JP4711114B2 - Automatic tool changer - Google Patents

Description

  The present invention relates to an automatic tool changer having a plurality of pots and automatically changing a tool with respect to a spindle of a machine tool. It is related with what was comprised so that management was possible.

  Conventionally, in a machine tool such as a machining center configured to be able to perform various types of processing such as threading, drilling, counterbore processing, etc. on a workpiece in a single device, a plurality of tools such as taps and drills are provided with a predetermined tool. There is provided an automatic tool changer that stores in advance in a storage location, selects a desired tool in a timely manner, and automatically replaces it with a used tool. Various types of automatic tool changers have been proposed, but a plurality of pots having grip arms are arranged in a circle, and the plurality of pots are provided so as to be swingable and capable of indexing rotation. A tool magazine with a tool magazine has been put into practical use.

  At the time of tool change, a pair of support pins provided at the fork part of the grip arm is formed by a spring force of a coil spring provided at the inner end part of the fork part, and the V shape of the tool holder on which the used tool is mounted The groove is gripped, and in this state, the spindle head is raised in the vertical direction (Z-axis direction), and the tool holder is extracted from the tool holding portion of the spindle head. Next, the magazine motor is driven to rotate and switched to another pot, and another grip arm that grips the tool holder to which the next tool to be used is mounted is positioned directly below the tool holding part of the spindle head. To do. Here, the spindle head is lowered in the vertical direction, and the newly indexed tool holder is inserted into the tool holding portion of the spindle head, so that the tool is changed.

By the way, there is a machine tool that detects an abnormality of an automatic tool changer and prompts an operator to check the device to prevent a failure of the automatic tool changer. Patent Document 1 discloses a failure prediction device for a machine tool that notifies an operator of an abnormality of an automatic tool changer that operates by driving a fluid pressure cylinder device. In this failure prediction device, the drive time of the fluid pressure cylinder device is disclosed. Is longer than the predetermined time, it is determined that an abnormality has occurred in the automatic tool changer, and a notification to that effect is made, and the device is inspected before the inoperable state appears to prevent failure.
Japanese Patent Publication No. 7-4731

  When the failure prediction device of Patent Document 1 is applied to the above machine tool, it is determined whether or not an abnormality has occurred in the driving time of the fluid pressure cylinder device, and a grip arm, a support pin, a coil spring, etc. that constitute the pot are determined. Since the replacement time is not managed for each required replacement part, it is not possible to determine which replacement required part is abnormal. Therefore, even if the tip of the support pin of the grip arm that holds the tool wears out or the coil spring for biasing the support pin inwardly sags due to deterioration, not only the support pin and the coil spring Since all of the necessary replacement parts constituting the pot are replaced, there is a problem that excessive replacement is required, resulting in an extra cost. In addition, since the replacement time is not managed for each pot, there is a problem that it is not known which part of the pot should be replaced.

  An object of the present invention is to realize an apparatus for preventing over-replacement by managing the replacement time for each pot and for each necessary part.

Automatic tool changer according to claim 1, in an automatic tool changer for automatically changing tools against a and machine tool spindle a plurality of pots, by a plurality of pots, deterioration Ya in proportion to the number of tool changes limit set value of the number of tool changes for its replacement necessary parts with wear to configure multiple replacement parts required for you progress, the setting information storage means previously set, of the plurality of pots by tool change times The counting means for counting while updating the actual value, and whether the number of tool changes for each pot counted by the counting means has reached the limit set value for each pot-required part stored in the setting information storage means And a notifying means for issuing a warning when a limit set value is reached for any replacement required part.

  Since the setting information storage means, the counting means, and the notification means are provided, the limit setting value of the number of tool changes for each replacement required part is set in the setting information storage means, and the actual value of the number of tool changes for each pot is counted. Thus, it is possible to manage the replacement time for each pot and for each part requiring replacement. As a result, excessive replacement of necessary replacement parts can be prevented, and running cost can be reduced.

  According to a second aspect of the present invention, there is provided the automatic tool changer according to the first aspect, wherein the notification means includes a warning lamp.

  According to a third aspect of the present invention, there is provided the automatic tool changer according to the first or second aspect, wherein the setting information set in the setting information storage means and the actual value counted by the counting means can be displayed on a common screen. Is provided.

  According to a fourth aspect of the present invention, there is provided the automatic tool changer according to any one of the first to third aspects, wherein when the notification means reaches a limit set value for any of the replacement-required parts, It has a warning display control means for displaying a warning.

  According to the first aspect of the present invention, since the setting information storing means, the counting means, and the notifying means are provided, the limit setting value of the number of tool changes for each replacement required part is set in the setting information storing means, By counting the actual value of the number of tool replacements, the replacement time can be managed for each pot and for each part that needs replacement. As a result, excessive replacement of necessary replacement parts can be prevented, and running cost can be reduced.

  According to the invention of claim 2, since the notification means has a warning lamp, the operator can easily know that it is time to replace any of the necessary replacement parts, and prevents the replacement required parts from being forgotten to be replaced. it can.

  According to the invention of claim 3, since the display means capable of displaying the setting information set in the setting information storage means and the actual value counted by the counting means on a common screen is provided, the operator needs to replace each of them. Compare the actual value of the number of tool changes for each pot with the limit setting value for each part that needs to be changed for each pot, and you can easily predict how much replacement time will come. The effect of preventing excessive replacement of necessary parts is further enhanced.

  According to the invention of claim 4, the notification means has warning display control means for displaying a warning on the screen of the display means when any of the replacement-required parts reaches the limit set value. It is possible to visually check whether the replacement required part has reached the time for replacement, which increases convenience for the operator.

Automatic tool changer of the present invention, an automatic tool changer for automatically changing tools against and machine tool spindle has a plurality of pots, by a plurality of pots, deterioration and wear in proportion to the number of tool changes There limit set value of the number of tool changes for the replacement parts required and sets the multiple replacement parts required for you progress, the setting information storage means previously set, the actual of said plurality of pots by tool change times Counting means for counting while updating the value, and whether or not the number of tool exchanges for each pot counted by the counting means has reached the limit setting value for each replacement-required part for each pot stored in the setting information storage means And informing means for issuing a warning when any of the replacement-required parts reaches a limit set value.

Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, a machine tool including an automatic tool changer 1 includes a vertical column 2, a frame 3 extending leftward from the column 2, a spindle head 6 capable of reciprocating in the Z-axis direction, and a frame 3. And a tool magazine 41 that can be rotated and indexed. A guide rail 4 is vertically arranged on the frame 3, and a spindle head 6 is attached to the guide rail 4 via a pair of sliding tops 5 arranged in the vertical direction along the guide rail 4 along the Z axis. It is mounted so that it can be raised and lowered in the direction.

  A nut 7 is fixed at an appropriate position on the support frame 6 a that supports the spindle head 6, and a rotatable ball screw 8 that is supported in parallel along the guide rail 4 is screwed into the nut 7. The spindle head 6 is driven to move up and down in the Z-axis direction along the guide rail 4 by the nut 7 and the ball screw 8 by rotationally driving the ball screw 8 in both forward and reverse directions by a Z-axis motor 9 disposed above the frame 3. Is done.

  Inside the spindle head 6, a spindle 11 having a tool holding part 10 at its lower end is rotatably arranged vertically. This spindle 11 is connected to a spindle motor 12 provided above the frame 3 via a coupling 13. And are driven to rotate by the spindle motor 12. The tool holding unit 10 can be fitted with an arbor 16 in a tool holder 15 having a tool 14 attached to the tip. When the tool holder 15 is fitted into the tool holding unit 10, a pull stud provided on the tool holder 15 is provided. 17 is clamped by a holder clamping member 18 provided in the main shaft 11. When this holder clamping member 18 is pressed by a draw bar 19 that is coaxially inserted into the central through hole of the main shaft 11, the clamp of the pull stud 17 by the holder clamping member 18 is released, and the tool holder 15 can be removed. .

  In order to clamp the tool holder 15 inserted into the tool holding unit 10 and release the clamp, a crank lever 21 described later and a cam mechanism for imparting a swinging motion to the crank lever 21 are provided. A substantially L-shaped crank lever 21 is pivotally supported at an appropriate position of the spindle head 6 via a support shaft 20, and the tip of one short lever 21 a of the lever 21 is orthogonal to the draw bar 19. It can be engaged with the projecting pin 22.

  A plate cam 23 having an inclined surface is fixed to the other long lever 21b of the crank lever 21, and the plate cam 23 is connected to a cam follower 24 disposed on the Z-axis motor 9 so as to be positioned on the movement locus thereof. Engagement release is possible. A tension coil spring 25 is interposed between the long lever 21b and the spindle head 6, and the crank lever 21 is always urged clockwise to release the pressing of the pin 22 by the short lever 21a.

  When the spindle head 6 is lifted by driving the Z-axis motor 9, the plate cam 23 provided on the crank lever 21 is engaged with the cam follower 24 at the fixed position in the rising process, and the crank lever 21 is centered on the support shaft 20. Add counter-clockwise movement. As a result, the short lever 21a presses the pin 22 downward, biases the holder clamping member 18 via the draw bar 19, and releases the clamp of the tool holder 15 from the pull stud 17.

  As shown in FIGS. 1 to 3, the magazine support base 40 is provided with a support shaft 42 that is directed obliquely to the lower left adjacent to the tool change area of the spindle head 6. A magazine base 43 is pivotably supported via a bearing 44. In the magazine base 43, ten pots 58 to be described later are arranged so as to be swingable radially at equal intervals in the circumferential direction. An indexing disk 46 centered on the support shaft 42 is fixed to the magazine base 43 by a bolt 47, and a roller-shaped cam follower 48 is provided at one side of the indexing disk 46 at the position where the pot 58 is disposed. Ten pieces are provided in correspondence.

  As shown in FIGS. 1 and 5, a magazine motor 50 is placed upside down on a casing 49 vertically arranged on the magazine support base 40, and a drive shaft 52 is connected to a rotating shaft 51 of the motor 50 via a coupling 53. Connected. A bevel gear 54 is fixed to the lower end portion of the drive shaft 52, and the bevel gear 54 meshes with a bevel gear 45 provided on a rotary shaft 56 that is horizontally supported via a bearing 55, thereby imparting rotation in a required direction to the rotary shaft 56. It has come to be able to do. The rotating shaft 56 is provided with a barrel cam 57 in which a cam groove 57a is formed on the outer peripheral surface to draw a required curve in which a straight line and a screw shape are continuous. A radial cam is arranged in the cam groove 57a. Each of the cam followers 48 can be sequentially fitted. By the rotation of the barrel cam 57, intermittent indexing rotation is imparted to the indexing disc 46.

Next, the plurality of pots 58 arranged radially in the tool magazine 41 will be described.
As shown in FIGS. 2 to 4, ten pots 58 are arranged on a magazine base 43 that constitutes a part of the tool magazine 41, and the pot 58 includes a clevis 59, a grip arm 61, a pivot shaft. 60, a coil spring 63, a support pin 64, a first cam follower 65, a coil spring 66, a steel ball 67, a second cam follower 69, and the like.
Ten clevises 59 are sequentially arranged at a required central angle in the circumferential direction around the support shaft 42 on the magazine base 43, and each clevis 59 is rod-shaped via a pivot shaft 60. The grip arm 61 is pivotably supported so that the free end of the grip arm 61 faces radially outward. As shown in FIG. 3, a non-open / close type bifurcated portion 62 is formed at the free end of the grip arm 61 so as to have a dimension capable of sandwiching a V-shaped groove portion 15 a provided around the outer diameter portion of the tool holder 15. Has been.

  A dead hole 62a is formed in each inner end of the bifurcated portion 62 in a direction perpendicular to the arm base, and a support pin 64 that is elastically pressed by the coil spring 63 can be retracted into the dead hole 62a. The tip of the support pin 64 faces the inside of the two crotch. Accordingly, at both inner end portions of the bifurcated portion 62, the pair of support pins 64 align the center line and have their tips opposed to each other, and the bifurcated portion 62 of the grip arm 61 is made to be the V-shaped groove portion of the tool holder 15. By aligning with 15a, the pair of support pins 64 are inserted into and contacted with the V-shaped groove 15a, and the tool holder 15 is gripped in a state of being retracted against the spring force of the coil spring 63. A first cam follower 65 having the center of the support pin 64 as the center of rotation is rotatably provided at each outer end of the fork 62.

  As shown in FIG. 2, another dead end hole 61a is also drilled at the inner free end of the grip arm 61, and a steel ball 67 is held together with the coil spring 66 in the dead hole 61a. A part of 67 protrudes from the opening of the dead hole 61a. A grip support collar 68 having a guide surface 68a having an arcuate cross section is provided on the outer periphery of the boss portion 43a of the magazine base 43. A steel ball 67 provided on the grip arm 61 is elastically provided on the guide surface 68a. Can be contacted.

  A notch groove 68b is provided around the guide base 68a on the magazine base 43 side, and in FIG. 1, each grip arm 61 in the indexing standby state engages its steel ball 67 with the notch groove 68b. 61 is stably held in this posture. As shown in FIG. 1, a second roller having a roller shape at a position on the side opposite to the free support end in the longitudinal direction of the arm sandwiching the pivot shaft 60 that serves as a pivot point of the grip arm 61 and close to the pivot shaft 60. A cam follower 69 is rotatably supported, and the second cam follower 69 can be brought into contact with a sloped movable cam surface formed on the movable cam body 70.

  At the time of tool replacement, the V-shaped groove 15a of the tool holder 15 to which the used tool 14 is mounted is gripped by the spring force of the support pin 64 of the bifurcated portion 62 of the grip arm 61 and the coil spring 63, and in this state, the spindle The head 6 is raised in the vertical direction, and the tool holder 15 is extracted from the tool holding portion 10 of the spindle head 6. Next, when the magazine base 43 is rotated by the rotation drive of the magazine motor 50 and switched to another pot 58, another grip arm 61 that holds the tool holder 15 to which the tool 14 to be used next is mounted is The spindle head 6 is positioned immediately below the tool holding portion 10. The spindle head 6 is lowered in the vertical direction, and the newly indexed tool holder 15 is inserted into the tool holding portion 10 of the spindle head 6 so that the tool is changed.

Next, a control system of the machine tool 1 provided with the automatic tool changer 1 will be described.
As shown in FIG. 6, the control unit 100 of the automatic tool changer 1 includes a microcomputer 72 including a CPU 73, a ROM 74, and a RAM 75, a spindle servo amplifier 76, a Z-axis servo amplifier 77, and a magazine servo amplifier. 78. The microcomputer 72 includes a keyboard 71, a spindle servo amplifier 76 for driving and controlling the spindle motor 12, a Z-axis servo amplifier 77 for driving and controlling the Z-axis motor 9, and a magazine motor 50. For this purpose, a magazine servo amplifier 78, a display 79 as display means, and a warning lamp 80 are electrically connected.

  NC data for cutting and maintenance management data for managing the replacement time for each required replacement part for each pot 58 are input and set by the operator via the keyboard 71, and these data are stored in the microcomputer 72. Stored in

  The ROM 74 has a control program for controlling the machine tool, a control program for controlling the automatic tool changer 1, a maintenance management control program for managing the replacement time for each required part for each pot 58, as shown in FIGS. 9 to 11. In addition, a display control control program for displaying the management notification screen on the display 79 is stored.

  The RAM 75 stores NC data and maintenance management data for each necessary part for each pot 58, and the RAM 75 is provided with a tool change counter for counting while updating the actual value of the number of tool changes for each pot 58. Yes. In the maintenance management data, for each of the plurality of pots 58, the name of the part required for replacement, function data for setting whether or not to issue a warning when the end value Ce is reached for any of the parts required for replacement, A warning is given to the display 79 when the current value Cp (actual value of the number of tool changes), the end value Ce of the tool change counter (the limit setting value of the number of tool changes), and the end value Ce for any of the necessary parts to be replaced are reached. Alarm notification data for setting whether or not to display a message, and status data that is a determination result as to whether or not the end value Ce has been reached for each replacement required part for each pot 58.

The maintenance management data is stored in the RAM 75 by an operator inputting and setting via the keyboard 71 before the cutting operation on the machine tool. The actual value Cp of the tool change counter is updated every time the tool is changed, and the state data is automatically set based on the current value Cp and the end value Ce. Incidentally, corresponds to RAM75 is a "setting information storage unit", "counting means", in the present embodiment, the replacement necessary parts separately plurality of pots 58, deterioration or wear in proportion to the number of tool changes progresses, A coil spring 63, a support pin 64, and a grip arm 61 are set.

  The display 79 is controlled by the microcomputer 72, and maintenance management data and the like stored in the RAM 75 are displayed on the maintenance notification screen, as shown in FIGS. The warning lamp 80 is turned on when the number of tool replacements counted by the tool replacement counter reaches the end value Ce for any replacement-required part, and notifies the operator that the replacement period for the replacement-required part has come.

Next, the maintenance notification screen displayed on the display 79 will be described.
As shown in FIG. 9, the maintenance notification screen includes a data display area E1, an input request area E2, and a teaching data area E3. The above-mentioned maintenance management data is displayed in the data display area E1. In the input request area E2, as shown in FIG. 10, an input request is displayed at the time of data input setting in the data display area E1, and the operator inputs a numerical value or the like with the keyboard 71 based on the requested content. Select one of several selection items. In the teaching data area E3, as shown in FIG. 11, when the number of tool exchanges of the tool exchange counter reaches the end value Ce for any of the exchangeable parts, a warning message prompting the exchange of the exchangeable parts Is displayed.

Next, a flowchart of maintenance management control executed by the automatic tool changer 1 will be described with reference to FIGS. In the figure, Si (i = 1, 2, 3...) Indicates each step. Prior to the cutting operation, NC data and maintenance management data are input and set via the keyboard and stored in the RAM 75 in advance. When the workpiece is set in the machine tool 1 and the cutting operation of the workpiece is started, NC data for one line is read from the RAM 75 (S1), and the read NC data is a tool change command (S2; Yes) ), Tool change control is executed (S3), and the tool 14 of the machine tool 1 is automatically changed. At this time, the current value Cp of the tool change counter of the pot 58 used for tool change stored in the RAM 75 is incremented by one (S4).
On the other hand, when the read NC data is not a tool change command (S2; No), a cutting process based on the NC data is performed (S5).

  Next, it is determined whether or not the reading of NC data has been completed. If the reading has not been completed (S6; No), the process returns to S1. Here, when reading of all NC data is completed (S6; Yes), a maintenance notification screen (see FIG. 11) is displayed on the display 79 (S7), and the pot number Ip is set to 1 (S8).

  Next, the maintenance management data corresponding to the pot number Ip is read from the RAM 75 (S9), it is determined whether or not the function data in the maintenance management data is set to “valid”, and the function data becomes “valid”. If it is set (S10; Yes), the current value Cp and the end value Ce are compared. Here, when the current value Cp is larger than the end value Ce (S11; Yes), that is, when the number of tool changes in the tool change counter reaches the end value Ce for any of the replacement-required parts belonging to the pot number Ip. The status data in the maintenance management data is updated to “alarm” (S12).

  However, when the function data is set to “invalid” in S10 (S10; No), the process proceeds to S17 described later. If the end value Ce is larger than the current value Cp as a result of the determination in S11 (S11; No), that is, the tool change count of the tool change counter is set to the end value Ce for any replacement required part belonging to the pot number Ip. If not, the status data is updated to “normal” (S15), and the process proceeds to S17.

  Next, it is determined whether or not the alarm notification data in the maintenance management data is set to “Yes” (S13). If the alarm notification data is set to “Yes” (S13; Yes), a warning lamp is displayed. 80 is turned on, and at the same time, a warning message for prompting replacement of the relevant replacement required part is displayed in the teaching data area E3 of the maintenance notification screen (see FIG. 11) (S14). However, when the alarm notification data is set to “No” (S13; No), only a warning message for prompting replacement of the replacement required part is displayed in the teaching data area E3 of the maintenance notification screen (S16). Next, the pot number Ip is incremented by 1 (S17), and it is determined whether or not the pot number Ip is 10 or less (S18; No), that is, for all the pots 58. If S9 to S17 are not completed, the process returns to S9.

  On the other hand, when the pot number Ip is 10 or more (S18; Yes), that is, when S9 to S17 are finished for all the pots 58, the maintenance management control is finished. The “warning display control means” includes S14 and S16 shown in FIGS. 7 and 8 and the microcomputer 72, and the “notification means” includes the warning lamp 80 and S14 and S16 shown in FIGS. The computer 72 is configured.

Next, the operation and effect of the automatic tool changer 1 described above will be described.
As described above, the end value Ce, which is the limit setting value of the number of tool replacements for each replacement required part, is set in the RAM 75 in advance, and the actual value of the number of tool replacements for each pot 58 is counted. It is possible to manage the replacement time separately. As a result, it is possible to prevent excessive replacement of necessary replacement parts and reduce the running cost of the automatic tool changer 1. In addition, for any part requiring replacement, when the current value Cp of the number of tool changes for each pot 58 counted by the tool change counter reaches the end value Ce, the warning lamp 80 is turned on to notify the operator. Therefore, the operator can easily know that it is time to replace any of the necessary replacement parts, and can prevent forgetting to replace the replacement required parts.

  Further, a display that can display the end value Ce of the number of tool changes of the tool change counter set in the RAM 75 and the current value Cp of the number of tool changes for each pot 58 counted by the tool change counter on a common maintenance notification screen. 79 is provided, so that the operator can easily predict how much replacement time will be reached by comparing the current value Cp of the number of tool replacements for each pot 58 and the end value Ce for each replacement part. Therefore, the effect of preventing excessive replacement of replacement parts is further enhanced. Furthermore, when the current value Cp of the number of tool changes for each pot 58 counted by the tool change counter for any of the necessary parts reaches the end value Ce, a warning message is displayed on the maintenance notification screen of the display 79. Therefore, it is possible to visually check whether any replacement required part has reached the replacement time, which increases convenience for the operator.

Next, a modified example in which the above embodiment is partially modified will be described.
1) The number of parts required for replacement for each pot 58 stored in the RAM 75 is not limited to three, i.e., the coil spring 63, the support pin 64, and the grip arm 61; It can be changed as appropriate.
2] The number of pots 58 included in the automatic tool changer 1 is not limited to ten and can be changed as appropriate.

3] In the above embodiment, S7 to S18 shown in FIG. 8 are executed after the reading of all NC data is completed. However, after the execution of S4 shown in FIG. Every time it is read, S7 to S18 shown in FIG. 8 may be executed.
4] In the above embodiment, S7 to S18 are executed after reading of all NC data, but when all items are normal, the maintenance notification screen of S7 is not displayed. Also good.
5] The notification means may not be provided with the warning lamp 80. In this case, the alarm notification data in the maintenance management data stored in the RAM 75 becomes unnecessary, and S13 and S14 shown in FIG. 8 are omitted.
6] In addition, those skilled in the art can implement the present invention in various forms with various modifications, and the present invention includes such various modifications.

It is a longitudinal cross-sectional view which shows schematic structure of the principal part of the machine tool which concerns on the Example of this invention. It is a longitudinal cross-sectional view of the principal part of a tool magazine. FIG. 3 is a view taken in the direction of arrow III in FIG. 2. FIG. 4 is a view taken along arrow IV in FIG. 2. FIG. 2 is a view taken in the direction of arrow V in FIG. 1. It is a block diagram of the control system of an automatic tool changer. It is a part of flowchart of maintenance management control. It is the remainder of the flowchart of maintenance management control. It is a figure which shows the example of a display before the input setting in a maintenance notification screen. It is a figure which shows the example of a display at the time of the input setting in a maintenance notification screen. It is a figure which shows the example of a display of the warning message in a maintenance notification screen.

1 Automatic Tool Changer 11 Spindle 14 Tool 58 Pot 61 Grip Arm 63 Coil Spring 64 Support Pin 72 Microcomputer 75 RAM
79 Display 80 Warning lamp

Claims (4)

In an automatic tool changer having a plurality of pots and automatically changing a tool with respect to a spindle of a machine tool,
Setting by a plurality of pots, the limit setting tool change times for the replacement parts required with deterioration or wear in proportion to the number of tool changes to configure multiple replacement parts required for you progress preset Information storage means;
The counting means for counting while updating the actual value of the number of tool changes for each pot, and the number of tool changes for each pot counted by the counting means needs to be changed for each pot stored in the setting information storage means It is determined whether or not the limit setting value for each part has been reached, and a notification means for issuing a warning when the limit setting value is reached for any replacement required part;
An automatic tool changer characterized by comprising:   The automatic tool changer according to claim 1, wherein the notification unit includes a warning lamp.   The automatic tool change according to claim 1 or 2, further comprising display means capable of displaying the setting information set in the setting information storage means and the actual value counted by the counting means on a common screen. apparatus.   The warning means includes warning display control means for displaying a warning on a screen of the display means when a limit set value is reached for any replacement required part. The automatic tool changer according to the above.

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