Holder unit and machine tool

Abstract

To provide a holder unit capable of automatically changing a tool by using a general turret and a hand mechanism.SOLUTION: A holder unit 60 comprises a relay block 62 which is attachable to and detachable from a tool attachment part 28 of a turret 18, and a tool holder 64 which holds a tool 40 and is attachable to and detachable from the relay block 62. The relay block 62 has an insertion hole 74 into which a part of the tool holder 64 is inserted, and the tool holder 64 comprises a coupling part 86 which changes between a clamp state of engagement with a part of the insertion hole 74 and an unclamp state of forward / backward movements in the insertion hole 74, and a grip part 94 which puts the coupling part 86 in the unclamp state on reception of grip pressure.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present specification discloses a holder unit that is detachable from a turret, and a machine tool having the holder unit. [Background technology]

[0002] Conventionally, lathes with turrets, so-called turning centers, have been known. The turret holds a number of tools spaced apart in the circumferential direction. The turret rotates around a predetermined indexing axis, allowing the tool used for cutting to be switched. However, since the number of tools that can be held by one turret is limited, depending on the type of processing, it may be necessary to change the tools attached to the turret midway through the process.

[0003] Here, further automation and labor saving are required for machine tools, and automatic replacement of tools attached to turrets is also required. However, automatic replacement of tools attached to turrets requires a dedicated turret, which leads to problems such as an increase in the size of the turret and an increase in price.

[0004] Therefore, some have proposed a technology for automatically attaching and detaching a tool to a general-purpose turret using a robot. For example, Patent Document 1 discloses a technology for changing tools using a robot equipped with a six-axis joint robot and a robot tool change hand. In addition, the turret has a built-in rotating tool motor for rotating the rotating tool. Patent Document 2 discloses a technology for clamping or unclamping a tool to the turret using the power of the rotating tool motor when changing tools using a robot. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2016-144853 A [Patent Document 2] Japanese Patent Application Publication No. 5-285766 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in Patent Document 1, in order to enable the tool to be clamped / unclamped, the tool changing hand is provided with a gripper for holding the tool, a hexagonal wrench, an actuator for moving these, and the like. In other words, in Patent Document 1, a hand having a dedicated structure must be prepared for tool changing, which leads to an increase in size of the robot and reduces the versatility of the robot. In addition, in Patent Document 2, the tool can be changed using a general-purpose robot, but the clamping / unclamping is switched using the power of a motor for the rotating tool. Therefore, the technology of Patent Document 2 cannot use a rotating tool. In other words, it has been difficult to automatically change tools using a general-purpose turret and hand mechanism in the past.

[0007] Therefore, this specification discloses a holder unit and a machine tool that can automatically change tools using a general-purpose turret and hand mechanism. [Means for solving the problem]

[0008] The holder unit disclosed in this specification comprises a relay block that is detachable from a tool mounting portion of a turret, and a tool holder that holds a tool and is detachable from the relay block, the relay block having an insertion hole into which a part of the tool holder is inserted, the tool holder being insertable into the insertion hole and comprising a connecting portion that changes between a clamped state in which it engages with a part of the insertion hole and an unclamped state in which it can advance and retreat within the insertion hole, and a gripping portion provided at a position where the connecting portion is exposed to the outside when the connecting portion is inserted into the insertion hole, the gripping portion changing the connecting portion to the unclamped state when it receives gripping pressure.

[0009] In this case, the tool holder further includes a pair of oscillating levers, at least a portion of which is inserted into the insertion hole and functions as the connecting portion, and a biasing member that biases the connecting portions of the pair of oscillating levers in a direction away from each other, the connecting portions protruding toward the inner surface of the insertion hole and having an engaging protrusion that engages with an engaging recess formed on the inner surface of the insertion hole, and the gripping portion is a protrusion that is mechanically connected to the oscillating lever and protrudes into the external space, and when pressed, causes the insertion portions to swing in directions toward each other.

[0010] In addition, the inner surface of the insertion hole has a sloped surface such that the hole expands as it progresses toward the back, and a portion of the biasing force of the biasing member pressing the oscillating lever against the inner surface of the insertion hole may be converted into a retracting force that pulls the oscillating lever toward the back.

[0011] In addition, the relay block may have a fixed part that is fixed to the turret and a rotating part that rotates relative to the fixed part upon receiving a rotational force of a motor for a rotary tool built into the turret, and the tool holder may have a rotation transmission part that engages with the rotating part in the rotational direction and rotates together with the rotating part.

[0012] In this case, the tool holder may have a plurality of weight mounting portions provided around the rotation axis of the rotating part, and adjustment weights for adjusting the weight balance of the tool holder may be selectively attached to the weight mounting portions.

[0013] The relay block may be screwed to a mounting portion of the turret.

[0014] The machine tool disclosed in this specification includes a turret having a plurality of tool mounting portions, a relay block which is attachable / detachable to one of the plurality of tool mounting portions and has an insertion hole formed therein, a plurality of tool holders stored in a tool standby portion, each of which holds a tool and is attachable / detachable to the relay block, a hand mechanism which holds the tool holder, a moving mechanism which moves the hand mechanism, and a controller which controls the driving of the hand mechanism and the moving mechanism, and the tool holder is insertable into the insertion hole and engages with a portion of the insertion hole. and a gripping portion provided at a position where the connecting portion is exposed to the outside when the connecting portion is inserted into the insertion hole, the gripping portion changing the connecting portion to the unclamped state when it receives gripping pressure, wherein in order to replace the tool, the controller instructs the hand mechanism to grip the gripping portion, and instructs the moving mechanism to move the tool holder together with the hand mechanism between the relay block and the tool waiting portion. Effect of the Invention

[0015] According to the technology disclosed in this specification, a general-purpose turret and hand mechanism can be used to automatically replace a tool attached to the turret. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic configuration diagram of a machine tool. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a cross-sectional view of a tool holder. [Figure 6] 13A and 13B are diagrams illustrating a state in which the gripping portion is gripped by a hand mechanism. [Figure 7] FIG. 2 is a cross-sectional view of a tool holder. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The configuration of the machine tool 10 will be described below with reference to the drawings. Fig. 1 is a schematic diagram of the machine tool 10. In the following description, the direction parallel to the rotation axis Rw of the workpiece 42 is referred to as the Z axis, the direction parallel to the moving direction of the tool rest 16 perpendicular to the Z axis is referred to as the X axis, and the direction perpendicular to the X axis and Z axis is referred to as the Y axis.

[0018] The machine tool 10 is a metal processing machine that cuts a workpiece 42 held by a headstock 14 with a tool 40 held by a tool rest 16. More specifically, the machine tool 10 is a turning center that is NC controlled and includes a turret 18 that holds a plurality of tools 40. As will be described in detail later, a rotating tool motor 44 that rotates a rotating tool is built into the tool rest 16. Therefore, the machine tool 10 can perform both a turning process in which the tool 40 is pressed against the rotating workpiece 42 to cut it, and a milling process in which the rotating tool 40 is pressed against the workpiece 42 to cut it. As will be described in detail later, some of the tools 40 are held by the turret 18 via a holder unit 60.

[0019] The machine tool 10 has a machining chamber 12 covered with a cover (not shown). A spindle 24, a tailstock (not shown), a tool rest 16, a robot 20, and a tool standby unit 38 are installed in this machining chamber 12. The spindle 24 is part of a headstock 14, and is provided with members for mounting a workpiece 42, such as a chuck 26 and a collet. A spindle motor (not shown) that rotates the spindle 24 together with the workpiece 42 is built in the headstock 14. When the spindle motor is driven, the workpiece 42 rotates about a workpiece rotation axis Rw that extends in the Z-axis direction.

[0020] The tailstock is disposed opposite the chuck 26 in the Z-axis direction, and supports the other end of the workpiece 42 held by the chuck 26. The tailstock is movable in the Z-axis direction so as to be able to approach and move away from the workpiece 42. Note that a counter spindle may be provided instead of or in addition to the tailstock. The counter spindle is a spindle device disposed opposite the headstock 14 in the Z-axis direction, and is a spindle device that rotatably holds another workpiece 42.

[0021] The tool rest 16 holds the tool 40. The tool 40 held here may be a turning tool such as a cutting tool or a rotary tool such as an end mill. The tool rest 16 is movable in its entirety in the Z-axis direction, i.e., in a direction parallel to the axis of the workpiece 42. The tool rest 16 is also movable in its entirety in the X-axis direction, i.e., in the radial direction of the workpiece 42. The X-axis is inclined with respect to the horizontal direction so that it moves upward as it moves toward the back side when viewed from the front of the machine tool 10. The tool rest 16 moves in the Z-axis direction and the X-axis direction, whereby the cutting depth and cutting position are adjusted.

[0022] A turret 18 capable of holding a plurality of tools 40 is provided at one end of the tool rest 16 in the Z-axis direction. The turret 18 has a polygonal shape when viewed in the Z-axis direction, and is rotatable around an index axis Rd parallel to the Z-axis. The turret 18 has a plurality of tool attachment parts 28 arranged at equal intervals in the circumferential direction. The tool attachment parts 28 are portions to which tools are attached. The tool attachment parts 28 are formed, for example, on the end face or peripheral surface of the turret 18 in the Z-axis direction, and have holes or grooves into which a part of a tool holder is inserted. The turret 18 rotates around the index axis Rd to switch the posture of each tool 40 relative to the workpiece 42, and thus switch the tool 40 used for cutting.

[0023] In this example, some of the tools 40 are attached to the turret 18 via a holder unit 60. Fig. 2 is an exploded enlarged view of the periphery of the holder unit 60. As shown in Fig. 2, the holder unit 60 is broadly divided into a relay block 62 attached to the tool attachment portion 28 and a tool holder 64 that holds the tool 40, which will be described in detail later.

[0024] The configuration of the machine tool 10 will be described with reference to FIG. 1 again. The machining chamber 12 is further provided with a robot 20. In this example, the robot 20 is a serial manipulator in which a plurality of links 30 are connected in a row via joints 32, or a multi-joint robot. In the example of FIG. 1, the robot 20 is installed on the wall surface of the machining chamber 12, but the installation location and configuration of the robot 20 may be changed as appropriate as long as the robot 20 can access both the relay block 62 and the tool standby unit 38. For example, the robot 20 may be attached to the ceiling surface of the machining chamber 12, the tool rest 16, the headstock 14, the tailstock, or the like.

[0025] An end effector 34 that performs a predetermined task on an object is attached to the end of the robot 20. The end effector 34 may be fixed to the robot 20, or may be detachable from the robot 20 so that it can be replaced depending on the situation. In this example, the robot 20 has a hand mechanism 36 that grasps an object as the end effector 34. The hand mechanism 36 is a general-purpose hand mechanism having a pair of arms that move toward or away from each other. When replacing a tool 40, the hand mechanism 36 grasps a tool holder 64 and moves the tool 40 together with the tool holder 64. The robot 20 functions as a moving mechanism that changes the position and posture of the hand mechanism 36, and therefore the tool holder 64 grasped by the hand mechanism 36.

[0026] The tool standby section 38 is a section where one or more tools 40 are stored. The tools 40 are stored in a state where they are attached to a tool holder 64. A hole having a configuration similar to an insertion hole 74 described later is formed in the tool standby section 38, and the tool holder 64 is inserted into the hole. In the example of FIG. 1, the tool standby section 38 is set on the wall surface of the machining chamber 12, but the location of the tool standby section 38 is not limited as long as the robot 20 can access the tool standby section 38. Therefore, the tool standby section 38 may be provided outside the machining chamber 12 instead of or in addition to the inside of the machining chamber 12. The number of tools 40 that can be stored in the tool standby section 38 may also be changed as appropriate.

[0027] The controller 22 controls the driving of each part of the machine tool 10. The controller 22 is physically a computer having a processor 22a that executes various calculations and a memory 22b that stores programs and data. The "computer" also includes a microcontroller in which a computer system is incorporated into a single integrated circuit. The controller 22 may also be a computer that functions as a numerical control device. The numerical control device analyzes the machining program and issues commands, using numerical information consisting of numbers and codes, on the tool path for the workpiece and the steps of the work required for machining in order to operate the machine tool 10. The controller 22 controls the driving of the headstock 14, tool rest 16, turret 18, etc., in order to machine the workpiece 42. As will be described in detail later, the controller 22 also controls the driving of the robot 20 and the hand mechanism 36 in order to automatically replace the tool 40, which will be described later.

[0028] Next, the configuration of the holder unit 60 will be described in detail with reference to Fig. 2 to Fig. 4. Fig. 2 is an exploded enlarged view of the periphery of the holder unit 60, and Fig. 3 is an enlarged view of the periphery of the holder unit 60. Fig. 4 is a cross-sectional view of the relay block 62, and Fig. 5 is a cross-sectional view of the tool holder 64.

[0029] The holder unit 60 is a member for attaching the tool 40 to the turret 18, and is a member for enabling automatic tool change using the general-purpose hand mechanism 36. Here, in the machine tool 10, it is necessary to change the tool 40 used for cutting depending on the machining status of the workpiece 42 and the type of the workpiece 42. In order to reduce labor, it is desirable to automatically change the tool 40. As described above, in a turning center, the tool 40 used for cutting can be changed by rotating the turret 18. However, the number of tools 40 that can be attached to one turret 18 is limited. In addition, a rotating tool can only be attached to a specific tool attachment portion 28 among the multiple tool attachment portions 28. As a result, in the conventional machine tool 10, the number of tools that can be automatically switched, particularly the number of rotating tools, is often insufficient.

[0030] In view of this, some have proposed a technique for automatically changing the tool 40 using a robot and a hand mechanism. However, in the conventional technique, the turret 18 and the hand mechanism must have a special configuration in order to realize the automatic change of the tool 40. In this example, a holder unit 60 is provided to enable the automatic change of the tool 40 using a general-purpose turret and hand mechanism 36.

[0031] As described above and as shown in FIGS. 2 and 3, the holder unit 60 is roughly divided into a relay block 62 attached to the turret 18 and a tool holder 64 attached to the relay block 62.

[0032] The relay block 62 is attached to the turret 18 using a general-purpose mechanism provided on the turret 18. That is, usually, holes, grooves, screw holes, etc. are formed in the tool attachment portion 28 of the turret 18 for attaching the tool 40, and conventionally, the tool 40 is attached to the turret 18 using such general-purpose holes, grooves, and screw holes. In this example, the tool attachment portion 28 is formed with a connecting hole 28a into which a part of the tool holder is inserted and a screw hole 28b for screwing and fastening the tool holder. The relay block 62 is screwed and fastened to the tool attachment portion 28 by a bolt 28c with a part of the relay block 62 inserted into the connecting hole 28a. The installation work of the relay block 62 is performed manually by an operator before starting cutting of the workpiece 42.

[0033] An insertion hole 74 is formed in the end face of the relay block 62. The insertion hole 74 is a hole into which a part of the tool holder 64 is inserted. The inner peripheral surface of this insertion hole 74 is sloped so that the major axis of the hole increases toward the back. Also, an engagement recess 76 (see FIG. 4) into which an engagement protrusion 90 described later engages is formed in the inner peripheral surface of the insertion hole 74. Furthermore, a pin hole 78 into which a rotation transmission pin 92 described later is inserted is formed in the end face of the relay block 62. This pin hole 78 extends in a direction parallel to the insertion hole 74.

[0034] Furthermore, the relay block 62 of this example further has a transmission mechanism for transmitting the power of the rotary tool motor 44 to the tool holder 64. That is, the rotary tool motor 44 for rotating the rotary tool is built into the tool rest 16. Meanwhile, a transmission shaft 46 is provided in the tool attachment portion 28 for the rotary tool, and the power of the rotary tool motor 44 is transmitted to this transmission shaft 46 via a bevel gear 48.

[0035] The relay block 62 is provided with a transmission shaft 70 that is mechanically coupled to the transmission shaft 46 inside the turret 18. A key protrusion 51a is formed on one of the end of the transmission shaft 46 inside the turret 18 and the base end of the transmission shaft 70 inside the relay block 62, and a key groove 51b into which the key protrusion 51a fits is formed on the other. The rotation of the transmission shaft 46 is transmitted to the transmission shaft 70 by the key protrusion 51a fitting into the key groove 51b.

[0036] The rotation of the transmission shaft 70 is converted in its rotation direction by 90 degrees by the bevel gear 71 and transmitted to the rotating shaft 72. That is, in the present example, the transmission shaft 70 and the rotating shaft 72 of the relay block 62 function as the rotating part 68 that is rotatable with respect to the turret 18, and the other part functions as the fixed part 66 that is fixed with respect to the turret 18. The above-mentioned insertion hole 74 and pin hole 78 are formed in the tip surface of the rotating shaft 72, and when the rotating shaft 72 rotates, the insertion hole 74 and, by extension, the tool holder 64 inserted into the insertion hole 74 also rotate.

[0037] The tool holder 64 is a member that holds the tool 40. The tool holder 64 is detachable from the relay block 62. More specifically, the tool holder 64 has a substantially cylindrical holder body 80 and a pair of swing arms 82 that are swingable relative to the holder body 80. The tool 40 is fixed to one end of the holder body 80.

[0038] The two swing arms 82 are disposed facing each other with a gap therebetween in the radial direction of the holder body 80. Each swing arm 82 is capable of swinging about a swing shaft 84 fixed to the holder body 80. The pair of swing arms 82 swing toward or away from each other. A part of the swing arm 82 protrudes to the outside of the holder body 80. This protruding part functions as a connecting part 86 to be inserted into the insertion hole 74 of the relay block 62.

[0039] Here, when the pair of swing arms 82 swing in a direction away from each other with the connecting portion 86 inserted into the insertion hole 74, the swing arms 82 engage with the insertion hole 74, and the connecting portion 86 is prevented from being removed from the insertion hole 74. When the pair of swing arms 82 swing in a direction toward each other, the engagement between the swing arms 82 and the insertion hole 74 is released, and the connecting portion 86 can be removed from the insertion hole 74. In the following, the state in which the pair of swing arms 82 swing in a direction away from each other is referred to as a "clamped state", and the state in which the pair of swing arms 82 swing in a direction toward each other is referred to as an "unclamped state". In the following description, the direction in which one swing arm 82 approaches the other swing arm 82 is referred to as an "inward swing direction Si", and the direction in which one swing arm 82 moves away from the other swing arm 82 is referred to as an "outward swing direction So".

[0040] In the clamped state, the end face of the swing arm 82 on the outer side in the swing direction So forms a sloped surface that follows the inner peripheral surface of the insertion hole 74. Furthermore, an engagement protrusion 90 (see FIG. 6) that protrudes outward in the swing direction So is provided at the tip of the swing arm 82 (the end opposite the holder body 80). In the clamped state, this engagement protrusion 90 fits into and engages with the engagement recess 76 of the insertion hole 74. Furthermore, a spring 88 is stretched across the two swing arms 82. This spring 88 biases the two swing arms 82 in directions away from each other (i.e., toward the outer side in the swing direction So) to maintain the pair of swing arms 82 in the clamped state.

[0041] The tool holder 64 is further provided with a pair of gripping parts 94. The gripping parts 94 are parts that are gripped by the hand mechanism 36 and are mechanically connected to the swing arm 82. FIG. 6 is a diagram showing a state in which the gripping parts 94 are gripped by the hand mechanism 36. The gripping parts 94 are provided at positions that are exposed to the outside even when the connecting parts 86 are inserted into the insertion holes 74. In this example, the gripping parts 94 are protrusions that protrude from the swing arm 82 to the outside in the swing direction So, and are protrusions that penetrate the wall surface of the holder body 80 and are exposed to the external space of the tool holder 64. When gripping pressure is applied to the gripping parts 94, the swing arm 82 swings to the inside in the swing direction Si against the biasing force of the spring 88, and is in an unclamped state.

[0042] Next, a description will be given of the flow of automatic replacement of the tools 40 using the holder unit 60. As described above, the relay block 62 of the holder unit 60 is screwed and fastened to the turret 18 in advance by an operator manually. Also, each of the multiple tools 40 is fixed to a tool holder 64, and the multiple tool holders 64 are attached to the tool standby unit 38 or the relay block 62.

[0043] When the tool 40 is removed from the relay block 62, the controller 22 drives the robot 20 and the hand mechanism 36 to grip the tool holder 64 attached to the relay block 62 with the hand mechanism 36. At this time, the controller 22 adjusts the posture of the robot 20 so that the hand mechanism 36 can clamp the gripping portion 94 of the tool holder 64. When gripping pressure is applied to the gripping portion 94, the swing arm 82 swings inward in the swing direction Si and changes to an unclamped state. As a result, the engagement between the connecting portion 86 of the tool holder 64 and the insertion hole 74 of the relay block 62 is released. In this state, the controller 22 moves the hand mechanism 36 in a direction away from the insertion hole 74 to separate the connecting portion 86 from the insertion hole 74. As a result, the tool holder 64, and in turn the tool 40 fixed to the tool holder 64, are removed from the relay block 62. The removed tool holder 64 is transported to the tool standby section 38 and stored there.

[0044] Next, a flow of attaching the tool 40 stored in the tool standby section 38 to the relay block 62 will be described. In this case, the controller 22 drives the robot 20 to move the hand mechanism 36 to the vicinity of the tool standby section 38, and the hand mechanism 36 grips the tool holder 64 stored in the tool standby section 38. At this time, the controller 22 adjusts the attitude of the robot 20 so that the hand mechanism 36 can clamp the gripping portion 94 of the tool holder 64. As a result, the tool holder 64 is in an unclamped state. The controller 22 drives the robot 20 to insert the connecting portion 86 of the tool holder 64 in the unclamped state into the insertion hole 74. At this time, the inclination of the tool holder 64 is adjusted so that the rotation transmission pin 92 provided on the tool holder 64 is inserted into the pin hole 78 formed in the relay block 62. When almost the entirety of the connecting portion 86 is received in the insertion hole 74, the controller 22 releases the grip of the tool holder 64 by the hand mechanism 36. As a result, the pair of swing arms 82 swing in directions away from each other due to the biasing force of the spring 88, and the swing arms 82 come into contact with the inner peripheral surface of the insertion hole 74. Here, since the inner peripheral surface of the insertion hole 74 has a diverging gradient, when the swing arms 82 are pressed against the inner peripheral surface of the insertion hole 74 by the biasing force of the spring 88, part of the pressing force is converted into a force toward the inner side in the axial direction. As a result, the swing arms 82 and the tool holder 64 are naturally drawn toward the inner side of the insertion hole 74. Then, finally, the engagement protrusion 90 provided at the tip of the swing arm 82 fits into the engagement recess 76, thereby preventing the tool holder 64 from coming off the insertion hole 74. In addition, since the rotation transmission pin 92 is inserted into the pin hole 78, the rotation of the transmission shaft 70 (i.e., the rotating part 68) is transmitted to the tool holder 64 and, in turn, to the tool 40. When this state is reached, the attachment of the tool holder 64 to the relay block 62, and therefore the replacement operation of the tool 40, is completed.

[0045] As is clear from the above description, in this example, by attaching a relay block 62 with a special configuration to a general-purpose turret 18 and further attaching a general-purpose tool 40 to a tool holder 64 with a special configuration, the tool 40 can be automatically replaced using a general-purpose hand mechanism 36. Note that the configuration described above is one example, and other configurations may be changed as appropriate as long as the relay block 62 has an insertion hole 74 into which a part of the tool holder 64 is inserted, and the tool holder 64 has a connecting portion 86 that can be inserted into the insertion hole 74 and is switched between a clamped state and an unclamped state, and a gripping portion 94 that changes the connecting portion 86 to the unclamped state when gripping pressure is applied.

[0046] For example, in the above description, the rotation transmission pin 92 is provided on the tool holder 64 to transmit the rotation of the rotating shaft 72 to the tool 40, but another engagement portion may be provided instead of or in addition to the rotation transmission pin 92 as long as it can engage with the rotating portion 68 of the relay block 62 in the rotational direction. For example, as shown in FIG. 7, the cross-sectional shape of the insertion hole 74 may be non-circular, and the rotational dimension of the swing arm 82 may be approximately the same as the rotational dimension of the insertion hole 74. In this case, the swing arm 82 functions as a rotation transmission member that transmits the rotation of the rotating portion 68 to the tool holder 64.

[0047] The tool holder 64 may also include a plurality of weight mounting portions 96 to which adjustment weights for adjusting the weight balance of the tool holder 64 can be selectively attached. The configuration of the weight mounting portion is not particularly limited, but for example, as shown in Figs. 5 and 6, the weight mounting portion 96 may be a plurality of screw holes formed around the tool 40. In this case, bolts screwed into the screw holes function as adjustment weights 98. Instead of providing a dedicated weight mounting portion, the weight balance may be adjusted by attaching weights with adhesive tape or the like.

[0048] In this example, the relay block 62 is provided with a rotating unit 68 to enable handling of a rotating tool, but the relay block 62 does not need to have the rotating unit 68 as long as it has at least the insertion hole 74. In this example, the hand mechanism 36 is moved using the articulated arm type robot 20, but the configuration of the robot 20 may be changed as appropriate as long as the hand mechanism 36 can be moved. Also, instead of the robot 20, the hand mechanism 36 may be moved using a linear loader or the like. Also, the turret 18 and the tool standby unit 38 may be moved without moving the hand mechanism 36. [Explanation of symbols]

[0049] 10 machine tool, 12 machining chamber, 14 headstock, 16 tool rest, 18 turret, 20 robot, 22 controller, 24 spindle, 26 chuck, 28 tool attachment portion, 28a connection hole, 28b screw hole, 28c bolt, 30 link, 32 joint, 34 end effector, 36 hand mechanism, 38 tool standby portion, 40 tool, 42 workpiece, 44 motor for rotating tool, 46, 70 transmission shaft, 48, 71 bevel gear, 60 holder unit, 62 relay block, 64 tool holder, 66 fixed portion, 68 rotating portion, 72 rotating shaft, 74 insertion hole, 76 engagement recess, 78 pin hole, 80 holder body, 82 swing arm, 84 swing shaft, 86 connection portion, 88 spring, 90 engagement protrusion, 92 Rotation transmission pin, 94 gripping part, 96 weight mounting part, 98 adjustment weight, Rd index axis, Rw work rotation axis.

Claims

1. A detachable relay block for the tool mounting part of the turret; a tool holder that holds a tool and is detachable from the relay block; the relay block has an insertion hole into which a part of the tool holder is inserted, The tool holder comprises: a coupling portion that can be inserted into the insertion hole and that changes between a clamped state in which the coupling portion engages with a part of the insertion hole and an unclamped state in which the coupling portion can advance and retreat within the insertion hole; a gripping portion provided at a position where the connecting portion is exposed to the outside when the connecting portion is inserted into the insertion hole, and gripped by a hand mechanism having a pair of arms, the gripping portion changing the connecting portion to an unclamped state when receiving a gripping pressure; A holder unit comprising:

2. 2. The holder unit according to claim 1, The tool holder further comprises: A pair of rocking levers, at least a portion of which is inserted into the insertion hole and functions as the connecting portion; a biasing member that biases the connecting portions of the pair of rocking levers in directions away from each other; the connecting portion has an engagement protrusion that protrudes toward an inner circumferential surface of the insertion hole and engages with an engagement recess formed on the inner circumferential surface of the insertion hole, The grip portion is a protrusion that is mechanically connected to the rocking lever and protrudes into an external space, and is a protrusion that rocks the pair of rocking levers in directions toward each other when pressed. A holder unit characterized by:

3. 3. The holder unit according to claim 2, The inner peripheral surface of the insertion hole has a sloped surface such that the hole becomes larger as it advances toward the back side, A part of the biasing force of the biasing member that presses the rocking lever against the inner circumferential surface of the insertion hole is converted into a pulling force that pulls the rocking lever toward the rear side. A holder unit characterized by:

4. 4. The holder unit according to claim 1, The relay block includes: A fixing portion fixed to the turret; a rotating part that receives a rotational force of a rotary tool motor built in the turret and rotates relative to the fixed part; The tool holder has a rotation transmission part that engages with the rotating part in a rotational direction and rotates together with the rotating part. A holder unit characterized by:

5. 5. The holder unit according to claim 4, the tool holder has a plurality of weight attachment portions provided around a rotation axis of the rotating portion, An adjustment weight for adjusting the weight balance of the tool holder is selectively attached to the weight attachment portion. A holder unit characterized by:

6. 6. The holder unit according to claim 1, The holder unit according to claim 1, wherein the relay block is screwed to a mounting portion of the turret.

7. a turret having a plurality of tool mounting portions; a relay block that is detachably attached to one of the plurality of tool attachment portions and has an insertion hole formed therein; a plurality of tool holders stored in the tool standby unit, each of which holds a tool and is detachably attached to the relay block; a hand mechanism that holds the tool holder; a moving mechanism that moves the hand mechanism; a controller for controlling the driving of the hand mechanism and the moving mechanism; The tool holder comprises: a coupling portion that can be inserted into the insertion hole and that changes between a clamped state in which the coupling portion engages with a part of the insertion hole and an unclamped state in which the coupling portion can advance and retreat within the insertion hole; a gripping portion provided at a position exposed to the outside when the connecting portion is inserted into the insertion hole, the gripping portion changing the connecting portion to an unclamped state when receiving a gripping pressure; wherein the controller instructs the hand mechanism to grip the gripping portion in order to replace the tool, and instructs the moving mechanism to move the tool holder together with the hand mechanism between the relay block and the tool standby unit. A machine tool characterized by:

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