JP6429968B1 - Tool changer - Google Patents

Abstract

A tool changer capable of accommodating a longer tool without increasing an occupied area is provided. A tool changer (40) includes a first tool magazine (41), a second tool magazine (42), a shifter (43), and an exchange arm (44). The first tool magazine (41) has a plurality of first tool pot holders (41b) that move in the first circulation path (R1). The second tool magazine (42) has a second path (inside the first circulation path (R1) (in the normal direction of the plane (YZ) including the first circulation path (R1)) ( A plurality of second tool pot holders (42b) for moving R2); Each of the second tool pot holders (42b) is such that the tool (T) protrudes toward the inside of the second path (R2), and the center axis (Ot) of the tool (T) is flat. The tool pot (P) is held so as to be inclined with respect to (YZ). [Selection] Figure 1

Description

  The present invention relates to a tool changer for exchanging tools between a spindle and a tool magazine storing a plurality of tools in a machine tool.

  Conventionally, various tool change apparatuses are known (for example, refer to patent documents 1 to 3). Patent document 1 is disclosing the tool change apparatus provided with an annular | circular shaped tool magazine. The tool magazine is arranged on the side of the column so that a plane including the annular shape is along the front-rear direction. In the tool magazine, a plurality of tools are accommodated such that the center axis of the tool is perpendicular to the rotation axis of the horizontal main spindle. Pot turning means is arranged between the tool magazine and the column. The pot swivel means removes the selected tool pot from the tool magazine so that the center axis of the tool is parallel to the rotation axis of the main spindle and the tip of the tool faces the inside of the tool magazine. Turn the pot 90 degrees. An exchange arm is disposed between the pot turning means and the column. This exchange arm exchanges the tool turned by the pot turning means and the tool mounted on the main shaft.

  Patent Document 2 discloses a tool changer provided with an annular tool magazine and a smaller annular sub tool magazine disposed inside the tool magazine. Each of the tool magazine and the sub tool magazine is arranged on the side of the column so that a plane including the annular shape is along the front-rear direction. In each of the tool magazine and the sub tool magazine, a plurality of tools are accommodated such that the center axis of the tool is perpendicular to the rotation axis of the horizontal main spindle. The tool accommodated in the sub tool magazine is once delivered to the tool magazine by the tool pot delivery means. On the side of the tool magazine, a tool pot turning means and a tool changing means similar to the pot turning means and the changing arm of Patent Document 1 are arranged. With such a configuration, in addition to the tools housed in the tool magazine, the tools housed in the sub tool magazine can be used.

  Patent document 3 is disclosing the tool change apparatus provided with the tool magazine which has a circulation rotation locus. This tool magazine has a plurality of tool holding portions along a circulation rotation locus. Each of the tool holders includes two tool pots that are 90 ° to each other so as to face the inside and the outside of the circulation rotation locus. When the selected tool holding portion is disposed at the tool change position, the tool holding portion has a first tool posture accessible to the first tool pot, or a second tool accessible to the second tool pot. Rotated to one of the tool postures. With such a configuration, the tools accommodated in both the first tool pot and the second tool pot can be used.

JP 2003-94273 A JP 2007-125642 A Japanese Patent No. 5925396

  In machine tools, tools of various shapes, for example, long tools may be used. Therefore, in a machine tool, there is a need for a tool changer that can accommodate more tools and that can accommodate longer tools. In this case, it is preferable that a long tool can be accommodated without increasing the occupation area.

  One aspect of the present disclosure is a tool changer that changes a tool held on a spindle of a machine tool. The tool changer holds a tool pot in a detachable manner and moves a first circulation path along a plane. The first tool magazine having the tool pot holding section, the first tool magazine holding the selected first tool pot holding section at the first standby position, and the tool pot being removable. And a plurality of second tool pot holders that move the second path inside the first circulation path when viewed in the normal direction of the plane including the first circulation path, In each of the second tool magazines, each of the second tool pot holding portions is configured such that the tool protrudes inward of the second path, and the center axis of the tool is the first circulation path. Keep the tool pot so that it is tilted with respect to the included plane. The second tool magazine can place the selected second tool pot holder at the second standby position, and can clamp and unclamp the tool pot. And a shifter that is movable between the first standby position, the second standby position, and the next tool standby position, a tool pot at the next tool standby position, and a spindle of the machine tool. It is a tool changer provided with the exchange arm which exchanges a tool between.

  In the tool changer according to an aspect of the present disclosure, the second tool magazine is provided inside the first tool magazine having the first circulation path along the plane. In the second tool magazine, the tool pot is held so that the center axis of the tool is inclined with respect to the plane including the first circulation path, so that the center axis of the tool is relative to the plane described above. Longer tools can be accommodated compared to when the tool pot is held vertically or parallel. Further, since the tool pot is held so that the tool protrudes toward the inside of the second path, no additional space is required outside the second path, that is, outside the first circulation path. Therefore, a longer tool can be accommodated without increasing the occupation area.

  The first tool pot holding unit and the second tool pot holding unit may be able to hold the same tool pot. In this case, a common tool pot can be used for the first tool magazine and the second tool magazine, and an increase in the types of tool pots can be prevented.

  Each of the first tool pot holders may hold the tool pot so that the center axis of the tool is perpendicular to a plane including the first circulation path. In this case, the first tool magazine can accommodate a shorter tool than the second tool magazine. Therefore, both tool magazines can be used properly.

  The shifter may be pivotable about a pivot axis that is perpendicular to both the central axis of the tool in the first standby position and the central axis of the tool in the second standby position. In this case, the movement of the tool pot between the first standby position and the next tool standby position and the movement of the tool pot between the second standby position and the next tool standby position are performed on the same turning axis. This can be achieved by turning around the center.

  The first tool magazine may have a shifter avoidance area where the tool pot is not held, and the shifter may be movable from the first standby position through the shifter avoidance area. In this case, when the shifter moves from the first standby position, a space for detouring the tool pot is not necessary, and the shifter can be disposed at a position close to the first tool magazine. Therefore, the occupation area can be reduced.

  The interval between the plurality of second tool pot holders may be larger than the interval between the plurality of first tool pot holders. In this case, an interval between adjacent tools is ensured in the second tool magazine. Therefore, contact between long tools can be prevented.

  According to one aspect of the present disclosure, it is possible to provide a tool changer that can accommodate a long tool without increasing the occupation area.

It is a top view of a machine tool provided with a tool changer concerning an embodiment. It is a left view of the machine tool of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG. It is a figure explaining operation | movement of the tool change apparatus of FIG.

  Hereinafter, a tool changer according to an embodiment will be described with reference to the accompanying drawings. Similar or corresponding elements are denoted by the same reference numerals, and redundant description is omitted. In order to facilitate understanding, the scale of the figures may be changed.

  FIG. 1 is a plan view of a machine tool including a tool changer according to an embodiment. Referring to FIG. 1, a machine tool 100 is a horizontal machining center. In other embodiments, the machine tool 100 may be another machine tool that can generally be provided with a tool changer, such as a vertical machining center. The machine tool 100 includes a bed 10, a column 20, a table 30, a tool changer 40, and a splash guard 50.

  The bed 10 can be fixed to, for example, a factory floor. The column 20 is provided on the bed 10 at the rear portion of the bed 10. The column 20 moves on the bed 10 along the rail 24 in the left-right direction (X-axis direction). A saddle 21 that is movable in the vertical direction (Y-axis direction) is provided on the front side surface of the column 20. A spindle head 22 protrudes forward from the front side of the saddle 21. The spindle head 22 supports the spindle 23 so as to be rotatable about a horizontal rotation axis Os. A tool T is mounted on the main shaft 23. The table 30 is provided in front of the column 20 on the bed 10. The table 30 moves on the bed 10 along the rail 31 in the front-rear direction (Z-axis direction). A workpiece is attached to the table 30 via a pallet or directly without a pallet. In the machine tool 100, the workpiece attached to the table 30 is processed by the tool T attached to the spindle 23. The movement of the column 20 in the X-axis direction, the movement of the saddle 21 in the Y-axis direction, and the movement of the table 30 in the Z-axis direction are controlled by the NC device.

  The tool changer 40 is provided on the left side of the column 20. The splash guard 50 has a processing chamber 51 and a tool storage chamber 52. The processing chamber 51 accommodates the bed 10, the column 20, and the table 30, and the tool storage chamber 52 accommodates the tool changer 40. A wall 53 is provided between the processing chamber 51 and the tool storage chamber 52. The wall 53 is provided with an opening 54 that can be opened and closed by a shutter (not shown).

  Next, the tool changer 40 will be described in detail. The tool changer 40 includes a first tool magazine 41, a second tool magazine 42, a shifter 43, and an exchange arm 44.

  FIG. 2 is a left side view of the machine tool of FIG. FIG. 2 mainly shows the tool storage chamber 52, and therefore mainly shows the tool changer 40. In FIG. 2, a part of the main shaft 23 in the processing chamber 51 is visible through the opening 54. However, in FIG. 2, other components in the processing chamber 51 cannot be visually recognized by the wall 53.

  Referring to FIG. 2, the first tool magazine 41 has a first magazine body 41a and a plurality of first tool pot holding portions 41b. The first magazine body 41a has a generally annular shape or a circular endless shape (or a closed line shape). The first magazine body 41a is arranged on the side of the column 20 so that the endless shape thereof is along the YZ plane. The direction of arrangement of the first magazine body 41a is not limited to this. The first magazine body 41a can be rotatably supported by, for example, a plurality of rollers provided on a frame (not shown). The first magazine body 41a is connected to an actuator such as a motor (not shown) via a belt, a chain, and / or a gear. Thus, as shown in FIG. 1, the first magazine body 41a is configured to rotate around a rotation axis Om1 parallel to the X-axis direction. The rotation of the first magazine body 41a is controlled by a machine control device.

  Referring to FIG. 2, the plurality of first tool pot holding portions 41b are arranged along the endless shape of the first magazine body 41a. Therefore, as the first magazine main body 41a rotates, the plurality of first tool pot holding portions 41b are circular first circulation paths (or endless paths) along the plane (YZ plane in the present embodiment). ) Move R1. The first magazine body 41a is configured to be able to rotate completely, and therefore the path R1 becomes a circulation path. The first tool magazine 41 is configured to arrange the selected first tool pot holder 41b at the first standby position S1.

  Each of the first tool pot holding portions 41b holds the tool pot P in a removable manner inside the first magazine body 41a. The first tool pot holder 41b can include, for example, an elastic means such as a leaf spring protruding toward the inside of the first magazine body 41a. Referring to FIG. 1, in the first tool pot holding portion 41b, the center axis Ot of the tool T is perpendicular to the plane including the first circulation path R1 (in this embodiment, the YZ plane). Thus, the tool pot P is held. In another aspect, the first tool pot holding unit 41b holds the tool pot P so that the center axis of the tool T is parallel to the rotation axis Om1 of the first tool magazine 41. The tool pot P accommodates the tool T so as to be removable using well-known means (not shown). In the first tool pot holder 41b, a standard or relatively short tool T is accommodated.

  The second tool magazine 42 is disposed inside the first tool magazine 41 when viewed in the normal direction of the plane including the first circulation path R1 (in the present embodiment, the X direction). Referring to FIG. 2, the second tool magazine 42 includes a second magazine main body 42a and a plurality of second tool pot holding portions 42b. The second magazine body 42a has a generally fan shape. The shape of the second magazine main body 42a is not limited to this, and in another embodiment, the second magazine main body 42a has a first normal direction when viewed in the normal direction of the plane including the first circulation path R1. The shape may be any shape that can move along a predetermined path inside the tool magazine 41. Referring to FIG. 1, the second magazine main body 42 a is disposed inside the first magazine main body 41 a, and the annular central axis Om <b> 1 of the first tool magazine 41 and the second tool magazine. Forty-two fan-shaped central axes Om2 are aligned.

  Referring to FIG. 2, more specifically, the second magazine body 42a is a generally fan-shaped frame, and is centered inward from both ends of the arc-shaped first portion 42c and the first portion 42c. A pair of second portions 42d extending toward the axis. The first portion 42c and the pair of second portions 42d may be integrally formed, or may be formed separately and connected to each other. The first portion 42c can have an arc shape of about 120 ° to 180 °, for example.

  As shown in FIG. 1, the second portion 42 d first extends inward from the end portion of the first portion 42 c and then bends in a direction away from the bed 10. With such a configuration, the second magazine main body 42 a protrudes along the central axis Om 2 and has a shape passing through the inside of the first tool magazine 41. Referring to FIG. 2, the pair of second portions 42d are connected to each other on the arc-shaped center axis, and form a rotation center portion 42e.

  The rotation center portion 42e is connected to an actuator (for example, a motor) different from the actuator of the first tool magazine 41. As shown in FIG. 1, the second magazine body 42a is configured to rotate around a rotation axis Om2 parallel to the X-axis direction. The rotation of the second magazine main body 42a is controlled by a machine control device. The rotation of the second tool magazine 42 can be controlled independently of the rotation of the first tool magazine 41.

  Referring to FIG. 2, the plurality of second tool pot holding portions 42b are arranged along the first portion 42c of the second magazine main body 42a. Therefore, as the second magazine main body 42a rotates, the plurality of second tool pot holding portions 42b move along the circular second path R2. As apparent from FIG. 2, the circular second path R <b> 2 is the first circulation path R <b> 1 when viewed in the normal direction (X direction in the present embodiment) of the plane including the first circulation path R <b> 1. Inside. Similar to the first circulation path R1, the second path R2 is along the YZ plane. The second magazine body 42a may rotate completely. In this case, the second route R2 is a circulation route. Further, the second magazine body 42a may not rotate completely (that is, it may move between any two points in the circumferential direction). In this case, the second route R2 is not a circulation route.

  In the normal state, the second tool magazine 42 is normal to the plane including the first circulation path R1 so as not to obstruct the movement of the tool pot P between the first tool magazine 41 and the shifter 43. It is located at an avoidance position (for example, the position shown in FIG. 2) that does not overlap with the shifter 43 when viewed in the direction (X direction in the present embodiment). In addition, when the second tool magazine 42 moves the tool pot P between the second tool magazine 42 and the shifter 43, the selected second tool pot holding portion 42b is moved to the second standby state. It arrange | positions in position S2 (refer FIG. 1). The second standby position S2 is located at the same angle as the first standby position S1 in the circumferential direction of the first tool magazine 41. Further, the second standby position S2 is located inside the first standby position S1 in the radial direction of the first tool magazine 41.

  Each of the 2nd tool pot holding | maintenance part 42b hold | maintains the tool pot P so that removal is possible. The second tool pot holding part 42b protrudes so as to be directed inward of the second magazine body 42a and to be inclined with respect to a plane (YZ plane) including the first circulation path R1. Elastic means such as a spring can be included. The second tool pot holding portion 42b is formed so that the tool T protrudes inward of the second path R2, and the center axis Ot of the tool T is a plane (YZ) including the first circulation path R1. The tool pot P is held so as to be inclined with respect to the plane. More specifically, the second tool pot holding part 42b holds the tool pot P so that the tool T penetrates the inside of the first tool magazine 41 or at least partially passes. The first tool pot holding portion 41b and the second tool pot holding portion 42b can hold the same tool pot P. The second tool pot holder 42b accommodates a relatively long tool T.

  The interval between the plurality of second tool pot holding portions 42b is larger than the interval between the plurality of first tool pot holding portions 41b. Specifically, in the present embodiment, the first tool magazine 41 has 36 first tool pot holding portions 41b, and therefore the first tool pot holding portion 41b is arranged in the circumferential direction. Are arranged at intervals of 10 °. The second tool magazine 42 has five second tool pot holders 42b in an area of 120 ° or about 120 °, and therefore the second tool pot holder 42b is 30 ° or about They are arranged at intervals of 30 °. It will be appreciated that the number and spacing of the first tool pot holders 41b and the second tool pot holders 42b are not limited to these values and may be other values in other embodiments.

  Referring to FIG. 1, the shifter 43 includes a first tool pot holding portion 41 b at the first standby position S 1, a second tool pot holding portion 42 b at the second standby position S 2, and a next tool standby. The tool pot P can be moved relative to the position S3. The shifter 43 is disposed between the column 20 and the first tool magazine 41. The shifter 43 has a claw-like clamp mechanism 43a capable of clamping and unclamping the tool pot P. The shifter 43 can pivot around the pivot axis 43b. As shown in FIG. 1, the turning axis 43b is perpendicular to both the center axis Ot of the tool T at the first standby position S1 and the center axis Ot of the tool T at the second standby position S2. is there. The shifter 43 moves between the first standby position S1, the second standby position S2, and the next tool standby position S3 around the turning axis 43b. As shown in FIG. 1, the next tool standby position S3 is located at the same angle as the first standby position S1 and the second standby position S2 in the circumferential direction of the first tool magazine 41. Further, the next tool standby position S3 is located inside the first standby position S1 and the second standby position S2 in the radial direction of the first tool magazine 41. The turning angle between the first standby position S1 and the next tool standby position S3 is, for example, 90 °, and the turning angle between the second standby position S2 and the next tool standby position S3 is, for example, 45 ° or It is about 45 °. The turning movement of the shifter 43 is controlled by a machine control device.

  The exchange arm 44 exchanges the tool T between the tool pot P at the next tool standby position S3 and the main shaft 23. The exchange arm 44 is disposed between the column 20 and the shifter 43. The exchange arm 44 has an arm portion 44a and a shaft portion 44b. The shaft portion 44 b is parallel to the rotation axis Os of the main shaft 23. The arm part 44a extends from the tip of the shaft part 44b to both sides in the radial direction, and includes grippers for gripping the tool at both ends thereof. The arm portion 44a is capable of translational movement parallel to the rotation axis Os of the main shaft 23 and rotation movement in a plane (XY plane) perpendicular to the rotation axis Os of the main shaft 23. These movements can be realized by a cam mechanism (not shown) or the like. The translational movement and the rotational movement of the exchange arm 44 are controlled by a machine control device.

  Next, the operation of the tool changer 40 will be described. 3-10 is a figure explaining operation | movement of the tool change apparatus of FIG. 3-10 has shown the enlarged view of the area | region containing the shifter 43 and the exchange arm 44 among the machine tools 100 shown by FIG.

  In FIG. 3, the tool T is mounted on the spindle 23, and the shifter 43 holds the next tool T at the next tool standby position S3. In FIG. 3, the tool T of the spindle 23 is shorter than the tool T at the next tool standby position S3. An empty first tool pot holding portion 41b is located at the first standby position S1. The second tool magazine 42 is located at the avoidance position, and therefore the second standby position S2 is vacant.

  As shown in FIG. 3, when a tool change command is transmitted, a shutter (not shown) is first opened, and the processing chamber 51 and the tool storage chamber 52 communicate with each other through the opening 54. Subsequently, as shown in FIG. 4, the replacement arm 44 rotates 90 ° and grips the tool T on the spindle 23 and the tool T at the next tool standby position S3. After the tool T is gripped, the spindle 23 unclamps the tool T.

  Subsequently, as shown in FIG. 5, the exchange arm 44 translates so as to pull out both tools T from the tool pot P of the main shaft 23 and the shifter 43, and then rotates 180 °, and then both tools T are moved. It translates so as to be inserted into the tool pot P of the main shaft 23 and the shifter 43. Thereby, both tools T are exchanged. After the tool T is inserted, the spindle 23 clamps the tool T. The exchange arm 44 rotates 90 °, and the exchange arm 44 is removed from both the tools T. When performing processing, the shutter may be closed, and the processing chamber 51 and the tool storage chamber 52 may be shut off.

  Subsequently, as shown in FIG. 6, the shifter 43 turns 90 ° from the next tool standby position S3 to the first standby position S1. As a result, the tool pot P fits into the first tool pot holding portion 41b against the urging force of elastic means such as a leaf spring. After the tool pot P is held by the first tool pot holding portion 41b, the shifter 43 unclamps the tool pot P.

  Subsequently, as shown in FIG. 7, in order to allow the shifter 43 to access the second standby position S2, the first tool magazine 41 rotates and the tool pot P is not held. The first tool pot holding portion 41b (shifter avoidance area) is arranged at the first standby position S1. In this regard, the shifter 43 needs to move from the first standby position S1 to the second standby position S2 in order to access the second standby position S2. In this case, if the tool pot P is arranged at the first standby position S1, the shifter 43 cannot move from the first standby position S1 to the second standby position S2. This is because the tool pot P and the shifter This is because 43 interferes. Therefore, the first tool magazine 41 has a shifter avoidance area for moving the shifter 43 from the first standby position S1. As the shifter avoidance area, for example, as shown in FIG. 7, an empty first tool pot holding portion 41 b without the tool pot P can be used. In this case, for example, when the tool T having the first tool magazine 41 is used on the main shaft 23, the two first tool pot holding portions 41b are emptied as shown in FIG. Further, for example, a space where even the leaf spring is not provided (a space where the tool pot P cannot be disposed) may be provided in the first tool magazine 41 as the shifter avoidance region.

  Subsequently, as shown in FIG. 8, the shifter 43 turns from the first standby position S1 to the second standby position S2. Subsequently, as shown in FIG. 9, the second tool magazine 42 rotates, and the second tool pot holding portion 42b that holds the relatively long tool T to be used next becomes the second standby position S2. Placed in. The shifter 43 clamps the tool pot P.

  Subsequently, as shown in FIG. 10, the shifter 43 pivots and pulls out the tool pot P from the second tool pot holding portion 42 b against the urging force of elastic means such as a leaf spring. It turns from the second standby position S2 to the next tool standby position S3. The relatively long tool T waits at the next tool standby position S3 until the next tool change command is transmitted. When the next tool change command is transmitted, the tool T is changed by an operation similar to the operation shown in FIGS.

  As described above, in the tool changer 40 according to the embodiment, the second tool magazine 42 is provided inside the first tool magazine 41 having the first circulation path R1 along the YZ plane. As shown in FIG. 1, in the second tool magazine 42, the tool pot P is held so that the central axis Ot of the tool T is inclined with respect to the YZ plane including the first circulation path R1. Therefore, a tool T longer than the first tool magazine 41 can be accommodated. Further, since the tool pot P is held so that the tool T protrudes toward the inside of the second path R2, an additional space is provided outside the second path R2, that is, outside the first circulation path R1. Is not necessary. Therefore, a longer tool T can be accommodated without increasing the occupation area.

  In the tool changer 40, the first tool pot holder 41b and the second tool pot holder 42b hold the same tool pot P. Therefore, a common tool pot P can be used for the first tool magazine 41 and the second tool magazine 42, and an increase in the types of tool pots P can be prevented.

  In the tool changer 40, each of the first tool pot holders 41b holds the tool pot P so that the center axis Ot of the tool T is perpendicular to the YZ plane. Therefore, the first tool magazine 41 can accommodate a shorter tool T than the second tool magazine 42. Thus, the first tool magazine 41 can be used to accommodate relatively short tools T and the second tool magazine 42 can be used to accommodate relatively long tools T, both tools You can use different magazines.

  In the tool changer 40, the shifter 43 is perpendicular to both the center axis Ot of the tool T at the first standby position S1 and the center axis Ot of the tool T at the second standby position S2. It can turn around the turning axis 43b. Therefore, the movement of the tool pot P between the first standby position S1 and the next tool standby position S3 and the movement of the tool pot P between the second standby position S2 and the next tool standby position S3 are performed. This can be realized by a turning operation around the same turning axis 43b.

  In the tool changer 40, the first tool magazine 41 has a shifter avoidance area where the tool pot P is not held, and the shifter 43 can move from the first standby position S1 through the shifter avoidance area. is there. Therefore, when the shifter 43 moves from the first standby position S1, a space for detouring the tool pot P is not required, and the shifter 43 can be disposed at a position close to the first tool magazine 41. . Therefore, the occupation area can be reduced.

  In the tool changer 40, the interval between the plurality of second tool pot holders 42b is larger than the interval between the plurality of first tool pot holders 41b. Therefore, in the second tool magazine 42, an interval between adjacent tools T is secured. Therefore, contact between the long tools T can be prevented.

  Although the embodiment of the tool changer has been described, the present invention is not limited to the above embodiment. Those skilled in the art will appreciate that various modifications of the above-described embodiments are possible. For example, in the above-described embodiment, the first tool magazine 41 is a type in which the annular first magazine body 41a to which the plurality of first tool pot holding portions 41b are attached is rotated. The path R1 is circular. However, in other embodiments, the first tool magazine is of a type in which, for example, the plurality of first tool pot holders are moved on a guide rail having an endless shape such as an ellipse, an ellipse, or a polygon. In this case, the first circulation path may be an ellipse, an ellipse, or a polygon. Similarly, the second path R2 of the second tool magazine 42 may have various shapes.

  In the present embodiment, an example of a method of holding a tool in a tool magazine via a tool pot has been described, but the present invention can also be applied to a potless tool changer of a method of holding a tool directly in a tool magazine. The difference between the two is whether each component holds a tool via a tool pot or directly without a tool pot.

10 bed 20 column 21 saddle 22 spindle head 23 spindle 24 rail 30 table 31 rail 40 tool changer 41 first tool magazine 41a first magazine body 41b first tool pot holder 42 second tool magazine 42a second Magazine main body 42b second tool pot holding portion 42c first portion 42d second portion 42e rotation center portion 43 shifter 43a clamp mechanism 43b turning axis 44 exchange arm 44a arm portion 44b shaft portion 50 splash guard 51 processing chamber 52 tool Storage chamber 53 Wall 54 Opening 100 Machine tool Om1 Center axis Om2 Center axis Os Rotation axis Ot Center axis P Tool pot R1 First circulation path R2 Second path S1 First standby position S2 Second standby position S3 Secondary tool Standby position T Tool

Claims (7)

In a tool changer that changes the tool held on the spindle of a machine tool,
A first tool magazine having a plurality of first tool holders that removably hold a tool and move along a first circulation path along a plane, the first tool holder being selected A first tool magazine, which is arranged at a first standby position;
A plurality of second tool holders for holding a tool in a removable manner and moving a second path inside the first circulation path when viewed in the normal direction of the plane; In each of the tool magazines, each of the second tool holding portions may be configured such that the tool protrudes toward the inside of the second path, and the center axis of the tool is the first circulation path. The second tool, which holds the tool so as to be inclined with respect to the plane to be included, and the second tool magazine arranges the selected second tool holding portion at the second standby position. Magazine,
A shifter capable of clamping and unclamping the tool and movable between the first standby position, the second standby position, and the next tool standby position;
An exchange arm for exchanging the tool at the next tool standby position and the tool on the spindle of the machine tool;
A tool changer comprising: In a tool changer that changes the tool held on the spindle of a machine tool,
A first tool magazine having a plurality of first tool pot holders that removably hold a tool pot and move along a first circulation path along a plane, the first tool magazine being selected A first tool magazine for disposing a tool pot holder at a first standby position;
A plurality of second tool pot holders that detachably hold the tool pot and move in a second path inside the first circulation path when viewed in the normal direction of the plane; Each of the second tool pot holders so that the tool protrudes toward the inside of the second path and the center axis of the tool is the first tool magazine. The tool pot is held so as to be inclined with respect to the plane including the circulation path, and the second tool magazine places the selected second tool pot holding portion at the second standby position. The second tool magazine,
A shifter capable of clamping and unclamping the tool pot and movable between the first standby position, the second standby position, and the next tool standby position;
An exchange arm for exchanging tools between the tool pot at the next tool standby position and the spindle of the machine tool;
A tool changer comprising:   The tool changer according to claim 2, wherein the first tool pot holder and the second tool pot holder can hold the same tool pot.   Each of the first tool pot holders detachably holds the tool pot so that a center axis of the tool is perpendicular to the plane including the first circulation path. Item 3. The tool changer according to Item 2.   The shifter is pivotable about a pivot axis that is perpendicular to both the central axis of the tool in the first standby position and the central axis of the tool in the second standby position. Item 3. The tool changer according to Item 2. The first tool magazine has a shifter avoidance area where the tool pot is not held,
The tool changer according to claim 2, wherein the shifter is movable from the first standby position through the shifter avoidance region.   The tool changer according to claim 2, wherein an interval between the plurality of second tool pot holders is larger than an interval between the plurality of first tool pot holders.

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