Tool exchange device

Abstract

This tool exchange device (20, 30) comprises: at least one tool exchange arm 200; a first operation member 230 that is provided to the tool exchange arm 200; a first cam 50 that moves in the tool rotation center direction in conjunction with a movement of a spindle 13 in the tool rotation center direction, and presses the first operation member 230 to cause the tool exchange arm 200 to rotate; a second operation member 240 that is provided to the tool exchange arm 200; and a second cam 60 that abuts the second operation member 240 at least in a state in which the abutment between the first operation member 230 and the first cam 50 is released, and restricts the rotation operation of the tool exchange arm 200 in a direction opposite to the direction in which the first cam 50 causes the tool exchange arm 200 to rotate.

Description

Tool changing device

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

[0002] As an automatic tool changing device for a machine tool, there is known one provided with 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 cams provided on the spindle head.

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

[0004] However, when the operation of the tool changing arm is performed by a cam provided on the spindle head, it is necessary to continuously regulate the position of the tool changing arm by the cam. For this purpose, if an attempt is made to lengthen the range in which the operating member of the tool changing arm abuts on the spindle head, a long cam is required. When the cam becomes long, there is a risk that a part of the cam may protrude from the spindle head. If a part of the cam protrudes from the spindle head, there is a risk that the cam vibrates during spindle rotation and the machining accuracy decreases. On the other hand, if the spindle head is enlarged so that the cam does not protrude, there is concern about an increase in the size and weight of the device.

[0005] An object of the present disclosure is to provide a tool changing device that can be miniaturized without reducing the machining accuracy and can continuously regulate the position of the tool changing arm.

[0006] This disclosure relates to a tool changing device for changing a tool mounted on the spindle of a machine tool, comprising: a tool magazine having a plurality of tool storage sections for storing and moving the tool; a support base that is movable in the direction of the tool rotation center, which is in the direction along the rotation center of the tool when mounted on the spindle; at least one tool changing arm that is pivotally supported on the support base and has a tool gripping section for gripping the tool; a first operating member provided on the tool changing arm; a first cam that moves in the direction of the tool rotation center in conjunction with the movement of the spindle in the direction of the tool rotation center, and presses the first operating member to rotate the tool changing arm; a second operating member provided on the tool changing arm; and a second cam that contacts the second operating member when at least the contact between the first operating member and the first cam is released, and restricts the rotation of the tool changing arm in the direction opposite to the direction in which the first cam rotated the tool changing arm.

[0007] This is a perspective view showing the machine tool unit 1 of the embodiment. This is a perspective view showing the main part of the machine tool unit 1 of the embodiment. This is a front view showing the machine tool unit 1 of the embodiment. This is an enlarged perspective view showing the tool change arm unit 20. This is a front view showing the tool change arm 200 with the tool gripping portion 212 facing the spindle 13 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 a diagram showing the standby state before the tool change arm 200 starts moving. This is a diagram showing the transition state. This is a diagram showing the first cam contact state. This is a diagram showing the non-contact state. This is a diagram illustrating the first retracted cam surface 51a and the second retracted cam surface 61a. This is a diagram illustrating the first retracted cam surface 51a and the second retracted cam surface 61a.

[0008] The embodiments of this disclosure will be described in detail below with reference to the drawings.

[0009] (Embodiment) Figure 1 is a perspective view showing the machine tool unit 1 of the embodiment. Figure 2 is a perspective view showing the main part of the machine tool unit 1 of the embodiment. In Figure 2, a part of the base part 11 is omitted. Figure 3 is a front view showing the machine tool unit 1 of the 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 of X, Y, and Z are provided in the figures, and in the following explanation, these coordinates will be used to explain the orientation of each part, etc. The X and Y axes are parallel to the horizontal direction, and the Z axis is parallel to the vertical direction. Also, 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, a first cam 50, and a second cam 60.

[0012] In this specification and in the claims, 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 portion 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. Hereinafter, the rotation center of the tool 500 when mounted on the spindle 13 will be referred to as the tool rotation center J1. The direction along the tool rotation center J1 will also be referred to as the tool rotation center direction. In this embodiment, the tool rotation center J1 is described as being arranged along the vertical direction (the direction along the Z-axis in Figure 1), but the direction of the tool rotation center J1 is not limited to the above direction.

[0015] The first cam 50 is fixed to the side of the spindle head 12 facing the pivot axis 24 (swivel center axis J2) side (-X side), positioned on the spindle 13 side (+X side) from the pivot axis 24 (swivel center axis J2), and extends in the direction of the tool rotation center (Z direction). The first operating member 230, described later, contacts the first cam 50 as a cam follower. Since the first cam 50 is fixed to the spindle head 12, it moves in the direction of the tool rotation center (Z direction) in conjunction with the movement of the spindle head 12 and spindle 13 in the direction of the tool rotation center (Z direction), pressing the first operating member 230 and causing the tool change arm 200 to rotate. In this embodiment, the cam surface 51 of the first cam 50 faces the pivot axis 24 (swivel center axis J2) side (+X side).

[0016] The second cam 60 is positioned on the opposite side (-X side) from the main spindle 13, straddling the pivot axis 24 (swivel center axis J2). It is fixed to the base portion 11 such that its cam surface 61 faces the pivot axis 24 (swivel center axis J2) side (+X side) and extends in the direction of the tool rotation center (Z direction). Therefore, the cam surface 51 of the first cam 50 and the cam surface 61 of the second cam 60 are positioned facing each other across the pivot axis 24 (swivel center axis J2) when viewed from the front as shown in Figure 3.

[0017] The second cam 60 contacts the second operating member 240, which will be described later, when the contact between the first operating member 230 and the first cam 50 is released. The second cam 60 then restricts the rotation of the tool changing arm 200 in the opposite direction to the direction in which the first cam 50 rotated the tool changing arm 200. Details of this operation will be described later.

[0018] Figure 4 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, 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.

[0019] The linear motion unit 21 is positioned in the region between the spindle 13 (tool rotation center 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 tool rotation center 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.

[0020] 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.

[0021] 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 tool rotation center J1. A motor (not shown) is housed inside the swivel base 23.

[0022] 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 positioned parallel to the tool rotation center J1 along the length of the slewing shaft 24.

[0023] 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.

[0024] The tool change arm 200 is pivotally supported on the support base 27 and attached to the mounting plate 25 via the support base 27. The tool change arm 200 changes the tool 500 that is mounted on the spindle 13 of the machine tool 10. The tool change arm 200 is attached via the support base 27, 27 to each mounting position that extends in opposite directions on either side of the pivot axis 24 of the mounting plate 25. Therefore, in this embodiment, as shown in Figures 2 and 3, two tool change arms 200, 200 are mounted at the 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 25. Therefore, the configuration of one tool change arm 200 will be described below.

[0025] 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 220 passes, thereby supporting the tool changing arm 200 in a rotatable state.

[0026] Figure 5 is a front view showing the tool changing arm 200 with the tool gripping portion 212 facing the spindle 13. The tool changing arm 200 comprises an arm member 210, a pivot shaft 220, a first operating member 230, and a second operating member 240.

[0027] 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 (rotational center hole 213) toward the tool gripping portion 212, bending midway along the way. Specifically, referring to the arm body portion 211 positioned on the front side in Figure 3, 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 front side in Figure 3), 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.

[0028] Furthermore, the arm body portion 211 has a second arm portion 214 that extends from the portion attached to the support base portion 27 to the side opposite to the tool gripping portion 212 when the tool gripping portion 212 is facing towards the main shaft 13. A second operating portion 240 is provided at the tip of the second arm portion 214.

[0029] 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 220. In this embodiment, the pivot axis 220 is provided passing through a rotational center hole 213 that is opened in the arm body 211. The pivot axis may be configured as an integral part of the arm body 211 or as an integral part of the support base 27.

[0030] The arm member 210 is biased in a counterclockwise direction in Figure 5 by an elastic member such as a tension spring (not shown), that is, in a direction in which the first operating member 230 contacts the first cam 50.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The first operating member 230 is a roller that functions as a cam follower, contacting the first cam 50 and rotating the tool changing arm 200 around the pivot axis 220, and is rotatably mounted on the tool changing arm 200. Therefore, the first operating member 230 can move smoothly on the first cam 50 when in contact with it.

[0035] The second operating member 240 is a roller that contacts the second cam 60 to maintain the position of the tool changing arm 200, and is rotatably mounted on the tool changing arm 200. Therefore, the second operating member 240 can move smoothly on the first cam 50 while in contact with the second cam 60.

[0036] In the state where the tool gripping portion 212 is facing the side closer to the main spindle 13 (the state of the arm body portion 211 positioned on the front side in Figure 2), the first operating member 230 is positioned closer to the first cam 50 than to the pivot axis 220. Also, in the state where the tool gripping portion 212 is facing the side closer to the main spindle 13, the second operating member 240 is positioned closer to the second cam 60 than to the pivot axis 220. That is, the second operating member 240 is positioned on the opposite side from the first operating member 230, with a virtual plane in between that plane containing the rotation center of the tool changing arm 200 (rotation center axis J5) and parallel to the direction of the tool rotation center.

[0037] 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.

[0038] 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.

[0039] 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 to form an integral structure. In this embodiment as well, the magazine body 32 and the magazine base 31 are each made of separate components and are joined together using bolts. The magazine body 32 has a motor (not shown) inside which rotates the turntable 33, which will be described later.

[0040] The rotating disc 33 is located to the side of the magazine body 32 and is attached to the magazine body 32 so as to be rotatable about the rotational axis J6 by the motor of the magazine body 32. The rotational axis J6 is an axis perpendicular to the tool rotation center J1 and the pivot axis J2.

[0041] Multiple storage arms 34 are attached to the turntable 33 at radial intervals near the outer circumference of the turntable 33. In this embodiment, the storage arms 34 extend in a roughly L-shape, bending midway, but this shape can be changed as appropriate. The storage arms 34 have a motor (not shown) inside which rotates the tool storage section 35, which will be described later.

[0042] The tool storage part 35 has a storage hole 35a for storing the tool 500 at one end. The other end side of the tool storage part 35 is attached to the tip side of the storage arm 34 in a rotatable state. The tool storage part 35 of the present embodiment has a substantially cylindrical shape, but this shape can be changed as appropriate. The tool storage part 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 part 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.

[0043] A plurality of the storage arms 34 and the tool storage parts 35 are arranged near the outer periphery of the turntable 33. Different tools 500 are stored in these plurality of tool storage parts. In the present embodiment, six sets of the storage arms 34 and the tool storage parts 35 are arranged radially at equal angular intervals.

[0044] As shown in FIG. 2, the rotation center axis J7 at the position where the tool 500 is transferred is orthogonal to the tool rotation center J1 and the turning center axis J2. Also, the central axis of the storage hole 35a that coincides with the tool central axis J4 in the state where the tool 500 is stored in the storage hole 35a is defined as the storage central axis J8. The storage central axis J8 of the tool storage part 35 at the position where the tool 500 is transferred is parallel to the tool rotation center J1 and the turning center axis J2. On the other hand, the storage central axis J8 of the tool storage part 35 at the position where the tool 500 is not transferred is orthogonal to the tool rotation center J1 and the turning center axis J2 and is parallel to the rotation center axis J6 of the turntable 33.

[0045] As described above, the swivel base 23 moves in the direction of the tool rotation center (the 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 move in the direction of the tool rotation center (the direction along the Z-axis). Further, since the first cam 50 is fixed to the spindle head 12, it moves in the direction of the tool rotation center (the direction along the Z-axis) along with the movement of the spindle head 12 in the direction of the tool rotation center. When the relative position in the vertical direction (the direction along the Z-axis) between the tool exchange arm 200 and the first cam 50 changes due to the movement of the support base portion 27 or the spindle head 12 in the direction of the tool rotation center, the tool exchange arm 200 rotates according to the contact position between the first operating member 230 and the first cam 50, and the exchange operation of the tool 500 is performed.

[0046] Here, if the spindle head 12 moves further to the -Z side or the support base portion 27 moves further to the +Z side than the state shown in FIG. 3, it is assumed that the first operating member 230 and the first cam 50 will separate, and the position of the tool exchange arm 200 cannot be regulated. As a countermeasure, it is conceivable to arrange the first cam 50 longer to the +Z side.

[0047] However, if the first cam 50 becomes longer, there is a risk that a part of the first cam 50 will protrude from the spindle head 12. If a part of the first cam 50 protrudes from the spindle head 12, there is a risk that the first cam 50 will vibrate during the rotation of the spindle 13 and the machining accuracy will decrease. On the other hand, if the spindle head is enlarged so that the first cam 50 does not protrude, there are concerns about the enlargement and weight increase of the device.

[0048] Therefore, the tool exchange device (the tool exchange arm unit 20 and the tool magazine 30) of the machine tool unit 1 of the present embodiment is provided with a second cam 60 and a second operating member 240 so that the position of the tool exchange arm 200 can be continuously regulated. Hereinafter, the second cam 60 and the second operating member 2 for the operation of the tool exchange arm 200 will be described.

[0049] In this embodiment, the machine tool unit 1 operates with the motors of each of the above-mentioned parts being centrally controlled and coordinated by a control unit (not shown), and the tool 500 is automatically replaced. Below, as an example of the operation when replacing the tool 500, the operation of removing the tool 500 from the spindle 13 will be described.

[0050] Figure 8 shows the standby state of the tool change arm 200 before it begins to move. In this standby state, the first cam 50 and the first operating member 230 are not in contact, and the second cam 60 and the second operating member 240 are in contact (also referred to as the second cam contact state). In this second cam contact state, the position of the tool change arm 200 is restricted by the contact between the second cam 60 and the second operating member 240, maintaining the state shown in Figure 8. For example, even when machining a workpiece (not shown) with a tool 500, the state is similar to the second cam contact state in Figure 8. The second cam contact state shown in Figure 8 indicates that the swivel base 23 etc. are furthest to the +Z side, and the spindle head 12 is furthest to the -Z side.

[0051] Figure 9 shows a transition state. From the state in Figure 8, the swivel base 23, the swivel shaft 24, the mounting plate portion 25, the support base portion 27, and the tool changing arm 200 (hereinafter collectively referred to as "swivel base 23, etc.") move toward the -Z side in the direction of the tool rotation center (direction along the Z axis). As a result, the state becomes a transition state (shown in Figure 9) in the process of transitioning between the first cam contact state described later and the second cam contact state. In the transition state shown in Figure 9, at least one of the following is in contact: between the first operating member 230 and the first cam 50, and between the second operating member 240 and the second cam 60. That is, in the transition state shown in Figure 9, both the first operating member 230 and the first cam 50, and the second operating member 240 and the second cam 60 may be in contact, or only one of them may be in contact. By providing this transition state, the tool change arm 200 will not be in a state where its position is not restricted when switching between the first cam contact state and the second cam contact state, as described later.

[0052] Figure 10 shows the first cam contact state. When the swivel base 23 and the like move further toward the -Z side in the direction of the tool rotation center (along the Z axis) from the state in Figure 9, the first cam contact state shown in Figure 10 is reached. In the first cam contact state, the first operating member 230 and the first cam 50 are in contact, while the second operating member 240 and the second cam 60 are not in contact. Therefore, in the first cam contact state shown in Figure 10, the position of the tool change arm 200 is restricted by the contact between the first operating member 230 and the first cam 50. Note that the first cam contact state shown in Figure 10 represents the state where the swivel base 23 and the like are furthest toward the -Z side, and the spindle head 12 is furthest toward the -Z side.

[0053] Figure 11 shows the non-contact state. When the spindle head 12 moves to the +Z side in the direction of the tool rotation center (along the Z axis) from the state shown in Figure 10, the first operating member 230 moves along the shape of the cam surface 51 of the first cam 50, and the tool changing arm 200 rotates counterclockwise in the figure, causing the tool gripping part 212 to grip the tool 500. When the spindle head 12 moves further to the +Z side in the direction of the tool rotation center (along the Z axis) from the state in which the tool gripping part 212 grips the tool 500, the tool 500 is pulled out from the spindle 13, resulting in the non-contact state shown in Figure 11. In the non-contact state shown in Figure 11, the first operating member 230 and the first cam 50 do not come into contact, and the second operating member 240 and the second cam 60 do not come into contact. Note that the non-contact state shown in Figure 11 represents a state where the swivel base 23 etc. is furthest to the -Z side, and the spindle head 12 is furthest to the +Z side.

[0054] Furthermore, in order to enable the above operation to be performed smoothly, the first cam 50 and the second cam 60 are each provided with a first retractable cam surface 51a and a second retractable cam surface 61a. Figures 12 and 13 are diagrams illustrating the first retractable cam surface 51a and the second retractable cam surface 61a.

[0055] The first retractable cam surface 51a is located on the cam surface 51 facing the first operating member 230 when the first cam 50 is in a transition state, and is provided so as to gradually move away from the first operating member 230. The second retractable cam surface 61a is located on the cam surface 61 facing the second operating member 240 when the second cam 60 is in a transition state, and is provided so as to gradually move away from the second operating member 240. By providing these first retractable cam surfaces 51a and 61a, smooth operation can be achieved in both the transition operation between the first cam contact state and the transition state, and the transition operation between the second cam contact state and the transition state. Note that either the first retractable cam surface 51a or the second retractable cam surface 61a may be omitted, or both may be omitted.

[0056] As an effect of at least one embodiment described above, it is possible to provide a tool changing device that can be miniaturized without reducing machining accuracy and can continuously regulate the position of the tool changing arm.

[0057] 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.

[0058] The following additional information is disclosed regarding the above embodiments and modifications.

[0059] (Note 1) A tool changer (20, 30) for changing a tool (500) attached to the spindle (13) of a machine tool (10), comprising: a tool magazine (30) having a plurality of tool storage sections (35) for storing and moving the tool (500); a support base (27) that can move in the direction of the tool rotation center, which is the direction along the rotation center of the tool (500) when it is attached to the spindle (13); at least one tool changer arm (200) that is pivotally supported on the support base (27) and has a tool gripping section (212) for gripping the tool (500); a first operating member (230) provided on the tool changer arm (200), and the direction of the tool rotation center A tool changing device (20, 30) comprising: a first cam (50) that moves in the direction of the tool rotation center in conjunction with the movement of the main spindle (13) and presses the first operating member (230) to rotate the tool changing arm (200); a second operating member (240) provided on the tool changing arm (200); and a second cam (60) that contacts the second operating member (240) when the contact between the first operating member (230) and the first cam (50) is released, and restricts the rotation of the tool changing arm (200) in the opposite direction to the direction in which the first cam (50) rotated the tool changing arm (200).

[0060] (Note 2) In the tool changing device (20, 30) described in Note 1, the relative movement of the main spindle (13) and the support base (27) in the direction of the tool rotation center causes the tool changing arm (200) to be in a non-contact state in which the first operating member (230) and the first cam (50) do not come into contact, and the second operating member (240) and the second cam (60) do not come into contact. Tool changing device (20, 30), wherein the state changes in four states: a first cam contact state in which the first operating member (230) and the first cam (50) are in contact and the second operating member (240) and the second cam (60) are not in contact; a second cam contact state in which the first operating member (230) and the first cam (50) are not in contact and the second operating member (240) and the second cam (60) are in contact; and a transition state in which the state is in the process of transitioning between the first cam contact state and the second cam contact state, and in the transition state, at least one of the space between the first operating member (230) and the first cam (50), and the space between the second operating member (240) and the second cam (60) are in contact.

[0061] (Note 3) The tool changing device (20, 30) described in Note 2, comprising at least one of the following: a first retractable cam surface (51a) of the first cam (50) which is located on a cam surface (51) facing the first operating member (230) in the transition state and is provided to gradually move away from the first operating member (230); and a second retractable cam surface (61a) of the second cam (60) which is located on a cam surface (61) facing the second operating member (240) in the transition state and is provided to gradually move away from the second operating member (240).

[0062] (Note 4) In the tool changing device (20, 30) described in any of Notes 1 to 3, the first operating member (230) and the second operating member (240) are rollers pivotally supported on the tool changing arm (200), the tool changing device (20, 30).

[0063] (Note 5) In a tool changing device (20, 30) described in any of Notes 1 to 3, the second operating member (240) is positioned on the opposite side from the first operating member (230) across a virtual plane that includes the rotational center of the tool changing arm (200) in its plane and is parallel to the direction of the tool rotation center.

[0064] 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 Retractable arm 35 Tool storage part 35a Storage hole 50 First cam 51 Cam surface 51a First retractable cam surface 60 Second cam 61 Cam surface 61a Second retractable cam surface 200 Tool change arm 210 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 214 Second arm section 220, pivot shaft 230, first operating member 240, second operating member 500, tool 501, recess

Claims

1. A tool changing device for changing a tool mounted on the spindle of a machine tool, comprising: a tool magazine having a plurality of tool storage sections for storing and moving the tool; a support base that is movable in the direction of the tool rotation center, which is in the direction along the rotation center of the tool when mounted on the spindle; at least one tool changing arm that is pivotally supported on the support base and has a tool gripping section for gripping the tool; a first operating member provided on the tool changing arm; a first cam that moves in the direction of the tool rotation center in conjunction with the movement of the spindle in the direction of the tool rotation center, and presses the first operating member to rotate the tool changing arm; a second operating member provided on the tool changing arm; and a second cam that contacts the second operating member when the contact between the first operating member and the first cam is released, and restricts the rotation of the tool changing arm in the opposite direction to the direction in which the first cam rotated the tool changing arm.

2. The tool changing device according to claim 1, wherein the tool changing arm changes state in four states due to the relative movement of the main shaft and the support base in the direction of the tool rotation center: a non-contact state in which the first operating member and the first cam do not contact and the second operating member and the second cam do not contact; a first cam contact state in which the first operating member and the first cam contact and the second operating member and the second cam do not contact; a second cam contact state in which the first operating member and the first cam do not contact and the second operating member and the second cam contact; and a transition state in which the state is in the process of transitioning between the first cam contact state and the second cam contact state, wherein in the transition state, at least one of the space between the first operating member and the first cam and the space between the second operating member and the second cam contacts.

3. A tool changing device according to claim 2, comprising at least one of the following: a first retractable cam surface on the cam surface facing the first operating member in the transition state and provided to gradually move away from the first operating member; and a second retractable cam surface on the cam surface facing the second operating member in the transition state and provided to gradually move away from the second operating member.

4. A tool changing device according to any one of claims 1 to 3, wherein the first operating member and the second operating member are rollers pivotally supported on the tool changing arm.

5. A tool changing device according to any one of claims 1 to 3, wherein the second operating member is positioned on the opposite side from the first operating member, with respect to a virtual plane that includes the rotational center of the tool changing arm in its plane and is parallel to the direction of the tool rotation center.

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