Cartridge, table rotation device, and machine tool

Abstract

To provide a cartridge, a table rotating device, and a machine tool which facilitate assembly of the table rotating device.SOLUTION: The cartridge includes a rotating body, a roller gear cam, a first motor, and a support member. The rotating body includes an attachment portion to which a table supporting a workpiece is attached, and a bearing, and is rotatable about a first axis. The roller gear cam transmits a driving force to the bearing and rotates the rotating body around the first axis. The first motor drives the roller gear cam. In a state where the support member supports the rotating body, the roller gear cam, and the first motor, the support member can be attached to a tilt base that is tiltable around a tilt axis.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a cartridge, a table rotating device, and a machine tool. [Background technology]

[0002] 2. Description of the Related Art A rotary table device is known that rotates a rotary table that supports a workpiece.

[0003] As a related technique, Patent Document 1 discloses a tilting rotary table device. The tilting rotary table device described in Patent Document 1 includes a rotary table device. The rotary table device includes a driven rotary shaft that is rotationally driven by a first motor, a rotary table that is rotationally driven by the driven rotary shaft, and a support base that rotatably supports the rotary table. The driven rotary shaft includes a roller gear cam, and the rotary table includes a cam follower. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-138275 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a cartridge, a table rotating device, and a machine tool that facilitate the assembly of the table rotating device. [Means for solving the problem]

[0006] Embodiments of the present invention relate to a cartridge, a table rotating device, and a machine tool described below.

[0007] (1) a rotating body including a mounting portion to which a table for supporting a workpiece is attached and a bearing, and capable of rotating around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; a first motor that drives the roller gear cam; a support member that can be attached to a tilt base that is tiltable around a tilt axis while supporting the rotating body, the roller gear cam, and the first motor; Contains cartridge. (2) The support member includes an oil chamber for storing oil, The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with At least one of the protrusion and the bearing is disposed in the oil chamber. The cartridge according to (1) above. (3) a cartridge; A tilt base that can tilt around a tilt axis Including, The cartridge comprises: a rotating body including a mounting portion to which a table for supporting a workpiece is attached and a bearing, and capable of rotating around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; a first motor that drives the roller gear cam; a support member that can be attached to the tilt base while supporting the rotating body, the roller gear cam, and the first motor; Including, the tilt base includes a recess that receives the roller gear cam, the first motor, and the rotating body; When the insertion direction of the roller gear cam into the recessed portion is defined as a first direction, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member as viewed in the first direction. Table rotation device. (4) When viewed in the direction along the first axis, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member. The table rotating device according to (3) above. (5) The cartridge is a gear that transmits the power of the first motor to the roller gear cam; an adjustment member for adjusting the position of the gear; a locking member that locks the rotation of the roller gear cam; Including, The tilt base is a main opening that is blocked by the cartridge; a sub-opening separate from the main opening; Equipped with the tilt base includes a cover that covers the secondary opening, When the cover is removed from the sub-opening, at least one of the first motor, the gear, the adjustment member, and the lock member is visible from outside the tilt base through the sub-opening. The table rotating device according to (3) or (4) above. (6) The tilt base is a main opening that is blocked by the cartridge; a first opening having a size that allows the first motor to pass through; Equipped with The tilt base includes a first cover that covers the first opening. The table rotating device according to (3) or (4) above. (7) The rotating body includes a rotating shaft provided with a flow path through which a fluid passes, the cartridge includes a closing portion that closes an opening formed in a bottom wall of the support member; a port disposed in the closure that is in fluid communication with the flow path; The tilt base is a main opening that is blocked by the cartridge; a second opening allowing access to the closure; Equipped with The tilt base includes a second cover that covers the second opening. The table rotating device according to (3) or (4) above. (8) The cartridge includes a gear that transmits the power of the first motor to the roller gear cam, The tilt base is a main opening that is blocked by the cartridge; a third opening allowing access to the gear; and Equipped with The tilt base includes a third cover that covers the third opening. The table rotating device according to (3) or (4) above. (9) The support member includes an oil chamber for storing oil, The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with At least one of the protrusion, the bearing, and the gear is disposed in the oil chamber. The table rotating device according to (8) above. (10) The cartridge includes a locking member that locks the rotation of the roller gear cam, The tilt base is a main opening that is blocked by the cartridge; a fourth opening allowing access to the locking member; Equipped with The tilt base includes a fourth cover that covers the fourth opening. The table rotating device according to (3) or (4) above. (11) The support member is a plate portion attached to the tilt base; a first support portion that protrudes from the plate portion toward the bottom of the tilt base and supports the roller gear cam; a second support portion that protrudes from the plate portion toward the bottom portion of the tilt base and supports the first motor; a third support portion that protrudes from the plate portion toward the bottom portion of the tilt base and supports the rotating body; Equipped with The table rotating device according to any one of (3) to (10) above. (12) When viewed in a direction parallel to the first axis, the cartridge has a substantially rectangular shape. The table rotating device according to any one of (3) to (11) above. (13) Further comprising a first closing member; The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with The support member is an oil chamber for storing oil; a first through-hole portion fluidly communicating with the oil chamber; Equipped with the tilt base includes a second through-hole portion, The first closing member is inserted into the second through-hole portion to close the first through-hole portion. A table rotating device according to any one of (3) to (8) above. (14) At least a part of the first closing member is made of a transparent member so that the oil can be seen. The table rotating device according to (13) above. (15) A machining head that supports a tool for machining a workpiece and includes a rotary drive device that rotates the tool; a moving device that moves the machining head relative to the workpiece; a table rotation device including: a table that supports the workpiece; a cartridge including a first motor; a tilt base; a support stand that tiltably supports the tilt base; and a second motor that tilts the tilt base about a tilt axis relative to the support stand; a control device that controls the rotation drive device, the movement device, the first motor, and the second motor; Including, The cartridge comprises: a rotating body including a mounting portion to which the table is attached and a bearing, the rotating body being rotatable around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; the first motor that drives the roller gear cam; a support member that can be attached to the tilt base while supporting the rotating body, the roller gear cam, and the first motor; Including, the tilt base includes a recess that receives the roller gear cam, the first motor, and the rotating body; When the insertion direction of the roller gear cam into the recessed portion is defined as a first direction, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member as viewed in the first direction. Machine tools. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a cartridge, a table rotating device, and a machine tool that facilitate the assembly of the table rotating device. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view showing a cartridge according to the first embodiment. [Figure 2] FIG. 2 is a schematic cross-sectional view showing the cartridge according to the first embodiment. [Figure 3] FIG. 3 is a schematic perspective view showing a state in which the cartridge according to the first embodiment is attached to the tilt base. [Figure 4] FIG. 4 is a schematic perspective view showing a state in which the cartridge according to the first embodiment is attached to a tilt base. [Figure 5] FIG. 5 is a schematic plan view showing the cartridge according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing a schematic diagram of the positional relationship between the roller gear cam and the bearing. [Figure 7] FIG. 7 is a schematic cross-sectional view showing a part of the cartridge according to the first embodiment. [Figure 8] FIG. 8 is a schematic cross-sectional view illustrating the table rotating device according to the first embodiment. [Figure 9] FIG. 9 is a schematic cross-sectional view showing a part of the table rotating device in the first embodiment. [Figure 10] FIG. 10 is a schematic perspective view showing a part of the table rotating device in the first embodiment. [Figure 11] FIG. 11 is a schematic cross-sectional view showing a cartridge according to a first modified example of the first embodiment. [Figure 12] FIG. 12 is a schematic cross-sectional view showing the cartridge according to the first embodiment. [Figure 13] FIG. 13 is a schematic perspective view showing a part of the cartridge according to the first embodiment. [Figure 14] FIG. 14 is a schematic perspective view illustrating the table rotating device according to the first embodiment. [Figure 15] FIG. 15 is a schematic perspective view illustrating the table rotating device according to the first embodiment. [Figure 16] FIG. 16 is a schematic perspective view showing the tilt base with a plurality of covers removed. [Figure 17] FIG. 17 is a schematic perspective view showing a part of the table rotating device in the first embodiment. [Figure 18] FIG. 18 is a schematic perspective view illustrating the table rotating device according to the first embodiment. [Figure 19] FIG. 19 is a schematic perspective view showing the table rotating device with the third cover and the closing plate removed. [Figure 20]FIG. 20 is a schematic perspective view showing the table rotating device with the third cover removed. [Figure 21] FIG. 21 is a schematic perspective view illustrating the table rotating device according to the first embodiment. [Figure 22] FIG. 22 is a schematic perspective view showing the table rotating device with the fourth cover and the lid member removed. [Figure 23] FIG. 23 is a schematic perspective view showing the table rotating device with the fourth cover removed. [Figure 24] FIG. 24 is a schematic perspective view illustrating the table rotating device according to the first embodiment. [Figure 25] FIG. 25 is an enlarged view of the area surrounded by the circle A in FIG. [Figure 26] FIG. 26 is a schematic cross-sectional view showing a part of the table rotating device in the first embodiment. [Figure 27] FIG. 27 is a schematic perspective view showing a state in which the cartridge according to the second embodiment is attached to the tilt base. [Figure 28] FIG. 28 is a schematic perspective view showing a state in which the cartridge according to the second embodiment is attached to the tilt base. [Figure 29] FIG. 29 is a schematic perspective view showing a state in which the cartridge according to the second embodiment is attached to a tilt base. [Figure 30] FIG. 30 is a schematic plan view showing a cartridge according to the second embodiment. [Figure 31] FIG. 31 is a schematic perspective view that schematically shows a machine tool according to the third embodiment. [Figure 32] FIG. 32 is a schematic perspective view showing a machine tool according to the third embodiment. [Figure 33] FIG. 33 is a diagram showing a schematic diagram of a state in which a control device can control a plurality of control target devices. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a cartridge 10, a table rotating device 1, and a machine tool 100 according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are denoted by the same reference numerals, and repeated description of parts and members denoted by the same reference numerals will be omitted.

[0011] (First embodiment) A cartridge 10A and a table rotating device 1A according to a first embodiment will be described with reference to FIGS. 1 to 26. FIG. 1 is a schematic perspective view showing the cartridge 10A according to the first embodiment. FIG. 2 is a schematic cross-sectional view showing the cartridge 10A according to the first embodiment. To avoid complicating the drawing, the internal structure of the first motor 31 is omitted from FIG. 2. In addition, in FIG. 2, the protrusion 25 and the bearing 14 are shown in a schematic plan view to make it easier to understand the shapes of the protrusion 25 of the roller gear cam 21 and the bearing 14. FIG. 3 is a schematic perspective view showing how the cartridge 10A according to the first embodiment is attached to the tilt base 61. FIG. 4 is a schematic perspective view showing how the cartridge 10A according to the first embodiment is attached to the tilt base 61. FIG. 5 is a schematic plan view showing the cartridge 10A according to the first embodiment. In FIG. 5, the first motor 31, the roller gear cam 21, and the bearing 14 are indicated by dashed lines to facilitate understanding of their positions. FIG. 6 is a diagram illustrating the positional relationship between the roller gear cam 21 and the bearing 14. FIG. 7 is a schematic cross-sectional view illustrating a portion of the cartridge 10A according to the first embodiment. FIG. 8 is a schematic cross-sectional view illustrating a table rotating device 1A according to the first embodiment. FIG. 9 is a schematic cross-sectional view illustrating a portion of the table rotating device 1A according to the first embodiment. FIG. 10 is a schematic perspective view illustrating a portion of the table rotating device 1A according to the first embodiment. FIG. 11 is a schematic cross-sectional view illustrating a cartridge 10A according to a first modified example of the first embodiment. In order to avoid complicating the drawing, the internal structure of the first motor 31 is omitted in FIG. 11. 11, the protrusion 25 and the bearing 14 are shown in a schematic bottom view to make it easier to understand the shape of the protrusion 25 of the roller gear cam 21 and the shape of the bearing 14. Fig. 12 is a schematic cross-sectional view showing the cartridge 10A according to the first embodiment.In order to avoid complicating the drawing, the internal structure of the first motor 31 is omitted in FIG. 12 . Also, in FIG. 12 , the protrusion 25 of the roller gear cam 21 and the bearing 14 are shown in a schematic plan view to facilitate understanding of their shapes. FIG. 13 is a schematic perspective view showing a portion of the cartridge 10A according to the first embodiment. FIG. 14 is a schematic perspective view showing a table rotating device 1A according to the first embodiment. FIG. 15 is a schematic perspective view showing a table rotating device 1A according to the first embodiment. FIG. 16 is a schematic perspective view showing a tilt base 61 with multiple covers removed. FIG. 17 is a schematic perspective view showing a portion of the table rotating device 1A according to the first embodiment. FIG. 18 is a schematic perspective view showing a table rotating device 1A according to the first embodiment. FIG. 19 is a schematic perspective view showing a state in which a third cover and a closing plate are removed from the table rotating device 1A. FIG. 20 is a schematic perspective view showing a state in which the third cover has been removed from the table turning device 1A. FIG. 21 is a schematic perspective view showing a state in which the table turning device 1A in the first embodiment has been removed. FIG. 22 is a schematic perspective view showing a state in which the fourth cover and the lid member have been removed from the table turning device 1A. FIG. 23 is a schematic perspective view showing a state in which the fourth cover has been removed from the table turning device 1A. FIG. 24 is a schematic perspective view showing a state in which the table turning device 1A in the first embodiment has been removed. FIG. 25 is an enlarged view of the area surrounded by a circle A in FIG. 8. FIG. 26 is a schematic cross-sectional view showing a part of the table turning device 1A in the first embodiment.

[0012] As illustrated in FIGS. 1 and 2, the cartridge 10A according to the first embodiment includes a rotating body 11, a roller gear cam 21, a first motor 31, and a support member 41.

[0013] The rotating body 11 is rotatable around a first axis AX1. The rotating body 11 includes a mounting portion 12 (see FIG. 1) to which a table that supports a workpiece is attached, and a bearing 14 (see FIG. 2). In the example shown in FIG. 1, the mounting portion 12 is disposed on a top portion 11u of the rotating body 11. The mounting portion 12 may have a hole portion 12h that receives a shank portion of a bolt. In the example shown in FIG. 2, the bearing 14 is disposed on the side portion of the rotating body 11.

[0014] 2, the roller gear cam 21 transmits a driving force to the bearing 14. The roller gear cam 21 also rotates the rotating body 11 around the first axis AX1. More specifically, the roller gear cam 21 transmits a driving force to the bearing 14, thereby rotating the rotating body 11 around the first axis AX1.

[0015] The first motor 31 drives the roller gear cam 21. More specifically, the first motor 31 drives the roller gear cam 21 to rotate around a second axis AX2 (see FIG. 2).

[0016] 1, the support member 41 supports the rotating body 11, the roller gear cam 21, and the first motor 31. As illustrated in FIGS. 3 and 4, the support member 41 is attached to a tilt base 61 that is tiltable around a tilt axis AT.

[0017] In the example shown in FIGS. 3 and 4, the support member 41 can be attached to the tilt base 61 in a state where the support member 41 supports the rotor 11, the roller gear cam 21, and the first motor 31.

[0018] The cartridge 10A in the first embodiment includes a rotating body 11 including a bearing 14, a roller gear cam 21, a first motor 31, and a support member 41 that supports these. Therefore, the table rotation device can be assembled more easily than when the roller gear cam, the first motor, and the rotating body having the bearing are directly attached to the tilt base. In addition, the support member 41 is smaller and lighter than the tilt base, making it easier to handle.

[0019] The cartridge 10A is smaller than the tilt base 61. Therefore, the assembly space required when attaching the roller gear cam 21 and the like to the cartridge 10A is smaller than the assembly space required when attaching the roller gear cam and the like directly to the tilt base.

[0020] When a direct drive motor is used to rotate a rotating body, the direct drive motor is disposed concentrically with the rotating body. Therefore, it is easy to integrate the rotating body and the direct drive motor. Furthermore, it is easy to insert the unit in which the rotating body and the direct drive motor are integrated into the cylindrical space of the tilt base (i.e., the space roughly corresponding to the shape of the rotating body).

[0021] In contrast, the roller gear cam and the first motor that drives the roller gear cam are positioned eccentrically relative to the rotating body including the bearing, so it is impossible to simultaneously insert the rotating body into the cylindrical space of the tilt base and insert the roller gear cam and the first motor into the space below the upper plate of the tilt base.

[0022] Therefore, conventionally, the roller gear cam, the first motor, and the rotating body including the bearing are each attached to the tilt base independently. In contrast, in the first embodiment, the rotating body 11 including the bearing 14, the roller gear cam 21, the first motor 31, and the support member 41 that supports them are integrated into a cartridge. In this case, assembly of the table rotation device is facilitated and the assembly of the table rotation device is made more efficient.

[0023] 3 and 4, the table rotating device 1A in the first embodiment includes the above-mentioned cartridge 10A and a tilt base 61 that is tiltable around a tilt axis AT. Since the cartridge 10A has already been described, a repeated description of the cartridge 10A will be omitted.

[0024] In the example shown in FIG. 3, the tilt base 61 includes a recess 63 (more specifically, a housing 64) that receives the roller gear cam 21, the first motor 31, and the rotating body 11.

[0025] In this specification, the direction in which the roller gear cam 21 is inserted into the recess 63 (more specifically, the direction in which the roller gear cam 21 is inserted into the internal space of the housing 64) is defined as a first direction DR1. In the example shown in Fig. 5, the rotating body 11, the roller gear cam 21, and the first motor 31 are arranged inside the outer peripheral edge 41e of the support member 41 when viewed in the first direction DR1. As illustrated in Fig. 5, the outer peripheral edge 41e of the support member 41 may have a substantially rectangular shape when viewed in the first direction DR1.

[0026] In the table rotation device 1A of the first embodiment, the table rotation device 1A can be easily assembled by attaching the cartridge 10A, which includes a rotating body 11 including a bearing 14, a roller gear cam 21, a first motor 31, and a support member 41 that supports these, to the tilt base 61.

[0027] In the table rotation device 1A of the first embodiment, the rotating body 11, the roller gear cam 21, and the first motor 31 are disposed inside the outer peripheral edge 41e of the support member 41 when viewed in the first direction DR1. Therefore, by moving the cartridge 10A in the first direction DR1, the roller gear cam 21, the first motor 31, and most of the rotating body 11 can be easily inserted into the recessed portion 63 of the tilt base 61 (more specifically, the internal space of the housing 64). For example, when inserting the roller gear cam 21 and the first motor 31 into the recessed portion 63 of the tilt base 61, it is not necessary to tilt the support member 41. Furthermore, after the cartridge 10A is attached to the tilt base 61, the support member 41 itself functions as a member covering the roller gear cam 21 and the first motor 31.

[0028] In the example shown in FIG. 5, the rotating body 11, the roller gear cam 21, and the first motor 31 are disposed inside the outer peripheral edge 41e of the support member 41 when viewed in the direction along the first axis AX1. In this case, by moving the cartridge 10A in the direction along the first axis AX1, the roller gear cam 21, the first motor 31, and most of the rotating body 11 can be easily inserted into the recessed portion 63 of the tilt base 61 (more specifically, the internal space of the housing 64). For example, when inserting the roller gear cam 21 and the first motor 31 into the recessed portion 63 of the tilt base 61, it is not necessary to tilt the support member 41. Furthermore, after the cartridge 10A is attached to the tilt base 61, the support member 41 itself functions as a member covering the roller gear cam 21 and the first motor 31. In the examples shown in FIGS. 3 and 4, the direction along the first axis AX1 and the first direction DR1 are substantially parallel to each other.

[0029] It is preferable that the portion supporting the rotating body 11 and the portion supporting the roller gear cam 21 be manufactured with high precision. In the example shown in FIGS. 3 and 4, the size of the support member 41 of the cartridge 10A is smaller than the size of the tilt base 61, so it is relatively easy to manufacture the support member 41 with high precision. Also, in the example shown in FIGS. 3 and 4, the tilt base 61 only indirectly supports the roller gear cam 21, etc., so excessive precision is not required for manufacturing the tilt base 61. Therefore, the requirements for the processing machine that manufactures the tilt base 61 are relaxed. In contrast, in the case of a conventional table rotation device in which the tilt base directly supports the roller gear cam, the tilt base needs to be manufactured using a large, high-precision processing machine, and the processing machines that can manufacture the tilt base are limited.

[0030] (Optional configuration) Next, optional additional configurations that can be employed in the first embodiment (or the second embodiment described later) will be described with reference to FIGS.

[0031] (21 roller gear cams and 14 bearings) In the example shown in Fig. 2, the roller gear cam 21 is rotatable about the second axis AX2. As shown in Fig. 6, the roller gear cam 21 includes a gear shaft 23 extending along the second axis AX2 and a protrusion 25 arranged in a spiral shape on the outer circumferential surface of the gear shaft 23. The protrusion 25 presses the bearing 14. In the example shown in Fig. 6, the gear shaft 23 and the protrusion 25 are integrally formed. In other words, the gear shaft 23 and the protrusion 25 are configured by a single integrally formed part. The roller gear cam 21 may include a rotor 26 (see Fig. 2) that rotates about the second axis AX2 together with the gear shaft 23.

[0032] 6, the size of the protrusion 25 increases from the center 23m of the gear shaft 23 (more specifically, the center 23m of the gear shaft 23 in the direction along the second axis AX2) toward the one end 23a of the gear shaft 23. More specifically, the distance between the second axis AX2 and the outer edge of the protrusion 25 increases from the center 23m of the gear shaft 23 toward the one end 23a of the gear shaft 23.

[0033] 6, the size of the protrusion 25 increases from the central portion 23m of the gear shaft 23 toward the other end 23b of the gear shaft 23. More specifically, the distance between the second axis AX2 and the outer edge of the protrusion 25 increases from the central portion 23m of the gear shaft 23 toward the other end 23b of the gear shaft 23.

[0034] As illustrated in Fig. 6, the direction from one end 23a of the gear shaft 23 toward the other end 23b of the gear shaft 23 is defined as a second direction DR2, and the direction opposite to the second direction DR2 is defined as a fifth direction DR5. In the example illustrated in Fig. 6, the protrusion 25 has a first pressing surface 25a that presses the bearing 14 in the second direction DR2. When the gear shaft 23 rotates around the second axis AX2 in the first rotational direction R1, the first pressing surface 25a presses the bearing 14 (more specifically, the roller 14r of the bearing 14) in the second direction DR2. In the example illustrated in Fig. 6, the protrusion 25 has a second pressing surface 25b that presses the bearing 14 in the fifth direction DR5. When the gear shaft 23 rotates around the second axis AX2 in the second rotation direction R2 (in other words, the direction opposite to the first rotation direction R1), the second pressing surface 25b presses the bearing 14 (more specifically, the roller 14r of the bearing 14) in the fifth direction DR5.

[0035] In the example shown in FIG. 6 , the rotating body 11 includes a plurality of bearings 14. The plurality of bearings 14 are arranged at equal angular intervals around the first axis AX1. Each of the plurality of bearings 14 has a roller 14r. The roller 14r of the bearing 14 is pressed by the protrusion 25 of the roller gear cam 21, and the roller 14r rolls against the protrusion 25 (more specifically, the first pressing surface 25a or the second pressing surface 25b). As shown in FIG. 6 , each of the bearings 14 may include a roller 14r and a shaft portion 14a that rotatably supports the roller 14r. In the example shown in FIG. 6 , an inner ring 13 that constitutes a part of the rotating body 11 supports the bearing 14. More specifically, the inner ring 13 that constitutes a part of the rotating body 11 supports the roller 14r via the shaft portion 14a. Alternatively, the shaft portion 14a may be rotatable around the central axis of the shaft portion 14a integrally with the roller 14r. In the example shown in FIG. 6, the rotation axis of the roller 14r (more specifically, the extending direction of the shaft portion 14a) is substantially perpendicular to the first axis AX1.

[0036] 7, the cartridge 10A includes a locking member 27 that locks the rotation of the roller gear cam 21. The locking member 27 may lock the rotation of the roller gear cam 21 using hydraulic or pneumatic pressure.

[0037] 7, the lock member 27 includes a clamp member 270. The clamp member 270 applies a pressing force (more specifically, a frictional force) to the roller gear cam 21 (more specifically, the rotor 26) to lock the rotation of the roller gear cam 21. The clamp member 270 may include a chamber 271 that receives oil and a pressing surface 273 that presses the roller gear cam 21 (more specifically, the rotor 26) in response to an increase in pressure in the chamber 271.

[0038] (Rotating body 11 and outer ring 51) 8, the cartridge 10A includes a rotating body 11 and an outer ring 51 that supports the rotating body 11 rotatably about a first axis AX1. The cartridge 10A also includes a bearing 53. The outer ring 51 supports the rotating body 11 rotatably about the first axis AX1 via the bearing 53.

[0039] In the example shown in FIG. 8 , the rotating body 11 includes an inner ring 13 and a rotating shaft 16 extending along a first axis AX1. The inner ring 13 is disposed inside the outer ring 51 and concentrically with the outer ring 51. The inner ring 13 includes a mounting portion 12 to which a table 95 is attached. The above-mentioned bearing 53 is interposed between the inner ring 13 and the outer ring 51. In the example shown in FIG. 8 , the outer ring 51 is fixed to the support member 41.

[0040] In the example shown in Fig. 8, the rotating shaft 16 is fixed to the inner ring 13. The rotating shaft 16 of the rotating body 11 may be provided with a flow path 17 through which a fluid such as air, oil, or coolant passes. In the example shown in Fig. 9, the rotating shaft 16 is provided with a first flow path 17a through which a working fluid (e.g., oil) that operates a chuck that grips a workpiece passes. Also, in the example shown in Fig. 9, the rotating shaft 16 is formed with a second flow path 17b through which a coolant passes to be released toward the workpiece.

[0041] As illustrated in FIG. 8 , the cartridge 10A may include a fixed shaft 55. The fixed shaft 55 may have a flow path through which the above-mentioned fluid (e.g., air, oil, or coolant) flows. More specifically, the fixed shaft 55 may have a flow path that supplies a fluid to a flow path 17, such as the first flow path 17a, provided in the rotating shaft 16. In the example illustrated in FIG. 8 , the upper end of the fixed shaft 55 is disposed between the inner ring 13 and the rotating shaft 16. In the example illustrated in FIG. 8 , the inner ring 13 and the rotating shaft 16 rotate relative to the fixed shaft 55 around the first axis AX1. In the example illustrated in FIG. 8 , the inner ring 13 is rotatably supported by the outer ring 51, and the rotating shaft 16 is guided by the fixed shaft 55. Therefore, the inner ring 13 and the rotating shaft 16 can rotate stably around the first axis AX1. The fixed shaft 55 may be fixed to the support member 41.

[0042] 9, the cartridge 10A includes a closing portion 57 disposed on the bottom wall 49w of the support member 41. The closing portion 57 closes an opening 49h formed in the bottom wall 49w of the support member 41 (more specifically, the bottom wall 49w of a third support portion 49 described below). The closing portion 57 may include an end plate 58 disposed vertically below the rotary shaft 16.

[0043] In the example shown in FIG. 9, the closing portion 57 is configured by a bottom portion 55w of the fixed shaft 55 and an end plate 58 fixed to the bottom portion 55w of the fixed shaft 55.

[0044] In the example shown in FIG. 9, the closure 57 has a port 18 arranged therein that is in fluid communication with the flow passage 17 .

[0045] More specifically, in the example shown in FIG. 9, a first port 18a fluidly communicating with the first flow path 17a is disposed in the closure portion 57. Alternatively, or additionally, a second port 18b fluidly communicating with the second flow path 17b may be disposed in the closure portion 57. As illustrated in FIG. 10, a first pipe 91a that supplies working fluid to the first flow path 17a is connected to the first port 18a. The first pipe 91a is, for example, a flexible pipe. As illustrated in FIG. 10, a second pipe 91b that supplies coolant liquid to the second flow path 17b is connected to the second port 18b. The second pipe 91b is, for example, a flexible pipe.

[0046] The first motor 31 has an output shaft 31a. In the example shown in FIG. 2, the output shaft 31a of the first motor 31 is parallel to the second axis AX2. Alternatively, as shown in FIG. 11, the output shaft 31a of the first motor 31 may be coaxial with the second axis AX2. Still alternatively, the output shaft of the first motor 31 may be configured to transmit power to the roller gear cam 21 via a bevel gear or the like. In this case, the angle formed between the output shaft of the first motor 31 and the rotation axis (second axis AX2) of the roller gear cam 21 is set to a predetermined angle (for example, 90 degrees).

[0047] 2, the cartridge 10A includes a plurality of gears 15 including a first gear 15a and a second gear 15b. The plurality of gears 15 are interposed between the output shaft 31a of the first motor 31 and the roller gear cam 21. More specifically, the plurality of gears 15 transmit power received from the output shaft 31a of the first motor 31 to the roller gear cam 21.

[0048] The cartridge 10A may include an adjustment member 32 that adjusts the position of the gear 15 (more specifically, the first gear 15a). In the example shown in FIG. 2, the adjustment member 32 adjusts the position of the first gear 15a, thereby adjusting the magnitude of backlash between the first gear 15a and the second gear 15b. For example, the adjustment member 32 includes an eccentric ring 32r. In this case, the eccentric ring 32r is rotated around the output shaft 31a of the first motor 31, thereby adjusting the position of the first gear 15a. In this way, the magnitude of the backlash between the first gear 15a and the second gear 15b is adjusted.

[0049] The cartridge 10A may include a gear box 47g that houses gears 15, such as the first gear 15a. The gear box 47g may house multiple gears 15, including the first gear 15a and the second gear 15b. As illustrated in FIG. 2, the gear box 47g (or a second support portion 47, described below) may have an opening 47h that allows access to the adjustment member 32. The cartridge 10A may also have a closing plate 48 that covers the opening 47h.

[0050] (Support member 41) In the example shown in FIG. 12, the support member 41 includes an oil chamber 41c that stores oil. At least one of the protrusion 25 of the roller gear cam 21 and the bearing 14 is disposed in the oil chamber 41c. At least one of the protrusion 25 of the roller gear cam 21, the bearing 14, and the gear 15 may be disposed in the oil chamber 41c. In the example shown in FIG. 12, the protrusion 25 of the roller gear cam 21 and the bearing 14 are disposed in the oil chamber 41c. The gear 15 is also disposed in the oil chamber 41c. In the example shown in FIG. 12, oil can be injected into the oil chamber 41c before the cartridge 10A is attached to the tilt base 61. Therefore, it is possible to check for oil leakage from the oil chamber 41c before the cartridge 10A is attached to the tilt base 61. Oil may be injected into the oil chamber 41c and the roller gear cam 21 may be driven by the first motor 31 before the cartridge 10A is attached to the tilt base 61. In this case, before the cartridge 10A is attached to the tilt base 61, an operation test of the mechanism including the roller gear cam 21 can be performed.

[0051] In the example shown in FIG. 12, the oil chamber 41c includes a first chamber 411c in which the protrusion 25 of the roller gear cam 21 and the bearing 14 are disposed. The oil chamber 41c also includes a second chamber 412c in which the gear 15 is disposed. In the example shown in FIG. 12, the first chamber 411c and the second chamber 412c are fluidly connected via a communication hole 410h formed in the support member 41. In the example shown in FIG. 12, the first chamber 411c is defined by a first support portion 45 and a third support portion 49, which will be described later. In the example shown in FIG. 12, the second chamber 412c is defined by a second support portion 47, which will be described later (more specifically, a gear box 47g).

[0052] 12, the first chamber 411c and the second chamber 412c are fluidly connected, and each of the first chamber 411c and the second chamber 412c constitutes a part of the oil chamber 41c. Alternatively, the first chamber 411c and the second chamber 412c may be fluidly isolated, and oil may be stored in only one of the first chamber 411c and the second chamber 412c. For example, of the protrusion 25, bearing 14, and gear 15 of the roller gear cam 21, only the protrusion 25 and the bearing 14 of the roller gear cam 21 may be arranged in the oil chamber 41c. Alternatively, of the protrusion 25, bearing 14, and gear 15 of the roller gear cam 21, only the gear 15 may be arranged in the oil chamber 41c.

[0053] The second chamber may be omitted as shown in Fig. 11. In the example shown in Fig. 11, the protrusion 25 of the roller gear cam 21 and the bearing 14 are arranged in the oil chamber 41c, but no gear is arranged in the oil chamber 41c.

[0054] In the example shown in FIG. 3, the support member 41 includes a plate portion 42. The plate portion 42 is attached to the tilt base 61. In the example shown in FIG. 3, the plate portion 42 extends in a direction substantially perpendicular to the first axis AX1. The thickness direction of the plate portion 42 is substantially parallel to the first axis AX1. In this specification, a direction perpendicular to the first axis AX1 and along the longitudinal direction of the plate portion 42 is defined as a third direction DR3. In the example shown in FIG. 5, the third direction DR3 is perpendicular to the first axis AX1 and coincides with the direction from the first axis AX1 toward a wing portion 44 (described later). In the example shown in FIG. 5, the third direction DR3 is perpendicular to the first axis AX1 and coincides with the direction from the first axis AX1 toward a center portion of the roller gear cam 21 (more specifically, the center portion 23m of the gear shaft 23). In this specification, a direction opposite to the third direction DR3 is defined as a fourth direction DR4.

[0055] In the example shown in FIG. 5, the width direction of the plate portion 42 is substantially parallel to the second direction DR2 (in other words, the direction from one end 23a of the gear shaft 23 toward the other end 23b of the gear shaft 23).

[0056] In the example shown in FIG. 5, the cartridge 10A (more specifically, the plate portion 42) has an elongated shape (more specifically, a substantially rectangular shape) when viewed in a direction parallel to the first axis AX1. In the example shown in FIG. 5, the value obtained by dividing the length dimension L1 of the plate portion 42 by the width dimension W1 of the plate portion 42 (i.e., L1 / W1) is 1.2 or more, 1.3 or more, or 1.4 or more. In addition, the value obtained by dividing the length dimension L1 of the plate portion 42 by the width dimension W1 of the plate portion 42 (i.e., L1 / W1) is 1.5 or less, 2 or less, or 2.5 or less.

[0057] In the example shown in FIG. 5 , the distance L2 from the first axis AX1 to the end of the plate portion 42 on the third direction DR3 side is greater than the distance L3 from the first axis AX1 to the end of the plate portion 42 on the fourth direction DR4 side. The value obtained by dividing the distance L2 from the first axis AX1 to the end of the plate portion 42 on the third direction DR3 side by the distance L3 from the first axis AX1 to the end of the plate portion 42 on the fourth direction DR4 side (i.e., L2 / L3) is, for example, 1.5 or greater, 2 or greater, or 2.5 or greater. The large distance L2 allows the first motor 31 and the like to be disposed below the portion of the plate portion 42 on the third direction DR3 side (wing portion 44, described below). Furthermore, the small distance L3 prevents the size of the plate portion 42 from becoming excessively large.

[0058] 13, the plate portion 42 includes a main portion 43 that defines a hole 43h into which the rotating body 11 is inserted, and wing portions 44 that cover the first motor 31. In the example shown in Fig. 13, the wing portions 44 are disposed closer to the third direction DR3 than the main portion 43. In the example shown in Fig. 13, the plate portion 42 includes a circular hole 43h into which the rotating body 11 is inserted.

[0059] 3 and 4, the outer peripheral edge of the plate portion 42 rests on the edge 641 of the housing 64. More specifically, the rectangular outer peripheral edge of the plate portion 42 rests on the rectangular edge 641 of the housing 64. In the example shown in FIG. 13, the plate portion 42 has free ends 42f on all four sides, and these free ends 42f rest on the edge 641 of the housing 64 (see FIG. 3).

[0060] 3, the support member 41 includes a first support portion 45 that protrudes downward from the plate portion 42. More specifically, the support member 41 includes the first support portion 45 that protrudes from the plate portion 42 in the first direction DR1. The first support portion 45 supports the roller gear cam 21. The first support portion 45 protrudes from the plate portion 42 toward the bottom portion 61w of the tilt base 61.

[0061] The first support portion 45 and the plate portion 42 may be connected by integral molding. In this case, no gap is formed at the connection portion between the plate portion 42 and the first support portion 45, and oil does not leak from the oil chamber 41c through the connection portion. Alternatively, the first support portion 45 may be fixed to the plate portion 42 via a fixing member.

[0062] 3, the first support portion 45 has a cylindrical shape extending along the second axis AX2. In the internal space of the first support portion 45, the roller gear cam 21 is disposed.

[0063] In the example shown in Fig. 7, an opening 45h is formed at the end of the first support part 45 on the second direction DR2 side. The opening 45h is closed by a closure assembly 46 including a lid member 461. In the example shown in Fig. 7, the closure assembly 46 includes the lid member 461 and the above-mentioned locking member 27. In the example shown in Fig. 7, the closure assembly 46 including the locking member 27 can be removed from the opening 45h. Furthermore, in the example shown in Fig. 7, the lid member 461 can also be removed from the closure assembly 46 including the locking member 27.

[0064] In the example shown in FIG. 3, the support member 41 includes a second support portion 47 that protrudes downward from the plate portion 42 (more specifically, the wing portion 44). More specifically, the support member 41 includes a second support portion 47 that protrudes from the plate portion 42 (more specifically, the wing portion 44) in the first direction DR1. The second support portion 47 supports the first motor 31. The second support portion 47 protrudes from the plate portion 42 (more specifically, the wing portion 44) toward the bottom portion 61w of the tilt base 61.

[0065] The second support portion 47 and the plate portion 42 may be connected by integral molding. In this case, no gap is formed at the connection portion between the plate portion 42 and the second support portion 47, and oil does not leak from the oil chamber 41c through the connection portion. Alternatively, the second support portion 47 may be fixed to the plate portion 42 via a fixing member.

[0066] The second support portion 47 may include at least a part of a gear box 47g that houses the gears 15, such as the first gear 15a.

[0067] In the example shown in FIG. 3, the support member 41 includes a third support portion 49 that protrudes downward from the plate portion 42 (more specifically, the main portion 43). More specifically, the support member 41 includes the third support portion 49 that protrudes from the plate portion 42 (more specifically, the main portion 43) in the first direction DR1. The third support portion 49 supports the rotating body 11. The third support portion 49 protrudes from the plate portion 42 (more specifically, the main portion 43) toward the bottom portion 61w of the tilt base 61.

[0068] The third support portion 49 and the plate portion 42 may be connected by integral molding. In this case, no gap is formed at the connection portion between the plate portion 42 and the third support portion 49, and oil does not leak from the oil chamber 41c through the connection portion. Alternatively, the third support portion 49 may be fixed to the plate portion 42 via a fixing member.

[0069] In the example shown in FIG. 13, the third support portion 49 has a cylindrical shape extending along the first axis AX1. In the example shown in FIG. 13, the third support portion 49 includes a cylindrical side wall 49s and a bottom wall 49w. The cylindrical side wall 49s may include an upper cylindrical side wall 491s, a lower cylindrical side wall 492s, and a step portion 493s connecting the upper cylindrical side wall 491s and the lower cylindrical side wall 492s. In the example shown in FIG. 8, the outer ring 51 is disposed directly above the step portion 493s, and the step portion 493s supports the outer ring 51.

[0070] Most of the rotating body 11 is disposed in a space SP defined by the cylindrical side wall 49s and the bottom wall 49w. In the example shown in Fig. 13, an opening 49h is formed in the bottom wall 49w of the third support part 49. The opening 49h is closed by the above-mentioned closing part 57 (see Fig. 9).

[0071] (Table rotation device 1A) In the example shown in FIG. 14, the table rotating device 1A includes a table 95 that supports a workpiece, in addition to the cartridge 10A and the tilt base 61. In the example shown in FIG. 15, the table rotating device 1A includes a support base 71 that supports the tilt base 61 tiltably about a tilt axis AT, and a second motor 73 that tilts the tilt base 61. In the example shown in FIG. 15, the tilt axis AT is substantially parallel to the horizontal plane. The tilt axis AT is also substantially parallel to the third direction DR3. In the example shown in FIG. 15, the support base 71 includes a first support base 71a that supports the first end 62a of the tilt base 61 and a second support base 71b that supports the second end 62b (see FIG. 14) of the tilt base 61.

[0072] 15, a first end 62a of the tilt base 61 is supported by a first support base 71a so as to be tiltable about a tilt axis AT, and a second end 62b (see FIG. 14) of the tilt base 61 is supported by a second support base 71b so as to be tiltable about the tilt axis AT. In the example shown in FIG. 15, with the first axis AX1 substantially parallel to the vertical direction, the entire cartridge 10A is disposed below the tilt axis AT. The tilt base 61 may have a boat-like shape as a whole.

[0073] 3, the tilt base 61 includes a first end 62a, a second end 62b, and a housing 64. The housing 64 defines the recess 63. The housing 64 is disposed between the first end 62a and the second end 62b in the direction along the tilt axis AT.

[0074] 3 and 4, the recessed portion 63 (more specifically, the housing 64) of the tilt base 61 receives the roller gear cam 21, the first motor 31, and the rotating body 11. More specifically, the entire roller gear cam 21, the entire first motor 31, and most of the rotating body 11 (more specifically, the portion of the rotating body 11 excluding the mounting portion 12) are inserted into the recessed portion 63 (more specifically, the housing 64) of the tilt base 61. In the example shown in FIGS. 3 and 4, the recessed portion 63 (more specifically, the housing 64) of the tilt base 61 receives the first support portion 45 of the support member 41, the second support portion 47 of the support member 41, and the third support portion 49 of the support member 41.

[0075] 3, the tilt base 61 (more specifically, the housing 64) has a main opening 64h that is closed by the cartridge 10A. In the examples shown in FIGS. 3 and 4, when the cartridge 10A is attached to the tilt base 61, the plate portion 42 of the support member 41 becomes a top plate that closes the main opening 64h. At least the first motor 31 is disposed below the top plate.

[0076] In the example shown in FIG. 3, the main opening 64h is defined by an edge 641 (more specifically, a rectangular edge 641) of the housing 64. The edge 641 contacts the lower surface of the cartridge 10A (more specifically, the lower surface of the plate portion 42). The outer circumferential edge of the cartridge 10A (more specifically, the outer circumferential edge of the plate portion 42) may fit into the edge 641 of the housing 64. In the example shown in FIG. 3, a protrusion 641p is disposed on the edge 641 of the housing 64, and the protrusion 641p fits into a recess 42d (see FIG. 5) formed on the outer circumferential edge of the plate portion 42. Alternatively, a recess formed on the edge 641 of the housing 64 and a protrusion formed on the outer circumferential edge of the plate portion 42 may fit into each other.

[0077] 3, the edge portion 641 is connected to the top surface 64u of the housing 64 via a stepped surface 642. When the cartridge 10A is attached to the tilt base 61, the stepped surface 642 faces the outer circumferential surface of the plate portion 42 of the cartridge 10A.

[0078] As illustrated in FIG. 4, in a state in which the cartridge 10A is attached to the tilt base 61, the upper surface 42u of the plate portion 42 and the top surface 64u of the housing 64 may be substantially flush with each other.

[0079] (Sub opening OP) 16, the tilt base 61 (more specifically, the housing 64) has a sub-opening OP separate from the main opening 64h. More specifically, the tilt base 61 (more specifically, the housing 64) has a first opening OP1, a second opening OP2, a third opening OP3, and / or a fourth opening OP4.

[0080] In the example shown in FIG. 16, the sub-opening OP includes a first opening OP1. As illustrated in FIG. 17, the first opening OP1 allows access to the first motor 31. The first opening OP1 has a size that allows the first motor 31 to pass through. In this case, when the first motor 31 breaks down, a worker (e.g., a maintenance technician) can replace the first motor 31 with another first motor through the first opening OP1. Therefore, when the first motor 31 breaks down, it is not necessary to remove the entire cartridge 10A from the tilt base 61.

[0081] In the example shown in FIG. 17 , the first opening OP1 is provided in the bottom 64w of the tilt base 61 (more specifically, the housing 64). As shown in FIG. 18 , the tilt base 61 preferably includes a first cover CA1 that covers the first opening OP1. When the first opening OP1 is covered by the first cover CA1, the intrusion of dust or liquid such as coolant into the housing 64 through the first opening OP1 is prevented or suppressed. Note that the first cover CA1 may be provided with a drain for oil changes. In the example shown in FIGS. 17 and 18 , when the first cover CA1 is attached to the housing 64, the first cover CA1 is positioned so as to directly face the first motor 31. Furthermore, the first motor 31 can be exposed so that an operator can view it by simply removing the first cover CA1 from the housing 64.

[0082] The size of the first opening OP1 is preferably smaller than the size of the main opening 64h that is closed by the cartridge 10 A. By making the size of the first opening OP1 small, a decrease in the rigidity of the housing 64 is suppressed.

[0083] 10, a power supply cable CB1 is connected to the first motor 31. Furthermore, a signal cable CB2 is connected to the first encoder 31n of the first motor 31. The power supply cable CB1 and / or the signal cable CB2 are arranged to pass through a hole 62h formed in the first end 62a of the tilt base 61.

[0084] The power supply cable CB1 and / or the signal cable CB2 are connected to the first motor 31, for example, after the cartridge 10A is placed on the tilt base 61 (more specifically, after the cartridge 10A is attached to the tilt base 61). In other words, the power supply cable CB1 and / or the signal cable CB2 are attached to the first motor 31 disposed inside the housing 64. The operation of connecting the power supply cable CB1 and / or the signal cable CB2 to the first motor 31 can be performed through the first opening OP1. In other words, an operator can connect the power supply cable CB1 and / or the signal cable CB2, which passes through the hole 62h formed in the first end 62a of the tilt base 61, to the first motor 31 while inserting their hand into the housing 64 across the first opening OP1. The operation of connecting the power supply cable CB1 and / or the signal cable CB2 to the first motor 31 may be performed with the tilt base 61 tilted relative to the support base 71 so that the bottom 64w of the tilt base 61 faces sideways.

[0085] In the example shown in FIG. 16 , the sub-opening OP includes a second opening OP2. As shown in FIG. 17 , the second opening OP2 allows access to a closing portion 57 that closes an opening 49h formed in the bottom wall 49w of the support member 41. In the example shown in FIG. 17 , a first port 18a fluidly connected to the first flow path 17a (see FIG. 9 ) is disposed in the closing portion 57. A worker (e.g., a maintenance technician) can access the first port 18a through the second opening OP2 and perform work to connect a first tube 91a (see FIG. 10 ) to the first port 18a through the second opening OP2. In the example shown in FIG. 17 , a second port 18b fluidly connected to the second flow path 17b is disposed in the closing portion 57. An operator (e.g., a maintenance technician) can access the second port 18b through the second opening OP2 and can connect the second pipe 91b (see FIG. 10) to the second port 18b through the second opening OP2. The operation of connecting the first pipe 91a to the first port 18a and / or the operation of connecting the second pipe 91b to the second port 18b may be performed with the tilt base 61 tilted relative to the support stand 71 so that the bottom 64w of the tilt base 61 faces sideways.

[0086] In the example shown in FIG. 17, the second opening OP2 is provided in the bottom 64w of the tilt base 61 (more specifically, the housing 64). As shown in FIG. 18, the tilt base 61 preferably includes a second cover CA2 that covers the second opening OP2. When the second opening OP2 is covered by the second cover CA2, the intrusion of dust or liquid such as coolant into the housing 64 through the second opening OP2 is prevented or suppressed. The second cover CA2 may be provided with a drain for oil changes. In the examples shown in FIGS. 17 and 18, when the second cover CA2 is attached to the housing 64, the second cover CA2 is positioned so as to directly face the closing portion 57.

[0087] The size of the second opening OP2 is preferably smaller than the size of the main opening 64h. The small size of the second opening OP2 prevents a decrease in the rigidity of the housing 64. In the example shown in FIG. 16, the second opening OP2 is provided independently of the first opening OP1. This prevents a decrease in the rigidity of the housing 64 compared to when a single large opening is provided. In the example shown in FIG. 16, the second opening OP2 and the first opening OP1 are separated by a bridge portion 69b. The bridge portion 69b connects the first side wall 645a of the housing 64 to the second side wall 645b of the housing 64 that faces the first side wall 645a. The bottom 64w of the tilt base 61 may be formed by a frame body 69 that defines multiple openings, including the first opening OP1 and the second opening OP2. In the example shown in FIG. 16, a portion of the frame body 69 forms the bridge portion 69b.

[0088] 16, the second opening OP2 is disposed adjacent to the first opening OP1. In this case, by removing the first cover CA1 and the second cover CA2 from the housing 64, a worker (e.g., a maintenance technician) can access the internal space of the housing 64 through both the first opening OP1 and the second opening OP2. Therefore, in the example shown in FIG. 17, the first tube 91a (or the second tube 91b) passing through the hole 62h formed in the first end 62a of the tilt base 61 can be easily moved toward the first port 18a (or the second port 18b).

[0089] The bottom 64w of the housing 64 may be provided with another opening OP5 disposed adjacent to the second opening OP2.

[0090] In the example shown in FIG. 2, the cartridge 10A includes gears 15 (more specifically, a first gear 15a and a second gear 15b) that transmit power from the first motor 31 to the roller gear cam 21. In the example shown in FIG. 16, the sub-opening OP includes a third opening OP3. In the example shown in FIG. 19, the third opening OP3 allows access to the gears 15 (more specifically, the first gear 15a and the second gear 15b). In this case, a worker (e.g., a maintenance technician) can check the magnitude of backlash between the gears (more specifically, the magnitude of backlash between the first gear 15a and the second gear 15b) through the third opening OP3. In addition, a worker (e.g., a maintenance technician) can replace the gear 15 with another gear through the third opening OP3. Therefore, it is not necessary to remove the entire cartridge 10A from the tilt base 61 to check the magnitude of backlash (or to replace the gear 15).

[0091] 19, the third opening OP3 allows access to the adjustment member 32 that adjusts the position of the gear 15 (more specifically, the first gear 15a). In this case, an operator (e.g., a maintenance technician) can adjust the position of the gear 15 (more specifically, the first gear 15a) by operating the adjustment member 32 through the third opening OP3. Therefore, it is not necessary to remove the entire cartridge 10A from the tilt base 61 to adjust the position of the gear 15 (more specifically, to adjust the magnitude of backlash between the first gear 15a and the second gear 15b).

[0092] In the example shown in FIG. 20 , the third opening OP3 allows access to the closure plate 48 that covers the opening 47h of the gear box 47g. In the examples shown in FIGS. 20 and 21 , the tilt base 61 includes a third cover CA3 that covers the third opening OP3. Furthermore, when the third cover CA3 is attached to the housing 64, the third cover CA3 is positioned so as to directly face the closure plate 48. In the examples shown in FIGS. 19 to 21 , to adjust the position of the gear 15, the worker removes the third cover CA3 and the closure plate 48. Thereafter, the worker can adjust the position of the gear 15 by operating the adjustment member 32. More specifically, the worker can adjust the position of the gear 15 in a direction perpendicular to the output shaft 31a of the first motor 31 by operating the adjustment member 32.

[0093] In the example shown in FIG. 20, the third opening OP3 is provided in a side wall 645 (more specifically, the first side wall 645a) of the tilt base 61 (more specifically, the housing 64). As illustrated in FIG. 21, the third cover CA3 can be attached to the side wall 645 (more specifically, the first side wall 645a). When the third opening OP3 is covered by the third cover CA3, the intrusion of dust or liquid such as coolant into the housing 64 through the third opening OP3 is prevented or suppressed. The third cover CA3 has, for example, a substantially circular shape.

[0094] The size of the third opening OP3 is preferably smaller than the size of the main opening 64h. By making the size of the third opening OP3 small, a decrease in the rigidity of the housing 64 is suppressed.

[0095] In the example shown in FIG. 2, the cartridge 10A includes a locking member 27 that locks the rotation of the roller gear cam 21. In the example shown in FIG. 16, the sub-opening OP includes a fourth opening OP4. In the example shown in FIG. 22, the fourth opening OP4 allows access to the locking member 27. When the locking member 27 breaks down, a worker (e.g., a maintenance technician) can replace the locking member 27 with another locking member through the fourth opening OP4. Therefore, when the locking member 27 breaks down, it is not necessary to remove the entire cartridge 10A from the tilt base 61.

[0096] In the example shown in FIG. 23, the fourth opening OP4 allows access to the closing assembly 46 that closes the opening 45h (see FIG. 7) formed at the end of the first support portion 45. The closing assembly 46 includes a lid member 461. In the example shown in FIGS. 23 and 24, the tilt base 61 includes a fourth cover CA4 that covers the fourth opening OP4. When the fourth cover CA4 is attached to the housing 64, the fourth cover CA4 is positioned so as to directly face the closing assembly 46 (more specifically, the lid member 461). In the example shown in FIGS. 22 to 24, when replacing the locking member 27, the worker removes the fourth cover CA4. Thereafter, the worker can replace the locking member 27 with another locking member. In the example shown in FIGS. 11 and 12, the locking member 27 is positioned outside the oil chamber 41c. Therefore, locking member 27 can be replaced with another locking member without discharging oil from oil chamber 41c (more specifically, while oil is stored in oil chamber 41c). Also, because locking member 27 is disposed outside oil chamber 41c, there is a high degree of freedom in the posture of tilt base 61 when replacing locking member 27 with another locking member. In other words, tilt base 61 can be tilted to any posture that makes it easy to perform the replacement work, and then the worker can easily perform the replacement work of locking member 27.

[0097] In the example shown in FIG. 23, the fourth opening OP4 is provided in a side wall 645 (more specifically, the second side wall 645b) of the tilt base 61 (more specifically, the housing 64). As illustrated in FIG. 24, the fourth cover CA4 can be attached to the side wall 645 (more specifically, the second side wall 645b). When the fourth opening OP4 is covered by the fourth cover CA4, the intrusion of dust or liquid such as coolant into the housing 64 through the fourth opening OP4 is prevented or suppressed. The fourth cover CA4 has, for example, a substantially circular shape.

[0098] The size of the fourth opening OP4 is preferably smaller than the size of the main opening 64h. By making the size of the fourth opening OP4 small, a decrease in the rigidity of the housing 64 is suppressed.

[0099] In the example shown in FIG. 2, the cartridge 10A includes the gear 15, the adjustment member 32, and the lock member 27. In the examples shown in FIGS. 16 to 24, the tilt base 61 (more specifically, the housing 64) includes a cover CA that covers the sub-opening OP. When the cover CA is removed from the sub-opening OP, at least one of the first motor 31, the gear 15, the adjustment member 32, and the lock member 27 is visible from outside the tilt base 61 through the sub-opening OP. This allows an operator to check the status of these components from outside the tilt base 61 through the sub-opening OP. Furthermore, maintenance of these components can be performed as necessary.

[0100] In the example shown in FIGS. 16 to 24 , the sub-openings OP allow access to the first motor 31, the gear 15 that transmits the power of the first motor 31 to the roller gear cam 21, the adjustment member 32 that adjusts the position of the gear 15, and the lock member 27 that locks the rotation of the roller gear cam 21. Therefore, an operator can perform maintenance on these components through the sub-openings OP. For example, by removing the cover CA from the housing 64, the first motor 31, the gear 15, the position of the gear 15, or the lock member 27 can be replaced. In this case, it is not necessary to remove the entire cartridge 10A from the tilt base 61 to replace the first motor 31, the gear 15, the position of the gear 15, or the lock member 27.

[0101] (Check the oil) In the example shown in FIG. 25, the cartridge 10A (more specifically, the support member 41) has a first through-hole portion 41h that is fluidly connected to the oil chamber 41c. The tilt base 61 (more specifically, the side wall 645 of the tilt base 61) may have a second through-hole portion 645h. When the cartridge 10A is attached to the tilt base 61, the first through-hole portion 41h is positioned so as to align with the second through-hole portion 645h. The table rotation device 1A may include a first closing member 93a that is inserted into the second through-hole portion 645h and closes the first through-hole portion 41h.

[0102] 25, at least a portion of the first closing member 93a may be made of a transparent member 931a so that the oil can be visually confirmed. More specifically, at least a portion of the first closing member 93a may be made of a transparent member 931a so that it can be visually confirmed whether or not a sufficient amount of oil is contained in the oil chamber 41c. In this case, an operator can check whether or not a sufficient amount of oil is contained in the oil chamber 41c by looking at the first closing member 93a from outside the tilt base 61.

[0103] When the roller gear cam 21 of the cartridge 10A is inserted into the recessed portion 63 of the tilt base 61, the first closing member 93a is not attached to the cartridge 10A. When the roller gear cam 21 of the cartridge 10A is inserted into the recessed portion 63 of the tilt base 61, it is preferable that the first through-hole portion 41h is blocked by a second closing member 93b (see FIG. 26) different from the first closing member 93a. In other words, it is preferable that the cartridge 10A includes a second closing member 93b that blocks the first through-hole portion 41h.

[0104] With oil stored in the oil chamber 41c, the roller gear cam 21 of the cartridge 10A may be inserted into the recessed portion 63 of the tilt base 61. When the first through-hole portion 41h is closed by the second closing member 93b, the oil in the oil chamber 41c is prevented from leaking out of the cartridge 10A through the first through-hole portion 41h during the insertion.

[0105] After the cartridge 10A is attached to the tilt base 61, the second closing member 93b is replaced with the first closing member 93a. This replacement is preferably performed in a state in which the positions of the first through-hole portion 41h and the second through-hole portion 645h are higher than the oil chamber 41c. More specifically, (1) the tilt base 61 is tilted about the tilt axis AT relative to the support base 71 so that the positions of the first through-hole portion 41h and the second through-hole portion 645h are higher than the oil chamber 41c, (2) the second closing member 93b is removed from the cartridge 10A, (3) the first closing member 93a is inserted into the second through-hole portion 645h, and (4) the first closing member 93a is attached to the cartridge 10A so that the first closing member 93a closes the first through-hole portion 41h.

[0106] The first through-hole portion 41h may function as an inlet for injecting oil into the oil chamber 41c and / or an outlet for discharging oil from the oil chamber 41c. Alternatively, the cartridge 10A may have an inlet for injecting oil into the oil chamber 41c separate from the first through-hole portion 41h. Furthermore, the cartridge 10A may have an outlet for discharging oil from the oil chamber 41c separate from the first through-hole portion 41h.

[0107] In the example shown in FIG. 4, the cartridge 10A can be removed from the tilt base 61. More specifically, the cartridge 10A can be removed from the tilt base 61 while the rotating body 11, the roller gear cam 21, and the first motor 31 are supported by the support member 41. Therefore, for example, if the roller gear cam 21 is damaged, the cartridge 10A can be easily replaced with another cartridge. Furthermore, when replacing the cartridge 10A with another cartridge, it is not necessary to remove the tilt base 61 from the support stand 71 (see FIG. 15).

[0108] (Second embodiment) A cartridge 10B and a table rotating device 1B according to the second embodiment will be described with reference to Figs. 27 to 30. Figs. 27 and 28 are schematic perspective views showing a state in which the cartridge 10B according to the second embodiment is attached to the tilt base 61. Fig. 29 is a schematic perspective view showing a state in which the cartridge 10B according to the second embodiment is attached to the tilt base 61. Fig. 30 is a schematic plan view showing a state in which the cartridge 10B according to the second embodiment is attached to the tilt base 61. In Fig. 30, the first motor 31, the roller gear cam 21, and the bearing 14 are shown by dashed lines to make it easier to understand the positions of the first motor 31, the roller gear cam 21, and the bearing 14.

[0109] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment.

[0110] As illustrated in Figures 27 and 30, the cartridge 10B in the second embodiment includes: (1) a rotating body 11 that includes an attachment portion 12 to which a table that supports a workpiece is attached and a bearing 14 and is rotatable around a first axis AX1; (2) a roller gear cam 21 (see Figure 30) that transmits a driving force to the bearing 14 and rotates the rotating body 11 around the first axis AX1; (3) a first motor 31 that drives the roller gear cam 21; and (4) a support member 41 that can be attached to a tilt base 61 that is tiltable around a tilt axis AT while supporting the rotating body 11, the roller gear cam 21, and the first motor 31.

[0111] As illustrated in Fig. 29, a table rotation device 1B in the second embodiment includes the above-mentioned cartridge 10B and a tilt base 61 that can tilt around a tilt axis AT. As illustrated in Fig. 27, the tilt base 61 includes a recessed portion 63 that receives the roller gear cam 21, the first motor 31, and the rotating body 11. When the direction in which the roller gear cam 21 is inserted into the recessed portion 63 is defined as a first direction DR1, the rotating body 11, the roller gear cam 21, and the first motor 31 are disposed inside the outer peripheral edge 41e of the support member 41 when viewed in the first direction DR1.

[0112] Therefore, the cartridge 10B and the table turning device 1B in the second embodiment have the same effects as the cartridge 10A and the table turning device 1A in the first embodiment.

[0113] 27 and 28, the first direction DR1 is a direction substantially perpendicular to the first axis AX1. In the example shown in Fig. 27, the main opening 64h of the tilt base 61, which is closed by the cartridge 10B, is formed across an upper portion 644 of the housing 64 and a side wall 645 of the housing 64. The support member 41 of the cartridge 10B includes a first plate portion 424 attached to the upper portion 644 of the housing 64 and a second plate portion 425 attached to the side wall 645 of the housing 64.

[0114] (Third embodiment) A machine tool 100 according to the third embodiment will be described with reference to Figures 1 to 33. Figures 31 and 32 are schematic perspective views showing machine tool 100 according to the third embodiment. Figure 33 is a diagram showing a state in which control device 8 can control a plurality of control target devices.

[0115] In the third embodiment, differences from the first and second embodiments will be mainly described. On the other hand, in the third embodiment, repeated descriptions of matters already described in the first or second embodiment will be omitted. Therefore, it goes without saying that matters already described in the first or second embodiment can be applied to the third embodiment, even if they are not explicitly described in the third embodiment. Conversely, all matters described in the third embodiment can be applied to the first and second embodiments.

[0116] As illustrated in FIG. 31, a machine tool 100 in the third embodiment includes a machining head 101, a moving device 103, a table rotating device 1, and a control device 8.

[0117] As illustrated in Fig. 32, the machining head 101 supports a tool T for machining a workpiece W. The machining head 101 also includes a rotation drive device 102 that rotates the tool T. More specifically, the rotation drive device 102 rotates the tool T around a third axis AX3 (see Fig. 31) that extends along the tool longitudinal direction.

[0118] The moving device 103 moves the machining head 101 relative to the workpiece. The moving device 103 may be a device that can move the machining head 101 one-dimensionally, two-dimensionally, or three-dimensionally.

[0119] The table turning device 1 may be the table turning device 1A in the first embodiment, the table turning device 1B in the second embodiment, or another table turning device.

[0120] The table rotation device 1 includes (1) a table 95 that supports a workpiece W, (2) a cartridge 10 including a first motor 31, (3) a tilt base 61, (4) a support stand 71 that tiltably supports the tilt base 61, and (5) a second motor 73 that tilts the tilt base 61 about a tilt axis AT relative to the support stand 71. The cartridge 10 may be the cartridge 10A in the first embodiment, the cartridge 10B in the second embodiment, or another cartridge. The table 95, cartridge 10, tilt base 61, support stand 71, and second motor 73 have already been described in the first or second embodiment, so repeated description of these components will be omitted.

[0121] As illustrated in Figures 1 and 2, the cartridge 10 includes: (1) a rotating body 11 that includes an attachment portion 12 to which a table 95 is attached and a bearing 14 and is rotatable around a first axis AX1; (2) a roller gear cam 21 that transmits a driving force to the bearing 14 and rotates the rotating body 11 around the first axis AX1; (3) a first motor 31 that drives the roller gear cam 21; and (4) a support member 41 that can be attached to the tilt base 61 while supporting the rotating body 11, the roller gear cam 21, and the first motor 31.

[0122] As illustrated in Fig. 3, the tilt base 61 includes a recessed portion 63 that receives the roller gear cam 21, the first motor 31, and the rotating body 11. As illustrated in Figs. 3 to 5, when the insertion direction of the roller gear cam 21 into the recessed portion 63 is defined as a first direction DR1, the rotating body 11, the roller gear cam 21, and the first motor 31 are disposed inside the outer circumferential edge 41e of the support member 41 when viewed in the first direction DR1 (more specifically, inside the outer circumferential edge 41e of the plate portion 42 when viewed in the first direction DR1). In the example illustrated in Fig. 5, the rotating body 11, the roller gear cam 21, and the first motor 31 are disposed inside the outer circumferential edge 41e of the support member 41 when viewed in the direction along the first axis AX1 (more specifically, inside the outer circumferential edge 41e of the plate portion 42 when viewed in the direction along the first axis AX1).

[0123] The control device 8 controls the rotation drive device 102, the movement device 103, the first motor 31, and the second motor 73.

[0124] Machine tool 100 in the third embodiment achieves the same effects as cartridge 10A and table rotating device 1A in the first embodiment, or cartridge 10B and table rotating device 1B in the second embodiment.

[0125] (Optional configuration) Next, optional additional configurations that can be employed in the third embodiment (or the first embodiment or the second embodiment) will be described with reference to FIGS.

[0126] (Mobile device 103) 31, the moving device 103 that moves the machining head 101 includes a first moving device 103a that moves the machining head 101 in a direction along the X-axis parallel to the horizontal plane, a second moving device 103b that moves the machining head 101 in a direction along the Y-axis parallel to the horizontal plane, and a third moving device 103c that moves the machining head 101 in a direction along the Z-axis perpendicular to the horizontal plane. In the example shown in FIG. 3, the X-axis is parallel to the tilt axis AT, and the Y-axis is perpendicular to the X-axis direction.

[0127] In the example shown in FIG. 31 , the moving device 103 that moves the machining head 101 has a first member 104a (e.g., a saddle), a second member 105a (e.g., a column), and a third member 106a. The first member 104a is supported by the base structure 70 so as to be movable in the direction along the X-axis. The first moving device 103a moves the first member 104a relative to the base structure 70 in the direction along the X-axis. The second member 105a is supported by the first member 104a so as to be movable in the direction along the Y-axis. The second moving device 103b moves the second member 105a relative to the first member 104a in the direction along the Y-axis. The third member 106a is supported by the second member 105a so as to be movable in the direction along the Z-axis. The third moving device 103c moves the third member 106a relative to the second member 105a in the direction along the Z axis. The third member 106a includes the processing head 101 (in other words, the processing head 101 moves integrally with the third member 106a).

[0128] 31 , the moving device 103 can move the machining head 101 three-dimensionally. Alternatively, the moving device 103 may be a device that moves the machining head 101 two-dimensionally or one-dimensionally. Alternatively, or additionally, the moving device 103 may be capable of moving the table 95 (more specifically, the table 95 that supports the workpiece) one-dimensionally, two-dimensionally, or three-dimensionally.

[0129] (Base structure 70) 31, machine tool 100 includes a base structure 70. To base structure 70, a support table 71 (more specifically, a first support table 71a and a second support table 71b) is fixed.

[0130] (Table 95) 32, the table 95 supports the workpiece W. The table 95 may include a jig for fixing the workpiece W and / or a chuck 96 (e.g., an electric chuck, a hydraulic chuck, or a pneumatic chuck) for gripping the workpiece W. The chuck 96 may include a plurality of gripping pieces 96p for gripping the workpiece W.

[0131] At least one of the plurality of gripping pieces 96p may be configured to operate in response to a supply of a working fluid (e.g., oil) to the chuck 96 from the first flow path 17a (see FIG. 9 ). In the example shown in FIG. 33 , the machine tool 100 includes a working fluid supply device 107. The working fluid supply device 107 supplies the working fluid to the chuck 96 via the first pipe 91a and the first flow path 17a. The working fluid supplied to the chuck 96 drives at least one of the gripping pieces 96p so that the workpiece W is gripped by the plurality of gripping pieces 96p. Note that, when the working fluid is oil, the working fluid supply device 107 preferably includes a pump. Alternatively, when the working fluid is air, the working fluid supply device 107 preferably includes an air compressor. The working fluid supply device 107 may include a first valve 107v controlled by the control device 8. The first valve 107v opens and closes a flow path that supplies the working fluid to the first pipe 91a.

[0132] If the chuck 96 is an electric chuck, the chuck 96 is connected to a power source via a power supply cable, and at least one of the plurality of gripping pieces 96p operates by power supplied via the power supply cable.

[0133] The rotating body 11, or the table 95 attached to the rotating body 11, may have a discharge port 97 (see FIG. 31) that discharges coolant toward the workpiece W. In the example shown in FIG. 33, the machine tool 100 is equipped with a coolant supply device 108. The coolant supply device 108 supplies coolant to the discharge port 97 via the second pipe 91b and the second flow path 17b. The coolant supply device 108 preferably includes a pump. The coolant supply device 108 may also include a second valve 108v controlled by the control device 8. The second valve 108v opens and closes the flow path that supplies coolant to the second pipe 91b.

[0134] (Control device 8) 33 , the control device 8 controls the rotation drive device 102 of the machining head 101, the movement devices 103 (e.g., a first movement device 103a, a second movement device 103b, and a third movement device 103c), the first motor 31, and the second motor 73. Additionally, the control device 8 may control the operation of the chuck 96. More specifically, the control device 8 may control the operation of the chuck 96 by controlling the working fluid supply device 107. Alternatively, or additionally, the control device 8 may control the discharge of the coolant liquid from the discharge port 97 by controlling the coolant liquid supply device 108.

[0135] For example, the control device 8 transmits a first control command E1 to the rotary driving device 102 so as to rotate the tool T about the third axis AX3. Upon receiving the first control command E1, the rotary driving device 102 rotates the tool T about the third axis AX3.

[0136] For example, the control device 8 transmits a second control command E2 to the movement device 103 so that the workpiece W is machined by the tool T. The movement device 103, which receives the second control command E2, moves the machining head 101 relative to the workpiece W, thereby bringing the tool T, which is rotating around the third axis AX3, into contact with the workpiece W. In this way, the workpiece W is machined by the tool T.

[0137] For example, the control device 8 transmits a third control command E3 to the first motor 31 so as to change the angular position of the workpiece W supported on the table 95 about the first axis AX1. The first motor 31, upon receiving the third control command E3, rotates the table 95 supporting the workpiece W about the first axis AX1. Note that the control device 8 may generate the third control command E3 based on a rotation angle command value generated by executing the machining program 822 and the rotation angle indicated by the signal output by the first encoder 31n.

[0138] For example, the control device 8 transmits a fourth control command E4 to the second motor 73 so as to change the posture of the workpiece W supported on the table 95. The second motor 73, upon receiving the fourth control command E4, tilts the table 95 supporting the workpiece W, the cartridge 10, and the tilt base 61 around the tilt axis AT. Note that the control device 8 may generate the fourth control command E4 based on a tilt angle command value generated by executing the machining program 822 and the tilt angle indicated by a signal output by the second encoder 73n of the second motor 73.

[0139] For example, the control device 8 transmits a fifth control command E5 to the working fluid supply device 107 (or the electric motor of the chuck 96) so that the workpiece W is gripped by the chuck 96. Upon receiving the fifth control command E5, the working fluid supply device 107 (or the electric motor of the chuck 96) operates the chuck 96, thereby causing the chuck 96 to grip the workpiece W.

[0140] For example, the control device 8 transmits a sixth control command E6 to the coolant supply device 108 to discharge coolant toward the workpiece W being machined by the tool T. Upon receiving the sixth control command E6, the coolant supply device 108 sends the coolant to the discharge port 97 via the second pipe 91b and the second flow path 17b, and the discharge port 97 discharges the coolant toward the workpiece W being machined by the tool T.

[0141] The control device 8 may be configured with one computer or multiple computers. As illustrated in FIG. 33, the control device 8 includes a hardware processor 80 (hereinafter referred to as the "processor 80"), a memory 82, a communication circuit 84, and an input device 86 (e.g., a touch-panel display 862). The processor 80, the memory 82, the communication circuit 84, and the input device 86 are connected to each other via a bus 88. Data necessary for machining the workpiece W (e.g., workpiece data 826 including shape data of the workpiece W and machining position data of the workpiece W) may be input to the control device 8 via the input device 86, or may be input to the control device 8 from another computer via the communication circuit 84. The input device 86 is not limited to the touch-panel display 862. For example, the control device 8 may include an input device 86 such as a button, a switch, a lever, a pointing device, or a keyboard, and a display that displays the data input to the input device 86 or other information.

[0142] The control device 8 executes the machining program 822 stored in the memory 82 to generate a plurality of control commands (for example, the above-mentioned first control command E1, second control command E2, third control command E3, fourth control command E4, fifth control command E5, and sixth control command E6). Furthermore, the communication circuit 84 transmits the plurality of control commands generated by the control device 8 to a plurality of control target devices (for example, the rotation drive device 102, the movement device 103, the first motor 31, the second motor 73, the working fluid supply device 107, the coolant supply device 108, etc.). In this way, the control device 8 can control a plurality of control target devices.

[0143] 31 and 32, machine tool 100 is a vertical machining center. Alternatively, machine tool 100 may be a horizontal machining center. Machine tool 100 may also be a multi-tasking machine capable of performing multiple types of machining.

[0144] The present invention is not limited to the above-described embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0145] 1, 1A, 1B...table rotation device, 8...control device, 10, 10A, 10B...cartridge, 11...rotating body, 11u...top of rotating body, 12...mounting portion, 12h...hole portion, 13...inner ring, 14...bearing, 14a...shaft portion, 14r...roller, 15...gear, 15a...first gear, 15b...second gear, 16...rotating shaft, 17...flow path, 17a...first flow path, 17b...second flow path, 18...port, 18a...first port, 18b...second port, 21...roller gear cam, 23...gear shaft, 23a...one end of gear shaft, 23b...other end of gear shaft, 23m...gear shaft Center portion of shaft, 25...protrusion portion, 25a...first pressing surface, 25b...second pressing surface, 26...rotor, 27...lock member, 31...first motor, 31a...output shaft, 31n...first encoder, 32...adjusting member, 32r...eccentric ring, 41...support member, 41c...oil chamber, 41e...outer periphery, 41h...first through-hole portion, 42...plate portion, 42d...recess, 42f...free end portion of plate portion, 42u...upper surface of plate portion, 43...main portion, 43h...hole portion, 44...wing portion, 45...first support portion, 45h...opening, 46...closure assembly, 47...second support portion, 47g...gearbox, 47h...opening, 48... Closure plate, 49...third support portion, 49h...opening, 49s...cylindrical side wall, 49w...bottom wall, 51...outer ring, 53...bearing, 55...fixed shaft, 55w...bottom, 57...closure portion, 58...end plate, 61...tilt base, 61w...bottom, 62a...first end, 62b...second end, 62h...hole portion, 63...recessed portion, 64...housing, 64h...main opening, 64u...top surface of housing, 64w...bottom, 69...frame body, 69b...bridge portion, 70...base structure, 71...support base, 71a...first support base, 71b...second support base, 73...second motor, 73n...second encoder, 80...hardware Software processor, 82...memory, 84...communication circuit, 86...input device, 88...bus, 91a...first pipe, 91b...second pipe, 93a...first closing member, 93b...second closing member, 95...table, 96...chuck, 96p...gripping piece, 97...discharge port, 100...machine tool, 101...machining head, 102...rotation drive device, 103...moving device, 103a...first moving device, 103b...second moving device, 103c...third moving device, 104a...first member, 105a...second member, 106a...third member, 107...working fluid supply device, 107v...first valve, 108...coolant liquid supply device,108v...second valve, 270...clamping member, 271...chamber, 273...pressure surface, 410h...communicating hole, 411c...first chamber, 412c...second chamber, 424...first plate portion, 425...second plate portion, 461...lid member, 491s...upper cylindrical side wall, 492s...lower cylindrical side wall, 493s...step portion, 641...edge portion, 641p...convex portion, 642...step surface, 644...upper part of housing, 645...side wall, 645a...first side wall, 645b...second side wall, 645h...second through-hole portion, 822...machining program, 826...workpiece data, 862...touch panel display, 931a...transparent member, AT...tilting axis, AX1...first axis, AX2...second axis, A X3...3rd axis, CA...cover, CA1...1st cover, CA2...2nd cover, CA3...3rd cover, CA4...4th cover, CB1...power cable, CB2...signal cable, DR1...1st direction, DR2...2nd direction, DR3...3rd direction, DR4...4th direction, DR5...5th direction, E1...1st control command, E2...2nd control command, E3...3rd control command, E4...4th control command, E5...5th control command, E6...6th control command, OP...sub-opening, OP1...1st opening, OP2...2nd opening, OP3...3rd opening, OP4...4th opening, OP5...other opening, R1...1st rotation direction, R2...2nd rotation direction, SP...space, T...tool, W...workpiece,

Claims

1. a rotating body including a mounting portion to which a table for supporting a workpiece is attached and a bearing, and capable of rotating around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; a first motor that drives the roller gear cam; a support member that can be attached to a tilt base that is tiltable around a tilt axis while supporting the rotating body, the roller gear cam, and the first motor; Contains cartridge.

2. the support member includes an oil chamber that stores oil, The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with At least one of the protrusion and the bearing is disposed in the oil chamber. The cartridge of claim 1 .

3. A cartridge and A tilt base that can tilt around a tilt axis Including, The cartridge comprises: a rotating body including a mounting portion to which a table for supporting a workpiece is attached and a bearing, and capable of rotating around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; a first motor that drives the roller gear cam; a support member that can be attached to the tilt base while supporting the rotating body, the roller gear cam, and the first motor; Including, the tilt base includes a recess that receives the roller gear cam, the first motor, and the rotating body; When the insertion direction of the roller gear cam into the recessed portion is defined as a first direction, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member as viewed in the first direction. Table rotation device.

4. When viewed in a direction along the first axis, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member. The table rotating device according to claim 3 .

5. The cartridge comprises: a gear that transmits the power of the first motor to the roller gear cam; an adjustment member for adjusting the position of the gear; a locking member that locks the rotation of the roller gear cam; Including, The tilt base is a main opening that is blocked by the cartridge; a sub-opening separate from the main opening; Equipped with the tilt base includes a cover that covers the secondary opening, When the cover is removed from the sub-opening, at least one of the first motor, the gear, the adjustment member, and the lock member is visible from outside the tilt base through the sub-opening.

5. The table rotating device according to claim 3 or 4.

6. The tilt base is a main opening that is blocked by the cartridge; a first opening having a size that allows the first motor to pass through; Equipped with The tilt base includes a first cover that covers the first opening.

5. The table rotating device according to claim 3 or 4.

7. the rotating body includes a rotating shaft provided with a flow path through which a fluid passes; the cartridge includes a closing portion that closes an opening formed in a bottom wall of the support member; a port disposed in the closure that is in fluid communication with the flow path; The tilt base is a main opening that is blocked by the cartridge; a second opening allowing access to the closure; Equipped with The tilt base includes a second cover that covers the second opening.

5. The table rotating device according to claim 3 or 4.

8. the cartridge includes a gear that transmits power of the first motor to the roller gear cam; The tilt base is a main opening that is blocked by the cartridge; a third opening allowing access to the gear; and Equipped with The tilt base includes a third cover that covers the third opening.

5. The table rotating device according to claim 3 or 4.

9. the support member includes an oil chamber that stores oil, The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with At least one of the protrusion, the bearing, and the gear is disposed in the oil chamber. The table rotating device according to claim 8.

10. the cartridge includes a locking member that locks the roller gear cam against rotation; The tilt base is a main opening that is blocked by the cartridge; a fourth opening allowing access to the locking member; Equipped with The tilt base includes a fourth cover that covers the fourth opening.

5. The table rotating device according to claim 3 or 4.

11. The support member is a plate portion attached to the tilt base; a first support portion that protrudes from the plate portion toward a bottom portion of the tilt base and supports the roller gear cam; a second support portion that protrudes from the plate portion toward the bottom portion of the tilt base and supports the first motor; a third support portion that protrudes from the plate portion toward the bottom portion of the tilt base and supports the rotating body; Equipped with 5. The table rotating device according to claim 3 or 4.

12. When viewed in a direction parallel to the first axis, the cartridge has a generally rectangular shape.

5. The table rotating device according to claim 3 or 4.

13. further comprising a first closure member; The roller gear cam is a gear shaft extending along a second axis; a protrusion portion that is arranged spirally on the outer peripheral surface of the gear shaft and presses the bearing; Equipped with The support member is an oil chamber for storing oil; a first through-hole portion fluidly communicating with the oil chamber; Equipped with the tilt base includes a second through-hole portion, The first closing member is inserted into the second through-hole portion and closes the first through-hole portion.

5. The table rotating device according to claim 3 or 4.

14. At least a portion of the first closing member is made of a transparent member so that the oil can be seen. The table rotating device according to claim 13.

15. a machining head that supports a tool for machining a workpiece and includes a rotary drive device that rotates the tool; a moving device that moves the machining head relative to the workpiece; a table rotation device including: a table that supports the workpiece; a cartridge that includes a first motor; a tilt base; a support stand that tiltably supports the tilt base; and a second motor that tilts the tilt base about a tilt axis relative to the support stand; a control device that controls the rotation drive device, the movement device, the first motor, and the second motor; Including, The cartridge comprises: a rotating body including a mounting portion to which the table is attached and a bearing, the rotating body being rotatable around a first axis; a roller gear cam that transmits a driving force to the bearing and rotates the rotating body around the first axis; the first motor that drives the roller gear cam; a support member that can be attached to the tilt base while supporting the rotating body, the roller gear cam, and the first motor; Including, the tilt base includes a recess that receives the roller gear cam, the first motor, and the rotating body; When the insertion direction of the roller gear cam into the recessed portion is defined as a first direction, the rotating body, the roller gear cam, and the first motor are disposed inside the outer circumferential edge of the support member as viewed in the first direction. Machine tools.

Images