JP4991625B2 - Cam device and tool changer using the same - Google Patents

Description

  The present invention relates to a cam device and a tool changer using the cam device.

  Machining centers are known as machine tools for machining workpieces. The machining center is provided with a processing device such as a milling machine, a tool magazine for storing a plurality of types of tools in a removable manner, and a tool magazine that can be temporarily held at a position between the tool magazine and the spindle portion of the processing device. And a tool changer for exchanging a used tool of the spindle unit with a tool to be used next in the tool magazine using the tool change standby buffer.

  As shown in the cross-sectional view of FIG. 1, the tool changer 200 has a shaft portion 241 that can expand and contract in the direction of the axis C241 parallel to the rotation center C3 of the spindle portion 3 and that can rotate around the axis C241. A grip arm 210 that grips the tool 5 is provided at the tip of the shaft portion 241. The tool change operation is performed as follows.

  First, the gripping arm 210 is turned by the rotation of the shaft portion 241 to grip the used tool 5 of the spindle portion 3 as shown by the solid line in FIG. 1, and in that state, the shaft portion 241 extends in the direction of the axis C241. Then, the tool 5 is pulled out from the spindle portion 3 (see a two-dot chain line in FIG. 1). Then, when the gripping arm 210 is turned by the rotation of the shaft portion 241 and the tool 5 is transferred to the position of the tool replacement standby buffer 7, the shaft portion 241 is shortened in the direction of the axis C241 and the tool 5 is moved to the tool. The tool 5 is held by being inserted into the standby buffer 7 for replacement.

  Next, when the tool 5 in the tool change standby buffer 7 is changed to the next tool to be used by the tool magazine, the tool changer 200 performs an operation generally reverse to the above-described operation, thereby waiting for tool change. The next tool to be used held in the buffer 7 is transferred to the spindle unit 3 and attached, and the tool changing operation is completed.

As a disclosed technique of such a tool changer 200, Patent Literature 1 can be exemplified, and in this tool changer 200, a cam device 300 as a drive mechanism that causes the shaft portion 241 to perform the above-described rotation operation and expansion / contraction operation. Is used.
JP 2000-126966 A

  The cam device 300 is supported by the housing 311 and can be rotated around the axis C331 by the housing 311 by the bearing member 316 while the axis direction of the input shaft 321 is orthogonal to the input shaft 321. And a turret 331 that is supported so as not to move in the direction of the axis C331, and a first output shaft 341 that is spline-fitted coaxially with the turret 331 and is relatively movable only in the direction of the axis C341 with respect to the turret 331. I have.

  Then, by engaging the cam follower 355 of the turret 331 with the globoidal cam 353 provided integrally with the input shaft 321, the first output shaft 341 can be rotated through the rotation of the turret 331. The groove cam 363 formed on the end surface of the globoidal cam 353 allows the first output shaft 341 to reciprocate in the direction of the axis C341. Therefore, the first output shaft 341 is used as the shaft portion 241 of the tool changer 200. That is, the grip arm 210 is provided at the output end 341a that is one end portion of the first output shaft 341 in the direction of the axis C341.

  The tool changer 200 is also provided with a lock mechanism that locks the gripping arm 210 in a gripping state so that the tool 5 is not dropped when the gripping arm 210 is turned. This locking mechanism includes a cylindrical body 371 as a second output shaft disposed so as to cover the outer periphery of the first output shaft 341, a plate cam 383 provided integrally with the globoidal cam 353, and a housing 311 of the cam device 300. And a swing arm 384 that is pivotally supported by the plate cam 383. Then, the cylindrical body 371 is reciprocated in the direction of the axis C341 by the swinging operation of the swinging arm 384 to lock and unlock the gripping state of the gripping arm 210.

  However, the configuration in which the cylindrical body 371 as the second output shaft is provided so as to cover the outer periphery of the first output shaft 341 has the following problems. That is, because the cylindrical body 371 is disposed so as to cover the outer periphery of the first output shaft 341, the swing arm 384 for reciprocating the cylindrical body 371 is connected to the globoidal cam 353 and the cam follower 355 of the turret 331. However, in this case, the bearing member 316 for supporting the turret 331 on the housing 311 is placed closer to the output end 341a than the engagement position. It becomes difficult to place in the position. That is, as shown in FIG. 1, the bearing member 316 must be disposed on the opposite side of the output end 341a from the engagement position. In this case, the bearing member 316 is far away from the output end 341a, and the stability of the rotation operation and reciprocation operation of the grip arm 210 provided at the output end 341a is deteriorated. For this reason, in the configuration of Patent Document 1, a bearing member 391 is additionally provided on the output end 341a side of the engagement position in order to solve this problem. There is a problem that the size of the cam device 300 is increased, that is, the cam device 300 is prevented from being made compact.

  The present invention has been made in view of such a conventional problem, and causes the first output shaft to perform rotation around the axis and reciprocation in the axis direction based on the rotational movement of the input shaft. A second output shaft provided coaxially in the vicinity of one output shaft can be reciprocated in the axial direction based on the rotational movement of the input shaft, and the axial direction of the first output shaft It is an object of the present invention to provide a compact cam device and a tool changer using the same that can improve the stability of the rotational operation and the reciprocating motion at the output end of the device.

The main invention for achieving this object is:
An input shaft that is supported by the housing and receives rotational movement about the axis;
A rotating member supported by the housing so as to be rotatable around the axis and immovable in the axis direction by a bearing member while making the input shaft and the axis direction orthogonal to each other;
A first output shaft supported by the rotating member so that the rotating member is not rotatable relative to the rotating member and is relatively movable in the axial direction while aligning the axial direction with the rotating member;
The first output shaft is interposed between the input shaft and the rotating member, and converts the rotational motion of the input shaft into a rotational motion around the axis of the first output shaft, and the first output shaft via the rotating member. A first cam mechanism for transmitting to
It is interposed between the input shaft and the first output shaft, converts the rotational motion of the input shaft into a reciprocating motion in the axial direction of the first output shaft, and transmits it to the first output shaft. A second cam mechanism,
One end of the first output shaft in the axial direction is a cam device that functions as an output end of the rotational operation and the reciprocating motion,
A second output shaft is accommodated in a through hole formed in the first output shaft along the axial direction of the first output shaft so as to be movable in the axial direction, and opposite to the output end. From the end of the first output shaft on the side, the end of the second output shaft protrudes,
A third cam mechanism for converting the rotational movement of the input shaft into the reciprocating motion of the second output shaft in the axial direction is interposed between the input shaft and the end portion of the second output shaft. The second output shaft is a cam device that operates with an end opposite to the end as an output end of the reciprocating movement.

  Other features of the present invention will become apparent from the description of the present specification and the accompanying drawings.

  According to the present invention, the first output shaft is rotated around the axis and reciprocated in the axial direction based on the rotational movement of the input shaft, and is provided coaxially in the vicinity of the first output shaft. The second output shaft can be reciprocated in the axial direction based on the rotational movement of the input shaft, and the rotational operation and the reciprocation at the output end in the axial direction of the first output shaft can be performed. It is possible to provide a compact cam device and a tool changer using the same that can improve the stability of the moving operation.

  At least the following matters will become apparent from the description of the present specification and the accompanying drawings.

An input shaft that is supported by the housing and receives rotational movement about the axis;
A rotating member supported by the housing so as to be rotatable around the axis and immovable in the axis direction by a bearing member while making the input shaft and the axis direction orthogonal to each other;
A first output shaft supported by the rotating member so that the rotating member is not rotatable relative to the rotating member and is relatively movable in the axial direction while aligning the axial direction with the rotating member;
The first output shaft is interposed between the input shaft and the rotating member, and converts the rotational motion of the input shaft into a rotational motion around the axis of the first output shaft, and the first output shaft via the rotating member. A first cam mechanism for transmitting to
It is interposed between the input shaft and the first output shaft, converts the rotational motion of the input shaft into a reciprocating motion in the axial direction of the first output shaft, and transmits it to the first output shaft. A second cam mechanism,
One end of the first output shaft in the axial direction is a cam device that functions as an output end of the rotational operation and the reciprocating motion,
A second output shaft is accommodated in a through hole formed in the first output shaft along the axial direction of the first output shaft so as to be movable in the axial direction, and opposite to the output end. From the end of the first output shaft on the side, the end of the second output shaft protrudes,
A third cam mechanism for converting the rotational movement of the input shaft into the reciprocating motion of the second output shaft in the axial direction is interposed between the input shaft and the end portion of the second output shaft. The second output shaft operates with an end opposite to the end as an output end of the reciprocating motion.

  According to such a cam device, the second output shaft is accommodated in the through hole formed in the first output shaft, and the first output shaft has an end portion opposite to the output end of the first output shaft. The end of the two output shafts protrudes, and the reciprocating motion is input from the end by the third cam mechanism.

  Therefore, the bearing member that supports the rotating member on the housing is moved to an engagement position between the rotating member and the first cam mechanism (a position at which the force for the rotating operation is input from the first cam mechanism to the rotating member). ) On the output end side of the first output shaft supported by the bearing member via the rotating member, so that the rotation operation and the reciprocating operation at the output end of the first output shaft are supported. The cam device can be made compact while improving stability.

Such a cam device,
A bearing member for supporting the rotating member around the shaft and supporting the housing so as not to move in the direction of the shaft;
The bearing member is disposed in a portion closer to the output end in the axial direction of the first output shaft than a portion where a force for the rotational operation is input from the first cam mechanism to the rotating member. It is desirable.
According to such a cam device, since the bearing member can be disposed in the vicinity of the output end of the first output shaft, the stability of the rotation operation and the reciprocating movement operation at the output end of the first output shaft can be improved. it can.

Such a cam device,
On the outer peripheral side of the first output shaft, a turret as the rotating member is disposed so as to be coaxially splined to the first output shaft,
The first cam mechanism includes a globoidal cam fixed to the input shaft, and a cam follower that is provided on an outer peripheral surface of the turret and engages a taper rib on the outer peripheral surface of the globoidal cam,
The second cam mechanism includes a groove cam formed on one end surface of the globoidal cam, a fulcrum portion rotatably supported on the housing, a force point portion engaged with the groove cam, and an action point portion. A first arm portion engaged with the end portion of the first output shaft,
The third cam mechanism includes a groove cam formed on the other end face of the globoidal cam, a fulcrum portion rotatably supported by the housing, and a force point portion engaged with the groove cam and an action point portion. It is desirable to have a second arm portion engaged with the end portion of the second output shaft opposite to the output end.
According to such a cam device, the cam device can be reliably made compact while improving the stability of the rotational operation and the reciprocating motion at the output end of the first output shaft.

A cam arm, and a gripping arm capable of gripping a tool at the output end of the first output shaft of the cam device;
The gripping arm is mounted on the spindle unit of the machining apparatus by the pivoting operation of the gripping arm by the rotating operation of the first output shaft and the moving operation of the gripping arm in the axial direction by the reciprocating motion of the first output shaft. A tool changer for changing used used tools,
A lock mechanism for locking the grip arm in a gripping state of a tool;
The lock mechanism performs the locking and unlocking operations by the reciprocating motion of the output end of the second output shaft.
According to such a tool changer, it is possible to reliably prevent the tool from dropping from the gripping arm in the gripping state of the tool.

  Further, since the cam device for generating the reciprocating motion of the second output shaft used for the operation of the lock mechanism can be made compact from the above description, the entire tool changer can be made compact.

Such a tool changer,
An operation of locking the gripping arm in a gripping state and a releasing operation of the locking by the relative movement of the second output shaft in the axial direction with respect to the first output shaft provided integrally with the gripping arm Is done,
When the first output shaft performs the reciprocating motion, the second output shaft preferably performs the same reciprocating motion as the first output shaft.
According to such a tool changer, the gripping state of the tool can be reliably maintained even when the gripping arm is reciprocated.

Such a tool changer,
The gripping arm includes a substantially C-shaped gripping portion that engages with a used tool mounted on the spindle portion, and a gripping claw provided so as to be able to appear and retract at a position facing the tip of the gripping portion with an opening therebetween. And having
The tool is gripped by the gripping part as the tool passes through the opening with the turning motion of the gripping arm, and the tool is pulled out from the spindle part by the moving action of the gripping arm,
The gripping claw is provided so as to be able to reciprocate along a substantially turning radius direction of the gripping arm, and is urged outward in the turning radius direction by an elastic member so as to protrude. ,
The rod extending inward in the turning radial direction from the gripping claw reaches the second output shaft in the through hole of the first output shaft, and from the second output shaft via the rod It is desirable that a lock and unlock operation be input to the gripping claw.
According to such a tool changer, it is possible to reliably prevent the tool from dropping from the gripping arm in the gripping state of the tool.

=== Cam Device 10 According to this Embodiment ===
2A is a longitudinal sectional view of the cam device 10 according to the present embodiment, and FIG. 2B is a sectional view taken along the line BB in FIG. 2A. 3 is a sectional view taken along line III-III in FIG. 2B. 4 is a cross-sectional view taken along the line IV-IV in FIG. 2B. 2A is also a cross-sectional view taken along the line AA in FIG. 2B. 3 shows the first output shaft 41 in a side view. In the following description, as shown in FIGS. 2A and 2B, three directions orthogonal to each other are referred to as an up-down direction (vertical direction), a front-rear direction (horizontal direction), and a left-right direction (horizontal direction).

  2A and 2B, the cam device 10 includes (1) a housing 11, and (2) an input shaft 21 that is supported by the housing 11 and receives rotational motion about an axis C21. ) A turret 31 supported by the housing 11 so as to be rotatable around the axis C31 and immovable in the direction of the axis C31 while being orthogonal to the input shaft 21 and (4) the turret 31 and the axis direction A first output shaft 41 supported by the turret 31 so as not to rotate around the axis C41 and to move in the direction of the axis C41 with respect to the turret 31, and (5) the input shaft 21 and the It is interposed between the turret 31 and converts the rotational motion of the input shaft 21 into rotational motion around the axis C41 of the first output shaft 41 so as to convert the first output shaft 41 through the turret 31. A first cam mechanism 51 for transmission, and (6) interposed between the input shaft 21 and the first output shaft 41 to rotate the input shaft 21 in the axis C41 of the first output shaft 41. A second cam mechanism 61 that converts it into a reciprocating motion in the direction and transmits it to the first output shaft 41; and (7) formed on the first output shaft 41 along the direction of the axis C41 of the first output shaft 41. A second output shaft 71 coaxially and movably accommodated in the direction of the axis C41; and (8) interposed between the second output shaft 71 and the input shaft 21. A third cam mechanism 81 that converts the rotational motion of the input shaft 21 into a reciprocating motion of the second output shaft 71 in the direction of the axis C41 and transmits the reciprocating motion to the second output shaft 71.

(1) Housing 11
The housing 11 is a substantially rectangular parallelepiped box, and the first cam mechanism 51, the second cam mechanism 61, and the third cam mechanism 81 are accommodated in the internal space thereof.

(2) Input shaft 21
The input shaft 21 is pivotally supported on the side wall portions 11a and 11b facing the front and rear in the horizontal direction of the housing 11 via bearing members 13 and 13 so as to be rotatable around the axis C21. One end portion of the input shaft 21 penetrates one side wall portion 11b and protrudes out of the housing 11, and a drive rotating shaft (not shown) of the drive motor is connected to the protruding portion. The input shaft 21 is provided with a globoidal cam 53 constituting the first cam mechanism 51 coaxially and integrally, which will be described later.

(3) Turret 31 and (4) First output shaft 41
The first output shaft 41 is a shaft body arranged vertically in the vertical direction, and a cylindrical turret 31 that is coaxially splined to the first output shaft 41 is arranged on the outer peripheral side thereof. The turret 31 is rotatably supported around the axis C31 by the bearing members 16 and 16 of the cylindrical portion 15 protruding downward from the upper surface wall portion of the housing 11, so that the first output shaft 41 has an axis. It is supported by the housing 11 so as to be rotatable around C41. Here, the turret 31 is restricted so as not to move in the direction of the axis C31 by the bearing members 16 and 16, but the turret 31 and the first output shaft 41 are spline-fitted, so the first The output shaft 41 can reciprocate up and down in the direction of the axis C41.
Further, the upper end portion 41a of the first output shaft 41 protrudes outward from the housing 11 and functions as an output end. That is, an object to be operated is fixed to the upper end portion 41a.

(5) First cam mechanism 51
The first cam mechanism 51 includes a globoidal cam 53 provided coaxially with the input shaft 21 as a main body, and an outer peripheral surface of the globoidal cam 53 is arranged in the direction of the axis C21 of the input shaft 21 according to the rotation angle of the input shaft 21. A substantially spiral taper rib 54 is formed which is displaced along the direction.

  Further, the turret 31 is disposed so as to face the outer peripheral surface of the globoidal cam 53, and a plurality of cam followers 55 are provided on the outer peripheral surface of the turret 31 at equal intervals in the circumferential direction. The tapered rib 54 is sandwiched between 55 and 55. Therefore, when rotation is input from the drive motor to the input shaft 21, the globoidal cam 53 rotates. Then, the cam followers 55 and 55 adjacent to each other of the turret 31 sequentially sandwich the taper rib 54 while the globoidal cam 53 The cam follower 55 is sent forward or rearward in the direction of the axial center C21, which is the axial direction, so that the turret 31 rotates without backlash. Here, the turret 31 and the first output shaft 41 are spline-fitted. Therefore, the rotation operation of the turret 31 is also transmitted to the first output shaft 41, and as a result, the first output shaft 41 rotates according to the rotation of the input shaft 21.

(6) Second cam mechanism 61
The second cam mechanism 61 has a groove cam (front cam) 63 formed on one end face 53b of the above-mentioned globoidal cam 53 as a main body. That is, as shown in FIG. 3, an endless groove cam 63 whose distance from the axis C21 is displaced according to the rotation angle of the input shaft 21 is formed on the end surface 53b. The groove cam 63 is engaged with a rolling element 65 provided at a force point at a substantially central portion of the first swing arm 64 (corresponding to the first arm portion). The fulcrum part 64a at one end thereof is rotatably supported by the housing 11, and the rolling element 66 provided at the action point part at the other end is formed on the outer peripheral surface of the lower end part of the first output shaft 41. The groove 67 is engaged.

  Therefore, when the input shaft 21 rotates, the first swing arm 64 having the force point portion engaged with the groove cam 63 moves up and down according to the rotation angle of the input shaft 21 as shown by a two-dot chain line in FIG. The swing of the first swing arm 64 is transmitted to the first output shaft 41 through the annular groove portion 67. As a result, the first output shaft 41 moves up and down in accordance with the rotation of the input shaft 21. At this time, since the first output shaft 41 and the turret 31 are spline-fitted, the reciprocating movement of the first output shaft 41 is not transmitted to the turret 31. When the first output shaft 41 is rotated around the axis C41 by the first cam mechanism 51, the rolling element 66 of the first swing arm 64 that engages with the annular groove 67 is formed on the annular groove 67. Since it rolls in the groove, the first swing arm 64 does not restrain the rotation operation of the first output shaft 41.

  As described above, since the first output shaft 41 rotates and reciprocates by the globoidal cam 53 of the first cam mechanism 51 and the groove cam 63 of the second cam mechanism 61, the cam curve of the globoidal cam 53 is obtained. If the curve of the tapered rib 54 and the curve of the groove cam 63 are set as appropriate, the first output shaft 41 can be caused to perform the intended rotation and reciprocation.

(7) Second output shaft 71
As shown in FIG. 2A, the second output shaft 71 is coaxially accommodated in a through-hole 43 formed coaxially along the direction of the axis C41 in the first output shaft 41, and has both ends in the direction of the axis C71. The portion protrudes vertically from the through hole 43. Of these, the upper end 71a functions as an output end, that is, abuts or engages with an object to be operated. On the other hand, an annular groove 77 is formed on the outer peripheral surface of the lower end 71b. The annular groove 77 has a second swing arm 84 (corresponding to a second arm) of a third cam mechanism 81 to be described later. The action point portion 85 is engaged. The second output shaft 71 reciprocates up and down in the direction of the axis C71 by the swinging motion of the second swinging arm 84.

(8) Third cam mechanism 81
The third cam mechanism 81 has a groove cam 83 (front cam) formed on the other end surface 53a of the above-mentioned globoidal cam 53 as a main body. That is, as shown in FIG. 4, an endless groove cam 83 whose distance from the axis C21 is displaced according to the rotation angle of the input shaft 21 is formed on the end surface 53a. The groove cam 83 is engaged with a rolling element 85 provided at a force point at the substantially center of the second swing arm 84. The second swing arm 84 has a fulcrum at one end as a housing. 11, a rolling element 86 that is rotatably supported at the other end and is provided at the action point at the other end is engaged with an annular groove 87 formed on the outer peripheral surface of the lower end 71b of the second output shaft 71.

  Therefore, when the input shaft 21 rotates, the second swing arm 84 having the force point portion engaged with the groove cam 83 moves up and down in accordance with the rotation angle of the input shaft 21 as shown by a two-dot chain line in FIG. The swing of the second swing arm 84 is transmitted to the second output shaft 71 through the annular groove 87. As a result, the second output shaft 71 moves up and down in accordance with the rotation of the input shaft 21.

  As described above, since the second output shaft 71 is reciprocated up and down by the groove cam 83 of the third cam mechanism 81, if the curve of the groove cam 83 is appropriately set, the first output shaft 41 and Can cause the second output shaft 71 to perform different desired reciprocating movements.

  Here, the effect of the cam apparatus 10 comprised in this way is demonstrated, referring FIG. 2A. As described above, the second output shaft 71 is accommodated in the through hole 43 formed in the first output shaft 41, and the output end of the first output shaft 41 (the end portion on which the member to be operated is provided). ) A lower end 71b of the second output shaft 71 protrudes below a lower end 41b which is an end opposite to the upper end 41a, and the reciprocating operation is performed by the third cam mechanism 81 from the lower end 71b. Entered.

  Therefore, the bearing members 16 and 16 that support the turret 31 on the housing 11 are engaged with the engagement position between the globoidal cam 53 of the first cam mechanism 51 and the cam follower 55 of the turret 31 (the force for the rotational operation is the first cam). (Position from the mechanism 51 to the turret 31) can be disposed without any problem on the output end side which is the upper end portion 41a side, and as a result, is supported by the bearing members 16 and 16 via the turret 31. The cam device 10 can be made compact while improving the stability of the rotational operation and the reciprocating motion at the output end 41a of the first output shaft 41.

  Further, the above cam device 10 can cope with a case where a part that moves differently from the reciprocating movement of the first output shaft 41 is required inside the first output shaft 41.

=== Application Example of Cam Device 10 of the Present Embodiment ===
<<< Example of Application to Tool Changer 100 >>>
5A and 5B are explanatory diagrams of an application example of the cam device 10 to the tool changer 100. FIG. FIG. 5A is a longitudinal sectional view of the upper end portion of the tool changer 100, and FIG. 5B is a diagram showing a part broken away as seen in the direction of arrows BB in FIG. 5A.

  6A and 6B are operation explanatory views of the gripping claws 114 of the gripping arm 110 of the tool changer 100. In each figure, the upper part is a top view in which the upper end portion of the tool changer 100 is partially broken. In the lower part, a longitudinal sectional view of the upper end part is shown. In FIGS. 6A and 6B, the tool 5 is indicated by a two-dot chain line.

  As shown in FIG. 5A, the tool changer 100 is a tool change standby device that is temporarily provided to temporarily hold the tool 5 at a position between the spindle unit 3 of the processing device 1 such as a milling machine and the tool magazine. It has a buffer 7. Then, the used tool 5 held on the spindle unit 3 is exchanged with a tool (not shown) to be used next in the tool magazine while using this tool exchange standby buffer 7. In other words, the tool changer 100 delivers the tool 5 between the spindle unit 3 and the tool change standby buffer 7.

  In this example, the substantially conical holding hole 3a for holding the tool 5 is a so-called vertical processing device 1 in which the axial center C3 direction of the spindle portion 3 is directed downward in the vertical direction. Both the spindle unit 3 and the tool change standby buffer 7 are directed downward, whereby the tool 5 is attached to and detached from the holding holes 3a and 7a by inserting and removing the tool 5 in the vertical direction. However, in the case of a so-called horizontal processing apparatus in which the axis C3 of the spindle portion 3 is oriented in the horizontal direction, the holding holes 3a and 7a are oriented in the horizontal direction. The direction (vertical direction) and the horizontal direction may be interchanged and read.

  The tool changer 100 is mainly composed of the cam device 10 described above, and is arranged with the axis C41 direction of the first output shaft 41 directed upward in the vertical direction so that the tool 5 can be inserted and removed in the vertical direction. . A grip arm 110 is formed in the upper end portion 41a (output end) of the first output shaft 41 that protrudes upward in the vertical direction from the housing 11 and extends in the horizontal direction. The grip portion 112 that grips the tool 5 is formed in a generally C-shaped saddle shape in plan view with the opening 112a facing the turning direction of the grip arm 110. Further, the axis C41 of the first output shaft 41, which is the turning center of the grip arm 110, has a center position C3a of the holding hole 3a of the spindle portion 3 and a center position C7 of the holding hole 7a of the standby buffer 7 for tool change. Located at the midpoint.

  Therefore, the gripping part 112 of the gripping arm 110 is rotated between the position of the holding hole 3a of the spindle part 3 and the position of the holding hole 7a of the tool replacement standby buffer 7 by the rotation operation around the axis C41 of the first output shaft 41. (Refer to the two-dot chain line in FIG. 5B). That is, by rotating the grip arm 110 by the rotation operation of the first output shaft 41, the tool 5 held in the holding holes 3a and 7a of the spindle part 3 and the tool replacement standby buffer 7 is laterally viewed. The gripper 112 is brought close to the inner peripheral edge 112b of the gripper 112 so that it can be gripped by engaging with an annular engagement groove 5b formed around the outer peripheral surface of the tool 5.

  The gripping portion 112 is provided with a gripping claw 114 for the purpose of preventing the gripped tool 5 from falling off to the side. The gripping claw 114 is a rod-shaped member whose tip is formed in a triangular shape in plan view. The grip claw 114 is housed in a housing hole 111 formed horizontally in the grip arm 110 so as to be able to reciprocate along the substantially turning radius direction of the grip arm 110, and the mouth of the housing hole 111. 111a is located at a portion facing the opening 112a with the tip 112c of the substantially C-shaped gripping portion 112, and the tip of the gripping claw 114 can protrude from the portion. In addition, a coil spring 115 as an elastic member is interposed in a compressed state between the tail end 114b of the gripping claw 114 and the bottom wall surface 111b at the back of the accommodation hole 111. The elastic force is urged in the direction in which the tip protrudes from the mouth portion 111a of the receiving hole 111, and the lower wall surface of the receiving hole 111 is set so as to restrict the protruding amount of the gripping claw 114 from the mouth portion 111a to a predetermined value. A long hole 111c is formed along the turning radius direction, and a pin 114c that engages with the long hole 111c projects from the grip claw 114. Here, the predetermined value is set so that the size of the opening 112a between the tip 112c of the grip portion 112 and the grip claw 114 is slightly smaller than the outer diameter of the annular engagement groove 5b of the tool 5. This prevents the tool 5 gripped by the gripping part 112 from falling off to the side. When the tool 5 is gripped by the grip portion 112 or when the gripped tool 5 is removed from the grip portion 112, the tool 5 passing through the opening 112a of the substantially C-shaped grip portion 112 is pushed. Thus, the tip of the gripping claw 114 is retracted into the accommodation hole 111 and the opening 112a is expanded. After passing, the tip of the gripping claw 114 is projected from the accommodation hole 111 by the elastic force of the coil spring 115. Needless to say, it will return.

  However, from the viewpoint of gripping stability of the tool 5, the gripping claw 114 is locked so as not to be retracted so as not to be retracted into the receiving hole 111 by an external force of any magnitude, only in the gripping state of the tool 5. Is preferred. Therefore, the tool changer 100 is provided with a lock mechanism that locks the gripping claws 114 so that they cannot move in the gripping state. The locking and unlocking is performed by the reciprocating movement of the second output shaft 71 accommodated in the through hole 43 of the first output shaft 41 of the cam device 10.

  The locking mechanism is formed along the inside in the turning radius direction of the gripping arm 110 starting from the bottom wall surface 111b at the back of the receiving hole 111, and communicates with the through hole 43 in the first output shaft 41. And a rod 114f that is slidably inserted into the communication hole 111f and extends integrally from the tail end 114b of the gripping claw 114 to the second output shaft 71 in the through hole 43 along the turning radius direction. And an annular stepped portion 73 formed on the second output shaft 71 so as to be able to face the extending end face of the rod 114f in the through hole 43.

  The annular stepped portion 73 is engraved in a groove shape in the circumferential direction at a large diameter portion 73a substantially the same diameter as the through hole 43 of the first output shaft 41 and at a position below the large diameter portion 73a. A small-diameter portion 73b having a smaller diameter than the large-diameter portion 73a.

  Here, as shown in FIG. 6A, in the state where the tip of the gripping claw 114 protrudes from the mouth portion 111 a of the accommodation hole 111, the extended end surface of the rod 114 f of the gripping claw 114 is the same as that of the first output shaft 41. Although it is substantially flush with the inner peripheral surface of the through-hole 43, as shown in FIG. 6B, when the tip of the gripping claw 114 is retracted into the mouth 111a of the receiving hole 111, the rod 114f extends. The leading end surface protrudes from the inner peripheral surface of the through hole 43 toward the through hole 43 side.

  Therefore, by moving the second output shaft 71 relative to the first output shaft 41 in the direction of the axis C41, as shown in FIG. 6A, the large-diameter portion 73a of the annular step 73 is extended from the rod 114f. If the gripping claw 114 is locked so as not to move if it is opposed to the end surface, the gripping claw 114 is formed if the small diameter portion 73b of the annular stepped portion 73 is opposed to the extended end surface of the rod 114f as shown in FIG. 6B. Movement is allowed, i.e. the lock is released.

  Preferably, as shown in FIG. 5A, the large-diameter portion 73a is formed in a tapered shape having a small diameter on the lower side. In this way, the accuracy of the return operation of the gripping claw 114 by the coil spring 115 is poor, and the rod 114f extends from the inner peripheral surface of the through hole 43 of the first output shaft 41 even in the unlocked state. Even if it slightly protrudes to the side, the locking operation is ensured without causing problems such as malfunction caused by the lower surface of the large-diameter portion 73a being caught by the rod 114f when locking next time. It can be carried out. That is, as shown in FIG. 6A, when the large-diameter portion 73a moves downward to be locked, the wedge action of the tapered portion of the large-diameter portion 73a causes the above-mentioned lowering of the large-diameter portion 73a. Since the rod 114f protruding from the inner peripheral surface is gradually pushed into the communication hole 111f, the malfunction of the locking operation by the second output shaft 71 is prevented beforehand.

  7 and 8 are explanatory diagrams of the tool changing operation of the tool changing device 100. FIG. In each of the state diagrams (I) to (VIII) shown in FIG. 7 and FIG. 8, a plan view partially broken is shown in the upper stage, and a longitudinal sectional view is shown in the lower stage. In each state diagram, an object other than the tool changer 100, for example, the tool 5 or the like is indicated by a two-dot chain line.

  FIG. 9 is an operation timing diagram of the cam device 10 that drives the tool changer 100. In addition, each state diagram of (I)-(VIII) in FIG.7 and FIG.8 respond | corresponds to each time of (I)-(VIII) in the operation | movement timing diagram of FIG. 9, respectively.

  Here, an example of transferring the tool 5 from the holding hole 8a at the holding position A to the holding hole 8b at the holding position B will be described as an example of the tool changing operation. That is, one of the holding holes 8a (8b) of the holding position A and the holding position B corresponds to the holding hole 3a of the spindle portion 3, and the remaining one of the holding holes 8b (8a) is the tool change standby buffer 7. It corresponds to the holding hole 7a.

  First, as shown in FIG. 1I, it is assumed that the gripping arm 110 is retracted to the retracted position A set to the side of the holding position A as an initial state. In this retracted state, the first output shaft 41 is in the extension limit of the reciprocating movement in the direction of the axis C41. In this extension limit, the vertical position of the grip portion 112 is on the outer peripheral surface of the tool 5. It coincides with the position of the annular engagement groove 5b.

  Next, as shown in FIG. (II), the first output shaft 41 rotates around the axis C41, whereby the substantially C-shaped gripping portion 112 of the gripping arm 110 turning in the horizontal plane is opened. The tool 5 is inserted into the inside of the grip part 112 through 112 a and the tool 5 is gripped by the inner peripheral edge 112 b of the grip part 112 engaging with the annular engagement groove 5 b of the tool 5.

  At this time, the second output shaft 71 is also in the extension limit, and in the extension limit, the gripping claw 114 is in the unlocked state, that is, the extension end surface of the rod 114f of the gripping claw 114 is in the second limit. It faces the small diameter portion 73 b of the annular stepped portion 73 of the output shaft 71. Therefore, when the tool 5 enters the inside of the gripping part 112 from the opening 112 a of the gripping part 112, the rod 114 f of the gripping claw 114 is moved to the first output shaft 41 as the gripping claw 114 is retracted into the accommodation hole 111. The protrusion protrudes from the inner peripheral surface of the through-hole 43, but the protrusion is accommodated in a gap between the inner peripheral surface and the small diameter portion 73b, thereby causing troubles such as the gripping claw 114 not being retracted. The gripping operation of the tool 5 is performed smoothly. Incidentally, when the tool 5 is accommodated in the gripping portion 112, the gripping claw 114 protrudes again from the mouth portion 111a of the accommodation hole 111 by the returning operation by the coil spring 115, and the rod 114f is accordingly moved to the first output shaft 41. The through hole 43 is retracted flush with the inner peripheral surface.

  Then, in order to lock the gripping claws 114 in this gripping state, as shown in FIG. (III), the second output shaft 71 is relative to the first output shaft 41 in the extension limit downward in the direction of the axis C41. The large diameter portion 73a of the annular stepped portion 73 of the second output shaft 71 is moved to oppose the rod 114f of the gripping claw 114. As a result, the gripping claws 114 are locked so as to be immovable while being in the protruding state, and the tool 5 can be reliably prevented from falling off the gripping portion 112.

  And if it locks in this way, in order to draw out the tool 5 from the holding hole 8a of the holding position A next, as shown in FIG. (IV), the 1st output shaft 41 will fall to a shortening limit. At this time, as the first output shaft 41 is lowered, the second output shaft 71 performs the same lowering operation in conjunction with the first output shaft 41, whereby the locked state of the gripping claws 114 is maintained. That is, as shown from time (III) to time (IV) in FIG. 9, the second output shaft 71 is lowered at the same speed and by the same amount as the first output shaft 41, so that the second output shaft 71 is moved to the first output shaft 41. The state of not moving relative to the one output shaft 41 is maintained. As a result, as shown in FIG. (IV), the rod 114f of the gripping claw 114 is maintained in a state facing the large-diameter portion 73a of the annular stepped portion 73 of the second output shaft 71, and the gripping claw 114 is locked. State is maintained.

  Next, in the shortened limit state, the first output shaft 41 rotates 180 ° around the axis as shown in FIG. (V), thereby turning the tool 5 of the grip portion 112 of the grip arm 110 to the holding position B. Moving. Then, as shown in FIG. (VI), the first output shaft 41 is used to insert the tool 5 held by the holding portion 112 of the holding arm 110 into the holding hole 8b at the holding position B and hold it in the holding hole 8b. Rises to the limit of extension. Here, also at this time, the second output shaft 71 performs the same ascending operation in conjunction with the first output shaft 41 in the same manner as when the tool 5 is pulled out. That is, as shown from the time point (V) to the time point (VI) in FIG. 9, the first output shaft 41 and the second output shaft 71 rise at the same speed and by the same amount. Is not moved relative to the first output shaft 41. As a result, as shown in FIG. (VI), the rod 114f of the gripping claw 114 is maintained in a state facing the large diameter portion 73a of the annular stepped portion 73 of the second output shaft 71, and the gripping claw 114 is locked. Is maintained.

  When the tool 5 is inserted and held in the holding hole 8b at the holding position B in this way, the gripping portion 112 unlocks the gripping claw 114 to release the tool 5. That is, as shown in FIG. (VII), the second output shaft 71 is moved upward relative to the first output shaft 41 in the extension limit, whereby the large-diameter portion 73a of the annular stepped portion 73 is gripped. The state in which the claw 114 is opposed to the rod 114f is changed to a state in which the small-diameter portion 73b is opposed, and as a result, the unlocked state in which the gripping claw 114 is allowed to be retracted into the accommodation hole 111 is obtained.

  Then, as shown in FIG. (VIII), the first output shaft 41 is rotated, and the gripping arm 110 is turned to the retracted position B. In this turning process, the tool 5 held in the holding hole 8 b at the holding position B is detached from the holding part 112 of the holding arm 110, thereby releasing the tool 5 from the holding arm 110. At this time, since the gripping claw 114 is unlocked, the gripping claw 114 can be quickly retracted into the receiving hole 111 when the tool 5 passes through the opening 112a of the gripping portion 112. The grip 5 can be released smoothly without any problem.

  Thus, the delivery operation for transferring the tool 5 held in the holding hole 8a at the holding position A to the holding hole 8b at the holding position B and holding it is completed.

<<< Example of Application to Work Exchanger 120 >>>
10A and 10B are explanatory diagrams of an application example of the cam device 10 to the workpiece changing device 120. FIG. FIG. 10A shows a plan view seen from above, and FIG. 10B shows a BB line arrow view in FIG. 10A.

  This workpiece exchanging device 120 is a device for exchanging a processed workpiece 110a chucked to a main shaft portion 9a that can be driven and rotated, such as a lathe 9, with a workpiece 110b before processing held at a predetermined standby position P1.

  This work exchanging device 120 is also composed mainly of the cam device 10 described above, so that the workpieces 110a and 110b can be taken into and out of the chuck portion 9b of the main shaft portion 9a from the horizontal front side of the main shaft portion 9a of the lathe 9 or the like. The cam device 10 is arranged with the axis C41 direction of the first output shaft 41 facing forward in the horizontal direction. The front end of the first output shaft 41 is provided with a gripping arm 121 having a pair of gripping portions 130 and 130 at a point-symmetrical position with respect to the axis C41. The gripping portions 130 and 130 are opened and closed. It is configured to operate and to be able to grip the corresponding workpieces 110a and 110b. The axis C41 of the first output shaft 41, which is the turning center of the grip arm 121, is located at the midpoint between the axis C9a of the main shaft portion 9a and the standby position P1. The workpiece exchange operation is performed as follows.

  First, it is assumed that the gripping arm 121 is in a retracted state as an initial state. This retracted state is a state in which the gripping portions 130, 130 are located at the retracted position farthest from the main shaft portion 9a and the standby position P1, that is, as shown by the solid line in FIG. The gripping arm 121 extends 90 ° from the state in which the gripping portions 130, 130 are positioned at the main shaft portion 9a and the standby position P1, as shown by a two-dot chain line in FIG. 10B. It just means turning.

  Then, from this retracted state, the first output shaft 41 in the extension limit rotates 90 ° around the axis C41, so that the gripping portions 130 and 130 are moved to the main shaft portion 9a and the standby position as shown by the solid line in FIG. 10B. The first output shaft 41 is simultaneously moved to each position of P1, and in this state, the first output shaft 41 is shortened in the direction of the axis C41, whereby the main shaft is placed inside one gripping portion 130 as shown by a two-dot chain line in FIG. 10A. The processed workpiece 110a of the portion 9a is positioned, and at the same time, the unprocessed workpiece 110b is positioned inside the other gripping portion 130.

  If it does so, each holding part 130 and 130 will carry out closing operation, and will grasp work 110a and 110b, respectively. In this gripping state, when the chuck portion 9b of the main shaft portion 9a is opened and the processed workpiece 110a is released, the first output shaft 41 is extended to the extension limit, whereby the grip arm 121 is moved to the lathe 9 above. The workpieces 110a and 110b are received from the main shaft portion 9a and the standby position P1 (see the solid line in FIG. 10A).

  Next, in the extension limit, the first output shaft 41 rotates 180 ° around the axis C41, thereby exchanging the positions of the processed workpiece 110a and the pre-processing workpiece 110b with each other. That is, the processed workpiece 110b is positioned at the position of the main shaft portion 9a, and the processed workpiece 110a is positioned at the standby position P1.

  Then, in this state, the first output shaft 41 is shortened, and as shown by a two-dot chain line in FIG. 10A, the workpiece 110b before processing is inserted into the chuck portion 9b of the main shaft portion 9a at the same time. Is placed at the standby position P1, and then the chuck portion 9b of the main shaft portion 9a is closed and the pre-processing workpiece 110b is fixed to the main shaft portion 9a, the grip portions 130, 130 of the grip arm 121 are The gripping of the workpiece 110b and the processed workpiece 110a is released and released. Then, as shown by the solid line in FIG. 10A, the first output shaft 41 extends to the extension limit, and from this state, the first output shaft 41 returns to the position rotated about 90 ° around the axis C41, and the grip arm 121 is The retracted state is entered (see the two-dot chain line in FIG. 10B), and the series of workpiece replacement operations is completed as described above.

  By the way, as described above, in this work exchanging device 120, the turning operation of the gripping arm 121 and the extending and retracting operation of the front and rear are performed by the rotation operation around the axis C41 of the first output shaft 41 and the reciprocating operation in the direction of the axis C41. However, the opening / closing operation of the grip 130 is performed by a reciprocating movement of the second output shaft 71 in the direction of the axis C41.

  FIG. 11A and FIG. 11B are explanatory diagrams of the opening / closing operation mechanism of the grip portion 130. FIG. 11A shows a side view of the grip portion 130, and FIG. 11B shows a cross-sectional view of the root portion of the first output shaft 41 and the grip arm 121 as viewed in the direction of arrows BB in FIG. 11A.

  As shown in FIGS. 10A and 10B, the gripping portions 130 are provided at both ends of the gripping arm 121, respectively, and both have the same structure. As shown to FIG. 11A, each holding | gripping part 130 and 130 has a pair of finger parts 131 and 131 of the same structure mutually opened and closed. Each finger part 131, 131 is supported by the grip arm 121 so as to be rotatable around a predetermined fulcrum part 132, and is opposed to each other with a predetermined interval therebetween.

  A coil spring 133 is interposed in a compressed state at a portion of the finger portions 131 and 131 on the tip side of the fulcrum portion 132 (a portion on the outer side in the turning radius direction of the grip arm 121). The parts 131 and 131 are always biased in the opening direction. A slide member 135 having a wedge-shaped tip is interposed between the portions of the fingers 131 and 131 closer to the first output shaft 41 than the fulcrum portion 132 (inward in the turning radius direction). ing. The slide member 135 is moved outward in the turning radius direction to close the finger portions 131 and 131 against the elastic force of the coil spring 133, while the finger portion 131 is moved inward. 131, that is, the gripping operation of the gripping part 130 is performed by the reciprocating movement of the slide member 135 in the turning radius direction.

  The reciprocating movement of the slide member 135 is performed by the reciprocating movement of the second output shaft 71 in the direction of the axis C41. That is, as shown in FIG. 11B, the tail end 135b of the slide member 135 extending inward in the turning radius direction reaches the second output shaft 71, and the tail end 135b is opposed to the second end. A portion 71 c of the output shaft 71 is formed in a tapered shape whose diameter is increased toward the output end side in front of the second output shaft 71. Therefore, when the second output shaft 71 moves rearward relative to the first output shaft 41 in the direction of the axis C41, the slide member 135 is pushed outward in the turning radius direction by the wedge action, As the second output shaft 71 moves forward, the slide member 135 is pulled back inward. Note that this inward pulling force is performed by the coil spring 137 in a compressed state, as in the case of the gripping claws 114 of the application example to the tool changer 100 described above.

  FIG. 12 is an operation timing diagram of the cam device 10 for achieving the workpiece changing operation of the workpiece changing device 120. Since it is clear that the above-described work exchanging operation can be performed based on this operation timing diagram, the description thereof is omitted.

  Incidentally, when the first output shaft 41 expands and contracts in the direction of the axis C41, that is, when it reciprocates in the direction of the axis C41, the second output shaft 71 performs the same operation in synchronism with this operation. That is, it operates at the same speed as the first output shaft 41 and in the direction of the axis C41 by the same amount. Thus, even when the first output shaft 41 is reciprocally moved, the state in which the second output shaft 71 is not relatively moved with respect to the first output shaft 41 is maintained. It is effectively prevented that the open / close state of the gripping part 130 changes during the operation.

=== Other Embodiments ===
As mentioned above, although embodiment of this invention was described, this invention is not limited to this embodiment, The deformation | transformation as shown below is possible.

(A) In the above-described embodiment, the first to third cam mechanisms 51, 61, 81 are exemplified by the configuration using the globoidal cam 53 and the groove cams 63, 83. However, applicable cams are not limited to this. is not. For example, a plate cam or the like may be used.

(B) In the above-described embodiment, the configuration in which only one grip portion 112 is provided as the grip arm 110 of the tool changer 100 is illustrated, but the present invention is not limited to this, and the grip arm of the workpiece changer 120 described above is not limited thereto. As in 121, the number of gripping portions may be two. Thus, the used tool 5 of the spindle unit 3 of the processing apparatus 1 and the tool scheduled to be used next to the tool replacement standby buffer may be replaced at the same time.

It is sectional drawing of the conventional tool change apparatus 200. FIG. 2A is a longitudinal sectional view of the cam device 10 according to the present embodiment, and FIG. 2B is a sectional view taken along the line BB in FIG. 2A. It is the III-III sectional view in Drawing 2B. It is IV-IV sectional drawing in FIG. 2B. 5A and 5B are explanatory diagrams of an application example of the cam device 10 to the tool changer 100. FIG. 6A and 6B are operation explanatory views of the gripping claws 114 of the gripping arm 110 of the tool changer 100. FIG. It is explanatory drawing of the tool change operation | movement of the tool change apparatus. FIG. FIG. 4 is an operation timing diagram of the cam device 10 that drives the tool changer 100. 10A and 10B are explanatory diagrams of an application example of the cam device 10 to the workpiece changing device 120. FIG. 11A and 11B are explanatory diagrams of the opening / closing operation mechanism of the grip portion 130. FIG. FIG. 4 is an operation timing diagram of the cam device 10 for achieving a workpiece exchange operation of the workpiece exchange device 120.

Explanation of symbols

1 processing device, 3 spindle part, 3a holding hole, 5 tool, 5b annular engagement groove,
7 Waiting buffer for tool change, 7a Holding hole, 8a Holding hole, 8b Holding hole,
9 Lathe, 9a Main spindle, 9b Chuck, 10 Cam device,
11 Housing, 11a Side wall part, 11b Side wall part, 13 Bearing member,
15 cylinder part, 16 bearing member, 21 input shaft, 31 turret (rotating member),
41 first output shaft, 41a upper end (output end), 41b lower end, 43 through-hole,
51 First cam mechanism, 53 Globoidal cam, 53a end face, 53b end face,
54 taper rib, 55 cam follower, 61 second cam mechanism,
63 groove cam, 64 first swing arm (first arm part), 64a fulcrum part,
65 rolling elements, 66 rolling elements, 67 annular groove, 71 second output shaft,
71a upper end (output end), 71b lower end, 71c part,
73 annular stepped portion, 73a large diameter portion, 73b small diameter portion, 77 annular groove portion,
81 third cam mechanism, 83 groove cam, 84 second swing arm (second arm portion),
85 rolling elements (action point), 86 rolling elements, 87 annular groove,
100 Tool changer, 110 Grip arm, 110a Workpiece,
110b Workpiece, 111 receiving hole, 111a mouth, 111b deep bottom wall surface,
111c oblong hole, 111f communication hole, 112 gripping part, 112a opening,
112b inner periphery, 112c tip, 114 gripping claw, 114b tail end,
114c pin, 114f rod, 120 workpiece changer,
121 gripping arm, 130 gripping part, 131 finger part, 132 fulcrum part,
135 slide member, 135b tail end, C3 axis, C3a center position,
C7 center position, C9a axis, C21 axis, C31 axis, C41 axis,
C71 shaft center, P1 standby position

Claims (6)

An input shaft that is supported by the housing and receives rotational movement about the axis;
A rotating member supported by the housing so as to be rotatable around the axis and immovable in the axis direction by a bearing member while making the input shaft and the axis direction orthogonal to each other;
A first output shaft supported by the rotating member so that the rotating member is not rotatable relative to the rotating member and is relatively movable in the axial direction while aligning the axial direction with the rotating member;
The first output shaft is interposed between the input shaft and the rotating member, and converts the rotational motion of the input shaft into a rotational motion around the axis of the first output shaft, and the first output shaft via the rotating member. A first cam mechanism for transmitting to
It is interposed between the input shaft and the first output shaft, converts the rotational motion of the input shaft into a reciprocating motion in the axial direction of the first output shaft, and transmits it to the first output shaft. A second cam mechanism,
One end of the first output shaft in the axial direction is a cam device that functions as an output end of the rotational operation and the reciprocating motion,
A second output shaft is accommodated in a through hole formed in the first output shaft along the axial direction of the first output shaft so as to be movable in the axial direction, and opposite to the output end. From the end of the first output shaft on the side, the end of the second output shaft protrudes,
A third cam mechanism for converting the rotational movement of the input shaft into the reciprocating motion of the second output shaft in the axial direction is interposed between the input shaft and the end portion of the second output shaft. The second output shaft operates with an end opposite to the end as an output end of the reciprocating motion. The cam device according to claim 1,
A bearing member for supporting the rotating member around the shaft and supporting the housing so as not to move in the direction of the shaft;
The bearing member is disposed in a portion closer to the output end in the axial direction of the first output shaft than a portion where a force for the rotational operation is input from the first cam mechanism to the rotating member. A cam device characterized by comprising: The cam device according to claim 2,
On the outer peripheral side of the first output shaft, a turret as the rotating member is disposed so as to be coaxially splined to the first output shaft,
The first cam mechanism includes a globoidal cam fixed to the input shaft, and a cam follower that is provided on an outer peripheral surface of the turret and engages a taper rib on the outer peripheral surface of the globoidal cam,
The second cam mechanism includes a groove cam formed on one end surface of the globoidal cam, a fulcrum portion rotatably supported on the housing, a force point portion engaged with the groove cam, and an action point portion. A first arm portion engaged with the end portion of the first output shaft,
The third cam mechanism includes a groove cam formed on the other end face of the globoidal cam, a fulcrum portion rotatably supported by the housing, and a force point portion engaged with the groove cam and an action point portion. And a second arm portion engaged with an end portion of the second output shaft opposite to the output end. A cam device according to any one of claims 1 to 3, and a gripping arm capable of gripping a tool at the output end of the first output shaft of the cam device,
The gripping arm is mounted on the spindle unit of the machining apparatus by the pivoting operation of the gripping arm by the rotating operation of the first output shaft and the moving operation of the gripping arm in the axial direction by the reciprocating motion of the first output shaft. A tool changer for changing used used tools,
A lock mechanism for locking the grip arm in a gripping state of a tool;
The lock mechanism performs the locking and unlocking operations by the reciprocating motion of the output end of the second output shaft. The tool changer according to claim 4, wherein
An operation of locking the gripping arm in a gripping state and a releasing operation of the locking by the relative movement of the second output shaft in the axial direction with respect to the first output shaft provided integrally with the gripping arm Is done,
When the first output shaft performs the reciprocating motion, the second output shaft performs the same reciprocating motion as the first output shaft. The tool changer according to claim 5, wherein
The gripping arm includes a substantially C-shaped gripping portion that engages with a used tool mounted on the spindle portion, and a gripping claw provided so as to be able to appear and retract at a position facing the tip of the gripping portion with an opening therebetween. And having
The tool is gripped by the gripping part as the tool passes through the opening with the turning motion of the gripping arm, and the tool is pulled out from the spindle part by the moving action of the gripping arm,
The gripping claw is provided so as to be able to reciprocate along a substantially turning radius direction of the gripping arm, and is urged outward in the turning radius direction by an elastic member so as to protrude. ,
The rod extending inward in the turning radial direction from the gripping claw reaches the second output shaft in the through hole of the first output shaft, and from the second output shaft via the rod A tool changer characterized in that lock and unlocking operations are input to the gripping claws.

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