Tool exchanging arm and tool exchanging device

Abstract

Provided is a tool exchanging arm 200 of a tool exchanging device (20, 30) for exchanging a tool 500 attached to a main shaft 13 of a machine tool 10, the tool exchanging arm 200 including: an arm member 210 having a tool holding part 212 for holding the tool 500; a rotary shaft member 220 which has a rotary shaft 222 and which is fixed to the arm member 210, the position at which the rotary shaft member 220 is fixed to the arm member 210 being adjustable in the direction of rotation around the rotary shaft 222; and an operation member 230 which is attached to the rotary shaft member 220 and which causes the rotary shaft member 220 and the arm member 210 to rotate around the rotary shaft 222 as a result of the operation member 230 contacting an external cam 50.

Description

Tool changing arm, tool changing device

[0001] The present disclosure relates to a tool changing arm and a tool changing device.

[0002] As an automatic tool changing device for a machine tool, there is known one that includes a tool changing arm for attaching and detaching tools, and the operation of the tool changing arm is performed by a cam mechanism (for example, Patent Document 1). In the device disclosed in Patent Document 1, the operations of a plurality of tool changing arms are performed by a cam mechanism provided on the spindle side.

[0003] Japanese Patent Application Laid-Open No. 2013-176831

[0004] In order to operate a tool changing arm as described above, in many cases, an operating member (cam follower) provided on each of a plurality of tool changing arms is brought into contact with the same cam (the same individual) to operate the tool changing arm. In this case, due to individual differences among the plurality of tool changing arms, the position of the tool gripping portion of the tool changing arm moved by the contact between the operating member and the cam may be different for each of the plurality of tool changing arms. For example, when the positional relationship between the operating member and the cam is adjusted so that one tool changing arm can move to an appropriate position, there may be a case where another tool changing arm cannot move to an appropriate position.

[0005] An object of the present disclosure is to provide a tool changing arm and a tool changing device capable of moving a plurality of tool changing arms to appropriate positions by the contact between an operating member and a cam.

[0006] The present disclosure is a tool changing arm of a tool changing device that exchanges a tool attached to a spindle of a machine tool, including an arm member having a tool gripping portion for gripping the tool, a rotating shaft, and an adjustment of a fixed position with respect to the arm member in a direction of rotation around the rotating shaft is possible, a rotating shaft member fixed to the arm member, and an operating member attached to the rotating shaft member and configured to rotate the rotating shaft member and the arm member around the rotating shaft by contacting an external contact member.

[0007] This is a perspective view showing the machine tool unit 1 of the first embodiment. This is a front view showing the machine tool unit 1 of the first embodiment. This is an enlarged perspective view showing the tool changing arm unit 20. This is a front view showing the tool changing arm 200 with the tool gripping portion 212 facing the spindle 13 side. This is a front view showing the tool changing arm 200 with the tool gripping portion 212 facing the tool magazine 30 side. This is an enlarged perspective view showing the area around the tool gripping portion 212. This is a side view showing the tool 500. This is an enlarged perspective view showing the pivot shaft member 220 and the operating member 230. This is an enlarged view of the area around the pivot shaft member 220 in Figure 4 with the head of the fastening member 250 cut off. This figure shows the state in which the tool changing arm 200 begins the operation of removing the tool 500 mounted on the spindle 13. This figure shows the state in which the support base portion 27 has moved further downward as the swivel base 23 has descended further from the state in Figure 10. This figure shows the ideal state where the spindle head 12 and spindle 13 have risen from the state in Figure 11 and the tool gripping part 212 is gripping the tool 500. This figure shows the state where the spindle head 12 and spindle 13 have risen further from the state in Figure 12 and the tool gripping part 212 has pulled the tool 500 out of the spindle 13 while still gripping it. This figure shows one example of a state where the positional relationship between the roller 231 of the operating member 230 and the cam 50 is inappropriate. This figure shows another example of a state where the positional relationship between the roller 231 of the operating member 230 and the cam 50 is inappropriate. This is an enlarged perspective view showing the main part of the tool changing arm 200B of the second embodiment. This is an enlarged front view showing the main part of the tool changing arm 200B of the second embodiment.

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the description of the second embodiment and subsequent embodiments, components common to the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted as appropriate.

[0009] (First Embodiment) Figure 1 is a perspective view showing the machine tool unit 1 of the first embodiment. Figure 2 is a front view showing the machine tool unit 1 of the first embodiment. Note that the following figures, including Figure 1, are schematic diagrams, and the size and shape of each part are exaggerated or omitted as appropriate to facilitate understanding. Also, for the convenience of explanation, orthogonal coordinates X, Y, and Z are provided in the figures, and these coordinates will be used in the following explanation to describe the orientation of each part. The X and Y axes are parallel to the horizontal direction, and the Z axis is parallel to the vertical direction. Furthermore, the -Y side will be described as the front, the +Y side as the back, the +Z side as the top, and the -Z side as the bottom, etc.

[0010] The machine tool unit 1 comprises a machine tool 10, a tool changing arm unit 20, and a tool magazine 30. The tool changing arm unit 20 and the tool magazine 30 constitute the tool changing device of the machine tool 10.

[0011] The machine tool 10 comprises a base portion 11, a spindle head 12, a spindle 13, and a cam (contact member) 50.

[0012] In this specification and in the claims, the base portion 11 refers to a component of the machine tool 10 that does not move relative to the spindle axis J1 of the spindle 13. Therefore, the base portion 11 is not limited to a single component, but may consist of multiple components. The machine tool 10 is installed by fixing a part of the base portion 11 to the floor or other surface of the installation location.

[0013] The spindle head 12 is mounted on the base portion 11 so as to be movable in the vertical direction (Z-axis direction) by a drive source (not shown), and includes a drive source and drive mechanism for rotating the spindle 13.

[0014] The spindle 13 protrudes downward from the spindle head 12 and is rotated by a drive source (not shown). A tool 500 is detachably attached to the lower end of the spindle 13. The spindle 13 performs various machining operations on a workpiece (not shown) by rotating the tool. In the following description, the spindle central axis J1, which is the rotation center of the spindle 13, is assumed to be arranged in the vertical direction (along the Z-axis in Figure 1), but the direction of the spindle central axis J1 is not limited to the above direction.

[0015] The cam (contact member) 50 is fixed to the -X side of the spindle head 12 and extends in the Z direction. The actuating member 230, described later, contacts the cam (contact member) 50 as a cam follower. Since the cam (contact member) 50 is fixed to the spindle head 12, it moves vertically (along the Z axis) along with the movement of the spindle head 12 in the Z direction.

[0016] Figure 3 is an enlarged perspective view of the tool changing arm unit 20. The tool changing arm unit 20, in cooperation with the tool magazine 30 (described later), constitutes an automatic tool changer (ATC) that automatically changes the gripped tool between the tool storage unit 35 and the spindle 13. The tool changing arm unit 20 comprises a linear motion unit 21, a lifting shaft 22, a swivel base 23, a swivel shaft 24, a mounting plate 25, and a tool changing arm 200.

[0017] The linear motion unit 21 is positioned in the area between the spindle 13 (spindle central axis J1) and the tool magazine 30 when viewed from the front (-Y side), and is fixed to the base 11 in a position relative to the spindle central axis J1. The linear motion unit 21 is equipped with a lifting motor (not shown) inside, which moves the tool changing arm 200 up and down together with the swivel base 23 via the lifting shaft 22.

[0018] The lifting shaft 22 protrudes downward from the linear motion unit 21. A swivel base 23 is attached to the lower end of the lifting shaft 22. The lifting shaft 22 can be constructed, for example, by a ball screw, in which case the swivel base 23 can be screwed onto the ball screw of the lifting shaft 22. The lifting motor of the linear motion unit 21 rotates the lifting shaft 22, causing the lifting shaft 22 to rotate and the swivel base 23 to move up and down along the Z-axis.

[0019] The swivel base 23 is roughly box-shaped and is provided to move up and down in the vertical direction by the linear motion unit 21. The direction of vertical movement of the swivel base 23 is arranged parallel to the main shaft central axis J1. A motor (not shown) is housed inside the swivel base 23.

[0020] The slewing shaft 24 extends vertically downward from the lower surface of the slewing base 23. The slewing shaft 24 is connected to the output shaft of a motor (not shown) housed in the slewing base 23. Driven by the motor in the slewing base 23, the slewing shaft 24 can rotate clockwise and counterclockwise relative to the slewing base 23, around the slewing center axis J2, which is the central axis of the slewing shaft 24. The slewing center axis J2 is arranged parallel to the main shaft center axis J1 along the length of the slewing shaft 24.

[0021] The mounting plate portion 25 is attached to the lower end of the pivot shaft 24 by bolts (not shown). The mounting plate portion 25 can rotate clockwise and counterclockwise around the pivot center axis J2 in conjunction with the pivoting movement of the pivot shaft 24. The mounting plate portions 25 extend in opposite directions on either side of the pivot shaft 24. Tool changing arms 200, 200 are fixed to each mounting plate portion 25 via two support base portions 27, 27, which will be described later. In this embodiment, the mounting plate portion 25 is plate-shaped, but it is not limited to this and may be a non-plate-shaped portion.

[0022] The tool change arm 200 is attached to the mounting plate portion 25 via the support base portion 27, and is used to change the tool 500 that is mounted on the spindle 13 of the machine tool 10. The tool change arm 200 is attached to each mounting position that extends in opposite directions on either side of the pivot axis 24 of the mounting plate portion 25. Therefore, in this embodiment, as shown in Figures 1 and 2, two tool change arms 200, 200 are attached to the aforementioned mounting positions. The two tool change arms 200, 200 have the same configuration except that they extend in opposite directions (at a 180-degree angle) relative to the mounting plate portion 25. Therefore, the configuration of one tool change arm 200 will be described below.

[0023] The support base portion 27 is the part to which the tool changing arm 200 is attached to the mounting plate portion 25, and is formed, for example, in a block shape. Both the mounting plate portion 25 and the support base portion 27 are pivotal parts that are pivotally supported so as to be able to rotate clockwise and counterclockwise around the pivot center axis J2 in accordance with the pivoting movement of the pivot shaft 24. The support base portion 27 also has a through hole (not shown), through which the pivot shaft 222 (described later) passes, thereby supporting the tool changing arm 200 in a rotatable state.

[0024] Figure 4 is a front view showing the tool changing arm 200 with the tool gripping portion 212 facing the spindle 13. Figure 5 is a front view showing the tool changing arm 200 with the tool gripping portion 212 facing the tool magazine 30. The tool changing arm 200 comprises an arm member 210, a pivot shaft member 220, an operating member 230, a nut 240, and a fastening member 250.

[0025] The arm member 210 has an arm body portion 211, a tool gripping portion 212, and a rotational center hole 213. The arm body portion 211 extends from the portion attached to the support base portion 27 toward the tool gripping portion 212, bending midway along the way. Specifically, referring to the arm body portion 211 positioned on the foreground side in Figure 2, it extends in the -X and -Z directions from the portion attached to the support base portion 27, then bends and extends in the -Z direction, and then bends further and extends in the +X and -Z directions. That is, in the state where the tool gripping portion 212 is facing toward the main spindle 13 (the state of the arm body portion 211 positioned on the foreground side in Figure 2), the arm body portion 211 bends from the portion attached to the support base portion 27 toward the direction in which the tool gripping portion 212 ultimately approaches the main spindle 13. Furthermore, the shape of the arm body 211 is not limited to the shape having multiple bent sections as described above; it may be bent at only one point, or the entire arm may be curved without any bends, and can be modified as appropriate.

[0026] The arm body 211 is mounted to the support base 27 so as to be rotatable around the pivot axis J5. The pivot axis J5 is an axis perpendicular to the pivot axis J2 of the pivot axis 24 and passes through the center of the pivot axis 222, which will be described later. The arm member 210 is biased in a counterclockwise direction in Figure 4 by an elastic member such as a tension spring (not shown), that is, in a direction in which the operating member 230 contacts the cam 50.

[0027] Figure 6 is a magnified perspective view showing the area around the tool gripping portion 212. Figure 7 is a side view showing the tool 500. The tool gripping portion 212 is provided at the tip of the arm body portion 211. As shown in Figure 6, the tool gripping portion 212 has gripping arm portions 212a, 212a that branch out in a U-shape from the tip of the arm body portion 211. The inside of the gripping arm portions 212a, 212a is formed in an arc shape to conform to the outer circumference shape of the tool 500 being gripped. On the inside of the gripping arm portions 212a, 212a, as shown in Figure 6, a convex portion 212b extending in an arc shape is formed. As shown in Figure 7, the convex portion 212b is formed to fit into a recess 501 that is formed in an annular shape on the outer circumference of the tool 500.

[0028] At the tips of the gripping arms 212a, 212a, there are, respectively, holding projections 212c, 212c that fit into the recesses 501 of the tool 500 to hold the tool 500, and these projections are provided facing each other. The tip of the holding projection 212c is substantially spherical in shape, with a vertex 212d at its center. This vertex 212d does not have to be sharply pointed. In this embodiment, when the tip of the holding projection 212c is configured to be substantially spherical, the vertex 212d is the center of the holding projection 212c, which is the outermost part of the spherical shape and is viewed from a direction along the rotational axis J7 of the tool storage section 35.

[0029] The tool gripping portion 212 grips the tool 500 by fitting its convex portion 212b into the recess 501 of the tool 500, and by fitting its retaining projections 212c, 212c into the recess 501 of the tool 500 to hold the tool 500. In the state where the tool 500 is gripped, the tool gripping axis J3 of the tool changing arm 200 coincides with the tool center axis J4, which is the rotation center of the tool 500. The arm body portion 211 rotates around the rotation center axis J5, thereby moving the gripped tool 500 closer to and away from the main shaft 13 or the tool storage portion 35.

[0030] In the state shown in Figures 4 and 5, the rotational center hole 213 penetrates in the X direction, and the rotation shaft 222 of the rotational shaft member 220, which will be described later, is inserted into it.

[0031] Figure 8 is a magnified perspective view showing the pivot shaft member 220 and the operating member 230. Figure 9 is a magnified view of the area around the pivot shaft member 220 in Figure 4, with the head of the fastening member 250 cut off.

[0032] The pivot shaft member 220 has a main body portion 221, a pivot shaft 222, an operating member mounting hole 223, and a pivot member fixing hole 224.

[0033] The main body portion 221 is a plate-like part whose shape, when viewed from the direction (Y direction) shown in Figures 4 and 9, is a roughly oval shape with semicircular ends in the longitudinal direction and these semicircular shapes connected by straight lines. The shape of the main body portion 221 can be changed as appropriate.

[0034] The pivot shaft 222 is integrally provided with the main body 221 at a position near one end of the main body 221 in the longitudinal direction. In the state shown in Figures 4 and 9, it does not protrude to the -Y side of the main body 221, but extends only to the +Y side of the main body 221. The pivot shaft 222 passes through the rotation center hole 213 of the arm member 210, through the through hole of the support base 27, and is then inserted into the rotation center hole 213 on the opposite side. The center of the pivot shaft 222 coincides with the rotation center axis J5, allowing the tool changing arm 200 to rotate.

[0035] The operating member mounting hole 223 is a through hole located at the other end of the main body portion 221 in the longitudinal direction, that is, at a position opposite to the side on which the pivot shaft 222 is provided. The shaft portion 232 of the operating member 230 passes through the operating member mounting hole 223.

[0036] The pivot member fixing hole 224 is a through hole located near the pivot shaft 222 when viewed from the direction shown in Figures 4 and 9 (Y direction). In this embodiment, two pivot member fixing holes 224 are provided, sandwiching the pivot shaft 222 when viewed from the direction shown in Figures 4 and 9 (Y direction). A fastening member 250 passes through the pivot member fixing hole 224, and the pivot shaft member 220 is fixed to the arm member 210 by screwing the fastening member 250 into a female screw hole (not shown) of the arm member 210. In this embodiment, a socket head cap screw is used as the fastening member 250, but a regular hex bolt or screw may also be used.

[0037] As shown in Figure 9, a gap S is intentionally provided between the outer shape of the fastening member 250 and the rotating member fixing hole 224 at the point where the fastening member 250 penetrates the rotating member fixing hole 224. The rotating member fixing hole 224 is opened such that this gap S serves as an adjustment allowance, enabling adjustment of the fixed position of the rotating shaft member 220 relative to the arm member 210. Because this gap S is provided as an adjustment allowance, the fixed position of the rotating shaft member 220 relative to the arm member 210 can be adjusted in the direction of rotation around the rotating shaft 222, as shown by arrow A in Figure 9. Furthermore, when the fastening member 250 is properly tightened, the fixed position of the rotating shaft member 220 relative to the arm member 210 will not move. Note that in Figure 9, an example is shown where the rotating member fixing hole 224 is a round hole, but the hole shape may be, for example, an irregularly shaped hole that is elongated in the adjustment direction.

[0038] The operating member 230 functions as a cam follower that contacts the cam 50 and rotates the tool changing arm 200 around the pivot axis 222. The operating member 230 has a roller 231 and a shaft portion 232. The roller 231 is rotatably mounted on the shaft portion 232. The shaft portion 232 is attached to the pivot axis member 220 by a nut 240, passing through the operating member mounting hole 223 of the pivot axis member 220. Thus, the roller 231 is pivotally supported on the pivot axis member 220 and rotatable, and can move smoothly on the cam 50 when in contact with it.

[0039] In the state where the arm body 211 is oriented so that the tool gripping portion 212 is facing towards the main shaft 13 (the state of the arm body 211 positioned towards the front in Figure 2), the operating member 230 is positioned on the side of the cam 50 that is different from the pivot shaft 222.

[0040] The tool magazine 30 is positioned to the left (-X side) of the pivot axis 24 (rotation center axis J2) when viewed from the front (-Y side). The tool magazine 30 comprises a magazine base 31, a magazine body 32, a rotating disc 33, a storage arm 34, and a tool storage section 35.

[0041] The magazine base 31 is connected to the base portion 11 of the machine tool 10. In this embodiment, the magazine base 31 is roughly plate-shaped and protrudes from the magazine body 32 toward the base portion 11.

[0042] The magazine body 32 is constructed integrally with the magazine base 31. Here, "integrated" does not mean that they are a single component, but also includes a form in which multiple components are combined and then assembled together. In this embodiment as well, the magazine body 32 and the magazine base 31 are each made of separate components and are integrated using bolts (not shown). The magazine body 32 has a motor (not shown) inside which rotates the turntable 33, which will be described later.

[0043] The turntable 33 is located on the side of the magazine body 32 and is attached to the magazine body 32 so as to be rotatable about the rotation center axis J6 by a motor of the magazine body 32. The rotation center axis J6 is an axis orthogonal to the main spindle center axis J1 and the turning center axis J2.

[0044] A plurality of storage arms 34 are attached to the turntable 33 at intervals radially near the outer periphery of the turntable 33. The storage arm 34 of the present embodiment is bent and extends in a substantially L shape in the middle, but this shape can be changed as appropriate. The storage arm 34 has a motor (not shown) inside and rotationally drives a tool storage portion 35 described later. In the present embodiment, an example in which the storage arm 34 is driven by a motor is shown, but the drive of the storage arm 34 is not limited to motor drive, and the storage arm 34 may be driven by other drive sources.

[0045] The tool storage portion 35 has a storage hole 35a for storing the tool 500 at one end. The other end side of the tool storage portion 35 is attached to the tip side of the storage arm 34 in a rotatable state. The tool storage portion 35 of the present embodiment has a substantially cylindrical shape, but this shape can be changed as appropriate. The tool storage portion 35 is provided on the tip side of the storage arm 34 so as to be rotatable about the rotation center axis J7 by a motor of the storage arm 34. In the present embodiment, the drive of the tool storage portion 35 is motor drive, but it is not limited to motor drive, and other drive sources may be used. For example, a structure that rotates in one direction by an elastic member such as a tension spring or a structure that rotates by an air cylinder or the like may be used. The direction in which the rotation center axis J7 extends changes as the turntable 33 rotates.

[0046] A plurality of the storage arms 34 and the tool storage portions 35 are arranged near the outer periphery of the turntable 33. Different tools 500 are stored in these plurality of tool storage portions. In the present embodiment, six sets of the storage arms 34 and the tool storage portions 35 are arranged radially at equal angular intervals.

[0047] As shown in FIG. 1, the rotation center axis J7 at the position where the tool 500 is transferred is orthogonal to the spindle center axis J1 and the turning center axis J2. Also, the center axis of the storage hole 35a that coincides with the tool center axis J4 in the state where the tool 500 is stored in the storage hole 35a is defined as the storage center axis J8. The storage center axis J8 of the tool storage portion 35 at the position where the tool 500 is transferred is parallel to the spindle center axis J1 and the turning center axis J2. On the other hand, the storage center axis J8 of the tool storage portion 35 at the position where the tool 500 is not transferred is orthogonal to the spindle center axis J1 and the turning center axis J2 and is parallel to the rotation center axis J6 of the turntable 33.

[0048] As described above, the swivel base 23 is moved in the vertical direction (direction along the Z axis) by the linear motion unit 21. Therefore, the components from the swivel base 23 to the tool exchange arm 200, that is, the swivel base 23, the swivel shaft 24, the mounting plate portion 25, the support base portion 27, and the tool exchange arm 200 are moved in the vertical direction (direction along the Z axis). Also, since the cam 50 is fixed to the spindle head 12, it is moved in the vertical direction (direction along the Z axis) together with the movement of the spindle head 12 in the Z direction. When the relative position in the vertical direction (direction along the Z axis) between the tool exchange arm 200 and the cam 50 changes due to the vertical movement of the support base portion 27 and the spindle head 12, the tool exchange arm 200 rotates according to the contact position between the roller 231 of the operating member 230 and the cam 50, and the exchange operation of the tool 500 is performed.

[0049] The machine tool unit 1 of the present embodiment is comprehensively controlled by a control unit (not shown) for each of the motors of the above-described components and operates in cooperation, and the tool 500 is automatically exchanged. Hereinafter, as an example of the operation when the tool 500 is exchanged, the operation of removing the tool 500 from the spindle 13 will be described.

[0050] Figure 10 shows the state in which the tool changing arm 200 begins the operation to remove the tool 500 mounted on the spindle 13. The state in Figure 10 corresponds to the state in which the support base 27 moves downward as the swivel base 23 descends, and the other tool changing arm 200 (not shown) pulls out the tool 500 (not shown) from the storage hole 35a of the tool storage section 35. In the state in Figure 10, the roller 231 of the operating member 230 is in contact with the planar portion of the cam, and the tool gripping portion 212 is located away from the spindle 13.

[0051] Figure 11 shows the state in which the pivot base 23 has moved further down from the state in Figure 10, causing the support base 27 to move even further downward. In the state shown in Figure 11, as the support base 27 moves further downward, the roller 231 of the operating member 230 moves along the slope of the cam 50, causing the tool changing arm 200 to rotate counterclockwise in the figure. As the tool changing arm 200 rotates, the tool gripping part 212 approaches the tool 500 on the main shaft 13.

[0052] Figure 12 shows the ideal state where the spindle head 12 and spindle 13 have risen from the state shown in Figure 11, and the tool gripping part 212 has gripped the tool 500. In Figure 12 and similar figures described later, the shape of the tool 500 is shown in a transparent view to make the positional relationship between the tool gripping part 212 and the tool 500 easier to understand. In the state shown in Figure 12, the roller 231 of the operating member 230 is in contact with a predetermined position on the inclined surface of the cam 50, and the tool gripping part 212 properly grips the tool 500. After the tool gripping part 212 has completely gripped the tool 500, a clamping mechanism (not shown) of the spindle 13 releases the clamp on the tool 500.

[0053] Figure 13 shows the state after the spindle head 12 and spindle 13 have risen further from the state shown in Figure 12, and the tool gripping part 212 has pulled the tool 500 out of the spindle 13 while still gripping it. In the state shown in Figure 13, the roller 231 of the operating member 230 is separated from the cam 50. After this, the pivot shaft 24 rotates, causing the positions of the two tool changing arms 200, 200 to swap. Then, the reverse of the above process is performed, and the new tool 500 is attached to the spindle 13, and the tool 500 that was previously removed from the spindle 13 is stored in the storage hole 35a of the tool storage part 35.

[0054] As shown in Figures 10 to 13, the relative positional relationship between the roller 231 of the operating member 230 and the cam 50 is extremely important for the tool gripping part 212 to properly grip the tool 500. If only one tool changing arm 200 is provided, for example, the position of the cam 50 can be adjusted to achieve the appropriate positional relationship shown in Figure 12. However, in this embodiment, since two tool changing arms 200, 200 are provided, if the position of the cam 50 is adjusted to an appropriate position on one tool changing arm 200, the relative position of the cam 50 on the other tool changing arm 200 may become inappropriate.

[0055] Figure 14 shows an example of a state where the positional relationship between the roller 231 of the operating member 230 and the cam 50 is inappropriate. In the example of Figure 14, even when the tool gripping portion 212 is in a position to fully grip the tool 500, there is a gap D1 between the roller 231 of the operating member 230 and the cam 50.

[0056] Figure 15 shows another example of a state where the positional relationship between the roller 231 of the operating member 230 and the cam 50 is inappropriate. In the example of Figure 15, the roller 231 of the operating member 230 is in contact with the cam 50 in a position where the tool gripping portion 212 should be able to fully grip the tool 500, but the tool gripping portion 212 is not able to fully grip the tool 500, and a positional misalignment D2 occurs between the apex 212d of the tool gripping portion 121 and the recess 501 of the tool 500.

[0057] In the improper state shown in Figure 14 or Figure 15, the tool gripping part 212 may not be able to grip the tool 500, or even if it could grip it, excessive load may be placed on both the tool gripping part 212 and the tool 500, potentially causing damage to one or the other. However, if either or both of the two tool change arms 200, 200 were in an improper state as illustrated in Figure 14 or Figure 15, it was conventionally difficult to adjust both tool change arms 200, 200 to an ideal state (see Figure 12). In other words, adjusting the position of the cam 50 to bring one tool change arm 200 to an ideal state sometimes prevented the other tool change arm 200 from being brought to an ideal state.

[0058] However, in the machine tool unit 1 of this embodiment, the positional relationship between the roller 231 of the operating member 230 and the cam 50 can be easily adjusted to an appropriate position for the two tool changing arms 200. If the position is in an inappropriate state as shown in Figure 14 or Figure 15, the fastening member 250 can be loosened to adjust the fixing position of the pivot shaft member 220 relative to the arm member 210 to an appropriate position. Specifically, with the tool gripping part 212 gripping the tool 500, the roller 231 of the operating member 230 and the cam 50 come into contact, and the fastening member 250 is tightened, thereby adjusting the positional relationship between the roller 231 of the operating member 230 and the cam 50 to an appropriate position. This adjustment can be performed for each of the two tool changing arms 200, 200. Therefore, the two tool changing arms 200, 200 can be moved to an appropriate position by contact between the operating member 230 and the cam 50, and the tool 500 can be attached and detached appropriately.

[0059] (Second Embodiment) Figure 16 is an enlarged perspective view showing the main part of the tool changing arm 200B of the second embodiment. Figure 17 is an enlarged front view showing the main part of the tool changing arm 200B of the second embodiment. Figure 17 is shown in the same orientation as Figure 4 of the first embodiment. The tool changing arm 200B of the second embodiment differs in how the pivot shaft member 220B is attached to the arm member 210B, and accordingly, a position adjustment member 260 is newly provided, and a fastening member 270 is provided in place of the fastening member 250, but otherwise it has the same form as the tool changing arm 200 of the first embodiment.

[0060] The tool changing arm 200B of the second embodiment includes an arm member 210B, a pivot shaft member 220B, an operating member 230, a nut 240, a position adjustment member 260, and a fastening member 270.

[0061] The arm member 210B has the same form as the pivot shaft member 220 of the first embodiment, except that the position of the female screw hole into which the fastening member 270 for fixing the pivot shaft member 220B is screwed is different from the position of the female screw hole of the pivot shaft member 220 of the first embodiment.

[0062] The pivot shaft member 220B has a contact surface 225 instead of a pivot member fixing hole 224, and, as shown in Figure 17, its shape when viewed from the front is different due to the presence of the contact surface 225, but otherwise it has the same form as the pivot shaft member 220 of the first embodiment. The contact surface 225 is arranged in two opposing locations so that a pair of position adjustment members 260 can contact it and fix the position of the pivot shaft member 220B around the pivot axis 222.

[0063] The operating member 230 and the nut 240 are provided on the arm member 210B, similar to the first embodiment.

[0064] The position adjustment member 260 is a member that allows adjustment of its fixed position relative to the arm member 210B and fixes the pivot shaft member 220B to the arm member 210B while restricting the position of the pivot shaft member 220B relative to the arm member 210B. Two position adjustment members 260 are provided, and they contact the two contact surfaces 225 of the pivot shaft member 220B respectively, sandwiching the pivot shaft member 220B from both sides and restricting the position of the pivot shaft member 220B around the pivot axis 222 relative to the arm member 210B.

[0065] The position adjustment member 260 is formed in a substantially rectangular parallelepiped shape and comprises an adjustment hole 261, a position regulating surface 262, and a pressing portion 263. The adjustment hole 261 is a through hole with an elongated shape that is long in the vertical direction (Z direction) in Figure 17. The fastening member 270 passes through the adjustment hole 261. The fastening member 270 is a hex socket head bolt similar to the fastening member 250 of the first embodiment. The position regulating surface 262 is a surface that contacts the contact surface 225 of the pivot shaft member 220B and is provided on the side surface of the position adjustment member 260. The pressing portion 263 is provided protruding from the position regulating surface 262 and, when the fastening member 270 is tightened, presses against the pivot shaft member 220B in the direction towards the back of the paper (+Y direction) in Figure 17, thereby determining the position of the pivot shaft member 220B in the front-rear direction (Y direction) in Figure 17.

[0066] The position adjustment member 260 changes the position of the position regulating surface 262 that contacts the contact surface 225 of the arm member 210B by changing the position through which the fastening member 270 passes in the adjustment hole 261, thereby allowing the position of the arm member 210B to be adjusted. Therefore, according to the configuration of the second embodiment, more precise adjustment is possible than in the first embodiment.

[0067] As an effect of at least one embodiment described above, it is possible to provide a tool changing arm and a tool changing device that can move a plurality of tool changing arms to appropriate positions by contact between an operating member and a cam.

[0068] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the spirit of this disclosure derived from the claims and their equivalents. Furthermore, these embodiments can be implemented in combination. For example, the order of operations and processes in the embodiments described above are shown as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0069] The following additional information is disclosed regarding the above embodiments and modifications.

[0070] (Note 1) A tool changing arm (200, 200B) of a tool changing device (20, 30) for changing a tool (500) attached to the spindle (13) of a machine tool (10), comprising an arm member (210, 210B) having a tool gripping portion (212) for gripping the tool (500), and a pivot shaft (222), wherein the fixed position relative to the arm member (210, 210B) can be adjusted in the direction of rotation around the pivot shaft (222). A tool changing arm (200, 200B) comprising: a pivot shaft member (220, 220B) fixed to the arm member (210, 210B); and an operating member (230) attached to the pivot shaft member (220, 220B) and in contact with an external contact member (50) to rotate the pivot shaft member (220, 220B) and the arm member (210, 210B) around the pivot shaft (222).

[0071] (Note 2) In the tool changing arm (200, 200B) described in Note (1), the operating member (230) includes a roller (231) pivotally supported on the pivot shaft member (220, 220B).

[0072] (Note 3) In the tool changing arm (200) described in Note (1) or Note (2), the rotating shaft member (220) has a fastening member (250) that fixes the rotating shaft member (220) to the arm member (210), and the rotating shaft member (220) has a rotating member fixing hole (224) that is a through hole through which the fastening member (250) passes, and which opens with an adjustment range that allows adjustment of the fixing position of the rotating shaft member (220, 220B) to the arm member (210, 210B).

[0073] (Note 4) The tool changing arm (200B) described in Note (1) or Note (2) has a position adjustment member (260) that allows adjustment of the fixing position of the arm member (210B) and fixes the pivot shaft member (220B) to the arm member (210B) while restricting the position of the pivot shaft member (220B) relative to the arm member (210B).

[0074] (Note 5) A tool changing device equipped with a tool changing arm (200, 200B) as described in any of Notes (1) to (4).

[0075] 1 Machine tool unit 10 Machine tool 11 Base part 12 Spindle head 13 Spindle 20 Tool change arm unit 21 Linear motion unit 22 Lifting shaft 23 Swivel base 24 Swivel shaft 25 Mounting plate part 27 Support base part 30 Tool magazine 31 Magazine base 32 Magazine body 33 Rotary disc 34 Storage arm 35 Tool storage part 35a Storage hole 50 Cam 200, 200B Tool change arm 210, 210B Arm member 211 Arm body part 212 Tool gripping part 212a Gripping arm part 212b Protrusion 212c Holding projection 212d Apex 213 Rotation center hole 220, 220B Rotating shaft member 221 Body part 222 Rotating shaft 223 Actuator mounting hole 224 Rotating member fixing hole 225 Contact surface 230 Actuator 231 Roller 232 Shaft portion 240 Nut 250 Fastening member 260 Position adjustment member 261 Adjustment hole 262 Position regulating surface 263 Pressing portion 270 Fastening member 500 Tool 501 Recess

Claims

1. A tool changing arm for a tool changing device that replaces a tool mounted on the spindle of a machine tool, comprising: an arm member having a tool gripping portion for gripping the tool; a pivot shaft member having a pivot axis and being adjustable in its fixed position relative to the arm member in the direction of rotation around the pivot axis, and fixed to the arm member; and an operating member attached to the pivot shaft member and rotating the pivot shaft member and the arm member around the pivot axis by contacting an external contact member.

2. The tool changing arm according to claim 1, wherein the operating member includes a roller pivotally supported on the pivot shaft member.

3. A tool changing arm according to claim 1 or claim 2, wherein the tool changing arm has a fastening member for fixing the pivot shaft member to the arm member, and the pivot shaft member has a pivot member fixing hole which is a through hole through which the fastening member passes, and which opens with an adjustment range that allows adjustment of the fixing position of the pivot shaft member to the arm member.

4. A tool changing arm according to claim 1 or claim 2, wherein the fixing position of the arm member is adjustable, and the tool changing arm has a position adjustment member that fixes the pivot shaft member to the arm member while restricting the position of the pivot shaft member relative to the arm member.

5. A tool changing device comprising the tool changing arm according to claim 1 or claim 2.

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