Tool changing device

Abstract

The purpose of the present invention is to rotate a tool cylinder without a drive source dedicated to the rotation of the tool cylinder. The tool changing device includes a magazine, an arm, and a cartridge 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 tool cartridge is configured at a replacement angle and a storage angle by rotation of the tool cartridge at the replacement position. The arm has a first gripping member and a second gripping member. The arm takes down the next use tool from the angle-changing tool cylinder 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 angle-changing tool cylinder through the other gripping member. The cartridge interlocking mechanism rotates the tool cartridge at the replacement position in conjunction with the relative movement of the arm with respect to the magazine.

Description

Technical Field

[0001] The present disclosure relates to a tool changing device for replacing 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, and one of the plurality of tool holders is arranged at a replacement position by rotation of the magazine. The tool holder can be rotated to a replacement angle and a storage angle at the replacement position. The arm removes the next used tool from the tool holder at the replacement angle and mounts it on the spindle, and removes the previously used tool from the spindle and mounts it on the tool holder at the replacement angle.

[0008] In this structure, the inventors of the present invention focused on the following problem. A drive source such as a cylinder for rotating the tool holder is additionally required at the replacement position. Therefore, the structure of the tool changing device becomes complicated.

[0009] The present disclosure has been made in view of the above circumstances, and an object thereof is to rotate a tool holder without a dedicated drive source for the rotation operation of the tool holder.

[0010] Means for Solving the Problems

[0011] A tool changing device that removes a previously used tool, which is one of a plurality of tools, from a spindle of a machine tool and mounts a next used tool, which is a tool different from the previously used tool, on the spindle, wherein

[0012] the tool changing device includes:

[0013] a magazine having a rotatable magazine body and a plurality of tool holders rotatably mounted relative to the magazine body, each of the tool holders being capable of mounting the tool, one of the plurality of tool holders being arranged at a replacement position by rotation of the magazine body, and the tool holder at the replacement position being rotated to a replacement angle and a storage angle by rotation of the tool holder;

[0014] An arm having a first gripping member and a second gripping member, removing the next tool to be used from the tool cylinder at the replacement angle and mounting it on the spindle by one of the gripping members, and removing the previously used tool from the spindle and mounting it on the tool cylinder at the replacement angle by the other gripping member; and

[0015] A cylinder interlocking mechanism that interlocks with the relative movement of the arm with respect to the magazine and rotates the tool cylinder at the replacement position.

[0016] According to the present disclosure, the tool cylinder can be rotated without a dedicated drive source for the rotation operation of the tool cylinder. Description of the Drawings

[0017] Figure 1 It is a perspective view showing the tool changing device of the first embodiment.

[0018] Figure 2 It is a front view showing the tool changing device.

[0019] Figure 3 It is a front view showing the arm and the cylinder interlocking mechanism.

[0020] Figure 4 It is a front view showing the tool cylinder and the tool at the storage angle.

[0021] Figure 5 It is a front view showing the tool cylinder and the tool at the replacement angle.

[0022] Figure 6 It is a perspective view showing the tool cylinder.

[0023] Figure 7 It is a side view showing the holding portion of the tool cylinder.

[0024] Figure 8 It is a perspective view showing the arm, the arm lifting device, and the arm rotating device.

[0025] Figure 9 It is a plan sectional view showing the gripping portion of the gripping member.

[0026] Figure 10 It is a front view showing the arm.

[0027] Figure 11 It is a bottom view showing the arm.

[0028] Figure 12 It is a schematic plan view showing the arm.

[0029] Figure 13 It is a schematic front view showing the arm.

[0030] Figure 14 It is a front view schematically showing the state where the gripping member is rotated to the release angle.

[0031] Figure 15 It is a front view schematically showing two gripping members being offset in the second direction.

[0032] Figure 16 It is a front view schematically showing the initial state of the rotational movement of the gripping member on the main shaft side.

[0033] Figure 17 It is a front view schematically showing the subsequent rotational movement.

[0034] Figure 18 It is a front view schematically showing the subsequent rotational movement.

[0035] Figure 19 It is a front view schematically showing the subsequent rotational movement.

[0036] Figure 20 It is a front view schematically showing the subsequent rotational movement.

[0037] Figure 21 It is a front view showing the initial state of the tool change operation.

[0038] Figure 22 It is a front view showing the subsequent operation.

[0039] Figure 23 It is a front view showing the subsequent operation.

[0040] Figure 24 It is a front view showing the subsequent operation.

[0041] Figure 25 It is a front view showing the subsequent operation.

[0042] Figure 26 It is a front view showing the subsequent operation.

[0043] Figure 27 It is a front view showing the subsequent operation.

[0044] Figure 28 It is a front view showing the subsequent operation.

[0045] Figure 29 It is a front view showing the subsequent operation.

[0046] Figure 30 It is a front view showing the subsequent operation.

[0047] Figure 31 It is a front view showing the subsequent operation.

[0048] Figure 32 This is the front view showing the subsequent action.

[0049] Figure 33 This is the front view schematically showing the initial state of the rotational movement of the second embodiment.

[0050] Figure 34 This is the front view schematically showing the subsequent rotational movement.

[0051] Figure 35 This is the front view schematically showing the subsequent rotational movement.

[0052] Figure 36 This is the front view schematically showing the subsequent rotational movement.

[0053] Figure 37 This is the front view schematically showing the subsequent rotational movement.

[0054] Figure 38 This is the plan view schematically showing the tool changing device of the third embodiment.

[0055] Figure 39 This is the plan view schematically showing the state where the arm is rotated to the access angle.

[0056] Figure 40 This is the block diagram showing the configuration of the control system of the tool changing device.

[0057] Figure 41 This is the flowchart showing the sequence of tool changing.

[0058] Figure 42 This is the block diagram showing the configuration of the control system of the tool changing device of the fourth embodiment.

[0059] Figure 43 This is the flowchart showing the control sequence of the moving speed of the arm.

[0060] Figure 44 This is the flowchart showing the sequence of another example of the control of the moving speed of the arm. Detailed Embodiments

[0061] 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 can be appropriately modified without departing from the gist of the present disclosure.

[0062] [First Embodiment]

[0063] As Figure 2 shown, Figure 1The tool changing device 100 shown is provided relative to the machine tool 200. Hereinafter, three predetermined directions orthogonal to each other are referred to as the "left - right direction X", the "front - rear direction Y", and the "up - down direction Z".

[0064] As Figure 2 shown, the machine tool 200 has a spindle assembly 210. The spindle assembly 210 has a spindle 215 with its axis 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.

[0065] 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 is 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 is referred to as the "next used tool Tn".

[0066] The tool changing device 100 automatically removes the previously used tool Tp from the spindle 215 and mounts the next 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.

[0067] First, the magazine 30 will be described. As Figure 1 shown, the magazine 30 has a magazine body 39 and a plurality of tool holders 33.

[0068] The magazine body 39 is configured to be rotatable about the left - right direction X as an axis. A plurality of tool holders 33 are mounted on the magazine body 39. By the rotation of the magazine body 39, one of the plurality of tool holders 33 is disposed at the "replacement position P" which is the standby position for tool replacement located at the lowermost side.

[0069] As Figure 7 shown, each tool holder 33 has a holding portion 34 for mounting the tool T. The tool holder 33 is connected to the magazine body 39 through the holding portion 34 so as to be rotatable about the front - rear direction Y as an axis. That is, the holding portion 34 for mounting the tool T also serves as the rotation axis of the tool holder 33. The tool holder 33 can be configured to be rotatable from the Figure 4 shown replacement position P to the storage angle Pa, Figure 5 shown replacement angle Pb. As Figure 4 shown, the storage angle Pa is the angle at which the tool holder 33 is tilted in the left - right direction X. As Figure 5 shown, the replacement angle Pb is the angle at which the tool holder 33 stands upright in the up - down direction Z.

[0070] As Figure 6As shown, 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 installs the tool T by inserting the upper end portion of the tool T into the holding portion 34 from the lower side. Specifically, as Figure 7 shown, an annular upper engagement groove Ga extending around the vertical 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 structures, the holding portion 34 is configured to be able to install the tool T.

[0071] 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 axisymmetric at least in the outer peripheral portion. The tool cylinder 33 is installed via these pair of storage members 34c, 34c so as to be rotatable relative to the magazine body 39. As Figure 6 shown, a notch 38 is formed in 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.

[0072] Hereinafter, as Figure 5 shown, the tool cylinder 33 disposed at the replacement position P at the replacement angle Pb is simply referred to as the "tool cylinder 33 at the replacement angle Pb". In addition, the case of removing the next tool Tn from the "holding portion 34 of the tool cylinder 33" is simply referred to as removing the next tool Tn from the "tool cylinder 33". In addition, the case of installing the previously used tool Tp on the "holding portion 34 of the tool cylinder 33" is simply referred to as installing the previously used tool Tp on the "tool cylinder 33".

[0073] Next, a description will be given of Figure 2 the arm 50 shown. The arm 50 removes the next tool Tn from the tool cylinder 33 at the replacement angle Pb and installs it on the main shaft 215, and removes the previously used tool Tp from the main shaft 215 and installs it on the tool cylinder 33 at the replacement angle Pb.

[0074] 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 are collectively referred to as the "gripping members 51, 52". In addition, hereinafter, as Figure 12 schematically shown, a predetermined horizontal direction with respect to the arm body 59 is called the "first direction Ya", and a horizontal direction orthogonal thereto is called 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.

[0075] As shown schematically, when viewed in the vertical 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 12 shown schematically, when viewed from one side in the first direction Ya, the first gripping member 51 has an inverted L-shaped configuration extending downward and then extending to one side in the second direction Xa, and the second gripping member 52 has an L-shaped configuration extending downward and then extending to the other side in the second direction Xa. The upper end portions of the respective gripping members 51, 52 are attached to the arm body 59 in such a manner as to be rotatable about the first direction Ya by their respective shaft members 55. A gripping portion 54 is provided at the front end portions of the first gripping member 51 and the second gripping member 52, which are the end portions in the second direction Xa. Figure 13

[0076] Figure 12 That is, as Figure 12 shown schematically, when viewed in the vertical direction Z, the first gripping member 51 and the second gripping member 52 are supported in such a manner that the gripping portions 54 face opposite sides in the second direction Xa and are 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 , when viewed from the first direction Ya, a part of the first gripping member 51 overlaps with the second gripping member 52.

[0077] As Figure 9 shown, the gripping portion 54 has a U-shaped configuration opening toward the front end side, i.e., one side in the second direction Xa, and is configured to be insertable into the upper portion of the tool T. Specifically, a fitting recess Gc and a lower fitting groove Gb are provided below the upper fitting groove Ga in the upper portion of the tool T. The gripping portion 54 has a fitting projection 54c, a pair of fitting members 54a, 54a, and a pair of fitting springs 54b, 54b. The fitting projection 54c is provided at a portion of the gripping portion 54 opposite to the front end side and is configured to project toward the front end side so as to be fitted into the fitting recess Gc. The pair of fitting members 54a, 54a are configured to be fitted into the lower fitting 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 fitting springs 54b, 54b bias the pair of fitting members 54a, 54a toward each other. With the above configuration, each gripping portion 54 is configured to grip the tool T at three points.

[0078] Figure 13The 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 due reference to the accompanying drawings, the gripping member among the first gripping member 51 and the second gripping member 52 whose gripping portion 54 is located on the magazine 30 side will be referred to as the "gripping member 51 on the magazine 30 side" or the "gripping member 52 on the magazine 30 side". Additionally, with due reference to the accompanying drawings, the gripping member among the first gripping member 51 and the second gripping member 52 whose gripping portion 54 is located on the spindle 215 side will be referred to as the "gripping member 52 on the spindle 215 side" or the "gripping member 51 on the spindle 215 side".

[0079] Next, the Figure 3 shown cylinder linkage mechanism 40 will be described. The cylinder linkage mechanism 40 is interlocked with the relative downward movement of the arm 50 with respect to the magazine 30, causing the tool cylinder 33 at the replacement position P to rotate from the storage angle Pa to the replacement angle Pb and then rotate back to the storage angle Pa. Additionally, the cylinder linkage mechanism 40 is interlocked with the relative upward movement of the arm 50 with respect to the magazine 30, causing the tool cylinder 33 at the replacement position P to rotate from the storage angle Pa to the replacement angle Pb and then rotate back to the storage angle Pa.

[0080] The cylinder linkage mechanism 40 includes an arm-side cam 41, a link roller 45, a linkage mechanism 46, and a cylinder roller 48. The link roller 45 is installed at the upper end of the linkage mechanism 46. When the link roller 45 moves toward the magazine 30 side, the lower end of the linkage mechanism 46 rises, and when the link roller 45 moves toward the arm 50 side, the lower end of the linkage 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 urged toward the arm-side cam 41 by the self-weight of the linkage mechanism 46, a later-described return spring (not shown) of the tool cylinder 33, other return springs, a hammer, etc.

[0081] The cylinder roller 48 is installed at a portion of each tool cylinder 33 that is far from the holding portion 34, that is, at a portion far from the rotation axis. When the lower end of the linkage mechanism 46 rises, the cylinder roller 48 is pushed upward by the lower end. As a result, the tool cylinder 33 rotates toward the replacement angle Pb side. The above-described return spring (not shown) is installed in each tool cylinder 33, and the tool cylinder 33 is urged toward the storage angle Pa side by the force of this return spring.

[0082] The arm-side cam 41 is displaced in the vertical direction Z with respect to the link roller 45 together with the arm 50, causing the tool cylinder 33 to rotate via the link roller 45, the linkage mechanism 46, and the cylinder roller 48.

[0083] Specifically, as Figure 22As shown, when the lower part of the arm-side cam 41 moves downward relative to the magazine 30, the connecting rod roller 45 is displaced toward the magazine 30 side, causing the lower end of the link mechanism 46 to rise, thereby rotating the tool cylinder 33 toward the replacement angle Pb side. In addition, as Figure 24 shown, when the upper part of the arm-side cam 41 moves further downward relative to the magazine 30, the connecting rod roller 45 is displaced toward the arm 50 side, causing the lower end of the link mechanism 46 to descend, thereby returning the tool cylinder 33 toward the storage angle Pa side.

[0084] In addition, as Figure 29 shown, when the upper part of the arm-side cam 41 moves upward relative to the magazine 30, the connecting rod roller 45 is displaced toward the magazine 30 side, causing the lower end of the link mechanism 46 to rise, thereby rotating the tool cylinder 33 toward the replacement angle Pb side. In addition, as Figure 31 shown, when the lower part of the arm-side cam 41 moves further upward relative to the magazine 30, the connecting rod roller 45 is displaced toward the arm 50 side, causing the lower end of the link mechanism 46 to descend, thereby returning the tool cylinder 33 toward the storage angle Pa side.

[0085] Next, the holding interlocking mechanism 60 shown in Figure 3 will be described. The holding interlocking mechanism 60 interlocks with the downward movement of the arm 50 relative to the magazine 30, causing the holding member 51 on the magazine 30 side to rotate toward the holding angle Qb side. In addition, the holding interlocking mechanism 60 interlocks with the downward movement of the arm 50 relative to the main shaft 215, causing the holding member 52 on the main shaft side to rotate toward the holding angle Qb side. In addition, the holding interlocking mechanism 60 interlocks with the upward movement of the arm 50 relative to the main shaft 215, causing the holding member 51 on the main shaft side to rotate toward the release angle Qa side. In addition, the holding interlocking mechanism 60 interlocks with the upward movement of the arm 50 relative to the magazine 30, causing the holding member 52 on the magazine 30 side to rotate toward the release angle Qa side.

[0086] As Figure 15 schematically shown, the holding interlocking mechanism 60 includes a magazine-side cam 61, a main shaft-side cam 62, and an arm roller 64. In addition, in this Figure 15 figure, for visual recognition, the two holding members 51 and 52 are schematically shown offset in the second direction Xa. However, actually, when viewed in the first direction Ya, the two holding 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 holding members 51 and 52 can also be arranged offset in the second direction Xa as shown in this Figure 15 figure.

[0087] The magazine-side cam 61 is mounted on the frame or housing of the tool changing device 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 holding members 51 and 52. Thus, the arm roller 64 and the arm 50 move relatively in the vertical direction Z with respect to the magazine-side cam 61 and the spindle-side cam 62. Each of the holding members 51 and 52 is biased toward the release angle Qa by a return spring, a hammer, its own weight, or the like. Therefore, the arm roller 64 of the holding member 51 on the magazine 30 side is biased toward the magazine-side cam 61, and the arm roller 64 of the holding member 52 on the spindle 215 side is biased toward the spindle-side cam 62.

[0088] As Figure 16 schematically shown, the holding linkage mechanism 60 further includes a release cam 63 and a release roller 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 changing device 100 or the like. One release roller 65 is respectively mounted on each of the holding members 51 and 52. The release roller 65 and the arm 50 move relatively in the vertical direction Z with respect to the release cam 63.

[0089] As Figure 23 shown, the arm roller 64 is linked to the relative descent 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. As a result, the holding member 51 on the magazine 30 side rotates toward the holding angle Qb. In addition, as Figure 31 shown, the arm roller 64 is linked to the relative ascent 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. As a result, the holding member 51 on the magazine 30 side rotates toward the release angle Qa.

[0090] In addition, as Figure 17 schematically shown, the arm roller 64 is linked to the relative descent 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. As a result, the holding member 52 on the spindle 215 side rotates toward the holding angle Qb. In addition, as Figure 19 schematically shown, the arm roller 64 is linked to the relative ascent of the arm 50 with respect to the spindle 215 up to a predetermined position and is displaced toward the arm 50 side along the contour of the spindle-side cam 62. As a result, the holding member 52 on the spindle 215 side rotates toward the release angle Qa.

[0091] As Figure 20 shown, the release roller 65 is linked to the further relative ascent of the arm 50 with respect to the spindle 215 from the above-mentioned predetermined position and is displaced toward the arm 50 side along the contour of the release cam 63. As a result, the holding member 52 on the spindle 215 side further rotates toward the release angle Qa. By this rotation, the arm roller 64 moves away from the spindle-side cam 62.

[0092] AsFigure 2 As 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.

[0093] Next, with reference to Figures 21 to 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 of the up-down direction Z. At this time, the respective holding members 51, 52 are disposed at the release angle Qa.

[0094] 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 holding member 51 on the magazine 30 side rotates toward the holding 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 holding member 51 on the magazine 30 side is disposed at the holding angle Qb, and this holding member 51 holds the upper part of the next tool Tn to be used of the tool cylinder 33.

[0095] As Figure 24 shown, starting from this state, the arm 50 is further lowered, so that the holding 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 25 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 is started.

[0096] As in this Figure 25 shown, in parallel with these operations, the arm 50 is lowered and the spindle assembly 210 is raised, so that the arm 50 relatively descends with respect to the spindle 215. In conjunction with this relative descent, the holding member 52 on the spindle 215 side rotates toward the holding angle Qb side and holds the upper part of the previously used tool Tp of the spindle 215.

[0097] From this state, as Figure 26As shown, by further ascending the main shaft assembly 210, that is, by the arm 50 relatively descending further with respect to the main shaft 215, the gripping member 52 on the main shaft side removes the previously used tool Tp from the main shaft 215.

[0098] Next, as Figure 27 shown, the arm 50 rotates 180° about the vertical direction Z as the axis. By this rotation, the gripping member 51 on the magazine 30 side and the gripping member 52 on the main shaft 215 side are interchanged with each other. Thereby, the previously used tool Tp comes to the magazine 30 side, and the next tool to be used Tn comes to the main shaft 215 side. After that, as Figure 28 shown, by descending the main shaft assembly 210, that is, by the arm 50 relatively ascending with respect to the main shaft 215, the gripping member 51 on the main shaft 215 side mounts the next tool to be used Tn onto the main shaft 215.

[0099] After that, as Figure 29 shown, by further descending the main shaft assembly 210 and ascending the arm 50, the arm 50 relatively ascends further with respect to the main shaft 215. In conjunction with this relative ascent, the gripping member 51 on the main shaft 215 side rotates toward the release angle Qa side to release the gripping of the next tool to be used Tn.

[0100] In addition, by the ascent of the arm 50 at this time, as shown in this Figure 29 figure, the arm 50 relatively ascends with respect 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 part of the previously used tool Tp passes through the notch 38 of the rotating tool cylinder 33.

[0101] Then, as Figure 30 shown, 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.

[0102] After that, as Figure 31 shown, in conjunction with the further ascent 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 Figure 32 shown, in conjunction with the arm 50 ascending to the original uppermost standby position W, the tool cylinder 33 at the replacement position P returns to the storage angle Pa.

[0103] Hereinafter, the configuration and effects of the present embodiment will be summarized.

[0104] As shown Figure 7 As shown, the tool cylinder 33 is mounted so as to be rotatable relative to the magazine body 39 via a 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 separately provided, the structure of the tool cylinder 33 becomes simpler.

[0105] Figure 3 As shown in Figure 3 , 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.

[0106] In addition, the cylinder interlocking mechanism 40 interlocks with the relative lowering of the arm 50 relative to the magazine 30 to a predetermined position, causing the tool cylinder 33 to rotate from the storage angle Pa to the replacement angle Pb. After that, the cylinder interlocking mechanism 40 interlocks with the further relative lowering of the arm 50 relative to the magazine 30 from the above-mentioned predetermined position, causing the tool cylinder 33 to rotate from the replacement angle Pb toward the storage angle Pa. Therefore, 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 in conjunction with the relative lowering of the arm 50 relative to the magazine 30. Similarly, a series of these operations can be performed in conjunction with the relative raising of the arm 50 relative to the magazine 30.

[0107] As shown Figure 6 As shown, a notch 38 is formed in 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. And during the relative movement of the arm 50 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 more, and the cycle time of tool replacement can be shortened. In addition, when the tool cylinder 33 is rotated 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, a relatively large stroke of rotation of the tool cylinder 33 can still be ensured sufficiently by overlapping them in this way. Therefore, the requirement for the stroke of the relative movement of the arm 50 relative to the magazine 30 in the vertical direction Z can be suppressed.

[0108] As shown Figure 13 and Figure 14 As shown in Figure 14 , the first gripping member 51 and the second gripping member 52 are configured to be independently rotatable about the front-rear direction Y and to grip and release the tool T by rotating independently of each other. Therefore, compared with the case where the tool T can be gripped and released only at the same timing, it is easier to perform other operations in parallel with the operation performed by the arm 50.

[0109] 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 previously used tool Tp is removed from the main shaft 215 by the gripping member 52 on the main shaft 215 side. 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.

[0110] 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 disposed toward 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 such 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.

[0111] Assume that by slightly rotating the Figure 2 shown arm 50 around the vertical direction Z, the gripping portion 54 is pressed against the tool T to grip the tool T, or pulled away from the tool T to release the gripping of the tool T. In this case, there will be the following problems. 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 shaft 215. Therefore, it is difficult to overlap other operations such as the raising or lowering 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.

[0112] Regarding this point, in the present embodiment, as Figure 13 shown, in addition to each gripping member 51, 52 being configured to be rotatable around the first direction Ya orthogonal to the axial length direction of the main shaft 215, it further includes Figure 15The 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, and rotates 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, and rotates the gripping member 52 on the main spindle 215 side to grip and release the tool T. Therefore, there is no need to rotate the arm 50 around 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 rotation operations of the gripping members 51 and 52, that is, overlapped 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.

[0113] 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 with respect to the main spindle 215 up to a predetermined position, the arm roller 64 displaces along the contour of the main spindle side cam 62, and rotates the gripping member 52 toward the release angle Qa side. As Figure 20 schematically shown, when the arm 50 further relatively ascends with respect to the main spindle 215 from the above-mentioned predetermined position, the disengaging roller 65 displaces along the contour of the disengaging cam 63, and rotates the gripping member 52 further toward the release angle Qa side. Thereby, the arm roller 64 is separated from the main spindle side cam 62. Therefore, when the gripping member 52 is at the release angle Qa, the main spindle side cam 62 does not receive force from the arm roller 64. At this time, although the disengaging roller 65 abuts against the disengaging cam 63, since the disengaging cam 63 is farther from the main spindle 215 than the main spindle side cam 62, it is difficult to apply an external force to the main spindle 215 compared with the case where the arm roller 64 abuts against the main spindle side cam 62. Therefore, the external force applied to the main spindle 215 during machining of the main spindle 215 can be suppressed, and the adverse effects on machining accuracy or machining surface quality caused by the external force can be suppressed.

[0114] [Second Embodiment]

[0115] Next, refer to Figures 33 to 37 to describe the second embodiment. In addition, regarding 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 embodiments serving as the basis will be appropriately omitted. This embodiment will be described based on the first embodiment.

[0116] In this embodiment, as Figure 33 shown, the gripping interlocking mechanism 60 includes a spring 67, a gripping-side stopper 68a, a release-side stopper 68b, and a rotation mechanism 69. In addition, although only one gripping member 52 is described for this embodiment, the same applies to the other gripping member 51.

[0117] One end of the spring 67 is attached to the arm body 59, and the other end is attached to the gripping member 52. The change from the natural state becomes maximum at a predetermined intermediate point from the release angle Qa to the gripping angle Qb of the gripping member 52. Therefore, as Figure 35 shown, in a state where the gripping member 52 is closer to the gripping angle Qb side than the intermediate point, the spring 67 biases the gripping member 52 toward the gripping angle Qb side. When the gripping member 52 has rotated to the gripping angle Qb, the gripping-side stopper 68b restricts further rotation. On the other hand, as Figure 37 shown, in a state where the gripping member 52 is closer to the release angle Qa side than the intermediate point, the spring 67 biases the gripping member 52 toward the release angle Qa side. When the gripping member 52 has rotated to the release angle Qa, the release-side stopper 68a restricts further rotation.

[0118] Specifically, in this embodiment, the spring 67 is a tension spring, and its length becomes maximum at this intermediate point. However, alternatively, for example, the spring 67 may be a compression spring, and its length may be set to be minimum at this intermediate point.

[0119] As Figure 33 shown, the gripping interlocking mechanism 60 has a gripping cam 62b and a release cam 62a arranged in the first direction Ya, instead of the main shaft side cam 62 described in the first embodiment. In addition, the gripping interlocking mechanism 60 has a gripping roller 64b and a release roller 64a arranged in the front-rear direction Y, instead of the arm roller 64 and the separating roller 65 described in the first embodiment. The rotation mechanism 69 includes these gripping cam 62b, release cam 62a, gripping roller 64b, and release roller 64a.

[0120] The gripping roller 64b and the release roller 64a are each attached to the gripping member 52, and move relatively in the vertical direction Z with respect to the gripping cam 62b and the release cam 62a together with the arm 50.

[0121] 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 side closer to the gripping angle Qb than the above-described intermediate point. After that, the gripping member 52 rotates to the gripping angle Qb by the biasing force of the spring 67. At this time, asFigure 35 As shown, the gripping member 52 is biased toward the gripping-side stopper 68b, and the gripping roller 64b and the releasing roller 64a move away from the gripping cam 62b and the releasing cam 62a, respectively.

[0122] As Figure 36 shown, when the arm 50 moves relatively upward 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 intermediate point. 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 move away from the gripping cam 62b and the releasing cam 62a, respectively.

[0123] In addition, in the magazine 30 side of the gripping interlocking mechanism 60, there are also gripping cams and releasing cams similar to the above-mentioned gripping cam 62b and releasing 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 interpreted as the "magazine-side cam", and the gripping cam 62b on the main shaft 215 side can be interpreted as the "main shaft-side cam". Also, the gripping roller can be interpreted as the "arm roller". That is, in this embodiment, similar to the Figure 15 case schematically shown, 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".

[0124] As described above, according to this embodiment, as Figure 37 shown, when the gripping member 52 is arranged at the releasing angle Qa, the gripping member 52 is biased toward the releasing-side stopper 68b. Therefore, the gripping cam 62b or the releasing cam 62a will not receive force from the gripping roller 64b or the releasing 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 machined surface caused by the external force can be suppressed.

[0125] [Third Embodiment]

[0126] Next, with reference to Figures 38 to 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 38Schematically shown, the tool changing device 100 of the present embodiment includes a housing 90 having an opening 95 formed on the front. A magazine 30, a cartridge linkage mechanism 40, an arm 50, a gripping linkage mechanism 60, a spindle assembly 210, etc. are accommodated in the housing 90. A door 96 is installed on the opening 95.

[0127] Hereinafter, the operation of loading 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 spindle 215 into the tool changing device 100 will be referred to as "loading". 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 "taking out". In addition, although the case of using the gripping member 52 to perform "loading" and "taking out" is described below, the gripping member 51 can also be used to perform "loading" and "taking out".

[0128] As Figure 39 Schematically shown, when performing "loading", the control device 80 rotates the arm 50 to a predetermined in-out angle A, and disposes the gripping member 52 that does not hold any tool T at a position closer to the opening 95 than before rotation. On the other hand, when performing "taking out", one of the gripping members 52 holds the tool T to be taken out to the outside of the tool changing device 100. Then, the arm 50 is rotated to a predetermined in-out angle A, and the tool T is disposed at a position closer to the opening 95 than before rotation.

[0129] 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, a loading / taking out 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 plurality of tool cartridges 33 provided in the magazine 30. The loading / taking out selection key 133 is a key for selecting either "loading" or "taking out".

[0130] Next, with reference to Figure 41 , the sequence of performing "loading" and "taking out" will be described. In addition, hereinafter, S shown in front of the numbers is an abbreviation for steps.

[0131] 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 the cartridge number selection key 132 to select one of the plurality of tool cartridges 33. Then, in S2, the control device 80 displays the loading / taking out selection key 133 on the display unit 120. The user selects either "loading" or "taking out" by operating the loading / taking out selection key.

[0132] When the user selects "insertion", in S11, the control device 80 rotates the arm 50 to the insertion / removal angle A. Thereby, the holding part 54 of the holding member 52 that does not hold any tool T can be disposed near the opening 95. Next, in S12, the control device 80 displays the operation completion key 134 on the display unit 120. After that, after the user installs the tool T related to this "insertion" from the opening 95 into the holding part 54 of the holding member 52, the user presses the operation completion key 134. After that, in S13, the control device 80 stores the tool T installed on the arm 50 into the selected tool cylinder 33. After that, in S14, the control device 80 moves the arm 50 to the standby position W. Through the above, "insertion" is completed.

[0133] On the other hand, returning to S2, when the user selects "removal", in S21, the control device 80 causes one holding member 52 to hold the tool T of the selected tool cylinder 33. Next, in S22, the control device 80 rotates the arm 50 to the insertion / removal 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 that, after the user retrieves the tool T held by the holding 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, "removal" is completed.

[0134] According to the present embodiment, as Figure 38 shown, even when the opening 95 is located in the front 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 removal of the tool T from the opening 95 by the user are still facilitated.

[0135] [Fourth Embodiment]

[0136] Next, with reference to Figures 42 to 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.

[0137] 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 used tool Tn. The speed control unit 88 controls the moving speed of the arm 50 based on the acquired weights. Specifically, when the acquired weight is smaller than a predetermined value, the speed control unit 88 sets the moving speed of the arm 50 to be faster than the case where the acquired weight is larger than the predetermined value.

[0138] 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 magazine 33. The weight acquisition unit 85 calculates the weights of the previously used tool Tp and the next tool Tn to be used 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 Tn to be used 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.

[0139] In addition, instead of or in addition to the weight storage unit 81 shown above, the control device 80 may have 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 Tn to be used 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 Tn to be used based on this load. Then, the speed control unit 88 controls the moving speed of the arm 50 based on the calculated weight.

[0140] According to the present embodiment, the following problems can be solved. The arm 50 must be moved 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 always set assuming the maximum possible weight for the next tool Tn and the previously used tool Tp, 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 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. Thus, 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.

[0141] [Other Embodiments]

[0142] The embodiments shown above can be modified as follows, for example. In cases where the external force on the main shaft 215 is not a major issue, 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 magazine 33 is not complex and is not much of a problem, the holding portion 34 and the rotating shaft may be individually provided in the tool magazine 33.

[0143] According to the above embodiments, the following tool changing devices of Supplementary Notes 1 to 4 can be realized.

[0144] [Supplementary Note 1] A tool changing device (100) that removes a previously used tool (Tp) that is one of a plurality of tools (T) from the spindle (215) of a machine tool (200) and mounts a next tool to be used (Tn) that is different from the previously used tool (Tp) to the spindle (215), wherein

[0145] the tool changing device includes:

[0146] a magazine (30) having a rotatable magazine body (39) and a plurality of tool holders (33) mounted so as to be respectively rotatable relative to the magazine body (39), each of the tool holders (33) being capable of mounting the tool (T), and by rotating the magazine body (39), one of the plurality of tool holders (33) is disposed at a replacement position (P), and by rotating the tool holder (33) at the replacement position (P), the tool holder (33) is disposed at a replacement angle (Pb) and a storage angle (Pa);

[0147] an arm (50) having a first gripping member (51) and a second gripping member (52), removing the next tool to be used (Tn) from the tool holder (33) at the replacement angle (Pb) and mounting it to the spindle (215) with one of the gripping members, and removing the previously used tool (Tp) from the spindle (215) and mounting it to the tool holder (33) at the replacement angle (Pb) with the other gripping member; and

[0148] a cylinder interlocking mechanism (40) that interlocks with the relative movement of the arm (50) relative to the magazine (30) and rotates the tool holder (33) at the replacement position (P).

[0149] [Supplementary Note 2] According to the tool changing device (100) described in Supplementary Note 1,

[0150] the cylinder interlocking mechanism (40) performs the following operations:

[0151] Interlocks with the relative movement of the arm (50) relative to the magazine (30) in a predetermined direction to a predetermined position, and rotates the tool holder (33) from the storage angle (Pa) to the replacement angle (Pb); and

[0152] Interlocks with the further relative movement of the arm (50) relative to the magazine (30) from the predetermined position in the predetermined direction, and rotates the tool holder (33) from the replacement angle (Pb) to the storage angle (Pa).

[0153] [Supplementary Note 3] The tool changing device (100) according to Supplementary Note 1 or 2

[0154] The cylinder interlocking mechanism (40) includes: a link mechanism (46); a link roller (45) mounted on the link mechanism (46); and an arm-side cam (41) that relatively moves together with the arm (50) with respect to the link roller (45).

[0155] The arm-side cam (41) abuts against the link roller (45) and rotates the tool cylinder (33) via the link mechanism (46).

[0156] [Supplementary Note 4] The tool changing device (100) according to any one of Supplementary Notes 1 to 3

[0157] A notch (39) 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).

[0158] During the relative movement of the arm (50) with respect to the magazine (30), the tool cylinder (33) rotates, and a part of the tool (T) passes through the notch (39).

[0159] Symbol Explanation

[0160] 30 Magazine

[0161] 33 Tool Cylinder

[0162] 38 Notch

[0163] 39 Magazine Body

[0164] 40 Cylinder Interlocking Mechanism

[0165] 41 Arm-Side Cam

[0166] 45 Link Roller

[0167] 46 Link Mechanism

[0168] 50 Arm

[0169] 51 First Gripping Member

[0170] 52 Second Gripping Member

[0171] 100 Tool Changing Device

[0172] 200 Machine Tool

[0173] 215 Spindle

[0174] P Replacement Position

[0175] Pa Storage Angle

[0176] Pb replacement angle

[0177] T tool

[0178] Tn Next tool to be used

[0179] 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 different tool 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 rotatably mounted relative to the magazine body, each tool holder being capable of mounting a tool, and by rotating the magazine body, one of the plurality of tool holders is disposed at a replacement position, and by rotating the tool holder at the replacement position, the tool holder is disposed at a replacement angle and a storage angle; an arm having a first gripping member and a second gripping member, removing the next used tool from the tool holder at the replacement angle 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 angle by the other gripping member; and a cylinder interlocking mechanism that interlocks with the relative movement of the arm relative to the magazine to rotate the tool holder at the replacement position.

2. The tool changing device according to claim 1, characterized in that the cylinder interlocking mechanism performs the following operations: interlocks with the relative movement of the arm relative to the magazine in a predetermined direction to a predetermined position, and rotates the tool holder from the storage angle to the replacement angle; and interlocks with the further relative movement of the arm relative to the magazine from the predetermined position in the predetermined direction, and rotates the tool holder from the replacement angle to the storage angle.

3. The tool changing device according to claim 1 or 2, characterized in that the cylinder interlocking mechanism includes: a link mechanism; a link roller mounted on the link mechanism; and an arm-side cam that relatively moves with the arm relative to the link roller, the arm-side cam abuts against the link roller and rotates the tool holder via the link mechanism.

4. The tool changing device according to any one of claims 1 to 3, characterized in that a notch is formed in the outer peripheral portion of the tool holder on the side in the direction from the storage angle toward the replacement angle, during the relative movement of the arm relative to the magazine, the tool holder rotates, and a part of the tool passes through the notch.

Images