is held on the spindle. The trigger may have a receiving portion. The support arm may have a spindle body support portion. The spindle body support portion may be, for example, a slot extending in the Y direction. The spindle body support portion may open at a front end of the support arm. The spindle body support portion positions and holds the spindle body.

[0006] The drive lever may have a trigger insertion hole. The trigger insertion hole is an elongated hole extending in the Y direction. A trigger is inserted into the trigger insertion hole. The trigger insertion hole may open to a front surface of the drive lever. The drive lever may have a hook portion. The hook portion is capable of hooking the receiving portion of the trigger. The drive lever can move the trigger from the processing position to the detachment position by hooking the hook portion to the receiving portion of the trigger.

[0007] The tool magazine may include a magazine plate and a plurality of tool holding portions arranged on the magazine plate and reciprocating between a standby position and an insertion position. The advancing / retracting device may include an advancing / retracting cylinder and an engaging portion connected to the advancing / retracting cylinder and configured to move the tool holding portion. The engaging portion may be, for example, a table, a hook, or a clamp. The tool magazine may be disposed corresponding to each of the tool holding portions and may have insertion holes through which the engagement portions pass. In this case, the guide and the second guide hole may be disposed in the support arm, and the first guide hole may be disposed in the tool holder. Effect of the Invention

[0008] According to the present invention, when a deburring tool is installed on a robot or the like, replacement of the tool holder can be automated. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a front view of a part of a spindle body according to a first embodiment; [Diagram 2] FIG. 1 is a plan view of a tool exchange device according to a first embodiment; [Diagram 3] View of arrow III in Figure 2 [Figure 4] Cross-sectional view of line IV-IV in Figure 2 [Diagram 5] FIG. 1 is a vertical cross-sectional view showing a tool replacement state in the first embodiment. [Figure 6] FIG. 1 is a vertical cross-sectional view showing a tool replacement state in the first embodiment. [Figure 7] FIG. 1 is a front view showing a tool replacement state in the first embodiment; [Figure 8] FIG. 1 is a front view showing a tool replacement state in the first embodiment; [Figure 9] FIG. 1 is a vertical cross-sectional view showing a tool replacement state in the first embodiment. [Figure 10] FIG. 11 is a front view of a tool exchange device according to a second embodiment; [Figure 11] Cross-sectional view of line XI-XI in Figure 10 [Figure 12] FIG. 11 is a front view of a tool exchange device according to a third embodiment; [Figure 13] FIG. 11 is a plan view of a tool exchange device according to a third embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] <Embodiment 1> As shown in Fig. 1, the spindle body 10 of this embodiment has a body 11, a spindle motor 13, a spindle 15, a ball 17, a trigger 19, a pusher 21, and a compression coil spring 23. The body 11 is connected to, for example, a robot (moving device) 27. A tool 251 is detachably attached to the spindle 15. Here, the left half of Fig. 1 shows a state in which the trigger 19 is at the processing position 3 and the tool 251 is attached to the spindle 15. The right half of Fig. 1 shows a state in which the trigger 19 is at the attachment / detachment position 4 and the tool 251 is removed from the spindle 15.

[0011] The body 11 is a hollow right cylinder. For convenience, the upper part in FIG. 1 will be referred to as the base end and the lower part as the tip end. The spindle motor 13 is disposed at the base end of the body 11. For example, the spindle motor 13 is a servo motor or a PM synchronous motor. Preferably, the spindle motor 13 can be positioned at the origin.

[0012] The main shaft 15 is supported by the body 11. The main shaft 15 is connected to the spindle motor 13. The main shaft 15 has a tool mounting hole 15a and a ball insertion hole 15b. The tool mounting hole 15a extends from the tip of the main shaft 15 onto the central axis 5 of the main shaft 15. The tool mounting hole 15a is in the shape of a right cylinder. The ball insertion hole 15b penetrates from the outer surface of the main shaft 15 to the tool mounting hole 15a.

[0013] The pusher 21 reciprocates inside the tool mounting hole 15a along the central axis 5. The compression coil spring 23 is disposed inside the tool mounting hole 15a on the base end side of the pusher 21. The compression coil spring 23 pushes the tool 251 toward the tip end via the pusher 21.

[0014] The trigger 19 has a pressing surface 19a, a recess 19b, a cylindrical portion 19c, a receiving portion 19d, and an operating portion 19e. The cylindrical portion 19c is a hollow right cylinder. The cylindrical portion 19c extends from the tip of the trigger 19 to the center along the central axis 5. The pressing surface 19a is disposed on the inner surface of the trigger 19. The recess 19b is disposed on the pressing surface 19a. The recess 19b is, for example, a circumferential groove having a trapezoidal cross section. For example, the recess 19b is disposed at the tip of the trigger 19. The operating portion 19e is, for example, disposed at the base end of the trigger 19. The operating portion 19e is annular. The operating portion 19e has, for example, a diameter larger than that of the cylindrical portion 19c. The receiving portion 19d is a boundary between the cylindrical portion 19c and the operating portion 19e. The trigger 19 is disposed at the tip of the main shaft 15. The trigger 19 reciprocates between the processing position 3 and the attachment / detachment position 4. In Fig. 1, the processing position 3 is located at a lower position, and the attachment / detachment position 4 is located at an upper position. The trigger 19 is biased from the attachment / detachment position 4 toward the processing position 3 by, for example, an elastic body (not shown). The trigger 19 may have a receiving portion 19f instead of the operating portion 19e and the receiving portion 19d, or in addition to the operating portion 19e and the receiving portion 19d. The receiving portion 19f is disposed on the outer periphery of the cylindrical portion 19c. The receiving portion 19f is, for example, a circumferential groove having a semicircular cross section.

[0015] The ball 17 is disposed in the ball insertion hole 15b. When the trigger 19 is in the machining position, the ball 17 is pushed radially inward by the pressing surface 19a. The ball 17 then protrudes radially inward from the tool mounting hole 15a. When the trigger 19 is in the mounting / detaching position 4, the ball 17 moves radially outward from the tool mounting hole 15a and is stored in the recess 19b.

[0016] The tool 251 has a slider 25a, a tip tool 25b, and a feed groove 25c. The slider 25a is a right cylinder and slides in the tool mounting hole 15a. The feed groove 25c is formed on the cylindrical surface of the slider 25a. When the tool 251 is mounted in the tool mounting hole 15a, the ball 17 is inserted into the feed groove 25c. The tip tool 25b is disposed at the tip of the slider 25a. Tools 252 and 253 described below are substantially the same as the tool 251. However, the tool tip 25b of the tool 253 is different from that of the tool 251. The length of the slider 25a of the tool 252 is different from that of the tool 251.

[0017] 2 to 4, the tool changer 30 of this embodiment has a support arm 31, a plunger 32, a drive lever 33, a plunger 34, a lever cylinder 37, a guide 35, and a tool magazine 45. The tool magazine 45 has a magazine plate 47 and tool holding units 491 to 493. Here, in FIG. 3, the tool magazine 45 in a state where the tool holding unit 491 is in the standby position 6 is shown by a solid line. Also, in FIG. 3, the tool magazine 45 in a state where the tool holding unit 491 is in the insertion position 7 is shown by a two-dot chain line.

[0018] Here, the left-right direction in FIG. 2 is the X direction (second direction, right direction is positive), the up-down direction is the Y direction (first direction, upward direction is positive), and the direction penetrating the paper is the Z direction (front side is positive). The installation direction of the tool exchange device 30 is not limited. In the following embodiment, the tool exchange device 30 is arranged so that the +Z direction faces upward and the -Y direction faces forward. Also, the left half of the spindle body 10 in FIG. 3 shows a state in which the trigger 19 is in the processing position 3. The right half of the spindle body 10 in FIG. 3 shows a state in which the trigger 19 is in the attachment / detachment position 4. In FIG. 4, the tool magazine 45 in the standby position 6 is shown by a solid line. In FIG. 4, the tool magazine 45 in the insertion position 7 is shown by a two-dot chain line.

[0019] The support arm 31 has a support portion (spindle body support portion) 31b, a flange portion 31a, and a guide hole 31c (see FIG. 4). The support arm 31 is flat. The support arm 31 is disposed above the tool magazine 45. The support portion 31b is a groove extending from the front of the support arm 31. The support portion 31b is U-shaped when viewed from above. The flange portion 31a is disposed at the lower end of the support portion 31b. The flange portion 31a is disposed, for example, around the entire circumference of the support portion 31b and extends slightly in the inner circumferential direction of the support portion 31b. When the spindle body 10 is located at the tool exchange position 2, the cylindrical surface of the body 11 of the spindle body 10 abuts against the support portion 31b. Also, the tip surface of the body 11 abuts against the upper surface of the flange portion 31a. The position of the central axis 5 at this time is the exchange axis 1. The front edge of the support portion 31b may be closed. In this case, the support portion 31b is an elongated hole (O-shaped) extending in the Y direction when viewed from the Z direction. In this case, the flange portion 31a is disposed, for example, only on the rear end portion of the support portion 31b. The guide hole 31 c extends parallel to the exchange shaft 1 .

[0020] The plunger 32 is, for example, a ball plunger. The plunger 32 is disposed on the support portion 31b. The plunger 32 biases the body 11 to hold the spindle body 10 at the tool changing position 2.

[0021] The drive lever 33 has a trigger insertion hole 33b, a hook portion 33a, and a guide hole (second guide hole) 33c (see FIG. 4). The drive lever 33 is flat. The drive lever 33 is located below the support arm 31. The trigger insertion hole 33b is U-shaped in a plan view and opens at the front end of the drive lever 33. When the spindle body 10 is located at the tool changing position 2, the trigger 19 abuts against the trigger insertion hole 33b. The hook portion 33a is the upper end of the trigger insertion hole 33b. The hook portion 33a can hook the receiving portion 19d of the trigger 19. The guide hole 33c is arranged coaxially with the guide hole 31c. The front edge of the trigger insertion hole 33b may be closed. In this case, the trigger insertion hole 33b is an elongated hole extending in the Y direction when viewed from the Z direction.

[0022] The plunger 34 is, for example, a ball plunger. The plunger 34 is disposed on the driving lever 33. The plunger 34 biases the trigger 19, promoting the driving lever 33 and the trigger 19 to move together.

[0023] The guide 35 is fixed to the support arm 31. The guide 35 is, for example, a rod with a circular cross section. The guide 35 passes through the guide hole 31c and the guide hole 33c. For example, a pair of guides 35 are disposed symmetrically with respect to a YZ plane passing through the exchange shaft 1. The guide 35 guides the support arm 31 and the magazine plate 47 in the Z direction.

[0024] The lever cylinder 37 is, for example, an air cylinder or an electric cylinder. The lever cylinder 37, which is an air cylinder, is connected to an air source 39. For example, the lever cylinder 37 is fixed to the support arm 31, and a piston rod is connected to the drive lever 33. The lever cylinder 37, which is an air cylinder, is, for example, a retractable single-acting cylinder. The piston rod of the lever cylinder 37 is always extended to position the drive lever 33 at the processing position 3. When compressed air is supplied from the air source 39, the piston rod retracts, moving the drive lever 33 to the attachment / detachment position 4. Incidentally, the lever cylinder 37 may be a double acting cylinder or an electric cylinder.

[0025] The tool magazine 45 has an indexing device 55 and an advancing / retracting device 57. The advancing / retracting device 57 is connected to the support arm 31.

[0026] The magazine plate 47 is flat rod-shaped and extends in the X-axis direction. The magazine plate 47 has a guide hole (first guide hole) 51 (see FIG. 4). The tool holding parts 491-493 are arranged in the X-direction on the magazine plate 47. The tool holding parts 491-493 are arranged at the front end part of the magazine plate 47. The guide hole 51 is arranged in pairs for each of the tool holding parts 491-493. The guide hole 51 is arranged at the rear part of the magazine plate 47. When any of the tool holding parts 491-493 is positioned on the exchange shaft 1, the guide hole 51 corresponding to the tool holding part 491-493 on the exchange shaft 1 is positioned on the axis of the guide 35.

[0027] The tool holding portion 491 has a slit 49a, a seating surface 49b, a clamp cylinder 49c, and a claw 49d. The slit 49a extends rearward from the front end of the magazine plate 47. The width of the slit 49a may increase toward the front end. The seating surface 49b is disposed around the rear end of the slit 49a. Preferably, the seating surface 49b has substantially the same width (range) as the lower end surface of the slider 25a. The seating surface 49b may be the upper surface of the magazine plate 47. The tools 251 and 253 are respectively placed on the tool holding portions 491 and 493. At this time, the tip tool 25b passes through the slit 49a. The slider 25a is also placed on the seating surface 49b. The front edge of the slit 49a may be closed. In this case, the slit 49a is a gourd-shaped through hole when viewed from the Z direction. The gourd-shaped through hole has a front part larger than a rear part. The front part of the gourd-shaped through hole has a size that allows the tip tool 25b to pass through.

[0028] The clamp cylinder 49c may be disposed on the lower surface of the magazine plate 47. The clamp cylinder 49c is, for example, an air cylinder. The clamp cylinder 49c, which is an air cylinder, is connected to the air source 39. The claw 49d is disposed on the clamp cylinder 49c. The clamp cylinder 49c opens and closes the claw 49d to clamp or unclamp the tip tool 25b of the tool 251. Tool holder 492 and tool holder 493 are substantially identical to tool holder 491 .

[0029] The indexing device 55 is a linear motion device. The indexing device 55 is, for example, an electric cylinder. The indexing device 55 moves the magazine plate 47 in the X-axis direction to index any one of the tool holding units 491-493 to the standby position 6. Here, the standby position 6 is a position where the centers of the tools 251-253 installed in the tool holding units 491-493 are coaxial with the exchange shaft 1 and the tools 251-253 are separated from the spindle body 10 in the Z-axis direction. The tool 252 is not shown in the figure.

[0030] The advancing and retreating device 57 is, for example, a linear motion device or an electric cylinder. The advancing and retreating device 57 moves the indexing device 55 and the magazine plate 47 together in the Z-axis direction between the standby position 6 and the insertion position 7.

[0031] Next, a method of using the tool exchange device 30 of this embodiment will be described with reference to Figures 5 to 9. In the following description, first, the tool 251 is transferred from the spindle body 10 to which the tool 251 is attached, to an empty tool holding portion 491 of the tool magazine 45. Next, the tool 253 is attached to the spindle body 10 from the tool holding portion 493 of the tool magazine 45.

[0032] As shown in FIG. 5, first, the indexing device 55 indexes the empty tool holding part 491 to the exchange shaft 1. Next, the advance / retract device 57 moves the magazine plate 47 to the insertion position 7. At this time, the guide 35 is inserted into the guide hole 51 and guided. Therefore, the tool holding part 491 coincides with the exchange shaft 1. Also, the air source 39 opens the clamp cylinder 49c. Then, the claw 49d opens. Next, the robot 27 moves the spindle body 10 in the +Y direction as shown by the arrow 61, and positions it at the tool exchange position 2. The plunger 32 biases the body 11 to hold it at the support part 31b. The plunger 34 biases the drive lever 33 to hold it in the trigger insertion hole 33b.

[0033] 6, the lever cylinder 37 moves the driving lever 33 in the +Z direction as indicated by the arrow 62. Then, the trigger 19 moves together with the driving lever 33 to the attachment / detachment position 4. At this time, the ball 17 is stored in the recess 19b, and the slider 25a becomes removable. The air source 39 then closes the clamp cylinder 49c, causing the claws 49d to clamp the tool 251.

[0034] 7, the advance / retract device 57 moves the magazine plate 47 in the -Z direction as indicated by the arrow 63. Then, the tool 251 is pulled out from the tool mounting hole 15a together with the magazine plate 47. At this time, the driving lever 33 is moved downward by the spring built into the lever cylinder 37. Then, the driving lever 33 and the trigger 19 return to the processing position 3. Next, the indexing device 55 indexes the tool holding portion 493 to the exchange shaft 1 as indicated by an arrow 65 .

[0035] 8, the advance / retract device 57 moves the magazine plate 47 in the +Z direction as indicated by the arrow 67. Then, the guide 35 is guided into the guide hole 51, and the tool 253 is inserted into the spindle 15. At this time, the ball 17 moves from the recess 19b to between the pressing surface 19a and the slider 25a. Accordingly, the trigger 19 reciprocates in the vertical direction. Next, the air source 39 operates the clamp cylinder 49 c so that the claws 49 d unclamp the tool 253 .

[0036] 9, the robot 27 moves the spindle body 10 in the -Y direction as indicated by the arrow 69. The spindle body 10 moves away from the support arm 31 and the drive lever 33, and the tool change is completed.

[0037] According to the tool changer 30 of the present embodiment, the tool of the spindle body 10 can be automatically changed smoothly.

[0038] In the spindle body 10 of this embodiment, the processing position 3 is closer to the tip end than the attachment / detachment position 4. However, the trigger 19 may be modified so that the processing position 3 is closer to the base end than the attachment / detachment position 4. In this case, the lever cylinder 37 may be a push-type single-acting cylinder.

[0039] Note that, instead of the magazine plate 47 and the indexing device 55 of this embodiment, a disk-shaped magazine plate having a plurality of tool holding parts 491 provided on its circumference and an indexing device that is a rotating device may be provided. In this case, the indexing device rotates the magazine plate to index each of the tool holding parts 491 to the exchange shaft 1.

[0040] <Embodiment 2> 10 and 11, the tool changer 70 of this embodiment has a support arm 31, a drive lever 73, a lever cylinder 37, a tool magazine 85, an indexing device 55, and an advancing / retracting device 97. The tool changer 70 is adapted to a spindle body 10 having a receiving portion 19f. Here, the left half of the spindle body 10 in FIG. 10 shows a state in which the trigger 19 is in the machining position 3 and a tool 251 is attached to the spindle 15. The right half of the spindle body 10 in FIG. 1 shows a state in which the trigger 19 is in the attachment / detachment position 4 and a tool 251 is removed from the spindle 15.

[0041] The drive lever 73 has a trigger insertion hole 33b and a hook portion 73a. The hook portion 73a is disposed on both side surfaces of the trigger insertion hole 33b. The hook portion 73a is a rod-shaped protrusion having a semicircular cross section and extending in the Y direction. When the spindle body 10 is located at the tool change position 2, the receiving portion 19f is inserted into the hook portion 73a. The receiving portion 19f is a circumferential groove. Therefore, the receiving portion 19f is inserted into the hook portion 73a regardless of the rotation direction of the main shaft 15. When the receiving portion 19f is hooked onto the hook portion 73a, the receiving portion 19f moves back and forth together with the drive lever 73 between the processing position 3 and the attachment / detachment position 4.

[0042] The tool magazine 85 has a magazine plate 87, tool holding units 891, 892, 893, an indexing device 55, and an advancing / retracting device 97. Here, in Fig. 10, the tool holding unit 891 at the standby position 6 is indicated by a solid line. Also, in Fig. 10, the tool holding unit 891 at the insertion position 7 and the advancing / retracting device 97 are indicated by a two-dot chain line.

[0043] The magazine plate 87 is flat bar-shaped and extends in the X-axis direction. The magazine plate 87 has tool holding portions 891-893, table holes (insertion holes) 87a (see FIG. 11), and a guide 94. The table holes 87a and the guides 94 are arranged corresponding to the tool holding portions 891-893, respectively. The table holes 87a penetrate the magazine plate 87 in the Z direction so as to expose most of the lower surfaces of the tool holding portions 891-893. The guide 94 extends along the Z-axis above the magazine plate 87. The magazine plate 87 is connected to the indexing device 55. The indexing device 55, the advance / retract device 97, the support arm 31, and the drive lever 73 are connected to each other.

[0044] The tool holding portion 891 includes a cassette body 89e, a clamp cylinder 89c, and a claw 89d. The cassette body 89e includes a slit 89a, a tool mounting hole 89f, a seat surface 89b, and a guide hole 96.

[0045] The cassette body 89e is rectangular and has a tool mounting hole 89f on the front side. The cassette body 89e is disposed above the table hole 87a. As shown in FIG. 11, the tool mounting hole 89f is a U-shaped groove extending rearward from the front edge of the cassette body 89e. As shown in FIG. 10, the tool mounting hole 89f extends downward from the upper surface of the cassette body 89e. The seat surface 89b is the lower surface of the tool mounting hole 89f. The slit 89a is disposed in the seat surface 89b. The slit 89a penetrates the cassette body 89e in the Z direction. The slit 89a extends in the Y direction from the front edge of the cassette body 89e to the exchange shaft 1. In other respects, the slit 89a is substantially the same as the slit 49a. The tools 251 and 253 are attached to the cassette body 89e. At this time, the cylindrical side surface of the slider 25a abuts against the tool mounting hole 89f. The tip surface of the slider 25a abuts against the seat surface 89b. The tip tool 25b passes through the slit 89a.

[0046] The clamp cylinder 89c and the claw 89d are disposed inside the cassette body 89e. The clamp cylinder 89c is substantially identical to the clamp cylinder 49c. The claw 89d is substantially identical to the claw 49d. The guide hole 96 penetrates the cassette body 89e in the Z direction. The guide 94 penetrates the guide hole 96 and guides the cassette body 89e in the Z direction. Tool holders 892, 893 are substantially identical to tool holder 891. A plunger may be disposed in place of the clamp cylinder 89c and the claw 89d. The plunger supports the tools 251, 253 attached to the tool attachment hole 89f by biasing the tools 251, 253 from both sides.

[0047] The advancing / retreating device 97 has an advancing / retreating cylinder 97a and a table (engagement portion) 97b. The advancing / retreating cylinder 97a is, for example, an air cylinder or an electric cylinder. The advancing / retreating cylinder 97a is arranged along the exchange shaft 1. The table 97b is connected to the advancing / retreating cylinder 97a. The table 97b is, for example, C-shaped in a plan view. The advancing / retreating cylinder 97a reciprocates the table 97b in the Z direction as shown by the arrow 79 in FIG.

[0048] When any one of the tool holders 891 to 893 is at the standby position 6, the advance / retract cylinder 97a extends / retracts. At this time, when the advance / retract cylinder 97a moves the table 97b in the +Z direction, the table 97b passes through the table hole 87a. Then, the table 97b places the cassette body 89e on it and moves it to the insertion position 7. At this time, the cassette body 89e moves along the exchange shaft 1 while being guided by the guide 94. Also, when the advance / retract cylinder 97a retracts the table 97b, the table 97b places the cassette body 89e on the magazine plate 87. As a result, the cassette body 89e is disposed at the standby position 6. When the advance / retract cylinder 97a further retracts the table 97b, the table 97b passes through the table hole 87a and moves below the magazine plate 87. When the table 97b is at the lower end, the table 97b is separated from the magazine plate 87. Therefore, as indicated by an arrow 77, the indexing device 55 can move the magazine plate 87 in the X direction to move any one of the tool holding portions 891 to 893 to the standby position.

[0049] <Embodiment 3> As shown in FIGS. 12 and 13, the tool exchange device 100 of this embodiment has a support arm 131, a drive lever 133, a pair of guides 35, a lever cylinder 37, a tool magazine 105, and an advancing / retracting device 57. The tool change device 100 has two change shafts 1 and 9. A spindle body 10 is supported at a tool change position 2 on the change shaft 1 or at a tool change position 8 on the change shaft 9. 12, the left side of the exchange shaft 1 shows a state in which the drive lever 133 is in the processing position 3. In FIG.

[0050] The support arm 131 extends in the X-axis direction. The support arm 131 has a support portion 31b and a flange portion 31a at each of the tool changing position 2 and the tool changing position 8. A pair of guides 35 are disposed on both ends of the support arm 131 .

[0051] The drive lever 133 extends in the X-axis direction. The drive lever 133 has a trigger insertion hole 33b and a hook portion 33a at each of the tool change position 2 and the tool change position 8. The drive lever 133 has a pair of guide holes 33c. The drive lever 133 is guided by a guide 35.

[0052] The lever cylinder 37 is disposed on the support arm 131 and connected to the drive lever 133. The lever cylinder 37 moves the drive lever 133 between the processing position 3 and the attachment / detachment position 4.

[0053] The tool magazine 105 has a magazine plate 187, a guide hole 51, and tool holding portions 491 and 492. The tool magazine 105 may have an adjustment spacer 49g. Here, in Fig. 12, the tool magazine 105 in a state where the tool holding portions 491 and 492 are in the standby position 6 is shown by a solid line. Also, in Fig. 12, the tool magazine 105 in a state where the tool holding portions 491 and 492 are in the insertion position 7 is shown by a two-dot chain line.

[0054] The magazine plate 187 has a guide hole 51. The magazine plate 187 extends in the X-axis direction. The tool holding parts 491, 492 are arranged side by side in the X-axis direction at the front end part of the magazine plate 187. The tool holding part 491 is arranged on the exchange shaft 1. The tool holding part 492 is arranged on the exchange shaft 9. The guide hole 51 is disposed at the rear end of the magazine plate 187. The adjustment spacer 49g is disposed in the tool holding portion 491 or the tool holding portion 492. By disposing the adjustment spacer 49g, the user can adjust the length and insertion height of the slider 25a of the tools 251, 252 disposed in the tool holding portions 491, 492. The tool 251 is placed in a tool holding unit 491. The tool 252 is placed in a tool holding unit 492. The positions of the tools 251 and 252 are not interchanged. The tool exchange device 100 employs a fixed address system.

[0055] The advancing / retreating device 57 is connected to the magazine plate 187. The advancing / retreating device 57 reciprocates the magazine plate 187 between the standby position 6 and the attachment / detachment position 4. When the advancing / retreating device 57 moves the magazine plate 187 from the standby position 6 to the attachment / detachment position 4, the guide 35 is inserted into the guide hole 51, and the guide 35 guides the magazine plate 187.

[0056] A method of using the tool exchange device 100 of this embodiment will be described. The worker decides in advance that the tool 251 will be attached to the tool holding part 491, and the tool 252 will be attached to the tool holding part 492. Then, the worker attaches the adjustment spacer 49g to the tool holding part 491 or the tool holding part 492 according to the length of the slider 25a of the tool 251 and the tool 252. When exchanging a tool 251 between the spindle body 10 and the tool changer 100, the spindle body 10 is moved to the tool change position 2. The tool 251 is attached to the spindle body 10 by the operation of the lever cylinder 37 and the advancing / retracting device 57. The operation method of the lever cylinder 37 and the advancing / retracting device 57 is substantially the same as in the first embodiment. Furthermore, when exchanging the tool 252 between the spindle body 10 and the tool changer 100, the spindle body 10 is moved to the tool change position 8. Then, the tool 252 is attached to the spindle body 10 by the operation of the lever cylinder 37 and the advancing / retracting device 57.

[0057] According to the tool exchange device 100 of this embodiment, the indexing device 55 is not necessary. Therefore, the tool exchange device 100 is easy to manufacture. In addition, the installation positions of the tools 251, 252 are determined in advance. Therefore, even if the length of the slider 25a of the tools 251, 252 differs depending on the tool, the advance / retract device 57 can move each of the tools 251, 252 to the insertion position 7 or the standby position 6 without changing the height of the magazine plate 187 by providing the adjustment spacer 49g.

[0058] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention, and all technical matters included in the technical ideas described in the claims are the subject of the present invention. The embodiments are preferred examples, but a person skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed in this specification, and these are included in the technical scope described in the attached claims. [Explanation of symbols]

[0059] 1 Exchange shaft 3 Processing position 4 Attachment / detachment position 6 Standby position 7 Attachment / detachment position 10 Spindle body 15 Spindle 19 Trigger 251, 253 Tools 30, 70 Tool changer 31 Support arm 33, 73 Drive lever 45, 85, 105 Tool Magazine 491, 492, 493, 891, 892, 893 Tool holding part 55 Indexing device 57, 97 Advancement / retraction device

Claims

1. A tool changing device for changing a tool of a spindle body, the tool changing device having a main spindle, a trigger that reciprocates along the main spindle between a processing position and an attachment / detachment position, and a tool that is attachable to and detachable from the main spindle and moves in a tip direction when the trigger moves to the attachment / detachment position, a support arm for supporting the spindle body at a tool change position so that the main axis coincides with a tool change axis; a drive lever disposed on the support arm for moving the trigger from the processing position to the detachment position; A tool magazine, comprising: A plurality of tool holders to which the tools can be attached; an advance / retract device that moves the tool holding unit along the tool exchange axis to mount the tool at a standby position on the tool exchange axis to the spindle at the tool exchange position; a tool magazine having a A tool changing device having

2. a lever cylinder disposed on the support arm and configured to move the drive lever along the exchange axis; The tool changer of claim 1 .

3. The advance / retract device is a magazine cylinder that reciprocates the tool magazine between a retreat position and an insertion position.

3. A tool changer according to claim 1 or 2.

4. The tool holding portion is A slit disposed in the tool magazine and extending in a first direction; A seat surface disposed around the slit and on which the tool is placed; The tool changing device according to claim 1 or 2, further comprising:

5. The tool magazines are arranged in the tool holding portions, and each of the tool magazines has a first guide hole extending parallel to the tool exchange axis, the support arm has a guide extending parallel to the exchange axis, the guide being inserted into the first guide hole corresponding to the tool holding part when the tool holding part in the standby position moves toward the insertion position; The tool changer according to claim 3.

6. The tool magazine has a tool clamp disposed in each of the tool holding sections and configured to hold the tools.

3. A tool changer according to claim 1 or 2.

7. The drive lever has a second guide hole through which the guide passes. The tool changer according to claim 5.

8. Further comprising an indexing device that moves any one of the plurality of tool holding units to the standby position. The tool changer according to claim 4.

9. The tool holding portions are arranged in a second direction perpendicular to the exchange axis and different from the first direction, The indexing device has a linear motion device extending in the second direction and guiding the tool magazine in the second direction. The tool changer according to claim 8.

10. A plurality of the change axes and a plurality of the tool change positions, The tool magazine has the tool holding portions corresponding to the plurality of exchange shafts, respectively, on the plurality of exchange shafts.

3. A tool changer according to claim 1 or 2.

Images