Automatic tool changing device and machine tool

Abstract

To provide a technique capable of shortening the arm rotation time.SOLUTION: An automatic tool changing device includes a motor, a change arm, and a transmission mechanism. The motor generates motive power. The change arm is capable of holding a tool and is rotatable by the motive power generated by the motor. The transmission mechanism is capable of transmitting the motive power generated by the motor to the change arm. The transmission mechanism does not transmit the motive power generated by the motor to the change arm while the motor is turned into the constant speed rotation state from the rotation start, and starts to transmit the motive power generated by the motor to the change arm at the same time as the motor is turned into the constant speed rotation state or after the motor is turned into the constant speed rotation state.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to an automatic tool changer and a machine tool.

Background Art

[0002] A machining center as an example of a machine tool is known. The machining center performs various processes on a workpiece while automatically exchanging a tool mounted on a spindle. In the machining center, tool exchange is performed by an automatic tool changer (hereinafter, also referred to as "ATC") (Patent Document 1).

[0003] The ATC includes a tool magazine and a changer arm, and a motor. The changer arm rotates by power from the motor and exchanges a tool mounted on the spindle and a tool held in the magazine.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the ATC, it is required to shorten the arm rotation time in tool exchange. The arm rotation time is the time during which the changer arm rotates during tool exchange. Specifically, when the changer arm starts rotating simultaneously with the start of rotation of the motor, the changer arm rotates while the motor is accelerating. In this case, the arm rotation time becomes relatively long, and as a result, there is a possibility that variations occur in the arm rotation time.

[0006] An object of the present disclosure is to provide a technique capable of shortening the arm rotation time.

Means for Solving the Problems

[0007] An automatic tool changer according to an aspect of the present disclosure includes a motor, a changer arm, and a transmission mechanism. The motor generates power. The changer arm is capable of holding a tool and is rotatable by the power generated by the motor. The transmission mechanism is capable of transmitting the power generated by the motor to the changer arm. The transmission mechanism does not transmit the power generated by the motor to the changer arm until the motor reaches a constant speed rotation state from the start of rotation, and starts to transmit the power generated by the motor to the changer arm simultaneously with or after the motor reaches the constant speed rotation state.

[0008] A machine tool according to an aspect of the present disclosure includes the automatic tool changer.

Advantages of the Invention

[0009] According to the exemplary disclosure, it is possible to provide a technique capable of shortening the time during which the changer arm rotates.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0011] [Embodiment] Hereinafter, the machine tool 100 according to an exemplary embodiment of the present disclosure will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and the description thereof will not be repeated.

[0012] In the embodiment, for ease of understanding, the first direction Z, the second direction X, and the third direction Y that intersect each other are appropriately described in some of the drawings. In this specification, the term "intersect" includes that lines, planes, or lines and planes intersect at right angles to each other and intersect at non-right angles within a small difference range. The small difference is a concept including, for example, tolerance and error.

[0013] One side and the other side of the first direction Z are described as the first direction one side Z1 and the first direction other side Z2, respectively. One side and the other side of the second direction X are described as the second direction one side X1 and the second direction other side X2, respectively. One side and the other side of the third direction Y are described as the third direction one side Y1 and the third direction other side Y2, respectively.

[0014] In the embodiment, the "vertical direction" is the first direction Z, which is the vertical direction when the machine tool 100 is installed in the posture generally used (hereinafter, referred to as the "use posture"). The "upward direction" is the first direction one side Z1. The "downward direction" is the first direction other side Z2.

[0015] Hereinafter, unless otherwise specified, the term "machine tool 100" means the machine tool 100 in its operating position.

[0016] The front-rear direction is defined with the side where the door 2 of the machine tool 100 is provided as the front surface 11. In the embodiment, the "front-rear direction" is the second direction X. The "front direction" is one side X1 of the second direction. The "rear direction" is the other side X2 of the second direction.

[0017] The left-right direction is defined toward the front from the machine tool 100. In the embodiment, the "left-right direction" is the third direction Y. The "left direction" is one side Y1 of the third direction. The "right direction" is the other side Y2 of the third direction.

[0018] In FIGS. 1 to 5, the machine tool 100 is, for example, a vertical machining center, and includes a housing 1 and a door 2. The housing 1 and the door 2 constitute a so-called splash guard. With the splash guard, when the machine tool 100 performs various machining operations on a workpiece, chips and the like do not scatter outside the machine tool 100.

[0019] The housing 1 has an opening 12 in the front surface (i.e., the surface facing one side X1 of the second direction) 11. That is, the opening 12 is formed in the front surface 11. The opening 12 is indicated by a dashed line in FIG. 2, for example. The opening 12 extends in the first direction Z and the third direction Y. The opening 12 is open toward one side X1 of the second direction. In the embodiment, the opening 12 is generally rectangular, and has opposite sides parallel to the first direction Z and opposite sides parallel to the third direction Y. The term "parallel" includes that lines, surfaces, or lines and surfaces do not intersect even if extended, and that they are non-parallel within a minute difference range. The minute difference is a concept including, for example, tolerance and error.

[0020] The housing 1 has an internal space 13 inside the housing 1. That is, the housing 1 partitions the internal space 13. Specifically, the internal space 13 is partitioned by a splash guard. Note that the internal space 13 is indicated by a dashed line in FIG. 3, for example. Also, the internal space 13 is open to the outside of the machine tool 100 (i.e., one side X1 in the second direction) through the opening 12.

[0021] The door 2 is a so-called double-sliding door and has doors 2L and 2R. The door 2L is configured to be slidable in the third direction Y along a plane including the first direction Z and the third direction Y. The door 2L opens and closes the half on the third direction one side Y1 of the opening 12. The door 2R is configured to be slidable in the third direction Y along a plane including the first direction Z and the third direction Y. The door 2R opens and closes the half on the third direction other side Y2 of the opening 12.

[0022] As shown in FIGS. 1 to 5, the machine tool 100 includes a bed 3, a table 4, a spindle head 5, and a tool magazine 6 inside the housing 1.

[0023] The bed 3 is located at the end in the other first direction Z2 in the machine tool 100 and supports the table 4 and the like. A guide surface extending in the second direction X and the third direction Y is formed on the bed 3. The table 4 (see FIG. 3) is placed on the guide surface. The bed 3 is shown in FIG. 2, for example.

[0024] The table 4 is located in the other first direction Z2 than the spindle head 5 in the internal space 13. The table 4 is a base on which a workpiece (hereinafter also referred to as a "workpiece") is fixed when various machining operations are performed in the machine tool 100. The table 4 is movable in the second direction X by a table moving mechanism (not shown). The table 4 is indicated by a dashed line in FIG. 3, for example.

[0025] The spindle head 5 is located in the internal space 13 in the first direction Z1 with respect to the table 4. The spindle head 5 is supported by the bed 3 via a column (not shown). The spindle head 5 has a spindle 51. A tool 61 (see FIG. 5) for performing various machining operations is attached to the spindle 51. The spindle 51 rotates around an axis A1 parallel to the first direction Z. Thereby, the tool 61 rotates around the axis A1.

[0026] The spindle head 5 is movable in each of the first direction Z and the third direction Y by a head movement mechanism (not shown). Also, the spindle head 5 can stop at various positions in each of the first direction Z and the third direction Y. In other words, the spindle head 5 can move the tool (hereinafter also referred to as "first tool") 61 attached to the spindle 51 in each of the first direction Z and the third direction Y and stop it at various positions. The spindle head 5 and the spindle 51 are shown by dashed lines in FIG. 2, for example. Each of the table movement mechanism and the head movement mechanism can be realized by a known ball screw mechanism, for example.

[0027] The tool magazine 6 is located in the housing 1 in the third direction Y1 with respect to the spindle head 5 as shown in FIGS. 2 and 5, for example. The tool magazine 6 stores a plurality of tools 61. In the embodiment, the plurality of tools 61 are arranged in the circumferential direction θ1 of an axis A2 parallel to the third direction Y in the tool magazine 6. Also, the tool magazine 6 can move the plurality of tools 61 in the circumferential direction θ1 by a magazine movement mechanism (not shown). The tool magazine 6 can also stop the tool (hereinafter also referred to as "second tool") 61 to be exchanged at the second position P2 (see FIG. 12).

[0028] Here, the first tool 61 mounted on the spindle head 5 is moved to and stopped at the first position P1 (see FIG. 12) by the head movement mechanism. The first position P1 is the position of the first tool 61 when replacing the first tool 61 with the second tool 61. Specifically, the first tool 61 is the tool 61 attached to the spindle 51 before tool replacement. The second tool 61 is, specifically, the tool 61 among the tools 61 stored in the tool magazine 6 that is attached to the spindle 51 by tool replacement. Also, the second position P2 is, specifically, the position of the second tool 61 when replacing the first tool 61 with the second tool 61.

[0029] As shown in FIGS. 6 to 10, the machine tool 100 further includes a motor 8 and a transmission mechanism 9 in addition to the changer arm 7 as an automatic tool changer inside the housing 1. That is, the machine tool 100 has an automatic tool changer. Thereby, according to the principle described later, the arm rotation time in the automatic tool changer is shortened. Therefore, variations in the arm rotation time are suppressed.

[0030] As shown in FIGS. 1 to 10, the changer arm 7 can hold the tool 61 and is rotatable by the power generated by the motor 8. Specifically, the changer arm 7 is located between the tool magazine 6 and the spindle head 5 in the third direction Y (see FIG. 2). The changer arm 7 is rotatable around the axis A3 parallel to the axis A1 by the power of the motor 8 transmitted through the transmission mechanism 9. During the rotation of the changer arm 7 around the axis A3, the first tool 61 at the first position P1 is removed from the spindle 51, and the second tool 61 at the second position P2 is removed from the tool magazine 6 and attached to the spindle 51.

[0031] The motor 8 generates power. In the embodiment, the motor 8 is located in the first direction Z1 with respect to the changer arm 7. The motor 8 rotates under the control of a control device (not shown) to generate power.

[0032] The transmission mechanism 9 can transmit the power generated by the motor 8 to the change arm 7. Specifically, in tool change, the transmission mechanism 9 moves the change arm 7 in the first direction Z and rotates it around the axis A3. That is, the change arm 7 is rotatable in the circumferential direction θ3 of the axis A3. Hereinafter, one side and the other side of the circumferential direction θ3 are respectively referred to as the circumferential direction one side θ31 and the circumferential direction the other side θ32.

[0033] In the embodiment, as shown in FIGS. 6 and 7, the transmission mechanism 9 includes a housing 91, a shaft 92, a shaft 93, a composite cam 94, a roller gear 95, and a turning arm 96.

[0034] The housing 91 is fixed to the housing 1 (see FIG. 1 etc.). The housing 91 supports the shaft 92 via two bearings 911 provided at intervals in the first direction Z. The housing 91 further supports the shaft 93 by two bearings 912 provided at intervals in the third direction Y.

[0035] The shaft 92 is supported by the bearing 911, and is rotatable in the circumferential direction θ3 of the axis A3 and movable in the first direction Z. Hereinafter, one side and the other side of the circumferential direction θ3 are respectively described as the circumferential direction one side θ31 and the circumferential direction the other side θ32. The change arm 7 is connected to the shaft 92. Specifically, the change arm 7 is connected near the end in the other direction Z2 in the first direction of the shaft 92 (see FIGS. 6 and 7).

[0036] The shaft 93 is supported by the bearing 912, and is rotatable in the circumferential direction θ4 of the axis A4 parallel to the third direction Y. Hereinafter, one side and the other side of the circumferential direction θ4 are respectively described as the circumferential direction one side θ41 and the circumferential direction the other side θ42. The output shaft of the motor 8 is connected to the shaft 93. In the embodiment, the output shaft of the motor 8 is connected near the end in the other direction Y2 in the third direction of the shaft 93.

[0037] The composite cam 94 has a generally disc-shaped outer shape (see FIGS. 8 and 9). The composite cam 94 is connected to the shaft 93 with the center of the composite cam 94 aligned with the axis A4 (see FIGS. 6 and 7). Accordingly, the composite cam 94 can be rotated by the power generated by the motor 8. Specifically, the composite cam 94 is rotatable about the axis A4. Accordingly, the shaft 92 intersects the axis A4 of the composite cam 94. The composite cam 94 is an example of the "cam" in the present disclosure. The axis A4 is an example of the "rotation axis" of the present disclosure.

[0038] On the outer peripheral surface 943 of the composite cam 94 (see FIGS. 7 and 8), cam grooves 941 (see FIG. 8) for rotating each of the shaft 92 and the change arm 7 (see FIG. 7) in one circumferential direction θ31 and the other circumferential direction θ32 (see FIG. 7) are formed. That is, as shown in FIGS. 7 to 9, the composite cam 94 has the cam grooves 941. The cam grooves 941 are an example of the "cam grooves" in the present disclosure. The cam grooves 941 have a first portion 9411 and a second portion 9412. The first portion 9411 and the second portion 9412 extend in an arc shape centered on the axis A4 of the composite cam 94. In particular, the first portion 9411 extends along the circumferential direction θ4. The second portion 9412 is inclined with respect to the circumferential direction θ4.

[0039] As shown in FIG. 6, near the end of the outer peripheral surface 943 in one second direction X1, the shaft 92 extends in the first direction Z.

[0040] As shown in FIGS. 8 and 9, on the end face 944 of the composite cam 94, cam grooves 942 for moving each of the shaft 92 and the change arm 7 in one first direction Z1 and the other first direction Z2 are provided.

[0041] As shown in FIGS. 6 and 10, the roller gear 95 is provided on the shaft 92 and has a plurality of cam followers 951 that fit into the cam groove 941. In other words, the shaft 92 has a plurality of cam followers 951. Specifically, each of the plurality of cam followers 951 projects in the radial direction from the axis A3 of the shaft 92. In other words, the plurality of cam followers 951 project in the radial direction from the outer peripheral surface of the shaft 92. Further, the plurality of cam followers 951 are arranged at intervals in the circumferential direction θ3.

[0042] As shown in FIGS. 7 and 10, the swing arm 96 is supported by a shaft 913 so as to be rotatable about an axis A5 at an end 961 on the other side X2 of the second direction of the swing arm 96. The axis A5 is parallel to the axis A4 in the housing 91. The swing arm 96 has a cam follower 962 that fits into the cam groove 942 at an intermediate portion in the second direction X of the swing arm 96. Here, in the shaft 92, a cam groove 921, which is an annular concave groove, is formed at a position in the other direction Z2 of the first direction from the roller gear 95. The swing arm 96 has a cam follower 964 that fits into the cam groove 921 at an end 963 on one side X1 of the second direction of the swing arm 96.

[0043] Next, with reference to FIGS. 1 to 12, the operation at the time of tool change in the machine tool 100 will be described. When the predetermined tool change timing arrives, as shown in the frame W1 of FIG. 12, the first tool 61 is moved to the first position P1 by the head movement mechanism and stopped. Further, the second tool 61 is moved to the second position P2 by the tool magazine 6 and stopped.

[0044] The motor 8 rotates under the control of a controller (not shown) according to a predetermined profile. The motor 8 rotates as follows from the start of rotation to the stop of rotation.

[0045] As shown in the topmost graph G1 of FIG. 11, the motor 8 starts rotating in the forward direction at time T1. The forward direction is, for example, the rotation direction of the motor 8 in which the shaft 93 and the composite cam 94 rotate in one circumferential direction θ41. At time T1, as shown in the graph G1, the rotation angle of the composite cam 94 in the circumferential direction θ4 is located at 0° (i.e., the origin). Time T1 is the time when both the first tool 61 and the second tool 61 stop simultaneously or immediately after their stop. The rotation speed of the motor 8 increases at a constant rate F1 in the time interval TP1. The time interval TP1 is the period after time T1 until reaching the constant-speed rotation state at time T2. Time T2 is a time after time T1.

[0046] As shown in the graph G1, after time T2, the motor 8 rotates in the forward direction at a constant speed R1 during the time interval TP2. The time interval TP2 is the time determined by the above profile. The constant speed R1 is the time determined by the same profile. At time T3 when the time interval TP2 ends, the allocated angle of the composite cam 94 is 360°. That is, the composite cam 94 rotates 360° during the period from the start of rotation of the motor 8 to the end of the constant-speed rotation state. Therefore, the indexing angle of the composite cam 94 is set with a margin. That is, compared with the case where the operation is allocated over 360° to the composite cam during the entire period from the start of rotation of the motor to the end of the constant-speed rotation state, the indexing angle of the operation of the composite cam 94 is allocated with a margin. Note that time T3 is a time after time T2.

[0047] As shown in the graph G1, after time T3 until the time interval TP3 elapses, the motor 8 decelerates at a constant rate F2 while rotating in the forward direction and stops at time T4. At time T4, the rotation angle of the composite cam 94 is 360° or more and is 405°. That is, during the period from the start of rotation of the motor 8 to the end of rotation of the motor 8 through the constant-speed rotation state, the composite cam 94 rotates more than 360° around the axis A4. Thereby, the indexing angle of the composite cam 94 when the motor 8 decelerates is ensured. Note that the rate F2 may be the same as the rate F1 or may be different from the same rate F1.

[0048] Next, the operation of the transmission mechanism 9 will be described.

[0049] Before time T1, the rotation angle of the composite cam 94 in the transmission mechanism 9 is 0°. That is, the composite cam 94 is located at the origin in the circumferential direction θ4. At this time, the changer arm 7 is located at the initial position Py1 in the third direction Y and at the initial position Pz1 in the first direction Z. The initial position Py1 is the middle of the first position P1 and the second position P2 in the third direction Y. The initial position Pz1 is generally located at the first position P1 and the second position P2 in the first direction Z (see within the frame W1 in FIG. 12).

[0050] The transmission mechanism 9 does not transmit the power generated by the motor 8 to the changer arm 7 during the time interval TP1. Also, the transmission mechanism 9 starts to transmit the power generated by the motor 8 to the changer arm 7 simultaneously with or after the motor 8 enters the constant-speed rotation state. In this way, during the time interval TP1, the changer arm 7 does not rotate, and when the motor 8 enters the constant-speed rotation state at the start of the time interval TP2, the changer arm 7 rotates. Therefore, compared with the case where the changer arm 7 rotates while the motor 8 is accelerating, the arm rotation time is shortened. Accordingly, variations in the arm rotation time are suppressed.

[0051] Specifically, during the time interval TP1, due to the power generated by the motor 8, the composite cam 94 rotates in one circumferential direction θ41. At this time, one of the plurality of cam followers 951 fits into the first portion 9411. Therefore, in the first portion 9411, since no force in the third direction Y is applied to the cam follower 951, the changer arm 7 and the shaft 92 do not rotate in the circumferential direction θ3. Also, the changer arm 7 remains at the initial position Py1 with respect to the third direction Y during the time interval TP1. Also, during the time interval TP1, the composite cam 94 is stationary relative to the axis A4. In contrast, the cam follower 951 relatively moves with respect to the composite cam 94 along the first portion 9411. In the embodiment, by using the composite cam 94, the rotation of the changer arm 7 is easily controlled.

[0052] Also, during the time interval TP1, the cam follower 962 (see FIG. 10) fits into a portion 9421 (see FIG. 9) in the cam groove 942 where the change arm 7 does not move in the first direction Z. Therefore, the change arm 7 remains at the initial position Pz1 with respect to the first direction Z during the time interval TP1.

[0053] During the time interval TP2, the transmission mechanism 9 rotates the composite cam 94 in one circumferential direction θ41, causing the cam follower 951 to fit into the cam groove 941 while rotating the change arm 7 in one circumferential direction θ31. The transmission mechanism 9 further rotates the composite cam 94 in one circumferential direction θ41, causing the cam follower 962 to fit into the cam groove 942 and the cam follower 964 to fit into the cam groove 921, thereby moving the change arm 7 in the other first direction Z2 or the one first direction Z1. During the operation process of the change arm 7 in the time interval TP2, as shown in the graph G2 of FIG. 11 and within the frame W2 of FIG. 12, the change arm 7 rotates in one circumferential direction θ31, with one end of the change arm 7 gripping the second tool 61 and the other end of the change arm 7 gripping the first tool 61. Thereafter, as shown in the graph G3 of FIG. 11 and within the frame W3 of FIG. 12, the change arm 7 moves to the extraction position Pz2, which is in the other first direction Z1 than the initial position Pz1 in the first direction Z. As a result, the first tool 61 is removed from the spindle 51 and the second tool 61 is removed from the tool magazine 6 (see within the frame W3 of FIG. 12). Thereafter, as shown in the graph G2 of FIG. 11 and within W4 of FIG. 12, the change arm 7 further rotates in one circumferential direction θ31 to perform tool exchange between the tool magazine 6 and the spindle 51.

[0054] During the time interval TP3, due to the power generated by the motor 8, the composite cam 94 rotates in the circumferential direction θ41. At this time, one of the plurality of cam followers 951 fits into the first portion 9411. Therefore, the changer arm 7 and the shaft 92 do not rotate in the circumferential direction θ3. That is, after the time interval TP2 ends, the cam follower 951 relatively moves with respect to the composite cam 94 along the first portion 9411. After the time interval TP2 ends, since the rotation angle of the composite cam 94 exceeds 360°, the cam follower 951 relatively moves within the same first portion 9411 during the time intervals TP1 and TP3. Therefore, the cam groove 941 becomes shorter compared to the case where the cam follower 951 relatively moves within different portions in the cam groove 941 during the time intervals TP1 and TP3.

[0055] The cam follower 962 fits into the portion 9421 where it does not move in the first direction Z of the changer arm 7 in the cam groove 942. Therefore, the changer arm 7 does not move in the first direction Z during the time interval TP3. Here, since the motor 8 stops at the time T4, the transmission mechanism 9 ends the transmission of the power generated by the motor 8 to the changer arm 7 at the same time as or before the constant-speed rotation state of the motor 8 ends. Thus, since the changer arm 7 does not rotate during the time interval TP3, the arm rotation time is shortened compared to the case where the motor 8 decelerates while the changer arm 7 rotates at the same time. Therefore, variations in the arm rotation time are suppressed.

[0056] At the time T4, the rotation angle of the composite cam 94 exceeds 360°. Therefore, after the time T4, the motor 8 starts rotating in the direction opposite to the forward direction, and the composite cam 94 is moved to the origin in the circumferential direction θ4. That is, the composite cam 94 rotates in the direction opposite to the constant-speed rotation state after the period from the start of rotation of the motor 8 through the constant-speed rotation state until the motor 8 finishes rotating. Thereby, the indexing angle of the composite cam 94 when the motor 8 rotates for the next tool change is ensured.

[0057] In addition, for the purpose of facilitating the understanding of the present disclosure, the drawings schematically show each component mainly, and the thickness, length, number, interval, etc. of each illustrated component may be different from the actual ones for the convenience of drawing preparation. Further, the configuration of each component shown in the above embodiments is an example and is not particularly limited, and it goes without saying that various changes can be made without substantially departing from the effects of the present disclosure.

[0058] In the embodiment, the transmission mechanism 9 executed the connection and disconnection of the power of the motor 8 by means of the composite cam 94. However, instead of the composite cam 94, the transmission mechanism 9 may execute the connection and disconnection of the power of the motor 8 by means of a clutch.

[0059] Note that the present technology can also adopt the following configurations.

[0060] (1) A motor that generates power, A changer arm that can hold a tool and is rotatable by the power generated by the motor, A transmission mechanism that can transmit the power generated by the motor to the changer arm, and the transmission mechanism does not transmit the power generated by the motor to the changer arm until the motor changes from the start of rotation to the constant-speed rotation state, and starts to transmit the power generated by the motor to the changer arm simultaneously with or after the motor reaches the constant-speed rotation state, an automatic tool changer.

[0061] (2) The automatic tool changer according to (1), wherein the transmission mechanism ends the transmission of the power generated by the motor to the changer arm simultaneously with or prior to the end of the constant-speed rotation state of the motor.

[0062] (3) The transmission mechanism has a cam groove and a cam rotatable by the power generated by the motor, a shaft to which the changer arm is connected, fits into the cam groove and is a cam follower of the shaft and has The cam follower is stationary relative to the rotation axis of the cam from the start of rotation of the motor until the constant speed rotation state is reached. The automatic tool changer according to (1) or (2).

[0063] (4) The shaft intersects the rotation axis of the cam, The cam follower extends radially from the central axis of the shaft, The cam groove has a first portion extending in an arc shape centered on the rotation axis of the cam, The cam follower relatively moves along the first portion with respect to the cam from the start of rotation of the motor until the constant speed rotation state is reached. The automatic tool changer according to (3).

[0064] (5) After the constant speed rotation state of the motor ends, the cam follower relatively moves along the first portion with respect to the cam. The automatic tool changer according to (4).

[0065] (6) The cam rotates 360° or more around the rotation axis of the cam during the period from the start of rotation of the motor through the constant speed rotation state until the motor rotation ends. The automatic tool changer according to any one of (3) to (5).

[0066] (7) After the motor rotation ends during the period, the cam rotates in the direction opposite to the constant speed rotation state. The automatic tool changer according to (6).

[0067] (8) The cam rotates more than 360° from the start of rotation of the motor until the end of the constant speed rotation state. The automatic tool changer according to any one of (3) to (7).

[0068] (9) A machine tool comprising the automatic tool changer according to any one of (1) to (8).

Industrial Applicability

[0069] The automatic tool changer and the machine tool according to the present disclosure have industrial applicability.

Explanation of Signs

[0070] 100: Machine tool 61: Tool 7: Change arm 8: Motor 9: Transmission mechanism 92: Shaft 94: Composite cam 941: Cam groove 95: Roller gear 951: Cam follower

Claims

1. A motor that generates power, A changer arm that can hold a tool and is rotatable by the power generated by the motor, A transmission mechanism that can transmit the power generated by the motor to the changer arm, Comprising, The transmission mechanism does not transmit the power generated by the motor to the changer arm until the motor reaches a constant speed rotation state from the start of rotation, and starts to transmit the power generated by the motor to the changer arm simultaneously with or after the motor reaches the constant speed rotation state. An automatic tool changer.

2. The transmission mechanism ends the transmission of the power generated by the motor to the changer arm simultaneously with or before the end of the constant speed rotation state of the motor. The automatic tool changer according to Claim 1.

3. The transmission mechanism, A cam having a cam groove and rotatable by the power generated by the motor, A shaft to which the changer arm is connected, A cam follower that fits into the cam groove and is provided on the shaft, Having, The cam follower is relatively stationary with respect to the rotation axis of the cam from the start of rotation of the motor until the motor reaches a constant speed rotation state. The automatic tool changer according to Claim 1 or Claim 2.

4. The shaft intersects the rotation axis of the cam, The cam follower extends radially from the central axis of the shaft, The cam groove has a first portion that extends in an arc shape centered on the rotation axis of the cam, The cam follower relatively moves along the first portion with respect to the cam from the start of rotation of the motor until the motor reaches a constant speed rotation state. The automatic tool changer according to Claim 3.

5. The cam follower relatively moves along the first portion with respect to the cam after the end of the constant speed rotation state of the motor. The automatic tool changer according to Claim 4.

6. The cam rotates more than 360° around the rotation axis of the cam during the period from the start of rotation of the motor through the constant speed rotation state to the end of rotation of the motor. The automatic tool changer according to Claim 3.

7. After the period, the cam rotates in a direction opposite to the constant speed rotation state. The automatic tool changer according to Claim 6.

8. The cam rotates 360° during the period from the start of rotation of the motor to the end of the constant speed rotation state. The automatic tool changer according to Claim 3.

9. A machine tool comprising the automatic tool changer according to claim 1 or claim 2.

Images