JP2012148382A - Automatic tool changer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic tool changer which is compact and of a simple structure in which the opening/closing of an opening/closing shutter under an aim of preventing scattering of coolant or cut chips is performed by utilizing the rotating function of a tool magazine.SOLUTION: A part of a magazine cover 6 that surrounds and protects the periphery of a tool magazine 5 having a plurality of tool hands 30 that hold a grinding wheel 2 is provided with a tool exchanging window 36 that is opened toward a tool exchanging position P, while the opening/closing shutter 34 is installed on one of the positions, in the tool magazine 5, wherein the tool hands 30 are allocated, whereas, when the tool magazine 5 is at rest while rotating at a non-tool-exchanging position, the opening/closing shutter 34 brings the tool exchanging window 36 of the magazine cover 6 to a close for configuration. This enables the opening/closing of the opening/closing shutter 34 to require no independent opening/closing mechanism or device, but to be performed in conjunction with the rotating actions, the basic actions of the tool magazine 5.

Description

  The present invention relates to an automatic tool changer. More specifically, the present invention is provided in a machine tool that performs a plurality of types of machining, includes a plurality of types of machining tools, and a plurality of types of machine tools with respect to a spindle head of the machine tool. The present invention relates to an automatic tool changer that selectively and automatically changes one of machining tools.

  The automatic tool changer (ATC) is a device commonly used in multi-function machine tools that perform multiple types of machining, such as turning centers, machining centers, or compound grinders. Has been.

  For example, as a drum-type ATC, as shown in FIGS. 6A and 6B, a tool magazine c including a plurality of tool holding portions b, b,... Is configured to selectively index and rotate any one of the holding portions b, b,... To the tool change position P, and this tool magazine c is a coolant used when machining the machine tool. Are covered and protected by a magazine cover d so that chips generated during processing are not scattered and adhered to the processing tools a, a,... Of the tool holding portions b, b,.

  For this reason, a tool change window e that opens at the tool change position P is opened in a part of the magazine cover d, and the tool change window e can be opened and closed by an opening / closing shutter f. The replacement window e is opened.

  The open / close structure of the open / close shutter f is appropriately designed in relation to the shape of the magazine cover d and the like. For example, in a rectangular box-shaped magazine cover d as shown in FIG. Further, in the cylindrical drum-shaped magazine cover d as shown in FIG. 6B, the open / close shutter f moves in an arc shape along the cylindrical wall of the magazine cover d. Although it is a swivel type, in any opening and closing structure, it is configured to be opened and closed independently by a power device such as a cylinder device or a drive motor device, or by an opening and closing mechanism such as a link mechanism or a cam mechanism ( For example, see Patent Documents 1, 2, and 3).

Japanese Utility Model Publication No. 05-016108 Japanese Utility Model Publication No. 62-015441 Japanese Patent Laid-Open No. 07-112341

  The present invention has been made in view of such conventional problems, and its object is to open and close an open / close shutter for the purpose of preventing splashing of coolant and chips in a drum type automatic tool changer. Another object of the present invention is to provide an automatic tool changer having a simple structure and a compact structure which is performed by using a turning function of a tool magazine.

  In order to achieve the above object, an automatic tool changer according to the present invention is provided in a machine tool that performs a plurality of types of machining, includes a plurality of types of machining tools, and includes a spindle head of the machine tool. A tool automatic changer that selectively and automatically changes one of multiple types of machining tools, and is rotatable with a plurality of tool holding means for detachably holding the machining tools arranged at equal intervals in the rotation direction. A tool magazine, rotational drive means for indexing and rotating any one of the tool holding means of the tool magazine to a tool change position, and a magazine cover for surrounding and protecting the tool magazine, A tool change window that opens to the tool change position is opened in a part of the magazine cover, and the tool holding means in the tool magazine is disposed. And an opening / closing shutter is provided, and when the tool magazine is stopped at the tool non-change position, the opening / closing shutter is configured to close the tool change window of the magazine cover. Features.

The following configuration is adopted as a preferred embodiment.
(1) When any one of the tool holding means of the tool magazine is in the tool change position, the opening / closing shutter is housed inside the magazine cover, and the tool holding means of the tool magazine is attached to the magazine cover. When housed inside, the opening / closing shutter closes the tool change window of the magazine cover.

(2) When the open / close shutter closes the tool change window of the magazine cover, at least one of the open / close shutter and the tool cover window of the magazine cover is provided with a sealing means for sealing the gap between them. .

(3) The tool change window of the magazine cover is arranged so that the spindle head of the machine tool approaches the tool holding means when the tool holding means of the tool magazine is stopped from rotating by the tool change window. It is set to a shape that can be exchanged.

(4) Control means for controlling the rotational drive means in conjunction with drive means for driving the spindle head of the machine tool, the control means being provided for the spindle head of the machine tool and the tool holding means of the tool magazine. When exchanging a machining tool with one, the tool holding means to be exchanged is indexed and rotated to the tool exchange position, and when the exchange of the machining tool is completed, the opening / closing shutter is The rotation driving means is controlled so as to index and rotate to the tool change position to close the tool change window.

  According to the automatic tool changer of the present invention, a tool change window that opens to a tool change position is opened in a part of a magazine cover that surrounds and protects the periphery of a tool magazine having a plurality of tool holding means for holding a processing tool. In addition, an opening / closing shutter is provided at one of the tool hand locations in the tool magazine, and when the tool magazine is stopped at the tool non-change position, the opening / closing shutter is moved to the magazine cover. Therefore, the opening / closing shutter can be opened and closed in conjunction with the rotation operation, which is the basic operation of the tool magazine, without requiring an independent opening / closing mechanism or device. Therefore, an automatic tool changer with a simple structure and a compact structure can be provided.

It is a perspective view showing the whole automatic tool changer composition concerning one embodiment concerning the present invention. FIG. 2A is a plan sectional view, and FIG. 2B is a longitudinal sectional view taken along the line BB in FIG. 2A. FIG. 3A is a plan sectional view showing the relationship between the rotation operation of the tool magazine and the opening / closing operation of the opening / closing shutter in the automatic tool changer, FIG. 3A shows the state when one machining tool is changed, and FIG. The state at the time of machining tool exchange is shown. It is a perspective view for demonstrating the processing tool exchange process of the automatic tool changer. It is a perspective view which shows the whole structure of the composite type grinding machine carrying the automatic tool changer. 6 shows a conventional automatic tool changer, in which FIG. 6 (a) shows a structure with a direct-acting opening / closing shutter, and FIG. 6 (b) shows a structure with a swiveling opening / closing shutter.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Throughout the drawings, the same reference numeral indicates the same component or element.

  1 to 4 show an automatic tool changer according to the present invention. Specifically, as shown in FIG. 5, this automatic tool changer 1 is a composite type grinder that performs a plurality of types of grinding. The grinding wheel 2 (2a, 2b,...) That is mounted on the board and is a plurality of types of processing tools, and the grinding wheel 2 ( 2a, 2b,...) Is selectively and automatically exchanged.

  The grinding machine is a vertical grinding machine that grinds a workpiece W rotatably supported by the work table 11 while the grinding wheel 2 provided on the column 12 is fed mainly in the vertical direction (Z-axis direction). The work table 11 and the column 12 are arranged on the bed 15, and the grinding wheel base 13 that rotatably supports the grinding wheel 2 is mounted on the column 12, and the turning unit 21, the vertical slide unit 22, and the left and right slide unit 23 are arranged. It is provided through. In addition, a dresser 25 for dressing the grinding wheel 2 is provided in the vicinity of the side portion of the work table 11, and further, the automatic tool changer 1 according to the present invention is provided on the side portion thereof.

  As shown in FIGS. 1 and 2, the automatic tool changer 1 includes a tool magazine 5, a magazine cover 6, a rotation drive unit (rotation drive unit) 7 and an ATC control unit (control unit) 8 as main parts. Yes.

  The tool magazine 5 holds a plurality of types of grinding wheels 2 (five types in the illustrated embodiment) that are processing tools of the grinding machine, and the plurality of types of grinding wheels 2 ( 2a, 2b,...) Is selectively and automatically replaced, and a tool hand (tool holding means) 30 for detachably holding the grinding wheel 2 is disposed at equal intervals in the rotation direction.

  In relation to this, an attachment shaft 35 as an attachment portion is integrally provided at the axial center position of the grinding wheel 2, and the grinding wheel 2 is attached to the grinding wheel shaft 40 of the grinding wheel base 13 and the tool. The grinding wheel 2 is attached to the hand 30 through the attachment shaft 35.

  Specifically, the rotation main shaft 32 is rotatably supported on the disk-shaped device base 31 in a vertical state, and the arm portion 33 is integrally formed at the upper end of the rotation main shaft 32 at equal intervals in the rotation direction. In addition, six are arranged radially in the horizontal direction (six equidistant), and the tool hands 30 are integrally provided on the arms 33, 33,.

  The tool hand 30 has a conventionally known structure. Specifically, the tool hand 30 has a pair of chucking claws 30a and 30a that are constantly energized and biased in the closing direction. The pair of chucking claws 30a and 30a chuck the annular groove (not shown) of the mounting shaft 35 of the grinding wheel 2 so as to be detachable by cooperation with the grinding wheel shaft of the grinding wheel base 13 described later. I support King.

  An opening / closing shutter 34 is provided at one of the locations where the tool hand 30 is provided in the tool magazine 5. That is, an opening / closing shutter 34 is integrally provided in one of the arm portions 33, 33,... Instead of the tool hand 30.

  The opening / closing shutter 34 opens and closes a tool change window 36 of the magazine cover 6 described later, and has a shape corresponding to the opening shape of the tool change window 36 as shown in FIGS.

  The magazine cover 6 surrounds and protects the periphery of the tool magazine 5. Specifically, the magazine cover 6 is a planar regular hexagonal cylinder that covers the entire outer periphery of the tool magazine 5 including the device base 31. Is fixedly provided on the bed 15.

  A tool change window 36 opened at a tool change position P is opened in a part of the magazine cover 6. The tool change window 36 is used to replace the grinding wheel 3 when the wheel base 13 of the grinder approaches the tool hand 30 when the tool hand 30 of the tool magazine 5 is stopped by the tool change window 36. It is set to possible geometric dimensions.

  The tool change window 36 is configured to be opened and closed by an opening / closing shutter 34 provided in the tool magazine 5. For this purpose, the outer peripheral edge 34a of the open / close shutter 34 has a contour shape dimension that engages and matches the opening edge 36a of the tool change window 36, as shown in FIGS.

  In other words, as shown in the drawing, the tool change window 36 has a part of the magazine cover 6 cut out along the opening edge 36a, and the outer peripheral edge 34a of the open / close shutter 34 corresponds to the opening edge 36a. It is formed in a contour shape dimension. Further, the space formed by the opening edge portion 36a of the tool change window 36 forms the tool change position P.

  The opening / closing shutter 34 closes the tool change window 36 of the magazine cover 6 when the tool magazine 5 is stopped at the tool non-change position.

  Specifically, when any one of the tool hands 30 (30A, 30B, 30C, 30D, 30E) of the tool magazine 5 is at the tool change position P, for example, as shown in FIG. When the tool hand 30A is at the tool change position P or when the tool hand 30C is at the tool change position P as shown in FIG. 3B, the opening / closing shutter 34 is housed inside the magazine cover 6. . On the other hand, when all of the tool hands 30 (30A, 30B, 30C, 30D, 30E) of the tool magazine 5 are accommodated in the magazine cover 6, the open / close shutter 34 is configured as shown in FIGS. As shown in FIG. 6B, the arrangement is such that the tool change window 36 of the magazine cover 6 is closed.

  In this connection, in a state where the opening / closing shutter 34 closes the tool change window 36, that is, in a state where the outer peripheral edge 34 a of the opening / closing shutter 34 and the opening edge 36 a of the tool change window 36 face each other. A sealing member (sealing means) 37 that seals the gap between the two 34a and 36a is provided at least on one of the opening / closing shutter 34 and the tool change window 36. In the illustrated embodiment, it is provided over the entire circumference of the outer peripheral edge 34 a of the open / close shutter 34.

  Further, as shown in FIGS. 2 and 3 (a) and 3 (b), the entire periphery of the opening edge of the tool change window 36 is in the form of a seal projection 38 (the drawing shows the tool change window 36 standing upright). Only the structure of the part is shown.) When the open / close shutter 34 is in the closed position, the seal member 37 of the open / close shutter 34 is in sealing contact with the seal projection 38. With such a configuration, when the tool change window 36 is closed by the opening / closing shutter 34, it is possible to effectively prevent mist and sludge from entering the magazine cover 6, and the opening / closing shutter 34 to enter the magazine cover 6. At the time of rotating and storing, the seal member 37 of the open / close shutter 34 is prevented from coming into contact with the inner peripheral surface of the magazine cover 6, thereby preventing contact noise and extending the life of the seal member 37.

  The rotation drive unit (rotation drive means) 7 is for indexing and rotating any one of the tool hands 30, 30,... Of the tool magazine 5 to the tool change position P. Specifically, FIG. As shown in FIG. 2, the driving motor is provided at the bottom of the apparatus base 31. The drive motor 7 is a geared motor with a built-in reduction gear mechanism, and its motor shaft (not shown) passes through the apparatus base 31 and is drivingly connected to the rotary main shaft 32 of the tool magazine 5. It is electrically connected to the control unit 8.

  Then, the rotation main shaft 32 is rotated by the rotational drive of the drive motor 7, and any one of the tool hands 30, 30,... Of the tool magazine 5 or the open / close shutter 34 is indexed and rotated to the tool change position P. .

  This indexing rotation is either one (clockwise or counterclockwise) or the tool hand 30 holding the grinding wheel 2 to be replaced is rotated in a rotation direction close to the tool change position P. Whether it is set to (clockwise and counterclockwise rotation) is appropriately set according to the purpose. In the illustrated embodiment, the latter, the tool hand 30 holding the grinding wheel 2 to be replaced, is configured to rotate forward and backward in a rotation direction close to the tool replacement position P.

  Specifically, the ATC control unit (control means) 8 constitutes a part of the device control unit 16 of the grinding machine, which will be described later, and drives the grinding wheel base 13 of the grinding machine so as to execute a tool changing process. The rotation drive unit 7 is controlled in conjunction with each drive unit (drive means) (described later).

  Specifically, the ATC control unit 8 performs the replacement of the grinding wheel 2 between the grinding wheel head 13 of the grinding machine and one of the tool hands 30 of the tool magazine 5, and the tool hand 30 to be replaced. When the grinding wheel 2 is exchanged, the opening / closing shutter 34 is indexed and rotated to the tool exchange position P to open the tool exchange position P. The rotary drive unit 7 is controlled so that the window 36 is always closed including during grinding.

As shown in FIG. 5, the work table 11 is provided at a front position on the upper surface of the bed 15 and is configured to be rotated around a vertical axis by a drive motor, although not specifically illustrated. Further, the upper surface 11a of the work table 11 is formed in a disk-like flat surface and is in the form of an electromagnetic chuck that supports and fixes the work W by an adsorption action by electromagnetic force. The chucking means is not limited to the electromagnetic chuck, and various types of chucking means such as a chuck mechanism that mechanically supports chucking are selected and used depending on the purpose.

  The column 12 is provided upright at a rear position on the upper surface of the bed 15, that is, at a rear position of the work table 11, and can turn the grinding wheel 2 via the three units 21 to 23. Direction) and movably in the horizontal direction (X-axis direction).

  The grinding wheel 2 has a mounting shaft 35 detachably attached and fixed to the tip of the grinding wheel shaft 40 of the grinding wheel base 13 by a clamping mechanism (not shown). The grinding wheel shaft 40 is rotationally supported by the grinding wheel base 13 and is drivingly connected to a drive motor 41 mounted on the rear end portion of the grinding wheel base 13. As the drive motor 41, a built-in built-in motor is suitably employed.

  The grinding wheel 2 is rotated at a predetermined high speed by the rotational driving of the grinding wheel shaft 40 by the drive motor 41, and, as will be described later, the automatic tool changer 1 makes another grinding wheel according to the grinding process. It is exchanged for car 2.

  The grindstone table 13 is mounted on the swivel table 42 of the swivel unit 21. In the illustrated embodiment, the pair of grindstone tables 13 and 13 are arranged at symmetrical positions with respect to the swivel axis 42 a of the swivel table 42. ing.

  The swivel unit 21 swivels the grindstone wheels 13 and 13 and the grindstone wheels 2 and 2 of the grindstone shafts 40 and 40. And is connected to the turning drive motor 43 via a gear mechanism (not shown). A worm gear gear mechanism is used as the gear mechanism.

  Then, by the rotation of the turning table 42 around the turning shaft 42a by the turning drive motor 43, one of the grinding wheels 2, 2 of the grinding wheel bases 13, 13 and the grinding wheel shafts 40, 40 is in a grinding posture (on the left side in FIG. 5). The position of the grinding wheel 2 is selectively turned and positioned, and the grinding angle is adjusted and controlled.

  The pair of grinding wheels 2 and 2 have different outer diameters depending on the grinding location of the workpiece W (for example, a grinding wheel having a small diameter when grinding the inner diameter surface of the workpiece W, and a large diameter when grinding the outer diameter surface). Grinding wheel etc.) or different grinding wheel surface shapes (for example, grinding wheel with cylindrical grinding wheel surface when grinding inner and outer diameter surfaces of workpiece W, cup-type grinding wheel with annular flat grinding wheel surface when grinding flat surface) Are installed, making it possible to perform complex grinding.

  The vertical slide unit 22 moves the grinding wheel 2 of the grinding wheel shaft 40 in the above grinding posture up and down in the vertical direction (Z-axis direction). Specifically, the vertical slide table on which the turning unit 21 is mounted. 45 is supported so as to be movable along a vertical guide rail (not shown), and is drivingly connected to a vertical drive motor 48 via a feed mechanism (not shown). As the feed mechanism, a feed screw mechanism such as a ball screw is used.

  As the vertical drive motor 48 moves the vertical slide table 45 in the vertical direction (Z-axis direction), the grinding wheel 2 of the grinding wheel shaft 40 in the above-described grinding posture moves the vertical stroke defined by the vertical slide unit 22. Move up and down.

  The left / right slide unit 23 horizontally moves the grinding wheel 2 of the grinding wheel shaft 40 in the above-described grinding posture in the left / right horizontal direction (X-axis direction). The table 50 is supported so as to be movable along left and right guide rails (not shown), and is drivingly connected to a left and right drive motor (not shown) via a feed mechanism (not shown). As the feed mechanism, a feed screw mechanism such as a ball screw is used.

  Then, the grinding wheel 2 of the grinding wheel shaft 40 in the above-described grinding posture has a horizontal movement stroke defined by the left and right slide unit 23 by the movement of the left and right slide table 50 in the horizontal direction (X-axis direction) by the left and right drive motor. Move back and forth.

  The device control unit 16 interlocks the operations of the driving units of the grinding wheel 2, the work table 11, the turning unit 21, the vertical slide unit 22, the left and right slide unit 23, the dresser 25, and the automatic tool changer 1 described above. It is automatically controlled, and specifically comprises a microcomputer comprising a CPU, a ROM, a RAM, an I / O port, and the like.

  The device control unit 16 is electrically connected to the drive units and the like, and drives and controls the drive units so as to automatically perform composite grinding by a grinding machine. The ATC control unit 8 controls the automatic tool changer 1. The drive unit is controlled in conjunction with other drive units, and the grinding wheel 2 is automatically replaced as follows (see FIG. 4).

(1) As shown in FIG. 4 (a), the turning unit 21 puts the grinding wheel 2 of the grinding wheel base 13 to be replaced into a replacement posture while turning or stopped, and the vertical slide unit 22 and the left and right slide unit. 23, the grinding wheel 2 of the grinding wheel base 13 is moved in the vertical direction (Z-axis direction) and the horizontal direction (X-axis direction) to approach the tool changing position P of the automatic tool changer 1.

(2) At the same time or subsequently, as shown in FIG. 4B, the empty tool hand 30 that receives the grinding wheel 2 to be replaced turns by the rotation of the tool magazine 5 of the automatic tool changer 1. Then, it is indexed and rotated to the tool change position P. At this time, as the tool magazine 5 rotates, the open / close shutter 34 that has closed the tool change window 36 of the magazine cover 6 moves into the magazine cover 6 and the tool change window 36 is released. The tool hand 30 is positioned at the tool change position P.

(3) As shown in FIG. 4 (c), the grinding wheel 2 of the grinding wheel base 13 is moved in the horizontal direction (X-axis direction) by the left / right slide unit 23, and the tool changing position of the automatic tool changer 1 is changed. The tool hand 30 in P is chucked.

(4) As shown in FIG. 4 (d), after the grinding wheel shaft 40 of the grinding wheel base 13 unclamps the grinding wheel 2, the grinding wheel base 13 is raised by the vertical slide unit 22, and the grinding wheel base 13 is used as a tool. The magazine 5 is moved to a position that does not interfere with the turning of the tool hand 30 due to the rotation of the magazine 5.

(5) With the rotation of the tool magazine 5, the tool hand 30 holding the grinding wheel 2 to be newly attached to the grinding wheel base 13 is turned and indexed and rotated to the tool change position P (not shown).

(6) The new grinding wheel 2 is attached to the grinding wheel base 13 and replaced by the reverse operation ((4) → (3) → (2) → (1)).

(7) After the replacement operation of the grinding wheel 2 is completed, all tool hands 30, 30,... Are moved and housed in the magazine cover 6 by the rotation of the tool magazine 5, and the opening / closing shutter 34 is moved from the magazine cover 6. Then, the tool change window 36 is closed.

  As described above, according to the automatic tool changer 1 of the present embodiment, the magazine cover 6 that surrounds and protects the periphery of the tool magazine 5 including the plurality of tool hands 30, 30,. In part, a tool change window 36 opened at the tool change position P is opened, and an open / close shutter 34 is provided at one of the locations where the tool hands 30, 30,. Since the open / close shutter 34 closes the tool change window 36 of the magazine cover 6 when the tool magazine 5 is stopped at the tool non-change position, the open / close shutter 34 is opened and closed. Without requiring an independent opening / closing mechanism or device, it is performed in conjunction with the rotation operation, which is the basic operation of the tool magazine 5, and has a simple structure and a compact automatic tool. It is possible to provide a conversion apparatus 1.

The above-described embodiment is merely a preferred embodiment of the present invention, and the present invention is not limited to this, and various design changes can be made within the scope.
For example, in the illustrated embodiment, the automatic tool changer 1 mounted on the composite grinder has been described. However, the automatic tool changer according to the present invention is applicable to machine tools that perform other types of machining. Applicable to mounting.

W Work P Tool change position 1 Automatic tool changer 2 Grinding wheel (processing tool)
5 Tool magazine 6 Magazine cover 7 Rotation drive part (Rotation drive means)
8 ATC control unit (control means)
11 Work table 12 Column 13 Wheel head (spindle head)
15 Bed 16 Device control unit 21 Swivel unit 22 Vertical slide unit 23 Left / right slide unit 30 Tool hand (tool holding means)
32 Rotating main shaft 33 Arm portion 34 Opening / closing shutter 35 Mounting shaft 36 Tool change window 37 Seal member (sealing means)
40 Grinding wheel shaft 42 Turning table

Claims (5)

A tool that is provided in a machine tool that performs a plurality of types of machining, includes a plurality of types of machining tools, and selectively automatically replaces one of the plurality of types of machining tools with the spindle head of the machine tool. An automatic changer,
A rotatable tool magazine in which a plurality of tool holding means for detachably holding a processing tool are arranged at equal intervals in the rotation direction;
Rotation driving means for indexing and rotating any one of the tool holding means of the tool magazine to a tool change position;
A magazine cover that surrounds and protects the tool magazine,
A tool change window that opens to the tool change position is opened in a part of the magazine cover, and an open / close shutter is provided at one of the tool holding means in the tool magazine,
An automatic tool changer, wherein the open / close shutter closes a tool change window of the magazine cover when the tool magazine stops rotating at a tool non-change position. When any one of the tool holding means of the tool magazine is in the tool change position, the open / close shutter is stored in the magazine cover, and the tool holding means of the tool magazine is stored in the magazine cover. 2. The automatic tool changer according to claim 1, wherein the open / close shutter is configured to close a tool change window of the magazine cover when the shutter is opened. When the open / close shutter closes the tool change window of the magazine cover, a sealing means for sealing a gap between the two is provided on at least one of the open / close shutter and the tool change window of the magazine cover. The automatic tool changer according to claim 1. The tool cover window of the magazine cover allows the machining tool to be replaced when the tool head of the machine tool approaches the tool holding means in a state where the tool holding means of the tool magazine is stopped by the tool changing window. The automatic tool changer according to claim 1, wherein the automatic tool changer is set to have various shapes and dimensions. Control means for controlling the rotational drive means in conjunction with drive means for driving the spindle head of the machine tool;
The control means assigns the tool holding means to be exchanged to the tool changing position when exchanging a machining tool between the spindle head of the machine tool and one of the tool holding means of the tool magazine. The rotation driving means is controlled to close the tool change window by indexing and rotating the open / close shutter to the tool change position when the work tool replacement operation is completed. The automatic tool changer according to claim 1.

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