1310717 九、發明說明 【發明所屬之技術領域】 :係=刀機構’特·-種安裝二_服馬 乂供自動化加工中心機使用的全新刀庠換刀機構。 【先前技術】 式自動化加工機械設計的不斷研發改進，可以配合程 腦數值控制切削中心機產品已經成為大型工廠加 地進入力而各式各樣的_數值控制切削中心機已經廣泛 若干敝= 礙之内’但是目前電腦數值控制切削中心機仍存在 干技術目,』極待人士再加研發改善。 00569856 ^ 刀機構主要係利用油壓馬達驅動_ 動作亚以定位件頂壓相對廡 至定位時之快速旋轉撞擊力量，且_==衝換刀臂 換刀劈& a 门正磲才王頂抵活塞限位，使 此進行扩㈣此習用設計還於油壓馬達機架下方開設液屢室；藉 ==換刪_咖爾线物；此種中心切 也有下列問題產生·逹換刀的效果，但是在實用之後卻 動作，但3 ^』技刀臂進行旋轉換刀 -疋％限油壓馬達驅動無法精準定位的缺陷，造成不僅 1310717 改/易不準確，而且另需設計液壓室缓衝，故此習用設計仍待 其. 4…〃技術運用油壓馬達驅動換刀臂旋轉，而並換刀臂 進給時!1可能採•、鍊帶、螺桿、齒輪組或線 I、‘進订，㈣各種機械技術不僅控制不易銜接，不夠 ❿ /、4、、，σ動作銜接不胃，並且使整雜刀時間增加。 畜為求職祕_，本案發日狀乃轉思細索，並積多年從 種中〜切賴產品與設計技術的經驗，開發出—種全新刀 γ機構’其可崎確麵縣域轉秘，㈣且精舰合控 制以縮短換刀時間。 【發明内容】 本I月:要目的讀供—種精準定位的刀庫換刀機構。 3成前述目的，本伽的刀庫換刀機構包含有機座上的二 健馬達、-滾珠螺桿及—換騎臂組組合喊，其中—伽 刀夾#、、且的枢套，該樞套配合自由旋轉軸承帶_換 向位移’而另-值馬辆轉姆接雜对f _臂轴，且帶 動该換刀夾臂組進行精麵夾做_作；觀，本發明運用伺 服馬達配合滾珠螺桿可以精確化縣換刀機構的麵進給，且另 7 1310717 她__細_#她赠殘構的旋轉進 本發明次要目的是提供— 為了m 士 雜刀蚪間驗的刀庫換刀機構。 為了達成換刀時間縮短的目標，本發明構件的 給工作皆採做馬逵雜，偏 _件的_、軸向進 式控制的_，讓本 ***密配合程 時間。縣鳩刀時間銜接流暢，且能有效縮短換刀 ^值Γ提的是，本㈣料畅位轉作辦服馬達俜使用 皮π、皮帶輪傳遞動力給滾珠螺桿之螺桿. 手、使用 :珠螺桿之螺帽則運用一趣 Γ1 如轉她_赠組的臂轴- 而桌並且卿樞套二側的軸承自由旋轉，並讓滾珠螺桿之螺帽以 連接件帶練套’再以樞套帶動該換刀夾臂組軸向位移： 另外，本發明換刀夹臂組的夹臂旋轉位移動作是以一伺服馬 2轉軸鍵麵赠崎跑，_剛的轉抽鍵 接_夾臂組的臂軸可以容許軸向的自由位移，且鍵接技術仍 可以確侧服馬達帶_換刀夾臂組進行精確的夾臂旋轉動作，· 取後，本發明機座相應夾臂軸向動作_服馬達的轉軸另配 1310717 設有 樞座，此插座與機座相應供伺服馬達的轉轴穩定轉 框座的位置娜触度侧綱麵㈣鱗的距離。 接及之技術外，其他術,見的機構銜 欠〇.堅紅、鍊帶、螺桿、齒輪組或線性滑軌等機構，皆可 以經過組合手段配合運作；前述常見切财心機技術的組合搭配 都僅僅是-般技術之轉用變化，若使用於本發明技術時仍同屬本 發明保護範圍。 有關本案發明為達成上述目的、所_之高度技術思想、手 段，茲列舉較佳可實施例並配合其他圖式詳細說明如後，相信本 案發明之目的、特徵及其他優點，當可由之得-深人而具體之瞭 解。 【實施方式】 請參閱第1圖及第6圖（放大），本發明的刀庫換刀機構包含 有一機座（10)、一換刀夾臂組(30)、一滾珠螺桿(4〇) '二伺服馬 達（20)(50)及一樞座（6〇)組合而成，其中： 該機座（10) ’係安裝在切削中心機上，且機座（1〇)相應裝配 在刀庫旁，該機座（10)内具裝配空間（11)，該裝配空間（11)相應 刀庫之刀具(A)的位置開設有一開口（12); 1310717 忒伺服馬達（20)，係固定在該機座（ι〇)的裝配空間（I〗）内， 且伺服馬達(20)找帶動-根雜⑵），且雜⑵端框裝定 位在該機座（1_裝配空間⑴）内，轉椒21)另—端則自該機 座（10)的開口（12)朝外穿伸，在該轉軸⑵）上製作有若干延轴向 的鍵槽（211)，各鍵槽（211)開設在轉軸⑻表面且具預設的長度； 該換刀夾臂組(30)，包含有一臂軸(31)、一樞套(犯)及一夾 #(33)組合而成，该臂轴(31)為穿設在該機座（1〇)之開口（ι2)處 的中空管件，該臂軸(31)的軸向中空管徑(3⑴係供伺服馬達(2〇) 的轉軸(21)通過，且臂軸(31)的中空管徑（311)壁面製作有鍵座 (312) ’並且裝配若干鍵件（313)凸出於鍵座（312)，而令鍵件（313) 位與轉軸(21)的鍵槽（211)之間，而該樞套（32)經由二側的軸承 (321)嵌迫定位在該臂軸(31)的内端部，並且利用樞套(32)的軸承 (321)可讓其自由旋轉，另在樞套(32)上固設有一朝外延伸的連接 件（322)，而該夾臂（33)以中央定位孔（33i)固定在該臂軸（31)的 外端部，且於夾臂（33)二外侧緣製作有夾爪(332); 該滾珠螺桿(40) ’係包含有螺桿(41)及螺帽(42)，該螺帽（42) 配合螺桿(41)的旋轉而能轴向位移（滾珠螺桿運作機構為習用技 術，在此不多作贅述）’而該螺桿(41)相應平行併列該伺服馬達（2〇) 的轉轴（21)，且螺桿(41)同樣樞設在該機座（1〇)的裝配空間（I】） 内，並在螺桿(41)端部裝設有一皮帶輪(43)，另該螺帽W2)與該 換刀夾臂組(30)的樞套（32)以連接件(322)組合連動； 30 1310717 «亥伺服馬&(50)，係固定在該機座GO)的裝配空間（Μ)内， 且祠服馬達(50)受控帶動—個皮帶輪(51)，並且皮帶輪⑸）運用 皮帶(52)相應驅動該滾珠螺桿(4〇)的皮帶輪(犯）；以及 該枢座⑽，係相應機座（1_定在切财心機上，且拖座 (60)樞裝定胁該伺服馬達⑽的轉軸⑵）外露端部，以樞座⑽ 與機座（10)相應供轉軸（21)穩定轉動； 如此藉由上述之結構特徵與其相互關係位置之巧妙安排，再 配合下述各構件m動作原理乃能達成前揭之基本目的。 其次，再將本案發明之動作原理配合圖式詳細說明如後，期 使貴審查委員對本發明之構造、特徵及其他優點能有更進一步 之體會與認識； 月：閱第2 3圖’本發明進行拔出或裝入刀具(a)工作時； 籲 2伺服馬達⑽受控_皮帶輪(51)，並且該皮帶輪⑽運 用皮帶(52)相應鶴該滾珠螺桿⑽的皮帶輪(43)，而該滾珠螺 桿(40)依控制被帶動旋轉之後，該螺帽(42)配合螺桿⑷）的旋轉 而能軸向位移’此時，由於該螺帽（42)與該換刀夹臂組樞 套(32)以連接件(322)組合連動，且該換刀夹臂組(加）的拖套(犯） 經由-侧的軸承(321)喪迫定位在該臂軸⑻的内端部，故利用樞 套㈤的軸承(321)可讓其自由旋轉(不受到臂轴⑶）轴向中空管 徑㈤）内的轉軸⑵）影響），並以框套⑽帶動臂轴⑻伸縮， 11 1310717 並讓該夹臂（33)以夾爪（332)拔出或安裝刀具(A); 值得一提的是，由於臂軸（31)的中空管徑（311)壁面製作有鍵 座（312)，並且裝配若干鍵件（313)在鍵座（312)與鍵槽（Μ〗）之 間’故臂軸(31)的伸縮動作不會影響轉轴(21)，各鍵件(313)會在 鍵槽(211)内滑動，故換刀夾f組⑽的伸縮卫作得以精確無誤。 再請參閱第4、5圖，本發明進行刀庫與卫具機刀具(A)交換 工作時； 該伺服馬達（20)受控帶動轉軸(21)，且轉軸(21)一端樞裝定 位在該機座（1〇)的裝配空間⑼内，而轉軸⑵）延轴向的鍵槽 (211)受到臂軸（31)壁面鍵座（312)内的鍵件（313)限制，故轉軸 (21)利用鍵接技術帶動臂轴（31)旋轉，此時，由於臂軸(31)的伸 縮動作不會影響轉軸⑽’故換刀綠組⑽峻轉工作精確無 誤； 利用臂軸（31)旋轉可以帶動該夾臂（33)進行預設角度的旋 轉、定位，由於夾臂⑽二外側緣夾爪(332)為相對設計，故爽臂 (33)二夾爪(332)旋轉1 8 Q度角後’可以讓原本相應刀庫與工 具機的刀具（圖中未示）交換。 本發明的關鍵在於：該伺服馬達(20)可以精確受控帶動轉車由 (21) ’且該滾珠螺桿(40)也受到另一個伺服馬達（5〇)的精確帶 12 1310717 動，故本發明的伸縮、旋轉動作可以更加精確的控制，無需特別 設計安裝緩衝或定位的機構； 、 同理，忒伺服馬達(2〇)與伺服馬達(5〇)的運作可精密配合程 式控制，讓本發明伸縮、旋轉動作無停滞，換刀時間銜接流暢^ 且能有效縮短換刀時間。 然而’本發明臂軸⑻的中空管徑(311)壁面製作的鍵座(㈣ 錢件(313)技術變化如第7、8、㈣所示，該臂軸⑻的中空 官1(311)壁面製作的鍵座（3⑵形態可以搭配不同的鍵座⑶2) 與鍵件⑽），如圖所示鍵件(313)被貫穿臂軸⑽的螺絲固定， 且_軸(21)上的鍵槽⑵1}也相應變化數量、槽寬及槽深，藉此 本發明轉軸(21)延軸向的鍵槽⑵收到臂軸(31)壁面鍵座⑽ 内的鍵件（313)限制，而僅能進行抽向自由位移。 、綜上所述’本案之創新結構設計係係包含機座上的二飼服馬 達滾珠螺杯及一換刀夾臂組組合而成，其中—飼服馬達精確 帶動滚珠螺桿之螺桿，而滾珠螺桿之螺帽翻定連接該換刀夾臂 組的框套，該框套配合自由旋轉軸承帶動該換刀夹臂組轴向位 移’而另一鑛馬達的轉軸鍵_奐刀夹臂組的臂轴，且帶動該 換刀央臂組進行精確的夾臂旋轉動作；藉伺服馬達配合滾珠螺桿 可以精確化刀賴刀機構_向進給，且另-鑛馬達則以轉軸 13 1310717 ==贿她鳩鄉吻轉，㈣述二舰馬 有精魏合控制，不僅定位精準、_麵暢，且能 摘；所财㈣之『林缝之刊雜』應已 毋庸置疑，除此之外，在太安告+A /, 义 木只細例所揭露出的特徵技術，於申 心並未冑綱勝㈣她_，卿有 =效增進樹^咐爾叫餐是故，本㈣1310717 IX. Description of the invention [Technical field of invention]: System = knife mechanism 'special type' installation II _ service horse 全新 New tool change mechanism for automatic machining center machine. [Prior Art] The continuous development and improvement of the design of automatic processing machinery can be combined with the process of numerical control of the cutting machine. The cutting center machine products have become the entry force of large factories and various types of numerical control cutting center machines have been widely used. Inside 'but the current computer numerical control cutting center machine still has dry technical purposes," the extreme waiting for people to add research and development to improve. 00569856 ^ The knife mechanism is mainly driven by the hydraulic motor _ action sub-position to the rapid rotation impact force of the positioning member relative pressure to the positioning, and _== rushing the tool arm to change the knives & a Reinforce the piston limit, so that this expansion (4) This custom design also opens the liquid chamber under the hydraulic motor frame; borrow == replace _ _ er line; this center cut also has the following problems: 逹 change the knife The effect, but after the practical action, but the 3 ^" technology arm rotates the tool - 疋% limit hydraulic motor drive can not accurately locate the defects, resulting in not only 1310717 change / easy to inaccurate, but also need to design the hydraulic chamber slow Rush, so the custom design is still waiting for it. 4...〃Technology uses a hydraulic motor to drive the change of the arm, and when the tool changer is fed! 1 Possible mining, chain, screw, gear set or line I, 'into Order, (d) various mechanical techniques not only control difficult to connect, not enough ❿ /, 4,, σ action connection does not stomach, and increase the time of the whole knife. The animal is a job-seeking secret _, the case is a rehearsal of the case, and accumulated many years of experience from the species ~ relying on product and design technology, developed a new knife gamma mechanism 'its Qiqizheng county transfer secret (4) and fine ship control to shorten the tool change time. [Summary of the Invention] This I month: It is necessary to read the tool change tool mechanism for precise positioning. 3 For the above purpose, the tool change mechanism of the Bahrain includes the two-motor, the ball screw and the combination of the arm-changing arm on the organic seat, wherein the jia-knife clamp #, and the pivot sleeve, the pivot sleeve Cooperate with the free-spinning bearing belt _reversing displacement' and the other-value horse-turning motor is connected to the f-_arm shaft, and the tool-changing arm group is driven to perform the fine-faced clamping. The servo motor is used in the present invention. The ball screw can accurately correct the face feed of the county tool change mechanism, and another 7 1310717 she __ _ _ she gives the rotation of the remnant into the invention. The secondary purpose is to provide - for the m shi knives Tool change mechanism. In order to achieve the goal of shortening the tool change time, the work of the components of the present invention is performed in a sturdy manner, and the _ and __ axially controlled _, so that the injection precision fits the time. The county has a smooth connection time, and can effectively shorten the value of the tool change. This (four) material is transferred to the motor, using the skin π, the pulley to transmit power to the screw of the ball screw. Hand, use: bead screw The nut uses a fun Γ 1 such as turning the arm of the _ gift group - and the bearings on the two sides of the table and the slewing sleeve are free to rotate, and the nut of the ball screw is connected with the connecting piece and then pivoted The axial displacement of the tool change clamp arm group: In addition, the clamp arm rotation displacement action of the tool change clamp arm group of the present invention is a servo horse 2 shaft key surface, and the _gang's transfer key joint_the clamp arm group The arm shaft can allow axial free displacement, and the keying technology can still confirm the side of the motor belt _ the tool change arm group for precise arm rotation, and after the take-up, the corresponding arm axial action of the machine frame _ The shaft of the motor is equipped with 1310717 and has a pivot seat. The socket and the base are corresponding to the position of the shaft of the servo motor. In addition to the technology, other techniques, see the organization's title 坚 坚. Strong red, chain belt, screw, gear set or linear slides, etc., can be combined by the operation of the combination; the combination of the aforementioned common cutting machine technology All of them are merely variations of the general technology, and are still within the scope of the present invention if they are used in the technology of the present invention. In view of the above-mentioned objects, the high technical spirit and the means for achieving the above objects, the preferred embodiments and the detailed description of the other drawings are as follows. I believe that the objects, features and other advantages of the present invention can be obtained from Deep and specific understanding. [Embodiment] Referring to Figures 1 and 6 (enlarged), the tool change mechanism of the present invention comprises a base (10), a tool change arm set (30), and a ball screw (4 turns). 'Two servo motor (20) (50) and a pivot seat (6〇) are combined, wherein: the base (10) is mounted on the cutting center machine, and the base (1〇) is assembled on the knife. Next to the library, the base (10) has an assembly space (11). The assembly space (11) has an opening (12) at the position of the tool (A) of the corresponding magazine; 1310717 忒 servo motor (20), fixed In the assembly space (I) of the base (I), and the servo motor (20) finds the drive-root (2), and the miscellaneous (2) end frame is positioned in the base (1_ assembly space (1)) Turning the pepper 21) The other end is extended outward from the opening (12) of the base (10), and a plurality of axially extending key grooves (211) are formed on the rotating shaft (2), and the key grooves (211) are opened. On the surface of the rotating shaft (8) and having a predetermined length; the tool change arm group (30) comprises an arm shaft (31), a pivot sleeve (a criminal) and a clamp # (33) combined, the arm shaft ( 31) for the purpose of wearing on the stand (1〇) a hollow tubular member at the opening (1), an axial hollow diameter of the arm shaft (31) (3 (1) is a shaft (21) for a servo motor (2 〇), and a hollow diameter of the arm shaft (31) (311) The wall is formed with a key base (312)' and a plurality of key members (313) are attached to the key base (312), and the key member (313) is positioned between the key groove (211) of the rotating shaft (21), and the The pivot sleeve (32) is embedded and positioned at the inner end of the arm shaft (31) via the bearings (321) on both sides, and is freely rotatable by the bearing (321) of the pivot sleeve (32), and is further pivoted (32) an upwardly extending connecting member (322) is fixed on the upper portion, and the clamping arm (33) is fixed to the outer end portion of the arm shaft (31) by a central positioning hole (33i), and is mounted on the clamping arm (33) The two outer edges are formed with jaws (332); the ball screw (40)' includes a screw (41) and a nut (42), and the nut (42) is axially coupled with the rotation of the screw (41) Displacement (the ball screw operating mechanism is a conventional technique, which will not be described here), and the screw (41) is parallel to the parallel shaft (21) of the servo motor (2〇), and the screw (41) is also pivoted at Inside the assembly space (I] of the base (1〇), And a pulley (43) is arranged at the end of the screw (41), and the nut W2) and the pivot sleeve (32) of the tool change arm set (30) are linked by a connecting member (322); 30 1310717 « The servo horse & (50) is fixed in the assembly space (Μ) of the base GO), and the motor (50) is controlled to drive a pulley (51), and the pulley (5) uses the belt (52). Correspondingly driving the pulley of the ball screw (4〇); and the pivot seat (10) is a corresponding base (1_ is set on the cutting machine, and the carriage (60) is pivotally fixed to the servo motor (10) The rotating shaft (2)) is an exposed end portion, and the rotating shaft (21) is stably rotated by the pivot seat (10) and the base (10); thus, by the intricate arrangement of the above-mentioned structural features and their mutual relationship, the following components m are acted upon together. The principle is to achieve the basic purpose of the previous disclosure. Secondly, the action principle of the invention will be described in detail with reference to the drawings, and the reviewer will have a further understanding and understanding of the structure, features and other advantages of the present invention; When pulling out or loading the tool (a); calling 2 servo motor (10) controlled _ pulley (51), and the pulley (10) uses the belt (52) corresponding to the pulley (43) of the ball screw (10), and the ball After the screw (40) is rotated by the control, the nut (42) can be axially displaced by the rotation of the screw (4)). At this time, the nut (42) and the tool change arm group are pivoted (32). Linked by the combination of the connecting members (322), and the dragging sleeve of the tool changing arm group (added) is forced to be positioned at the inner end of the arm shaft (8) via the bearing (321) on the side, so the pivot is utilized The sleeve (5) of the sleeve (5) is allowed to rotate freely (not affected by the shaft (2)) in the axial hollow diameter (5) of the arm shaft (3), and the arm shaft (8) is stretched by the frame sleeve (10), 11 1310717 and let The clamp arm (33) pulls out or installs the cutter (A) with the jaws (332); it is worth mentioning that due to the hollowness of the arm shaft (31) The diameter (311) wall is made with a key base (312), and a plurality of key members (313) are assembled between the key base (312) and the keyway (Μ). Therefore, the telescopic movement of the arm shaft (31) does not affect the rotation shaft. (21), each of the key members (313) slides in the keyway (211), so that the expansion and contraction of the tool changer group f (10) is accurate. Referring to Figures 4 and 5, the present invention performs the exchange work between the tool magazine and the implement tool (A); the servo motor (20) is controlled to drive the rotating shaft (21), and the rotating shaft (21) is pivotally positioned at one end. In the assembly space (9) of the base (1), the keyway (211) in the axial direction of the rotating shaft (2) is restricted by the key member (313) in the wall key (312) of the arm shaft (31), so the rotating shaft (21) The keying technology is used to drive the arm shaft (31) to rotate. At this time, since the telescopic movement of the arm shaft (31) does not affect the rotating shaft (10)', the greening of the tool changing green group (10) is accurate; the rotation of the arm shaft (31) is performed. The clamp arm (33) can be driven to rotate and position at a preset angle. Since the two outer edge jaws (332) of the clamp arm (10) are oppositely designed, the two arms (33) of the cool arm (33) are rotated by 1 8 Q degrees. After the corners, the original tool magazine can be exchanged with the tool of the machine tool (not shown). The key to the invention is that the servo motor (20) can be precisely controlled to drive the car from (21)' and the ball screw (40) is also moved by the precision belt 12 1310717 of the other servo motor (5〇), so the invention The telescopic and rotating motions can be controlled more precisely, and there is no need to specially design a mechanism for buffering or positioning. Similarly, the operation of the servo motor (2〇) and the servo motor (5〇) can be closely matched with the program control, so that the present invention The telescopic and rotary motions are not stagnant, the tool change time is smooth and smooth, and the tool change time can be effectively shortened. However, the key seat made of the hollow diameter (311) wall of the arm shaft (8) of the present invention (the technical change of the (4) money piece (313) is as shown in the seventh, eighth, and (four), and the hollow body 1 (311) wall surface of the arm shaft (8) The produced key base (3 (2) form can be matched with different key base (3) 2) and the key member (10)), as shown, the key member (313) is fixed by the screw passing through the arm shaft (10), and the key groove (2) 1 on the _ shaft (21) The number, the groove width and the groove depth are also changed accordingly, whereby the keyway (2) of the axial direction of the rotating shaft (21) of the present invention receives the restriction of the key member (313) in the wall key (10) of the arm shaft (31), and can only be pumped. Displace to free. In summary, the innovative structural design system of the case consists of a combination of a two-feed motor ball screw cup and a tool changer arm set on the base, wherein the feeding motor precisely drives the screw of the ball screw, and the ball The nut of the screw is connected to the frame of the tool change arm set, the frame sleeve cooperates with the freely rotating bearing to drive the axial displacement of the tool change arm group, and the rotation shaft key of the other mine motor _ the file clamp arm set The arm shaft drives the central arm group of the tool to perform precise clamping arm rotation; the servo motor can be used to match the ball screw to accurately feed the knife to the feed mechanism, and the other-mine motor is to rotate the shaft 13 1310717 == bribe She kissed the town and kissed. (4) The second ship and the horse have fine control, not only accurate positioning, _ smooth, but also pickable; In Tai'an ++A /, Yimu only reveals the characteristic techniques revealed by the fine example. In Shen Xin, there is no squad to win (4) her _, Qing has the effect of promoting the tree ^ 咐 尔 叫 叫 叫 叫 故 故 故 故 故 故 故 故
皇』以及雜性』都已符合專利法規，爰依法提岭 明專利之申請，祈請惠予審查並早曰賜准專利，實感德便。Both the Emperor and the Hybrids have complied with the patent laws and regulations, and have applied for the application of the Lingming patent in accordance with the law, praying for review and early granting of patents.
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【圖式簡單說明】 第1圖 本發明結構組合剖視圖； 第2圖 本發明安裝刀具狀態剖視圖； 第3圖 本备明刀具拔刀狀態剖視圖； 第4圖 本發明定位狀態之機座與夾臂 第5圖 本發明旋轉換刀狀態之機座與 第6圖 本發明換刀夾臂組放大示意圖 第7圖 本發明另- 鍵接實施狀態圖； 第8圖 本發明再_ 一鍵接實施狀態圖； 第9圖 本發明又- -鍵接實施狀態圖。 【主要元件符號說明】 機座（10) 裝配空間（11) 刀具（A) 開口（12) 伺服馬達(20) 轉軸(21) 鍵槽(211) 換刀夾臂組(30) 臂軸(31) 中空管徑（311) 鍵座（312) 鍵件(313) 樞套(32) 圖； 圖 15 1310717 軸承(321) 連接件（322) 定位孔（331) 夾爪（332) 滾珠螺桿(4〇) 螺桿(41) 螺帽（42) 皮帶輪(43) 伺服馬達（50) 皮帶輪(51) 皮帶(52) 樞座（60) 16BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a cross-sectional view showing the structure of the present invention; FIG. 2 is a cross-sectional view showing the state of the mounted tool of the present invention; FIG. 3 is a cross-sectional view showing the state of the tool being pulled; FIG. 4 is a view showing the frame and the clamp arm of the positioning state of the present invention. Fig. 5 is a perspective view showing a machine tool holder in a rotary tool change state and a sixth embodiment of the present invention. Fig. 7 is a view showing a state in which the present invention is further connected to the key; Fig. 9 is a diagram showing the state of the present invention. [Description of main component symbols] Base (10) Assembly space (11) Tool (A) Opening (12) Servo motor (20) Shaft (21) Keyway (211) Tool change arm set (30) Arm shaft (31) Hollow tube diameter (311) Key seat (312) Key member (313) Pivot sleeve (32) Fig. 15 Fig. 15 1310717 Bearing (321) Connector (322) Positioning hole (331) Gripper (332) Ball screw (4〇 Screw (41) Nut (42) Pulley (43) Servomotor (50) Pulley (51) Belt (52) Pivot (60) 16