Tool exchange device

Abstract

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

Description

Technical Field

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

Background Art

[0002] A deburring tool that can easily replace a tool holder is known (for example, Japanese Unexamined Patent Application Publication No. 2023-58946). This deburring tool includes a shank, a cylinder chamber, a body having a detent body holding hole and a tool holder holding hole, a pusher, a first elastic body that biases the pusher in the tip direction, a tool holder having a detent groove, and a cover that is disposed outside the body and can reciprocate between an attachment / detachment position and a machining position along the shank axis. The cover has a pressing surface that covers the detent body holding hole and a relief portion at the machining position. The cover has a detent body that is accommodated in the relief portion when the cover is in the attachment / detachment position and the tool holder is pulled out from the tool holder holding hole.

Summary of the Invention

Problems to be Solved by the Invention

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

Means for Solving the Problems

[0004] A first aspect of the present invention is a tool changer for replacing a tool of a spindle body having a spindle, a trigger that reciprocates along the spindle between a machining position and an attachment / detachment position, and a tool that is detachable from the spindle and moves in the tip direction when the trigger moves to the attachment / detachment position, a support arm that supports the spindle body at a tool change position so that the spindle coincides with an exchange axis, a drive lever that is disposed on the support arm and moves the trigger from the machining position to the attachment / detachment position, a tool magazine, a plurality of tool holding portions to which the tool can be attached, A reciprocating device that moves the tool holder along the exchange shaft to mount the tool, which is in a standby position on the exchange shaft, onto the main shaft at the tool exchange position, A tool magazine that has, It is a tool changing device that has [a certain feature].

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

[0006] The drive lever may have a trigger insertion hole. The trigger insertion hole is an elongated hole extending in the Y direction. A trigger is inserted into the trigger insertion hole. The trigger insertion hole may open on the front surface of the drive lever. The drive lever may have a hooking portion. The hooking portion can be hooked onto the trigger's receiving portion. The drive lever can move the trigger from the processing position to the attachment / detachment position by hooking the hooking portion onto the trigger's receiving portion.

[0007] The tool magazine may include a magazine plate and a plurality of tool holders arranged on the magazine plate that reciprocate between a standby position and an insertion position. The retraction device may have a retraction cylinder and an engaging part connected to the retraction cylinder that moves the tool holder. The engaging part may be, for example, a table, a hook, or a clamp. The tool magazines are positioned corresponding to the tool holding sections and may have through holes through which the engaging sections pass. In this case, the guide or the second guide hole may be positioned on the support arm. Alternatively, the first guide hole may be positioned on the tool holding portion. [Effects of the Invention]

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

[0009] [Figure 1] Front view showing a portion of the spindle body of Embodiment 1. [Figure 2] Plan view of the tool changing device of Embodiment 1 [Figure 3] View from arrow III in Figure 2 [Figure 4] Figure 2, section view along line IV-IV [Figure 5] Vertical cross-sectional view showing the tool replacement process in Embodiment 1 [Figure 6] Vertical cross-sectional view showing the tool replacement process in Embodiment 1 [Figure 7] Front view showing the tool replacement process in Embodiment 1 [Figure 8] Front view showing the tool replacement process in Embodiment 1 [Figure 9] Vertical cross-sectional view showing the tool replacement process in Embodiment 1 [Figure 10] Front view of the tool changing device of Embodiment 2 [Figure 11] Figure 10: Cross-sectional view along line XI-XI [Figure 12] Front view of the tool changing device of Embodiment 3 [Figure 13] Plan view of the tool changing device of Embodiment 3 [Modes for carrying out the invention]

[0010] <Embodiment 1> As shown in Figure 1, the spindle body 10 of this embodiment includes a body 11, a spindle motor 13, a main spindle 15, a ball 17, a trigger 19, a pusher 21, and a compression coil spring 23. The body 11 is connected to, for example, a robot (mobile device) 27. The tool 251 is detachably mounted on the main spindle 15. Here, the left half of Figure 1 shows the trigger 19 in the machining position 3 and the tool 251 mounted on the main spindle 15. The right half of Figure 1 shows the trigger 19 in the detachment position 4 and the tool 251 removed from the main spindle 15.

[0011] The body 11 is a hollow straight cylindrical shape. Hereinafter, for the sake of convenience, the upper side of FIG. 1 is referred to as the proximal end, and the lower side is referred to as the distal end. The spindle motor 13 is disposed at the proximal end portion of the body 11. For example, the spindle motor 13 is a servo motor or a PM synchronous motor. Preferably, the spindle motor 13 can perform origin positioning.

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

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

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

[0015] The ball 17 is positioned in the ball insertion hole 15b. When the trigger 19 is in the machining position, the ball 17 is pushed radially inward by the retaining surface 19a. The ball 17 then protrudes radially inward from the tool mounting hole 15a. When the trigger 19 is in the attachment / detachment position 4, the ball 17 moves radially outward from the tool mounting hole 15a and is housed in the relief portion 19b.

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

[0017] As shown in Figures 2 to 4, the tool changing device 30 of this embodiment includes a support arm 31, a plunger 32, a drive lever 33, a plunger 34, a lever cylinder 37, a guide 35, and a tool magazine 45. The tool magazine 45 includes a magazine plate 47 and tool holding sections 491 to 493. In Figure 3, the tool magazine 45 with the tool holding section 491 in the standby position 6 is shown by a solid line. Also in Figure 3, the tool magazine 45 with the tool holding section 491 in the insertion position 7 is shown by a dashed-dot line.

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

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

[0020] The plunger 32 is, for example, a ball plunger. The plunger 32 is positioned on the support portion 31b. The plunger 32 biases the body 11 and holds the spindle body 10 in the tool changing position 2.

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

[0022] The plunger 34 is, for example, a ball plunger. The plunger 34 is positioned on the drive lever 33. The plunger 34 biases the trigger 19, promoting the movement of the drive lever 33 and the trigger 19 together.

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

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

[0025] The tool magazine 45 includes an indexing device 55 and a reciprocating device 57. The reciprocating device 57 is connected to a support arm 31.

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

[0027] The tool holder 491 has a slit 49a, a seating surface 49b, a clamp cylinder 49c, and a claw 49d. The slit 49a extends rearward from the front end of the magazine plate 47. The width of the slit 49a may widen towards the front end. The seating surface 49b is positioned around the rear end of the slit 49a. Preferably, the seating surface 49b has substantially the same width (range) as the lower end surface of the slider 25a. The seating surface 49b may be the upper surface of the magazine plate 47. The tools 251 and 253 are placed in the tool holders 491 and 493, respectively. In this case, the tip tool 25b passes through the slit 49a. The slider 25a is placed on the seating surface 49b. The leading edge of the slit 49a may be closed. In this case, the slit 49a is a gourd-shaped through-hole when viewed from the Z direction. The front part of the gourd-shaped through-hole is larger than the rear part. The front part of the gourd-shaped through-hole is large enough for the tip tool 25b to pass through.

[0028] The clamp cylinder 49c may be located on the underside of the magazine plate 47. The clamp cylinder 49c is, for example, an air cylinder. The clamp cylinder 49c, being an air cylinder, is connected to the air source 39. The claws 49d are located on the clamp cylinder 49c. The clamp cylinder 49c opens and closes the claws 49d to clamp or unclam the tip tool 25b of the tool 251. The tool holding sections 492 and 493 are substantially identical to the tool holding section 491.

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

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

[0031] Next, with reference to Figures 5 to 9, the method of using the tool changing device 30 of this embodiment will be described. In the following description, first, the tool 251 is transferred from the spindle body 10, which has the tool 251 mounted on it, to the empty tool holding section 491 of the tool magazine 45. Next, the tool 253 is mounted from the tool holding section 493 of the tool magazine 45 onto the spindle body 10.

[0032] As shown in Figure 5, first, the indexing device 55 indexes the empty tool holder 491 onto the exchange shaft 1. Next, the reciprocating device 57 moves the magazine plate 47 to the insertion position 7. At this time, the guide 35 is inserted into the guide hole 51 and guided, so that the tool holder 491 aligns with the exchange shaft 1. Also, the air source 39 opens the clamp cylinder 49c, causing the claws 49d to open. Subsequently, the robot 27 moves the spindle body 10 in the +Y direction, as indicated by the arrow 61, to position it at the tool exchange position 2. The plunger 32 biases the body 11 and holds it in the support part 31b. The plunger 34 biases the drive lever 33 and holds it in the trigger insertion hole 33b.

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

[0034] Next, as shown in Figure 7, the reciprocating device 57 moves the magazine plate 47 in the -Z direction, as indicated by arrow 63. As a result, the tool 251 is pulled out of the tool mounting hole 15a together with the magazine plate 47. At this time, the drive lever 33 moves downward due to the spring built into the lever cylinder 37. Then, the drive lever 33 and trigger 19 return to the machining position 3. Next, the indexing device 55 indexes the tool holding section 493 onto the exchange shaft 1, as shown by the arrow 65.

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

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

[0037] According to the tool changing device 30 of this embodiment, the tool on the spindle body 10 can be changed smoothly and automatically.

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

[0039] Alternatively, instead of the magazine plate 47 and indexing device 55 in this embodiment, a disc-shaped magazine plate with multiple tool holders 491 on its circumference and an indexing device which is a rotating device may be provided. In this case, the indexing device rotates the magazine plate to index each tool holder 491 onto the exchange shaft 1.

[0040] <Embodiment 2> As shown in Figures 10 and 11, the tool changer 70 of this embodiment includes a support arm 31, a drive lever 73, a lever cylinder 37, a tool magazine 85, an indexing device 55, and a reciprocating device 97. The tool changer 70 fits into a spindle body 10 having a receiving portion 19f. Here, the left half of the spindle body 10 in Figure 10 shows the state in which the trigger 19 is in the machining position 3 and the tool 251 is mounted on the spindle 15. The right half of the spindle body 10 in Figure 1 shows the state in which the trigger 19 is in the attachment / detachment position 4 and the tool 251 has been removed from the spindle 15.

[0041] The drive lever 73 has a trigger insertion hole 33b and a hook portion 73a. The hook portion 73a is positioned on both sides of the trigger insertion hole 33b. The hook portion 73a has a semicircular cross-section and is a rod-shaped projection extending in the Y direction. When the spindle body 10 is in the tool change position 2, the receiving portion 19f is inserted into the hook portion 73a. The receiving portion 19f is a circumferential groove. Therefore, regardless of the rotation direction of the spindle 15, the receiving portion 19f is inserted into the hook portion 73a. By hooking the receiving portion 19f into the hook portion 73a, the receiving portion 19f moves back and forth between the machining position 3 and the attachment / detachment position 4 together with the drive lever 73.

[0042] The tool magazine 85 includes a magazine plate 87, tool holders 891, 892, and 893, an indexing device 55, and a retraction device 97. In Figure 10, the tool holder 891 in standby position 6 is shown by a solid line. Also in Figure 10, the tool holder 891 and the retraction device 97 in insertion position 7 are shown by dashed lines.

[0043] The magazine plate 87 is flat and extends in the X-axis direction. The magazine plate 87 has tool holding sections 891-893, a table hole (through hole) 87a (see Figure 11), and a guide 94. The table hole 87a and the guide 94 are positioned corresponding to the tool holding sections 891-893, respectively. The table hole 87a penetrates the magazine plate 87 in the Z-direction, exposing most of the lower surface of the tool holding sections 891-893. The guide 94 extends above the magazine plate 87 along the Z-axis. The magazine plate 87 is connected to the indexing device 55. The indexing device 55, the reciprocating device 97, the support arm 31, and the drive lever 73 are connected.

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

[0045] The cassette body 89e is rectangular and has a tool mounting hole 89f on its front surface. The cassette body 89e is positioned above the table hole 87a. As shown in Figure 11, the tool mounting hole 89f is a U-shaped groove extending rearward from the front edge of the cassette body 89e. As shown in Figure 10, the tool mounting hole 89f extends downward from the top surface of the cassette body 89e. The seating surface 89b is the bottom surface of the tool mounting hole 89f. The slit 89a is located on the seating surface 89b. The slit 89a penetrates the cassette body 89e in the Z direction. The slit 89a extends in the Y direction from the front edge of the cassette body 89e to the replacement shaft 1. In other respects, the slit 89a is substantially identical to the slit 49a. The tools 251 and 253 are mounted on the cassette body 89e. At this time, the cylindrical side surface of the slider 25a abuts against the tool mounting hole 89f. The tip surface of the slider 25a then contacts the seat surface 89b. The tip tool 25b also passes through the slit 89a.

[0046] The clamp cylinder 89c and the claw 89d are located inside the cassette body 89e. The clamp cylinder 89c is substantially identical to the clamp cylinder 49c. The claw 89d is substantially identical to the claw 49d. The guide hole 96 penetrates the cassette body 89e in the Z direction. The guide 94 also penetrates the guide hole 96 and guides the cassette body 89e in the Z direction. The tool holding sections 892 and 893 are substantially identical to the tool holding section 891. Alternatively, a plunger may be used instead of the clamp cylinder 89c or the claw 89d. The plunger supports the tools 251 and 253, which are mounted in the tool mounting hole 89f, by biasing them from both sides.

[0047] The reciprocating device 97 includes a reciprocating cylinder 97a and a table (engaging portion) 97b. The reciprocating cylinder 97a is, for example, an air cylinder or an electric cylinder. The reciprocating cylinder 97a is arranged along the exchange shaft 1. The table 97b is connected to the reciprocating cylinder 97a. The table 97b is, for example, C-shaped in plan view. The reciprocating cylinder 97a moves the table 97b back and forth in the Z direction, as shown by arrow 79 in Figure 10.

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

[0049] <Embodiment 3> As shown in Figures 12 and 13, the tool changing device 100 of this embodiment includes a support arm 131, a drive lever 133, a pair of guides 35, a lever cylinder 37, a tool magazine 105, and a reciprocating device 57. The tool changer 100 has two exchange shafts 1 and 9. The spindle body 10 is supported at a tool change position 2 on exchange shaft 1 or a tool change position 8 on exchange shaft 9. In Figure 12, the left side of the interchangeable shaft 1 shows the state where the drive lever 133 is in the machining position 3. In Figure 12, the right side of the interchangeable shaft 1 shows the state where the drive lever 133 is in the attachment / detachment position 4.

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

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

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

[0053] The tool magazine 105 includes a magazine plate 187, a guide hole 51, and tool holding parts 491 and 492. The tool magazine 105 may also have an adjustment spacer 49g. In Figure 12, the tool magazine 105 with the tool holding parts 491 and 492 in the standby position 6 is shown by a solid line. Also in Figure 12, the tool magazine 105 with the tool holding parts 491 and 492 in the insertion position 7 is shown by a dashed line.

[0054] The magazine plate 187 has guide holes 51. The magazine plate 187 extends in the X-axis direction. The tool holders 491 and 492 are arranged side by side in the X-axis direction at the front end of the magazine plate 187. Tool holder 491 is positioned on the exchange shaft 1. Tool holder 492 is positioned on the exchange shaft 9. The guide hole 51 is located at the rear end of the magazine plate 187. The adjustment spacer 49g is located in the tool holder 491 and the tool holder 492. By positioning the adjustment spacer 49g, the user can adjust the length and insertion height of the slider 25a of the tools 251 and 252 located in the tool holders 491 and 492. Tool 251 is installed in the tool holder 491. Tool 252 is installed in the tool holder 492. The positions of tools 251 and 252 are never swapped. The tool changing device 100 uses a fixed address system.

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

[0056] The method of using the tool changing device 100 of this embodiment will now be described. The operator decides in advance that tool 251 will be attached to the tool holder 491 and tool 252 will be attached to the tool holder 492. Then, according to the length of the sliders 25a of tool 251 and tool 252, the operator attaches the adjustment spacers 49g to the tool holder 491 and the tool holder 492. When changing the tool 251 between the spindle body 10 and the tool changer 100, the spindle body 10 is moved to the tool changer position 2. The tool 251 is mounted on the spindle body 10 by the operation of the lever cylinder 37 and the reciprocating device 57. The operation method of the lever cylinder 37 and the reciprocating device 57 is substantially the same as in Embodiment 1. Furthermore, when changing the tool 252 between the spindle body 10 and the tool changer 100, the spindle body 10 is moved to the tool changer position 8. Then, the lever cylinder 37 and the retraction device 57 operate to mount the tool 252 onto the spindle body 10.

[0057] According to the tool changing device 100 of this embodiment, an indexing device 55 is unnecessary. Therefore, the tool changing device 100 is easy to manufacture. Also, the installation positions of the tools 251 and 252 are predetermined. Therefore, even if the length of the slider 25a of the tools 251 and 252 differs depending on the tool, by providing an adjustment spacer 49g, the advance / return device 57 can move each tool 251 and 252 to the insertion position 7 or standby position 6 without changing the height of the magazine plate 187.

[0058] The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are covered by the present invention. The embodiments are shown as preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the content disclosed herein, and these are included in the technical scope described in the appended claims. [Explanation of symbols]

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

Claims

1. A tool changing device for a spindle body having a spindle, a trigger that reciprocates along the spindle between a machining position and a detachable position, and a tool that is detachable from the spindle and moves toward the tip when the trigger moves to the detachable position, A support arm supports the spindle body in the tool changing position so that the main spindle aligns with the replacement axis, A drive lever is positioned on the support arm and moves the trigger from the processing position to the attachment / detachment position, It's a tool magazine, Multiple tool holders on which the aforementioned tools can be attached, A reciprocating device that moves the tool holder along the exchange shaft to mount the tool, which is in a standby position on the exchange shaft, onto the main shaft at the tool exchange position, A tool magazine that has, A tool changing device having the following features.

2. The support arm is further equipped with a lever cylinder that moves the drive lever along the exchange shaft, The tool changing device according to claim 1.

3. The tool holding portion is A slit is provided in the tool magazine and extends in a first direction perpendicular to the replacement shaft, A seating surface arranged around the slit on which the tool is installed, A tool changing device according to claim 1 or 2, having the following features.

4. The tool magazines are each positioned in the tool holding section and have a first guide hole extending parallel to the replacement shaft. The support arm is a guide extending parallel to the replacement shaft, and has a guide that is inserted into the first guide hole corresponding to the tool holder when the tool holder, which is in the standby position, moves toward the insertion position. The tool changing device according to claim 1 or 2.

5. The tool magazine is arranged in the tool holding section and has a tool clamp for gripping the tool. The tool changing device according to claim 1 or 2.

6. The drive lever has a second guide hole through which the guide passes, The tool changing device according to claim 4.

7. The device further includes an indexing device that moves one of the plurality of tool holding parts to the standby position. The tool changing device according to claim 3.

8. Multiple tool holding portions are arranged perpendicular to the exchange shaft and in a second direction different from the first direction. The indexing device has a linear motion device that extends in the second direction and guides the tool magazine in the second direction. The tool changing device according to claim 7.

9. It has a plurality of the aforementioned interchangeable shafts and a plurality of the aforementioned tool changing positions, The tool magazine has tool holding sections corresponding to the plurality of interchangeable shafts, each of the plurality of interchangeable shafts. The tool changing device according to claim 1 or 2.

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