Tool changing device

Abstract

The purpose of the present invention is to easily overlap other actions of an arm with actions for gripping and releasing the gripping of a tool. The tool changing device includes a magazine, an arm, and a holding linkage mechanism. The magazine has a magazine body and a plurality of tool cartridges attached to the magazine body. One of the plurality of tool cartridges is disposed at the replacement position by rotation of the magazine body. The arm has a first gripping member and a second gripping member. The arm takes down the next use tool from the tool cylinder at the replacement position and mounts the next use tool to the main shaft through one gripping member, and takes down the previous use tool from the main shaft and mounts the previous use tool to the tool cylinder at the replacement position through the other gripping member. The gripping interlocking mechanism grips and releases the gripping of the tool by rotating the gripping member on the magazine side in conjunction with the relative movement of the arm with respect to the magazine, and grips and releases the gripping of the tool by rotating the gripping member on the spindle side in conjunction with the relative movement of the arm with respect to the spindle.

Description

Technical Field

[0001] The present disclosure relates to a tool changing device for changing a tool mounted on a spindle of a machine tool. Background Art

[0002] In a tool changing device, a previously used tool, which is one of a plurality of tools, is removed from a spindle, and a next used tool, which is a tool different from the previously used tool, is mounted on the spindle.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2008-132555 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] More specifically, as a tool changing device, a device including a magazine and an arm can be considered. The magazine has a plurality of tool holders capable of mounting tools. By rotating the magazine about a horizontal axis, one of the plurality of tool holders is arranged at a replacement position located at the lowermost side. The arm has two gripping portions. By slightly rotating the arm in a predetermined direction about the vertical direction, one gripping portion grips the next used tool of the tool holder at the replacement position, and the other gripping portion grips the previously used tool of the spindle. In this state, by lowering the arm, the next used tool is removed from the tool holder, and the previously used tool is removed from the spindle.

[0008] Next, the arm rotates 180° about the vertical direction. As a result, the positions of the next used tool and the previously used tool are interchanged. Next, by raising the arm, the next used tool is mounted on the spindle, and the previously used tool is mounted on the tool holder. From this state, the arm slightly rotates in the direction opposite to the above-mentioned predetermined direction, whereby the gripping of the next used tool by the gripping portion on the spindle side is released, and the gripping of the previously used tool by the gripping portion on the magazine side is released.

[0009] The present disclosure focuses on the following problem in such a structure. When gripping and releasing the next used tool and the previously used tool by slightly rotating the arm about the vertical direction, it is necessary to fully stop the rotation of the arm and then relatively move the arm in the vertical direction with respect to the magazine and the spindle. Therefore, in the acceleration and deceleration operations for gripping and releasing the tool, it is difficult to overlap other operations of the arm such as raising or lowering the arm. Therefore, it is difficult to shorten the cycle time of tool change.

[0010] The present disclosure has been made in view of the above circumstances, and an object thereof is to make it easy to overlap other operations of the arm with the operations for gripping and releasing the tool.

[0011] Means for Solving the Problem

[0012] In the tool changing device of the present disclosure, a previously used tool, which is one of a plurality of tools, is removed from the spindle of the machine tool, and a next used tool, which is a tool different from the previously used tool, is mounted on the spindle. Among them,

[0013] The tool changing device includes:

[0014] A magazine having a rotatable magazine body and a plurality of tool holders mounted on the magazine body. Each of the tool holders can mount the tool, and one of the plurality of tool holders is arranged at the replacement position by the rotation of the magazine body;

[0015] An arm that can rotate a first gripping member and a second gripping member respectively around a direction orthogonal to the axial length direction of the spindle. The next used tool is removed from the tool holder at the replacement position and mounted on the spindle by one of the gripping members, and the previously used tool is removed from the spindle and mounted on the tool holder at the replacement position by the other gripping member; and

[0016] A gripping linkage mechanism that is linked to the relative movement of the arm with respect to the magazine, rotates the gripping member on the magazine side to grip and release the tool, and is linked to the relative movement of the arm with respect to the spindle, rotates the gripping member on the spindle side to grip and release the tool.

[0017] Advantageous Effects of the Invention

[0018] According to the present disclosure, it is possible to easily overlap other operations of the arm with the operations for gripping and releasing the tool. Description of the Drawings

[0019] Figure 1 It is a perspective view showing the tool changing device of the first embodiment.

[0020] Figure 2 It is a front view showing the tool changing device.

[0021] Figure 3 It is a front view showing the arm and the cylinder linkage mechanism.

[0022] Figure 4 It is a front view showing the tool holder and the tool at the storage angle.

[0023] Figure 5 It is a front view showing the tool holder and the tool at the replacement angle.

[0024] Figure 6 It is a perspective view showing the tool holder.

[0025] Figure 7 It is a side view showing the holding part of the tool cylinder.

[0026] Figure 8 It is a perspective view showing the arm, the arm lifting device, and the arm rotating device.

[0027] Figure 9 It is a plan sectional view showing the gripping part of the gripping member.

[0028] Figure 10 It is a front view showing the arm.

[0029] Figure 11 It is a bottom view showing the arm.

[0030] Figure 12 It is a schematic plan view showing the arm.

[0031] Figure 13 It is a schematic front view showing the arm.

[0032] Figure 14 It is a front view schematically showing the state where the gripping member is rotated to the release angle.

[0033] Figure 15 It is a front view schematically showing two gripping members offset in the second direction.

[0034] Figure 16 It is a front view schematically showing the initial state of the rotation action of the gripping member on the main shaft side.

[0035] Figure 17 It is a front view schematically showing the subsequent rotation action.

[0036] Figure 18 It is a front view schematically showing the subsequent rotation action.

[0037] Figure 19 It is a front view schematically showing the subsequent rotation action.

[0038] Figure 20 It is a front view schematically showing the subsequent rotation action.

[0039] Figure 21 It is a front view showing the initial state of the tool change action.

[0040] Figure 22 It is a front view showing the subsequent action.

[0041] Figure 23 It is a front view showing the subsequent action.

[0042] Figure 24It is the front view showing the subsequent actions.

[0043] Figure 25 It is the front view showing the subsequent actions.

[0044] Figure 26 It is the front view showing the subsequent actions.

[0045] Figure 27 It is the front view showing the subsequent actions.

[0046] Figure 28 It is the front view showing the subsequent actions.

[0047] Figure 29 It is the front view showing the subsequent actions.

[0048] Figure 30 It is the front view showing the subsequent actions.

[0049] Figure 31 It is the front view showing the subsequent actions.

[0050] Figure 32 It is the front view showing the subsequent actions.

[0051] Figure 33 It is the front view schematically showing the initial state of the rotational action of the second embodiment.

[0052] Figure 34 It is the front view schematically showing the subsequent rotational action.

[0053] Figure 35 It is the front view schematically showing the subsequent rotational action.

[0054] Figure 36 It is the front view schematically showing the subsequent rotational action.

[0055] Figure 37 It is the front view schematically showing the subsequent rotational action.

[0056] Figure 38 It is the plan view schematically showing the tool changing device of the third embodiment.

[0057] Figure 39 It is the plan view schematically showing the state where the arm is rotated to the access angle.

[0058] Figure 40 It is the block diagram showing the configuration of the control system of the tool changing device.

[0059] Figure 41 It is the flowchart showing the sequence of tool change.

[0060] Figure 42 This is a configuration diagram of a control system for a tool changing device according to the fourth embodiment.

[0061] Figure 43 This is a flowchart showing the control sequence of the moving speed of the arm.

[0062] Figure 44 This is a flowchart showing the sequence of another example of the control of the moving speed of the arm. Detailed implementation mode

[0063] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, the present disclosure is not limited to any of the following embodiments, and appropriate changes can be made without departing from the gist of the present disclosure.

[0064] [First Embodiment]

[0065] As Figure 2 shown, Figure 1 the tool changing device 100 shown is provided relative to the machine tool 200. Hereinafter, three predetermined directions orthogonal to each other will be referred to as the "left - right direction X", the "front - rear direction Y", and the "up - down direction Z".

[0066] As Figure 2 shown, the machine tool 200 has a spindle assembly 210. The spindle assembly 210 has a spindle 215 with its axial length direction set in the up - down direction Z, a housing 211 covering the spindle 215, and is configured to be movable in the up - down direction Z.

[0067] As Figure 2 shown, one of the plurality of tools T is mounted on the lower end of the spindle 215. Hereinafter, the tool T that has been mounted on the spindle 215 so far among the plurality of tools T will be referred to as the "previously used tool Tp", and the next tool T to be mounted on the spindle 215 among the plurality of tools T will be referred to as the "next - to - be - used tool Tn".

[0068] The tool changing device 100 automatically removes the previously used tool Tp from the spindle 215 and mounts the next - to - be - used tool Tn on the spindle 215. The tool changing device 100 has a magazine 30, an arm 50, a cylinder linkage mechanism 40, and a gripping linkage mechanism 60.

[0069] First, the magazine 30 will be described. As Figure 1 shown, the magazine 30 has a magazine body 39 and a plurality of tool cylinders 33.

[0070] The magazine body 39 is configured to be rotatable about the left - right direction X as an axis. A plurality of tool cylinders 33 are mounted on the magazine body 39. By rotating the magazine body 39, one of the plurality of tool cylinders 33 is disposed at the "replacement position P" which is the standby position for tool replacement located at the lowermost side.

[0071] As shown in Figure 7 Fig. [not provided], each tool cylinder 33 has a holding portion 34 for mounting a tool T. The tool cylinder 33 is connected to the magazine body 39 via this holding portion 34 so as to be rotatable about the front-rear direction Y as an axis. That is to say, the holding portion 34 for mounting the tool T also serves as the rotation axis of the tool cylinder 33. The tool cylinder 33 can be configured to be rotatable to the storage angle Pa at the replacement position P as shown in Figure 4 Fig. [not provided], and to the replacement angle Pb as shown in Figure 5 As shown in Figure 4 Fig. [not provided], the storage angle Pa is the angle at which the tool cylinder 33 is tipped over in the left-right direction X. As shown in Figure 5 Fig. [not provided], the replacement angle Pb is the angle at which the tool cylinder 33 stands upright in the up-down direction Z.

[0072] As shown in Figure 6 Fig. [not provided], each tool cylinder 33 is formed in a bottomed cylindrical shape that opens downward in the state of the replacement angle Pb. Each tool cylinder 33 mounts the tool T by inserting the upper end portion of the tool T into the holding portion 34 from below. Specifically, as shown in Figure 7 Fig. [not provided], an annular upper engagement groove Ga extending around the up-down direction Z is provided at the upper end portion of each tool T. The holding portion 34 has a pair of clamping members 34a, 34a that can engage with the upper engagement groove Ga from both sides in the front-rear direction Y, and clamping springs 34b, 34b that bias these clamping members 34a, 34a toward each other. With these configurations, the holding portion 34 is configured to be able to mount the tool T.

[0073] In addition, each holding portion 34 has a pair of cylindrical storage members 34c, 34c that respectively store the clamping springs 34b, 34b. Each storage member 34c is at least axially symmetric on the outer periphery. The tool cylinder 33 is mounted via these pair of storage members 34c, 34c so as to be rotatable relative to the magazine body 39. As shown in Figure 6 Fig. [not provided], a notch 38 is formed on the outer peripheral portion of the tool cylinder 33 on the side in the direction from the storage angle Pa toward the replacement angle Pb. The function of this notch 38 will be described later.

[0074] Hereinafter, as shown in Figure 5 Fig. [not provided], the tool cylinder 33 disposed at the replacement angle Pb at the replacement position P will be simply referred to as "the tool cylinder 33 at the replacement angle Pb". In addition, the case of removing the next tool Tn to be used from the "holding portion 34 of the tool cylinder 33" will be simply referred to as removing the next tool Tn to be used from the "tool cylinder 33". In addition, the case of mounting the previously used tool Tp on the "holding portion 34 of the tool cylinder 33" will be simply referred to as mounting the previously used tool Tp on the "tool cylinder 33".

[0075] Next, the arm 50 shown in Figure 2 will be described. The arm 50 removes the next tool Tn to be used from the tool cylinder 33 at the replacement angle Pb and mounts it on the main spindle 215, and removes the previously used tool Tp from the main spindle 215 and mounts it on the tool cylinder 33 at the replacement angle Pb.

[0076] As Figure 15 schematically shown, the arm 50 has an arm body 59, a first gripping member 51, and a second gripping member 52. Hereinafter, the first gripping member 51 and the second gripping member 52 will be collectively referred to as "gripping members 51, 52". Further, hereinafter, as Figure 12 schematically shown, a predetermined horizontal direction with respect to the arm body 59 is referred to as the "first direction Ya", and a horizontal direction orthogonal thereto is referred to as the "second direction Xa". In the basic state of the arm 50, the first direction Ya is the front-rear direction Y, and the second direction Xa is the left-right direction X.

[0077] As Figure 12 schematically shown, when viewed in the up-down direction Z, the first gripping member 51 and the second gripping member 52 are arranged offset from each other in the first direction Ya. As Figure 13 schematically shown, when viewed from one side in the first direction Ya, the first gripping member 51 has an inverted L-shaped configuration that extends downward and then extends toward one side in the second direction Xa, and the second gripping member 52 has an L-shaped configuration that extends downward and then extends toward the other side in the second direction Xa. The upper end portions of the respective gripping members 51, 52 are mounted on the arm body 59 so as to be rotatable about the first direction Ya by respective shaft members 55. Gripping portions 54 are provided at the front end portions of the first gripping member 51 and the second gripping member 52 that are the end portions in the second direction Xa.

[0078] That is, as Figure 12 schematically shown, when viewed in the up-down direction Z, the first gripping member 51 and the second gripping member 52 face the gripping portions 54 toward opposite sides in the second direction Xa and are supported so as to be rotatable about the first direction Ya. By this rotation, the respective gripping members 51, 52 are displaced to the gripping angle Qb for gripping the tool T shown in Figure 13 and the release angle Qa for releasing the gripping of the tool T shown in Figure 14 . As shown in these Figure 13 , Figure 14 schematically shown, when viewed in the first direction Ya, a part of the first gripping member 51 and the second gripping member 52 overlap each other.

[0079] As Figure 9As shown, the holding part 54 is formed in a U-shaped configuration that opens toward the front end side, i.e., one side in the second direction Xa, and is configured to be insertable into the upper part of the tool T. Specifically, below the upper engagement groove Ga in the upper part of the tool T, an engagement recess Gc and a lower engagement groove Gb are provided. The holding part 54 has an engagement projection 54c, a pair of engagement members 54a, 54a, and a pair of engagement springs 54b, 54b. The engagement projection 54c is provided at a part of the holding part 54 opposite to the front end side, and is configured to project toward the front end side so as to be engageable with the engagement recess Gc. The pair of engagement members 54a, 54a are configured to be engageable with the lower engagement groove Gb from both sides in the first direction Ya on the front end side of the center line of the tool T. The pair of engagement springs 54b, 54b bias these pair of engagement members 54a, 54a in a direction approaching each other. With the above configuration, each holding part 54 is configured to hold the tool T at three points.

[0080] Figure 13 The schematically shown arm body 59 is configured to be displaceable in the vertical direction Z and rotatable about the vertical direction Z as an axis. Hereinafter, with appropriate reference to the accompanying drawings, the holding part 54 of the first holding member 51 and the second holding member 52 on the magazine 30 side will be referred to as the "holding member 51 on the magazine 30 side" or the "holding member 52 on the magazine 30 side". In addition, with appropriate reference to the accompanying drawings, the holding part 54 of the first holding member 51 and the second holding member 52 on the spindle 215 side will be referred to as the "holding member 52 on the spindle 215 side" or the "holding member 51 on the spindle 215 side".

[0081] Next, the Figure 3 shown cylinder interlocking mechanism 40 will be described. The cylinder interlocking mechanism 40 interlocks with the relative lowering of the arm 50 with respect to the magazine 30, rotates the tool cylinder 33 at the replacement position P from the storage angle Pa to the replacement angle Pb and then rotates it again to the storage angle Pa. In addition, the cylinder interlocking mechanism 40 interlocks with the relative raising of the arm 50 with respect to the magazine 30, rotates the tool cylinder 33 at the replacement position P from the storage angle Pa to the replacement angle Pb and then rotates it again to the storage angle Pa.

[0082] The cylinder interlocking mechanism 40 includes an arm-side cam 41, a link roller 45, a link mechanism 46, and a cylinder roller 48. The link roller 45 is attached to the upper end of the link mechanism 46. When the link roller 45 displaces toward the magazine 30 side, the lower end of the link mechanism 46 rises, and when the link roller 45 displaces toward the arm 50 side, the lower end of the link mechanism 46 descends. The arm-side cam 41 is provided on the arm body 59 and abuts against the link roller 45. The link roller 45 is biased toward the arm-side cam 41 by the self-weight of the link mechanism 46, a later-described return spring (not shown) of the tool cylinder 33, other return springs, a hammer, etc.

[0083] The cylinder roller 48 is installed at a position away from the holding portion 34 in each tool cylinder 33, that is, at a position away from the rotating shaft. When the lower end portion of the link mechanism 46 rises, the cylinder roller 48 is pushed upward by this lower end portion. As a result, the tool cylinder 33 rotates toward the replacement angle Pb side. A reset spring (not shown) is installed in each tool cylinder 33, and is biased toward the storage angle Pa side by the biasing force of this reset spring.

[0084] The arm-side cam 41 and the arm 50 are displaced in the vertical direction Z relative to the link roller 45, so that the tool cylinder 33 is rotated via the link roller 45, the link mechanism 46, and the cylinder roller 48.

[0085] Specifically, as Figure 22 shown, when the lower part of the arm-side cam 41 descends relative to the magazine 30 with respect to the arm 50, the link roller 45 is displaced toward the magazine 30 side to raise the lower end portion of the link mechanism 46, so that the tool cylinder 33 rotates toward the replacement angle Pb side. In addition, as Figure 24 shown, when the upper part of the arm-side cam 41 further descends relative to the magazine 30 with respect to the arm 50, the link roller 45 is displaced toward the arm 50 side to lower the lower end portion of the link mechanism 46, so that the tool cylinder 33 returns toward the storage angle Pa side.

[0086] In addition, as Figure 29 shown, when the upper part of the arm-side cam 41 ascends relative to the magazine 30 with respect to the arm 50, the link roller 45 is displaced toward the magazine 30 side to raise the lower end portion of the link mechanism 46, so that the tool cylinder 33 rotates toward the replacement angle Pb side. In addition, as Figure 31 shown, when the lower part of the arm-side cam 41 further ascends relative to the magazine 30 with respect to the arm 50, the link roller 45 is displaced toward the arm 50 side to lower the lower end portion of the link mechanism 46, so that the tool cylinder 33 returns toward the storage angle Pa side.

[0087] Next, the gripping interlocking mechanism 60 shown in Figure 3 will be described. The gripping interlocking mechanism 60 interlocks with the relative descent of the arm 50 with respect to the magazine 30, causing the gripping member 51 on the magazine 30 side to rotate toward the gripping angle Qb side. In addition, the gripping interlocking mechanism 60 interlocks with the relative descent of the arm 50 with respect to the main shaft 215, causing the gripping member 52 on the main shaft side to rotate toward the gripping angle Qb side. In addition, the gripping interlocking mechanism 60 interlocks with the relative ascent of the arm 50 with respect to the main shaft 215, causing the gripping member 51 on the main shaft side to rotate toward the release angle Qa side. In addition, the gripping interlocking mechanism 60 interlocks with the relative ascent of the arm 50 with respect to the magazine 30, causing the gripping member 52 on the magazine 30 side to rotate toward the release angle Qa side.

[0088] As Figure 15Schematically shown, the gripping linkage mechanism 60 has a magazine-side cam 61, a spindle-side cam 62, and arm rollers 64. In addition, in this Figure 15 for visual recognition, the two gripping members 51 and 52 are schematically shown shifted in the second direction Xa, but actually, when viewed in the first direction Ya, the two gripping members 51 and 52 partially overlap each other as described above. However, when there is a spatial margin in the second direction Xa, in practice, the two gripping members 51 and 52 can also be arranged shifted in the second direction Xa as shown in this Figure 15 .

[0089] The magazine-side cam 61 is mounted on the frame or housing of the tool changer 100 or the like. The spindle-side cam 62 is mounted on the frame or housing 211 of the spindle assembly 210 or the like. One arm roller 64 is respectively mounted on each of the gripping members 51 and 52. Thus, the arm roller 64 moves relatively in the vertical direction Z with respect to the magazine-side cam 61 and the spindle-side cam 62 together with the arm 50. Each of the gripping members 51 and 52 is biased toward the release angle Qa by a return spring, a hammer, its own weight, etc. Therefore, the arm roller 64 of the gripping member 51 on the magazine 30 side is biased toward the magazine-side cam 61, and the arm roller 64 of the gripping member 52 on the spindle 215 side is biased toward the spindle-side cam 62.

[0090] As Figure 16 schematically shown, the gripping linkage mechanism 60 further has a release cam 63 and release rollers 65. The release cam 63 is provided at a position farther from the spindle 215 than the spindle-side cam 62. Specifically, it is mounted on the frame or housing of the tool changer 100 or the like. One release roller 65 is respectively mounted on each of the gripping members 51 and 52. The release roller 65 moves relatively in the vertical direction Z with respect to the release cam 63 together with the arm 50.

[0091] As Figure 23 shown, the arm roller 64 is interlocked with the relative downward movement of the arm 50 with respect to the magazine 30 and is displaced toward the magazine 30 side along the contour of the magazine-side cam 61, whereby the gripping member 51 on the magazine 30 side rotates toward the gripping angle Qb. In addition, as Figure 31 shown, the arm roller 64 is interlocked with the relative upward movement of the arm 50 with respect to the magazine 30 and is displaced toward the arm 50 side along the contour of the magazine-side cam 61, whereby the gripping member 51 on the magazine 30 side rotates toward the release angle Qa.

[0092] In addition, as Figure 17 schematically shown, the arm roller 64 is interlocked with the relative downward movement of the arm 50 with respect to the spindle 215 and is displaced toward the spindle 215 side along the contour of the spindle-side cam 62, whereby the gripping member 52 on the spindle 215 side rotates toward the gripping angle Qb. In addition, as Figure 19Schematically shown, the arm roller 64 is interlocked with the relative upward movement of the arm 50 with respect to the main shaft 215 to a predetermined position, and is displaced toward the arm 50 side along the contour of the main shaft side cam 62, whereby the gripping member 52 on the main shaft 215 side rotates toward the release angle Qa side.

[0093] As Figure 20 shown, the separating roller 65 is interlocked with the further relative upward movement of the arm 50 with respect to the main shaft 215 from the above-mentioned predetermined position, and is displaced toward the arm 50 side along the contour of the separating cam 63, whereby the gripping member 52 on the main shaft 215 side further rotates toward the release angle Qa side. By this rotation, the arm roller 64 moves away from the main shaft side cam 62.

[0094] As Figure 2 shown, the tool changing device 100 further includes a magazine rotating device 73, an arm lifting device 75, an arm rotating device 76, and a control device 80. The magazine rotating device 73 rotates the magazine 30 about the left-right direction X as an axis. The arm lifting device 75 moves the arm 50 in the up-down direction Z. The arm rotating device 76 rotates the arm 50 about the up-down direction Z as an axis. These magazine rotating device 73, arm lifting device 75, and arm rotating device 76 are all actuators such as motors. Inside the tool changing device 100, the control device 80 controls each device including these actuators.

[0095] Next, with reference to Figures 21 - 32 , the specific sequence of tool change based on the control performed by the control device 80 will be described. As Figure 21 shown, in the initial state, the arm 50 is disposed at the "standby position W" which is the uppermost part in the stroke in the up-down direction Z. At this time, the respective gripping members 51, 52 are disposed at the release angle Qa.

[0096] Starting from this state, as Figure 22 shown, the arm 50 is lowered. In conjunction with this lowering, the tool cylinder 33 at the replacement position P rotates toward the replacement angle Pb side, and the gripping member 51 on the magazine 30 side rotates toward the gripping angle Qb side. Then, as Figure 23 shown, the tool cylinder 33 at the replacement position P is disposed at the replacement angle Pb, and the gripping member 51 on the magazine 30 side is disposed at the gripping angle Qb, and the gripping member 51 grips the upper part of the next tool Tn to be used of the tool cylinder 33.

[0097] As Figure 24 shown, starting from this state, the arm 50 is further lowered, so that the gripping member 51 on the magazine 30 side removes the next tool Tn to be used from the tool cylinder 33 at the replacement angle Pb. After that, in conjunction with the further lowering of the arm 50, the tool cylinder 33 at the replacement position P rotates toward the storage angle Pa side. At this time, the upper part of the next tool Tn to be used passes through the notch 38. After that, as Figure 25As shown, when the tool cylinder 33 rotates to the storage angle Pa, the magazine 30 starts to rotate, and the operation of moving the desired tool cylinder 33 for storing the previously used tool Tp to the replacement angle Pb begins.

[0098] As shown in this Figure 25 figure, in parallel with these operations, the arm 50 descends and the spindle assembly 210 ascends, causing the arm 50 to descend relative to the spindle 215. In conjunction with this relative descent, the gripping member 52 on the spindle 215 side rotates toward the gripping angle Qb side to grip the upper portion of the previously used tool Tp on the spindle 215.

[0099] From this state, as shown in Figure 26 this figure, by further ascending the spindle assembly 210, that is, by further relatively descending the arm 50 relative to the spindle 215, the gripping member 52 on the spindle side removes the previously used tool Tp from the spindle 215.

[0100] Next, as shown in Figure 27 this figure, the arm 50 rotates 180° about the vertical direction Z. By this rotation, the gripping member 51 on the magazine 30 side and the gripping member 52 on the spindle 215 side are interchanged with each other. As a result, the previously used tool Tp is on the magazine 30 side, and the next tool to be used Tn is on the spindle 215 side. After that, as shown in Figure 28 this figure, by descending the spindle assembly 210, that is, by relatively ascending the arm 50 relative to the spindle 215, the gripping member 51 on the spindle 215 side mounts the next tool to be used Tn onto the spindle 215.

[0101] After that, as shown in Figure 29 this figure, by further descending the spindle assembly 210 and ascending the arm 50, the arm 50 is further relatively ascended relative to the spindle 215. In conjunction with this relative ascent, the gripping member 51 on the spindle 215 side rotates toward the release angle Qa side to release the gripping of the next tool to be used Tn.

[0102] In addition, by the ascent of the arm 50 at this time, as shown in this Figure 29 figure, the arm 50 ascends relative to the magazine 30. In conjunction with this relative ascent, the tool cylinder 33 at the replacement position P rotates toward the replacement angle Pb side. In addition, at this time, the operation of moving the above-mentioned desired tool cylinder 33 to the replacement position P has been completed. Therefore, the desired tool cylinder 33 has been disposed at the replacement position P. When the tool cylinder 33 rotates toward the replacement angle Pb side, the upper portion of the previously used tool Tp passes through the notch 38 of the rotating tool cylinder 33.

[0103] Then, as shown in Figure 30 this figure, the tool cylinder 33 at the replacement position P is disposed at the replacement angle Pb, and the gripping member 52 on the magazine 30 side mounts the previously used tool Tp onto the tool cylinder 33.

[0104] After that, as shown in Figure 31 Fig. 3, in conjunction with the further upward movement of the arm 50, the tool cylinder 33 at the replacement position P rotates toward the storage angle Pa side, and the gripping member 51 on the magazine 30 side rotates toward the release angle Qa side. By these rotations, the gripping member 52 on the magazine 30 side releases the gripping of the previously used tool Tp. After that, as shown in Figure 32 Fig. 4, in conjunction with the arm 50 rising to the original uppermost standby position W, the tool cylinder 33 at the replacement position P returns to the storage angle Pa.

[0105] Hereinafter, the configuration and effects of the present embodiment will be summarized.

[0106] As shown in Figure 7 Fig. 5, the tool cylinder 33 is mounted so as to be rotatable relative to the magazine body 39 by the holding portion 34 for mounting the tool T, and the holding portion 34 also serves as the rotation axis of the tool cylinder 33. Therefore, compared with the case where the holding portion 34 and the rotation axis are provided separately, the structure of the tool cylinder 33 becomes simpler.

[0107] Figure 3 As shown in Fig. 6, the cylinder interlocking mechanism 40 interlocks with the relative movement of the arm 50 relative to the magazine 30 to rotate the tool cylinder 33 at the replacement position P. Therefore, the tool cylinder 33 can be rotated to the replacement angle Pb and the storage angle Pa without a dedicated drive source for rotating the tool cylinder 33.

[0108] In addition, the cylinder interlocking mechanism 40 interlocks with the relative downward movement of the arm 50 relative to the magazine 30 to a predetermined position, and rotates the tool cylinder 33 from the storage angle Pa to the replacement angle Pb. After that, the cylinder interlocking mechanism 40 interlocks with the further relative downward movement of the arm 50 relative to the magazine 30 from the above-mentioned predetermined position, and rotates the tool cylinder 33 from the replacement angle Pb toward the storage angle Pa. Therefore, in conjunction with the relative downward movement of the arm 50 relative to the magazine 30, a series of operations of rotating the tool cylinder 33 from the storage angle Pa to the replacement angle Pb and then returning to the storage angle Pa can be performed. Similarly, a series of these operations can be performed in conjunction with the relative upward movement of the arm 50 relative to the magazine 30.

[0109] As shown in Figure 6As shown, a notch 38 is formed in the outer peripheral portion of the tool cylinder 33 on the direction side from the storage angle Pa toward the replacement angle Pb. Further, while the arm 50 moves relative to the magazine 30, the tool cylinder 33 rotates, and the upper portion of the tool T passes through the notch 38. Thereby, the relative movement of the arm 50 relative to the magazine 30 and the rotation operation of the tool cylinder 33 can be overlapped to a greater extent, and the cycle time of tool replacement can be shortened. Further, when the tool cylinder 33 rotates in conjunction with the relative movement of the arm 50 in the vertical direction Z relative to the magazine 30, even if the stroke of the relative movement of the arm 50 in the vertical direction Z is small, the stroke of the rotation of the tool cylinder 33 can still be ensured to be large enough by overlapping them to a greater extent in this way. Therefore, the requirement for the stroke of the relative movement of the arm 50 in the vertical direction Z relative to the magazine 30 can be suppressed.

[0110] As Figure 13 、 Figure 14 shown, the first gripping member 51 and the second gripping member 52 are configured to be independent of each other and rotatable about the front-rear direction Y, and grip and release the tool T by rotating independently of each other. Therefore, compared with the case where the tool T can only be gripped and released at the same timing, it is easier to perform other operations in parallel with the operation performed by the arm 50.

[0111] Specifically, as Figure 24 shown, after the control device 80 removes the next tool Tn to be used from the tool cylinder 33 at the replacement position P by the gripping member 51 on the magazine 30 side, the gripping member 52 on the main shaft 215 side removes the previously used tool Tp from the main shaft 215. In parallel with the operation of removing the previously used tool Tp, the magazine 30 is rotated to perform the operation of disposing the desired tool cylinder 33 for storing the previously used tool Tp at the replacement position P. Thereby, the previously used tool Tp can be quickly stored in the desired tool cylinder 33.

[0112] As Figure 12 schematically shown, when viewed in the vertical direction Z, the first and second gripping members 51, 52 are offset from each other in the first direction Ya, and the gripping portions 54 are arranged on the opposite sides of the second direction Xa. Therefore, as Figure 13 shown, when viewed in the first direction Ya, the first and second gripping members 51, 52 can be arranged so that a part of them overlaps each other. Thereby, interference between the first gripping member 51 and the second gripping member 52 can be avoided, and the arm 50 can be concentrated in the second direction Xa in a space-saving manner.

[0113] Assume that by making Figure 2When the shown arm 50 rotates slightly about the vertical direction Z to press the gripping portion 54 against the tool T to grip the tool T or pull away from the tool T to release the gripping of the tool T, there are problems as follows. That is, after the rotation of the arm 50 is surely stopped, the arm 50 must be relatively moved in the vertical direction Z with respect to the magazine 30 or the main spindle 215. Therefore, it is difficult to overlap other operations of the arm 50 such as ascending or descending of the arm 50 with the acceleration and deceleration operations for gripping and releasing the tool T. From this situation, it is difficult to shorten the cycle time of tool change.

[0114] Regarding this point, in the present embodiment, as Figure 13 shown, in addition to each gripping member 51, 52 being configured to be rotatable about the first direction Ya orthogonal to the axial length direction of the main spindle 215, there is also provided Figure 15 the gripping interlocking mechanism 60 schematically shown. The gripping interlocking mechanism 60 interlocks with the relative movement of the arm 50 in the vertical direction Z with respect to the magazine 30 to rotate the gripping member 51 on the magazine 30 side to grip and release the tool T. In addition, the gripping interlocking mechanism 60 interlocks with the relative movement of the arm 50 in the vertical direction Z with respect to the main spindle 215 to rotate the gripping member 52 on the main spindle 215 side to grip and release the tool T. Therefore, it is not necessary to rotate the arm 50 about the vertical direction Z for gripping or releasing the tool T. Accordingly, of course, there is no necessity to relatively move the arm 50 in the vertical direction Z with respect to the magazine 30 or the main spindle 215 after surely stopping the rotation. Therefore, other operations of the arm 50 such as ascending or descending of the arm 50 can be overlapped with the rotational operations of the gripping members 51, 52, that is, with the acceleration and deceleration operations for gripping and releasing the tool T. From this situation, the cycle time of tool change can be shortened.

[0115] As Figure 16 schematically shown, the gripping interlocking mechanism 60 includes a main spindle side cam 62, an arm roller 64, a disengaging cam 63, and a disengaging roller 65. As Figure 19 schematically shown, when the arm 50 relatively ascends to a predetermined position with respect to the main spindle 215, the arm roller 64 is displaced along the contour of the main spindle side cam 62 to rotate the gripping member 52 toward the release angle Qa side. As Figure 20Schematically showing that when the arm 50 further relatively rises from the above-mentioned predetermined position with respect to the main shaft 215, the release roller 65 is displaced along the contour of the release cam 63, causing the holding member 52 to further rotate toward the release angle Qa side. Thereby, the arm roller 64 is separated from the main shaft side cam 62. Therefore, when the holding member 52 is at the release angle Qa, the main shaft side cam 62 does not receive force from the arm roller 64. At this time, although the release roller 65 abuts against the release cam 63, since the release cam 63 is farther from the main shaft 215 than the main shaft side cam 62, it is difficult to apply an external force to the main shaft 215 compared to the case where the arm roller 64 abuts against the main shaft side cam 62. Therefore, the external force applied to the main shaft 215 during the machining of the main shaft 215 can be suppressed, and the adverse effects on the machining accuracy or the quality of the machined surface caused by the external force can be suppressed.

[0116] [Second Embodiment]

[0117] Next, with reference to Figures 33 - 37 The second embodiment will be described. In addition, for the following embodiments including this embodiment, the differences from the previous predetermined embodiments will be mainly described based on the previous embodiments, and the descriptions of the same or similar points as the previous embodiments used as the basis will be appropriately omitted. This embodiment will be described based on the first embodiment.

[0118] In this embodiment, as Figure 33 shown, the holding linkage mechanism 60 includes a spring 67, a holding side stopper 68a, a release side stopper 68b, and a rotation mechanism 69. In addition, although only one holding member 52 will be described for this embodiment, the same applies to the other holding member 51.

[0119] One end of the spring 67 is mounted on the arm body 59, and the other end is mounted on the holding member 52. The change from the natural state becomes the largest at a predetermined intermediate point from the release angle Qa to the holding angle Qb of the holding member 52. Therefore, as Figure 35 shown, in a state where the holding member 52 is closer to the holding angle Qb side than the intermediate point, the spring 67 applies a force to the holding member 52 toward the holding angle Qb side. When the holding member 52 has rotated to the holding angle Qb, the holding side stopper 68b restricts it from rotating further. On the other hand, as Figure 37 shown, in a state where the holding member 52 is closer to the release angle Qa side than the intermediate point, the spring 67 applies a force to the holding member 52 toward the release angle Qa side. When the holding member 52 has rotated to the release angle Qa, the release side stopper 68a restricts it from rotating further.

[0120] Specifically, in the present embodiment, the spring 67 is a tension spring, and its length becomes maximum at this midpoint. However, alternatively, for example, the spring 67 may be a compression spring, and its length may be set to become minimum at this midpoint.

[0121] As Figure 33 shown, the gripping linkage mechanism 60 arranges a gripping cam 62b and a releasing cam 62a in the first direction Ya, replacing the main shaft side cam 62 mentioned in the first embodiment. In addition, the gripping linkage mechanism 60 arranges a gripping roller 64b and a releasing roller 64a in the front-rear direction Y, replacing the arm roller 64 and the disengaging roller 65 mentioned in the first embodiment. The rotating mechanism 69 includes these gripping cam 62b, releasing cam 62a, gripping roller 64b and releasing roller 64a.

[0122] The gripping roller 64b and the releasing roller 64a are each mounted on the gripping member 52, and relatively move in the up-down direction Z with respect to the gripping cam 62b and the releasing cam 62a together with the arm 50.

[0123] As Figure 34 shown, when the arm 50 relatively descends with respect to the main shaft 215, the gripping roller 64b abuts against the gripping cam 62b, causing the gripping member 52 to rotate toward the gripping angle Qb side closer than the above-mentioned midpoint. Thereafter, the gripping member 52 rotates to the gripping angle Qb by the biasing force of the spring 67. At this time, as Figure 35 shown, the gripping member 52 is biased toward the gripping side stopper 68b, and the gripping roller 64b and the releasing roller 64a each move away from the gripping cam 62b and the releasing cam 62a.

[0124] As Figure 36 shown, when the arm 50 relatively ascends with respect to the main shaft 215, the releasing roller 64a abuts against the releasing cam 62a, causing the gripping member 52 to rotate toward the releasing angle Qa side closer than the above-mentioned midpoint. Thereafter, the gripping member 52 rotates to the releasing angle Qa by the biasing force of the spring 67. At this time, as Figure 37 shown, the gripping member 52 is biased toward the releasing side stopper 68a, and the gripping roller 64b and the releasing roller 64a each move away from the gripping cam 62b and the releasing cam 62a.

[0125] In addition, in the magazine 30 side of the gripping linkage mechanism 60, there are also gripping cams and release cams similar to the above-mentioned gripping cam 62b and release cam 62a, replacing the magazine side cam 61 mentioned in the first embodiment. However, for example, the gripping cam on the magazine 30 side can be regarded as the "magazine side cam", and the gripping cam 62b on the main shaft 215 side can be regarded as the "main shaft side cam". Also, the gripping roller can be regarded as the "arm roller". That is, in this embodiment, similar to the situation schematically shown in Figure 15 the following configuration is established: the "arm roller" of the gripping member 51 on the magazine 30 side abuts against the "magazine side cam", and the "arm roller" of the gripping member 52 on the main shaft 215 side abuts against the "main shaft side cam".

[0126] As described above, according to this embodiment, as Figure 37 shown, when the gripping member 52 is arranged at the release angle Qa, the gripping member 52 is biased toward the release side stopper 68b. Therefore, there will be no situation where the gripping cam 62b or the release cam 62a receives force from the gripping roller 64b or the release roller 64a. From this situation, the external force applied to the main shaft 215 during the machining of the main shaft 215 can be suppressed, and the adverse effects on the machining accuracy or the quality of the machining surface caused by the external force can be suppressed.

[0127] [Third Embodiment]

[0128] Next, with reference to Figures 38 - 41 , the third embodiment will be described based on the first embodiment. However, this embodiment can also be implemented based on the second embodiment. As Figure 38 schematically shown, the tool changing device 100 of this embodiment includes a housing 90 having an opening 95 formed on the front. Inside the housing 90, there are accommodated a magazine 30, a cartridge linkage mechanism 40, an arm 50, a gripping linkage mechanism 60, a main shaft assembly 210, etc. A door 96 is installed on the opening 95.

[0129] Hereinafter, the operation of introducing a tool T different from all the tools including the tool T installed in the tool cartridge 33 and the tool T installed in the main shaft 215 into the tool changing device 100 will be referred to as "introduction". In addition, the operation of taking out one of all these tools to the outside of the tool changing device 100 will be referred to as "extraction". In addition, although the situation of using the gripping member 52 to perform "introduction" and "extraction" is described below, the gripping member 51 can also be used to perform "introduction" and "extraction".

[0130] As Figure 39Schematically shown, when the control device 80 is in the "insertion" state, it rotates the arm 50 to a predetermined insertion / removal angle A, and arranges the gripping member 52 that does not hold any tool T to a position closer to the opening 95 than before rotation. On the other hand, in the "removal" state, it makes one of the gripping members 52 grip the tool T to be removed outside the tool changing device 100. Then, it rotates the arm 50 to the predetermined insertion / removal angle A, and arranges the tool T to a position closer to the opening 95 than before rotation.

[0131] Specifically, as Figure 40 shown, the tool changing device 100 has a display unit 120 and an input unit 130. The input unit 130 has a tool loading / unloading mode selection key 131, a cartridge number selection key 132, an insertion / removal selection key 133, and an operation completion key 134. The tool loading / unloading mode selection key 131 is a key for selecting the tool loading / unloading mode. The cartridge number selection key 132 is a key for selecting one of the multiple tool cartridges 33 in the magazine 30. The insertion / removal selection key 133 is a key for selecting either "insertion" or "removal".

[0132] Next, referring to Figure 41 , the sequence of "insertion" and "removal" will be described. In addition, hereinafter, S shown in front of the numbers is an abbreviation for steps.

[0133] First, when the user presses the tool loading / unloading mode selection key 131, in S1, the control device 80 displays the cartridge number selection key 132 on the display unit 120. The user selects a cartridge number by operating this cartridge number selection key 132 to select one of the multiple tool cartridges 33. Then, in S2, the control device 80 displays the insertion / removal selection key 133 on the display unit 120. The user selects either "insertion" or "removal" by operating this insertion / removal selection key.

[0134] When the user selects "insertion", in S11, the control device 80 rotates the arm 50 to the insertion / removal angle A. Thus, the gripping portion 54 of the gripping member 52 that does not hold any tool T can be arranged near the opening 95. Next, in S12, the control device 80 displays the operation completion key 134 on the display unit 120. After that, the user installs the tool T related to this "insertion" from the opening 95 into the gripping portion 54 of the gripping member 52, and then presses the operation completion key 134. Then, in S13, the control device 80 stores the tool T installed on the arm 50 into the selected tool cartridge 33. Then, in S14, the control device 80 moves the arm 50 to the standby position W. Through the above, the "insertion" is completed.

[0135] On the other hand, returning to S2, in the case where the user selects "take out", in S21, the control device 80 causes one of the gripping members 52 to grip the tool T of the selected tool cartridge 33. Next, in S22, the control device 80 rotates the arm 50 to the access angle A and disposes the tool T near the opening 95. Next, in S23, the control device 80 displays the operation completion key on the display unit 120. After the user retrieves the tool T gripped by the gripping member 52 from the opening 95, the user presses the operation completion key 134. After that, in S24, the control device 80 moves the arm 50 to the standby position W. Through the above, "take out" is completed.

[0136] According to the present embodiment, as Figure 38 shown, even when the opening 95 is located on the front side in the housing 90 and there is no opening near the magazine 30, the insertion of the tool T from the opening 95 by the user and the taking out of the tool T from the opening 95 by the user are still facilitated.

[0137] [Fourth Embodiment]

[0138] Next, with reference to Figures 42 - 44 , the fourth embodiment will be described based on the first embodiment. However, this embodiment can also be implemented based on the second embodiment or the third embodiment.

[0139] In this embodiment, as Figure 42 shown, the control device 80 includes a weight acquisition unit 85 and a speed control unit 88. The weight acquisition unit 85 acquires the weights of the previously used tool Tp and the next tool to be used Tn. The speed control unit 88 controls the moving speed of the arm 50 based on the acquired weights. Specifically, the speed control unit 88 sets the moving speed of the arm 50 to be faster when the acquired weight is smaller than a predetermined value than when the acquired weight is larger than the predetermined value.

[0140] The control device 80 also has a weight storage unit 81. The weight storage unit 81 stores the weight of the tool T in association with the number of the tool cartridge 33. The weight acquisition unit 85 calculates the weights of the previously used tool Tp and the next tool to be used Tn based on this storage. In this case, for example, as Figure 43 shown, first, in S51, the weight acquisition unit 85 acquires the weight data of the previously used tool Tp and the next tool to be used Tn and calculates the weight. Next, in S52, the speed control unit 88 controls the moving speed of the arm 50 based on the calculated weight.

[0141] In addition, instead of or in addition to the weight storage unit 81 shown above, the control device 80 may be provided with a load detection unit 82. The load detection unit 82 monitors the load of at least one of the arm lifting device 75 and the arm rotating device 76. The weight acquisition unit 85 calculates the weights of the previously used tool Tp and the next tool to be used Tn based on this load. In this case, for example, as Figure 44 shown, first, in S61, the load detection unit 82 detects the load of the arm lifting device 75 or the arm rotating device 76. Next, in S62, the weight acquisition unit 85 calculates the weights of the previously used tool Tp and the next tool to be used Tn based on this load. Next, the speed control unit 88 controls the moving speed of the arm 50 based on the calculated weights.

[0142] According to the present embodiment, the following problems can be solved. It is necessary to move the arm 50 within a range where an unreasonable load is not applied to the arm lifting device 75 or the arm rotating device 76. However, on the other hand, in a configuration where the moving speed of the arm 50 is set assuming the maximum possible weight for the next tool to be used Tn and the previously used tool Tp all the time, the moving speed of the arm 50 becomes unnecessarily slow, resulting in an unnecessarily long cycle time for tool change. Regarding this point, in the present embodiment, when the weights of the next tool to be used Tn and the previously used tool Tp are small, the moving speed of the arm 50 is set to be higher than when the weights are large. Thereby, within a range where an unreasonable load is not applied to the arm lifting device 75 or the arm rotating device 76, the moving speed of the arm 50 can be increased. Thereby, the cycle time for tool change can be efficiently shortened.

[0143] [Other Embodiments]

[0144] The embodiments shown above can be modified as follows, for example. In cases where the external force on the main shaft 215 is not much of a problem, in the first, third, and fourth embodiments, the separation cam 63 and the separation roller 65 may not be used. In addition, in each embodiment, when the structure of the tool holder 33 is not complex and does not cause much of a problem, the holding portion 34 and the rotating shaft may be individually provided in the tool holder 33.

[0145] According to the above embodiments, the tool change devices of the following Supplementary Notes 1 and 2 can be realized.

[0146] [Supplementary Note 1] A tool change device (100) that removes a previously used tool (Tp) that is one of a plurality of tools (T) from the main shaft (215) of a machine tool (200) and installs a next tool to be used (Tn) that is a different tool (T) from the previously used tool (Tp) onto the main shaft (215), wherein,

[0147] The tool changing device (100) includes:

[0148] A magazine (30) having a rotatable magazine body (39) and a plurality of tool holders (33) mounted on the magazine body (39). Each tool holder (33) can mount a tool (T), and one of the plurality of tool holders (33) is arranged at a replacement position (P) by rotation of the magazine body (39);

[0149] An arm (50) capable of rotating a first gripping member (51) and a second gripping member (52) respectively about a direction (Ya) orthogonal to the axial length direction of the main shaft (215). The next tool to be used (Tn) is removed from the tool holder (33) at the replacement position (P) and mounted on the main shaft (215) by one of the gripping members, and the previously used tool (Tp) is removed from the main shaft (215) and mounted on the tool holder (33) at the replacement position (P) by the other gripping member; and

[0150] A gripping interlocking mechanism (60) interlocks with the relative movement of the arm (50) with respect to the magazine (30) to rotate the gripping member on the magazine (30) side to grip and release the tool (T), and interlocks with the relative movement of the arm (50) with respect to the main shaft (215) to rotate the gripping member on the main shaft (215) side to grip and release the tool (T).

[0151] [Supplementary Note 2] According to the tool changing device (100) described in Supplementary Note 1,

[0152] The gripping interlocking mechanism (60) includes: a magazine side cam (61); a main shaft side cam (62); and arm rollers (64) mounted on each gripping member (51, 52) and relatively moving with the arm (50) with respect to the magazine side cam (61) and the main shaft side cam (62),

[0153] The arm roller (64) of the gripping member on the magazine (30) side abuts against the magazine side cam (61) to rotate the gripping member on the magazine (30) side,

[0154] The arm roller (64) of the gripping member on the main shaft (215) side abuts against the main shaft side cam (62) to rotate the gripping member on the main shaft (215) side.

[0155] Symbol Explanation

[0156] 30 Magazine

[0157] 33 Tool Holder

[0158] 39 magazine body

[0159] 50 arm

[0160] 51 first gripping member

[0161] 52 second gripping member

[0162] 60 gripping linkage mechanism

[0163] 61 magazine side cam

[0164] 62 spindle side cam

[0165] 62b gripping cam (spindle side cam)

[0166] 64 arm roller

[0167] 64b gripping roller (arm roller)

[0168] 100 tool changing device

[0169] 200 machine tool

[0170] 215 spindle

[0171] P replacement position

[0172] T tool

[0173] Tn next tool to be used

[0174] Tp previously used tool.

Claims

1. A tool changing device that removes a previously used tool, which is one of a plurality of tools, from the spindle of a machine tool and installs a next used tool, which is a tool different from the previously used tool, onto the spindle, characterized in that the tool changing device includes: a magazine having a rotatable magazine body and a plurality of tool holders mounted on the magazine body, each of the tool holders being capable of mounting the tool, and one of the plurality of tool holders being arranged at a replacement position by rotation of the magazine body; an arm capable of rotating a first gripping member and a second gripping member respectively about a direction orthogonal to the axial length direction of the spindle, removing the next used tool from the tool holder at the replacement position and installing it onto the spindle by one of the gripping members, and removing the previously used tool from the spindle and installing it onto the tool holder at the replacement position by the other gripping member; and a gripping interlocking mechanism that interlocks with the relative movement of the arm with respect to the magazine, rotates the gripping member on the magazine side to grip and release the tool, and interlocks with the relative movement of the arm with respect to the spindle, rotates the gripping member on the spindle side to grip and release the tool.

2. The tool changing device according to claim 1, characterized in that the gripping interlocking mechanism includes: a magazine side cam; a spindle side cam; and arm rollers mounted on each of the gripping members and relatively moving with the arm with respect to the magazine side cam and the spindle side cam, the arm roller of the gripping member on the magazine side abuts against the magazine side cam to rotate the gripping member on the magazine side, the arm roller of the gripping member on the spindle side abuts against the spindle side cam to rotate the gripping member on the spindle side.

Images