JP2000308935A - Tool replacing device and device and machine tool - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent improper insertion of a tool holder by improving a removal effect of adhering matter sticking to the tool holder. SOLUTION: From a condition that a tool replacing arm 12 in a holder replacing operation process is placed in a standby position to replacement of a tool holder 11 of a spindle 6 with a tool holder 1 of a tool magazine 13 and in a process returning to the standby position, a rotational speed of a driving gear driving the tool replacing arm 12 is performed at a steady rotational speed higher than a holder insertion operating speed when the holder is insertion operated. Since the holder insertion operating speed is set to a speed capable of blowing off sticking matter of cutting chips or the like of the holder 11 by an air blow, the sticking matter adhering to the tool holder 11 is easily removed, and improper insertion of the tool holder 11 is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer (ATC) for exchanging a tool holder (tool) of a machine tool such as a machining center, and an air blow from the main spindle at the time of exchanging the tool holder. The present invention relates to a machine tool capable of cleaning attached matter such as chips from a contact portion.

[0002]

2. Description of the Related Art A conventional tool changer is disclosed in, for example,
As disclosed in JP-A-6-36353, Japanese Utility Model Application Laid-Open No. 5-20841, etc., a cam follower provided with a tool exchange arm provided with a tool holder gripper at both ends at the tip of a turning shaft and a cam at the rear end of the turning shaft. When the cam is driven by the driving device, the cam follower operates following the cam,
The movement of the cam follower is transmitted to the turning shaft, and the turning shaft moves in the turning and turning axis directions, so that the tool changing arm replaces the tool holder of the main shaft with a new tool holder. When the tool holder of the main spindle is replaced, for example, as disclosed in Japanese Patent Application Laid-Open No. HEI 8-281531, a contact portion between the tip end of the main spindle and the inside of the tapered hole with the main spindle of the tool holder (taper shaft or flange). Etc.), air (compressed air) is jetted to prevent the attachment of attached matter such as cutting chips and to be blown off for cleaning.

[0003]

Recently, a tool holder changing operation has been performed at an even higher speed in order to reduce non-cutting time in order to improve productivity. For this reason, when inserting the tool holder into the spindle,
Air blow does not act on the above-mentioned contact part of the tool holder, and it is difficult to completely remove foreign matter such as cutting chips adhered to the tool holder by air blow from the spindle. There is a problem in that the tool holder is inserted into the main spindle in a state in which is adhered, and the insertion of the tool holder becomes defective. In addition, since the holder exchange operation is performed at high speed,
The impact at the time of insertion of the tool holder becomes large, and the impact at the time of insertion decreases the durability (life) of the driving parts of the spindle, the tool changing device, and the like, and causes a problem of generating loud noise.

Incidentally, Japanese Patent Application Laid-Open Nos.
In the case of -63653 or the like, the changing operation speed of the tool changing arm is changed at the time of changing the tool holder. However, the changing speed of the tool changing arm is set to a high speed and a low speed depending on the weight of the tool holder gripped by the tool changing arm. In particular, in Japanese Unexamined Patent Publication No. 4-63653, the insertion / removal of the tool change arm and the 180 ° turning operation are switched to a low speed only when the heavy tool holder is exchanged, and a constant high speed operation is used for the lightweight tool holder. All holder exchange processes are performed, and with the overall speed of the holder exchange operation, only the holder insertion operation is set to a low speed, and the attached matter on the tool holder is blown off by air blow to prevent poor insertion of the tool holder And no such disclosure is made.

According to the present invention, the time required for air blow from the main spindle is increased by reducing the speed of the holder exchanging operation only when the tool holder is inserted into the main spindle when the tool holder is exchanged by the tool exchanging device. It is an object of the present invention to improve the effect of removing chips from the tool and to prevent poor insertion of the tool holder. Another object of the present invention is to reduce the impact when the tool holder is inserted.

[0006]

In order to solve the above-mentioned problems, according to the present invention, the spindle is configured to blow air blow toward a tool holder inserted into the spindle, and the spindle is mounted on the spindle. In a tool changer that can exchange the tool holder with the tool holder of the tool magazine, the relative movement speed between the two when the tool holder is inserted into the spindle is sufficiently adjusted by air blow to ensure that the contact part of the tool holder with the spindle is It is characterized in that a holder insertion operation speed capable of cleaning is set, and a holder exchange operation other than the holder insertion operation for inserting the spindle and the tool holder is set faster than the holder insertion operation. ).

Specifically, according to the present invention, the holder insertion operation speed and the holder exchange operation speed other than the holder insertion operation are:
It is switched by changing the rotation speed of the driving device,
The steady rotation speed of the drive device during a holder exchange operation other than the holder insertion operation is set to be higher than the rotation speed of the drive device during the holder insertion operation (claim 2).

Further, in the present invention, the spindle is configured to eject air blow toward a tool holder inserted into the spindle when the tool holder is replaced, thereby removing chips and the like, and a turning axis parallel to the spindle. A tool change arm that can rotate around and move in the direction of the rotation axis is provided. At both ends of the tool change arm, holder holders are provided, and a tool holder is formed by the turning operation of the tool change arm and the movement in the direction of the rotation axis. In the tool changer that replaces the tool holder by the extraction operation of the tool holder and the insertion operation of the tool holder, the rotation speed of the drive device that drives the tool exchange arm at the time of the insertion operation of the tool exchange arm, the insertion of the tool holder to the spindle When the tool is rotated, set the rotation speed to the holder insertion operation speed at which the contact part of the tool holder with the spindle can be sufficiently cleaned by air blow. The stationary rotation speed of the drive during the turning operation and the holder removal operation is set to be higher than the rotation speed of the drive during the holder insertion operation so that the speed is faster than the holder insertion operation speed. (Claim 3). In these configurations, since the holder mounting operation of mounting the tool holder on the main spindle is at a low speed necessary for cleaning and removing the extraneous matter from the holder, the air blowing effect is high and the extraneous matter removal is ensured. In addition, since the other tool changing operations are performed at a high speed, the time required for the entire tool changing operation is not so long.

More specifically, the present invention relates to an insertion speed storage means for setting and storing a holder insertion operation speed, and a holder insertion / removal device capable of sufficiently cleaning a contact portion of a tool holder with a main shaft by air blow. A speed change area storage means for setting and storing an operation speed change area serving as an operation speed; and a holder insertion operation being set in the insertion speed storage means when the operation speed change area is set in the speed change area storage means. The present invention is characterized in that there are provided an insertion operation means for executing at a holder insertion operation speed, and a high-speed exchange operation means for performing a holder exchange operation other than the holder insertion operation at a high speed (claim 4). According to this,
It is easy to set the shift range so that the air blow works effectively.

Further, according to the present invention, in a tool changer capable of exchanging a tool holder mounted on a main spindle and a tool holder of a tool magazine, a relative movement speed between the two when the tool holder is inserted into the main spindle is determined. The contact area between the tool holder and the spindle can be sufficiently cleaned by air blow from the spindle, and the holder insertion operation speed, which is slower than the holder exchange operation other than the holder insertion operation for inserting the spindle and the tool holder, and the holder insertion operation It is possible to select between the same operation speed as the holder exchange operation other than the wearing operation (claim 5). With this configuration, when there is no generation of cutting chips, the holder mounting speed can be prevented from being reduced, so that the tool changing operation is performed at a high speed.

Further, in the present application, the main shaft has an inner air injection hole provided in the main shaft for jetting air blow toward a tapered hole into which a tapered shaft which is a contact portion of the tool holder is fitted, and a flange of the tool holder. And an outer air injection hole provided at the tip of the main shaft for injecting air blow toward the rear end face of the part. According to this, the air blow can clean the taper shaft outer peripheral surface and the flange portion of the tool holder.

In a tool exchanging method for exchanging a tool holder mounted on a main spindle with a tool holder of a tool magazine, when exchanging a tool holder, a holder inserting operation for mounting a tool holder on a main spindle is performed by exchanging other holders. It is slower than the operation (claim 7). In this replacement operation, regardless of the presence or absence of air blow, only the holder mounting speed becomes slow, the impact when the tool holder is mounted on the main shaft is reduced, and the generation of noise and the like is suppressed.

[0013]

Next, an embodiment of the present invention will be described. As shown in FIG. 1, a left-right guide (not shown) is provided on a main body bed 2 of a machining center (machine tool) 1, and a moving base 3 capable of moving horizontally on the guide in the left-right direction is provided. A movable column 4 is provided so as to be movable in the front-rear direction via a guide. A spindle head 5 is supported on the front surface of the movable column 4 so as to be vertically movable, and a horizontal spindle 6 is rotatably mounted on the spindle head 5. Also, columns 9 are erected on the left and right of the bed 2, and a support base 7 is attached to the upper end of the column 9. A plurality of tool holders 11 are provided on the upper surface of the support base 7 integrated with the bed 2.
There is provided a tool magazine 13 for indexing one of them into a predetermined indexing position (a position immediately above the turning axis of the tool changing arm 12). The tool magazine 13 is provided with a large number of tool pots 13a which are turned around a vertical turning axis, and holds the tool holder 11 in each of the tool pots 13a so as to be detachable in the axial direction. A tool changing device (ATC) 14 is fixed to the lower surface of the support base 7 so as to be located above the movable column 4.

The tool changing device 14 is, for example, an actual open gear 5-20.
841 and JP-A-10-58263, and the like.
The outline of No. 4 will be described. 2 and 3, the housing 2
0, bearing members 26 provided on the front and rear surfaces of the housing 20;
The swing shaft 21 is supported by 27 so as to be rotatable and slidable in the direction of the swing axis. A turning pinion 22 is provided integrally with the turning shaft 21 at an intermediate portion of the turning shaft 21. At both ends of the pivot shaft 21, holder holding portions 1 are provided at both ends.
The tool change arm 12 provided with 2a is fixed. A shifter 23 is provided at the rear end of the turning shaft 21. A drum cam 24 whose axis is orthogonal to the rotating shaft 21 is rotatably supported in the housing 20 by bearings 29 a provided on both side surfaces of the housing 20. One end of the drum cam 24 is connected to a servomotor 10 which is a driving device attached to the housing 20. On the outer periphery of the drum cam 24, a first cam element (cam groove) 30 for moving the turning shaft 21 back and forth and second and third turning members of the turning shaft 21 are provided.
Cam elements (cam grooves) 40 and 50 are provided.

First, second, and third cam grooves 30, 40, 50
The cam followers 34, 43, and 53 are respectively rotatably fitted in the cam followers. The cam follower 34 is connected to a cam follower 38 rotatably inserted into the groove 23a of the shifter 23 via the link 31. The link 31 converts the rotation of the first cam groove 30 into forward and backward movement of the turning shaft 21. The holder removing operation by the forward movement of the turning shaft 21 after the tool holder 11 is gripped by the tool changing arm 12 and the holder inserting operation by the backward movement of the turning shaft 21 after the replacement of the tool holder are performed.

The cam follower 43 is rotatably connected to one end of a first rack body 41. The first rack body 41 engages with the pinion 22 when the tool change arm 12 is at the retracted end position. The rotation of the second cam groove 40 causes the first rack body 41 to move back and forth in the drum cam axis direction, so that the first shaft 41 is moved to the turning shaft 21 at the beginning of the holder changing operation.
2 provides a forward (clockwise) turn from the horizontal standby position shown in FIG. 1 to the tool holder holding position and a reverse turn to return to the standby position after the tool holder is replaced.

The cam follower 53 is rotatably connected to one end of a second rack body 51. The second rack body 51 engages with the pinion 22 when the tool exchanging arm 12 is at the forward end position. The tool exchange arm 12 exchanges the tool holder 11 of the main spindle 6 and the tool holder 11 of the tool magazine 13 with the turning shaft 21 by the longitudinal movement of the second rack body 51 in the drum cam axis direction due to the rotation of the third cam groove 50. It is designed to give a positive turn.

The spindle 6 is rotatably supported by the spindle head 5 via a plurality of bearings 55 as shown in FIG. The main shaft 6 is integrally provided with a rotor (not shown), and is rotatable by a motor including a stator provided in the main shaft head 5. A tapered hole (tool holder contact portion) 56 for mounting a tool holder is formed at the tip of the main shaft 6, and a hollow hole 57 is formed continuously with the tapered hole 56. A pull rod 58 for holding a tool holder is inserted into the hollow hole 57 so as to be movable in the axial direction, and is urged rearward by a disc spring (not shown).

The pull rod 58 can be moved back and forth in the axial direction by a known unclamping device (for example, JP-A-10-225845, JP-A-10-58263, etc.) not shown. A holding portion 59 for holding a pull stud 69 at the rear of the tool holder 11 is provided at the tip of the pull rod 58.
Is provided. The holding portion 59 has a plurality of steel balls 60 mounted at its tip movably in the radial direction while equally dividing the circumferential direction, and cooperates with the cam surface 57 a in front of the hollow hole 57 by sliding the pull rod 58 in the axial direction. Working pull stud 69
Are clamped and unclamped.

The spindle head 5 is provided with an air blow channel 61, which communicates with one end of an air blow channel 62 provided on the spindle 6 and one end of an air blow channel 63. The other end of the air blow channel 62 has a cam surface 57.
a (air) (compressed air) is formed in the tapered hole 56 through the hollow hole 57.
Is blown out. A plurality of air blow passages 63 are provided at the distal end of the main shaft 6 with the rotation axis as a symmetric axis, and the distal end is an outer air injection hole 63 a that opens to the distal end surface 6 a of the main shaft 6.

The driving device 10 includes a rotation detecting means (encoder) 64 and is electrically connected to the NC control device 65. The NC control device 65 includes a CPU 66, storage means (memory) 67, input means 68, and the like. Input means 6
8 is stored in the storage means 67, and the CPU 66 executes processing on the machine tool and tool holder exchange based on the control program, and the holder exchange operation includes a tool holder exchange program included in the control program. It is executed based on. Further, the storage means 67 is a deceleration area storage means (shift area storage means) in which an operation speed change area of the tool changing device 14 at the time of holder exchange operation is set and stored.
And an insertion speed storage means for setting and storing the operation speed of the tool changing arm 12 (the rotation speed of the servomotor 10) in the operation speed change area. Also, the NC control device 6
An input pulse for detecting the amount of rotation of the servomotor 10 (rotational position of the drum cam 24) from the rotation detection means 64 is input to 5 and each step of one cycle of the holder exchange operation is detected based on the input pulse. It is possible.
The NC control device 65 selects an ATC operation at the end of the process corresponding to each of the machining and work processes that the machine tool 1 is responsible for, a shift mode or a constant speed mode in which the ATC operation is performed at a constant speed. The operation mode setting means 71 to be set is connected. When the attachment of chips or the like to the tool holder 11 is expected in the machining process, the shift mode is selected. As a result, a shift command is output. On the other hand, the constant speed mode is set when the work process is measurement or the like, and the holder exchange operation is performed in a process in which the deposits such as chips are not attached, select.

The operation speed change area is a range from an arbitrary operation after the start of the retreat operation (insertion operation of the tool holder) of the tool exchange arm 12 to the insertion of the tool holder 11 to the main shaft 6 in the holder exchange operation. In the loading operation step, the ATC deceleration region in which the tool changing device 14 is operated at a speed lower than the operating speed at the time of the forward / reverse turning operation of the tool changing arm 12 and the operation of removing the holder and the tool changing device 14 is operated. This is the deceleration rotation range of the servo motor 10 corresponding to the period between operations. In this embodiment, as shown in the operation process diagram of FIG. 7, the operation speed change region coincides with the holder mounting operation process. The operation speed of the tool change arm 12 in the operation speed change area is determined by the air blow when the main shaft 6 and the tool holder 11 are inserted into the taper shaft 70a, which is the contact portion 70 of the tool holder 11 with the main shaft 6, and the flange portion. Holder insertion operation speed (slow operation speed) that can sufficiently clean rear end face 70b
The rotation speed of the servo motor 10 is set so as to achieve the holder insertion operation speed.

Each step of the tool holder changing program shown in the flowchart of FIG. 6 represents a function realizing means. Step S1 is to determine whether to shift the holder insertion operation speed in one cycle of the tool holder exchange process in a plurality of machining and work processes assigned to the machine tool 1 based on the presence or absence of a shift command from the operation mode selection means 71. Is a shift determining means for determining whether or not to shift.

Steps S4 and S8 correspond to the tool change arm 12
Is a high-speed exchange operation means for performing the holder exchange operation at a normal exchange speed. The ordinary exchange speed is higher than the holder insertion operation speed, and the rotational speed of the servo motor 10 at the ordinary exchange speed is changed. Is set to a steady rotation speed higher than the rotation speed of the servomotor 10 which is the holder insertion operation speed.

Steps S5 and S7 are deceleration area discriminating means for judging from the input pulse from the rotation detecting means 64 whether or not the holder exchanging operation is within the ATC decelerating area of the holder inserting operation step. Step S6 sets the rotation speed of the servomotor 10 so that the holder insertion operation in the ATC deceleration region becomes the holder insertion operation speed stored in the storage means 67 when the speed of the holder insertion operation is changed, and the NC control is performed. Device 6
5 is an insertion operation means for outputting a rotation pulse command to the servomotor 10 to control the rotation speed and operating the tool changing arm 12 at the holder insertion operation speed. Step S4
Through S9, the tool changing operation in the shift mode is realized.

On the other hand, the steps S2 and S3 realize a tool changing operation in the constant speed mode which does not include the step of decelerating the holder insertion operation.

When the machining of the workpiece by the tool holder 11 in the machine tool 1 is completed, a tool holder exchange command is output from the NC controller 65, the spindle head 5 moves to the holder exchange position, and a tool holder exchange step is performed. The pull rod 58 urged rearward by the inner disc spring and holding the tool holder 11 is pushed forward by the unclamping device, the pulling of the pull stud 69 by the pull rod 58 is released, and the pull stud 69 is released from the holding portion 59. Unclamped. In addition, air blow is injected from the inner and outer air injection holes 62a and 63a provided at the tip of the main shaft 6.

When the operation mode set for the machining process by the operation mode selection means 71 is the constant speed mode, the NC control device 65 proceeds to step S2 because there is no gear change command in step S1. A rotation pulse command is output to the servo motor 10 so that the holder exchange operation by the exchange device 14 is performed at a normal exchange speed, and the servo motor 10 is driven at a high steady-state rotational speed to rotate the drum cam 24. As a result of the rotation of the drum cam 24, the tool change arm 12, which was at the standby position as shown in FIG. 7A, pivots in the forward direction to the tool holder gripping position as shown in FIG. 13 and the tool holder 11 of the main spindle 6 are gripped. Next, as shown in FIG. 7C, the tool change arm 12 advances, and the tool holder 11 of the tool magazine 13 and the tool holder 11 of the main shaft 6 are extracted. Next, as shown in FIG. 7 (d), the tool change arm 12 includes the tool holder 11 of the spindle 6 and the tool holder 1 of the tool magazine 13.
A turn is made in the forward direction in which 1 is exchanged. Next, FIG.
When the tool holder 11 is replaced, the tool change arm 12 retreats to the tool holder holding position and the tool holder 11 is mounted on the spindle 6 as shown in FIG. Tool change arm 12
After the tool holder 11 has unclamped the tool holder 11, the tool change arm 12 then turns from the tool holder gripping position to the standby position in the opposite direction as shown in FIG. When the tool holder 11 is replaced and the tool holder 11 enters the standby state, the holder replacing operation ends through step S3.

On the other hand, when the machining process in which the shift mode is selected by the operation mode selecting means 71 is completed, the process proceeds to step S4 because there is a shift command in step S1.
First, as in step S2, at a normal exchange speed (a)
(B) the tool change arm 12 pivots to the tool holder gripping position from the standby position, and (c) moves the tool holder 1 from the spindle 6 to the tool holder 1.
1 and the tool holder 11 of the spindle 6 and the tool holder 11 of the tool magazine 13
Is performed until the holder is replaced. Next, at step S5, the rotation control means 64
When it is determined that the rotation amount of the servo motor 10 has reached the rotation amount set as the ATC deceleration region based on the input pulse input to 5, the process proceeds to step S6.

In step S6, the operation speed of the tool change arm 12 is changed from the normal change speed to the holder insert which can sufficiently clean the contact portion 70 of the tool holder 11 with the main shaft 6 by the air blow stored in the storage means 67. As shown in FIG. 7, the rotation speed of the servo motor 10 is set lower than the normal steady rotation speed so that the mounting operation speed is reached, and the holder insertion operation (e) is performed at a low speed. At this time, the tool change arm 1
2 is performed slowly, so that the time during which the air blow is sprayed toward the tool holder 11 is prolonged, and the matter attached to the tool holder 11 is sufficiently blown away by the air blow, so that the tool holder 11 is moved to the spindle 6. In addition to preventing the poor insertion, the impact due to the insertion of the tool holder 11 is reduced, and the durability of the main shaft 6, the driving portion of the tool changing device 14, and the like is prevented.

Next, when the holder insertion operation is completed, the rotation amount of the servo motor 10 exceeds the rotation amount set as the ATC deceleration region by the input pulse input from the rotation detecting means 64 to the NC control device 65. It is determined that the rotation amount of the servo motor 10 is not in the ATC deceleration region, and the process proceeds to step S8. In step S8, the rotation speed of the servomotor 10 is returned from the holder insertion operation speed to the steady rotation speed as shown in FIG. 7, and the tool exchange arm 12 is unclamped with the tool holder 11 in the same manner as (f). It turns in the opposite direction from the tool holder holding position to the standby position. Then, the holder exchange operation is completed through steps S8 to S9.

As described above, when there is a shift command, only the holder insertion operation is performed at a lower speed than the other holder exchange operations, so that the holder exchange operation time per cycle is only slightly extended. A large attached matter removing effect can be obtained with the influence of time minimized. When the taper shaft 70a of the tool holder 11 is inserted into the taper hole 56 of the main shaft 11 during the holder insertion operation,
The tool change arm 12 is temporarily stopped at an insertion position at which an appropriate gap is formed between the taper shaft 70a and the taper hole 56 so that the cleaning airflow by the air blow can blow off the attached matter. Is also good. Further, in the embodiment of the present application, the operating speed of the tool changing arm 12 is changed by changing the rotation speed of the servo motor 10, but the operating speed is not limited to this. For example, the main shaft is moved with respect to the tool holder. When the tool holder is exchanged, the moving speed when the main spindle moves toward the tool holder to insert the tool holder may be set to the low operation speed. Further, the shift command may be described in advance in a series of machining programs for controlling a plurality of processes assigned to the machine tool, corresponding to each machining process.

[0033]

As described above, according to the present invention, the holder insertion operation speed when the tool holder of the main spindle is replaced is determined by the speed at which the attached matter at the contact portion of the tool holder with the main spindle can be blown off by air blow. Accordingly, it is easy to remove the adhering matter adhered to the tool holder by air blowing, the effect of removing the adhering matter is improved, and poor insertion of the tool holder to the spindle is prevented, so that machining can be performed with high accuracy. Then, during a holder exchange operation other than the holder insertion operation, the holder exchange operation is performed at a speed higher than the holder insertion operation speed, so that the tool holder exchange time per cycle is not significantly reduced. In addition, in the insertion movement of the tool holder at the holder insertion operation speed, the impact at the time of contact between the main spindle and the tool holder and between the tool magazine and the tool holder can be reduced, so that the main spindle and the tool changing device can be used. This is preferable because it has a long life and can reduce noise. In addition, since the holder insertion operation speed can be made the same as the other holder exchange operation speeds as needed, the holder exchange operation can be performed at a high speed in the case where the adhered substance does not adhere.

[Brief description of the drawings]

FIG. 1 is a front view of a machine tool.

FIG. 2 is a sectional view of the tool changer as viewed from below.

FIG. 3 is a development view taken along a line III-III in FIG. 4;

FIG. 4 is an internal explanatory view in which a part of a main body is sectioned in a VI view of FIG. 2;

FIG. 5 is a sectional view of a main shaft.

FIG. 6 is a flowchart showing a tool holder exchange program.

FIG. 7 is an explanatory diagram showing a holder replacement operation process and a rotation speed of a servomotor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Machine tool 6 Main shaft 10 Drive device 11 Tool holder 12 Tool exchange arm 12a Holder holding part 13 Tool magazine 14 Tool exchange device 56 Tapered hole 62a Inner air injection hole 63a Outer air injection hole 70 Contact part 70a Tapered shaft 70b After flange End face

Claims (7)

[Claims] The spindle is configured to blow air blow toward a tool holder inserted into the spindle, and a tool changer capable of exchanging a tool holder mounted on the spindle with a tool holder of a tool magazine. In the apparatus, the relative movement speed when the tool holder is inserted into the spindle is set to a holder insertion operation speed at which the contact portion of the tool holder with the spindle can be sufficiently cleaned by air blow. A tool exchanging operation other than the holder inserting operation for inserting the tool is set faster than the holder inserting operation. 2. A holder insertion operation speed and a holder exchange operation speed other than the holder insertion operation are switched by changing a rotation speed of the drive device, and are changed from a rotation speed of the drive device during the holder insertion operation. 2. The tool changing device according to claim 1, wherein a steady rotation speed of the drive device during a holder changing operation other than the holder inserting operation is set to a high speed. 3. The main spindle is configured to eject air blow toward a tool holder inserted into the main spindle when the tool holder is replaced, thereby removing chips and the like, and around a turning axis parallel to the main spindle. Equipped with a tool changing arm that is rotatable and movable in the direction of the turning axis. Holders are provided at both ends of the tool changing arm, and the tool holder is removed by turning the tool changing arm and moving in the turning axis direction. In the tool changer that changes the tool holder by the operation and the insertion of the tool holder, the rotation speed of the driving device that drives the tool change arm during the insertion operation of the tool change arm, when the tool holder is inserted into the main spindle At the same time, set the rotation speed to the holder insertion operation speed at which the contact part of the tool holder with the spindle can be sufficiently cleaned by air blow. The tool change is characterized in that the steady rotation speed of the drive during the turning operation and the holder removal operation is set higher than the rotation speed of the drive during the holder insertion operation so that the rotation speed is higher than the insertion speed. apparatus. 4. An insertion speed storage unit in which a holder insertion operation speed is set and stored, and an operation speed change area which is a holder insertion operation speed capable of sufficiently cleaning a contact portion of a tool holder with a main shaft by air blow. Is executed and the holder insertion operation is executed at the holder insertion operation speed set in the insertion speed storage unit when the operation speed change area set in the transmission area storage unit is reached. Insertion operation means,
4. The tool changing device according to claim 1, further comprising a high-speed changing operation means for performing a holder changing operation other than the holder inserting operation at a high speed. 5. A tool changer in which a main spindle blows air blow toward a tool holder inserted into the main spindle, and a tool holder mounted on the main spindle and a tool holder of a tool magazine can be exchanged. In the apparatus, the relative movement speed between the two when the tool holder is inserted into the main spindle, the contact portion of the tool holder with the main spindle can be sufficiently cleaned by air blow, and the holder insertion for inserting the main spindle and the tool holder. A tool changing device characterized in that it is possible to select between a holder inserting operation speed slower than a holder exchanging operation other than the operation and an operating speed similar to the holder exchanging operation other than the holder inserting operation. 6. A machine tool provided with the tool changing device according to claim 1, wherein a main shaft of the machine tool is
A main spindle that injects air blow toward an inner air injection hole provided in a main spindle that injects air blow toward a tapered hole into which a taper shaft that is a contact portion of a tool holder is fitted, and a flange rear end face of the tool holder. A machine tool comprising: an outer air injection hole provided at a tip. 7. A tool exchanging method for exchanging a tool holder mounted on a spindle with a tool holder of a tool magazine,
A tool replacement method, wherein a tool insertion operation for mounting a tool holder on a spindle is delayed at the time of tool holder replacement compared to other tool replacement operations.