JPH07223140A - Automatic tool changing device - Google Patents

Abstract

PURPOSE:To reduce the number of drive sources for a device to automatically change a tool between the main spindle and tool stocker of a numerically controlled machine tool, and improve serviceability related to the independent use of a main spindle head. CONSTITUTION:This device is constituted of a main spindle tool loosening mechanism 8 for mounting and demounting a tool 1 on and from a main spindle 3 via the rotation of a rotary cam 6 on the operation of a drive motor 5, and a tool changing mechanism (ATC mechanism) 13 for driving a tool changing arm 10 to change the tool 1 under rotating motion between a tool stocker and the main spindle 3. Also, the rotary shaft 7 of the cam 6 in the mechanism 8 and a drive shaft 12 as a drive source for the mechanism 13 are jointed to each other with a releasable coupling 14, and the shaft 12 is rotated synchronously with the shaft 7 on the operation of the motor 5, while the mechanism 13 is rotated synchronously with the mechanism 8. Automatic tool changing operation is thereby performed. Furthermore, the coupling 14 is released and only the mechanism 8 is driven with the motor 5, thereby independently driving a main spindle head 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer for a numerically controlled machine tool having a tool stocker holding a large number of tools, and more specifically, a tool to be used in the tool stocker and a used tool for a spindle of a spindle head. The present invention relates to an automatic tool changing device for exchanging and by rotating a tool changing arm.

[0002]

2. Description of the Related Art An automatic tool changer for a numerically controlled machine tool equipped with a tool stocker such as a tool magazine or a tool cassette in which a large number of tools are aligned and held has a tool change arm between a spindle of a spindle head and a tool stocker. Swing-driving type is widely used. This type of automatic tool changer consists of a spindle tool loosening mechanism that clamps and unclamps tools by moving a drawbar built into the spindle of the spindle head back and forth in the axial direction, and a tool exchange arm between the tool stocker and spindle. Tool change mechanism that drives the
The main part is composed of the ATC mechanism).

A motor or a cylinder is used as a drive source of a spindle tool loosening mechanism for moving a draw bar of a spindle back and forth, and when the draw bar is advanced by this drive source, the clamp of the tool attached to the spindle is released. When the drawbar is retracted, the tool is clamped on the spindle. In addition, the ATC mechanism intermittently rotates the tool exchange arm at a desired angle, and also moves the tool exchange arm back and forth in the axial direction of the shaft to move and remove the tool between the tool stocker and the spindle. . A motor is used as a drive source for the rotation and the back-and-forth movement of the tool changing arm.

In such an automatic tool changing device, clamping and unclamping of a tool on a spindle by a spindle tool loosening mechanism and rotation and back-and-forth movement of a tool changing arm by an ATC mechanism are carried out in a predetermined order and timing. The spindle tool relaxation mechanism and the ATC mechanism are operated synchronously. For example, an automatic tool changer that simultaneously operates the drive sources provided for the spindle tool loosening mechanism and the ATC mechanism to operate the spindle tool loosening mechanism and the ATC mechanism synchronously (Japanese Patent Application No. 4-21).
No. 9903) or an automatic tool changing device (such as Japanese Patent Publication No. 5-37784) in which a spindle tool loosening mechanism and an ATC mechanism are driven by a common drive source to perform synchronous operation.

[0005]

SUMMARY OF THE INVENTION An automatic tool changer having a drive source for each of the spindle tool loosening mechanism and the ATC mechanism operates the spindle tool loosening mechanism and the ATC mechanism synchronously, and operates independently by each drive source. There is a convenience that can be made. However, this automatic tool changer
A complex and expensive synchronous control mechanism for electrically or mechanically detecting the operating states of both the spindle tool loosening mechanism and the ATC mechanism and operating both in synchronization is required, and the entire device is complicated and large and expensive. There was a problem that became. Further, both the spindle tool loosening mechanism and the ATC mechanism need to be operated after confirming the operation state of the other party, and it is difficult to operate both of them simultaneously and progressively, and it is difficult to speed up tool exchange. There was also a problem.

Further, in the automatic tool changing device in which the drive sources of the spindle tool loosening mechanism and the ATC mechanism are made common, the cam mechanism provided in each of the spindle tool loosening mechanism and the ATC mechanism is driven by a common drive source. , A common drive source enables both the spindle tool loosening mechanism and the ATC mechanism to operate accurately and accurately at high speed, and further, the spindle tool loosening mechanism and AT
Since a special synchronization control mechanism for synchronizing the C mechanism can be omitted, the entire device can be made compact and the cost can be reduced. However, due to the structure in which the spindle tool loosening mechanism and the ATC mechanism are simultaneously driven by a common drive source, the spindle tool loosening mechanism on the spindle head side cannot be independently driven with respect to the ATC mechanism. In other words, in numerically controlled machine tools,
In some cases, it may be desirable to manually perform tool removal / attachment work on the spindle without using an automatic tool changer to use the spindle head alone, but in this case, the tool change arm is activated during manual tool change of the spindle. There was the inconvenience that the tool change work was dangerous and the spindle head could not be used alone.

An object of the present invention is to provide a spindle tool loosening device and an A
It is an object of the present invention to provide an automatic tool changer which enables a high speed synchronous operation by sharing a drive source of a TC mechanism, and which enables a tool attachment / detachment work of a spindle by an independent drive of only a spindle tool loosening device.

[0008]

SUMMARY OF THE INVENTION The present invention is an automatic tool changer for rotating a tool changer arm between a tool stocker for holding a large number of tools and a spindle of a spindle head for exchanging tools in a numerically controlled machine tool. An apparatus comprising a drive motor and a rotary cam that rotates with the drive motor to move a drawbar built in the spindle back and forth to clamp and unclamp a tool mounted on the spindle. A spindle tool loosening mechanism that is integrally installed in the head, a cam mechanism that pivotally drives a tool exchanging arm to insert and remove a tool from the tool stocker and spindle, and replace the tool, and
An automatic tool changer comprising an ATC mechanism which is detachably connected to a rotary shaft of the rotary cam and has a power transmission drive shaft for synchronously driving the cam mechanism by the rotary force of the rotary cam. To achieve.

A rotary shaft of a rotary cam of a spindle tool loosening mechanism.
It is desirable in terms of functional equipment that the detachable connection of the drive shaft for power transmission of the ATC mechanism is performed by a coupling that moves back and forth in the axial direction.

Further, normally, the tool stocker and the AT
Since the C mechanism is installed at a fixed position and the spindle head is movably installed, the spindle tool loosening mechanism together with the spindle head is
It is desirable to have a structure in which the spindle tool loosening device and the spindle head are used independently by moving them away from the TC mechanism.

[0011]

[Operation] The ATC is attached to the rotary shaft of the rotary cam of the spindle tool loosening mechanism.
When the drive shaft for power transmission of the mechanism is connected by a coupling, etc., the drive motor of the spindle tool loosening mechanism drives the ATC mechanism as well as the spindle tool loosening mechanism synchronously to automatically exchange the tools between the tool stocker and the spindle. Is done. In this case, the drive motor that is the drive source of the spindle tool loosening mechanism is AT
It becomes the drive source of the C mechanism, and the shared use of the drive source is achieved.

When the rotary shaft of the rotary cam of the spindle tool loosening mechanism and the drive shaft for power transmission of the ATC mechanism are disconnected, the ATC mechanism loses its drive source and does not drive, but the spindle tool loosening mechanism does its own work. It can be driven by driving the drive motor, and by the independent driving of the spindle tool loosening mechanism, the tool can be manually detached and attached from the spindle without being disturbed by the ATC mechanism, and the spindle head can be used independently.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment will be described with reference to the drawings. The automatic tool changer shown in FIGS. 1 and 2 is a horizontal type, and a spindle tool loosening mechanism attached to a spindle head 2 of a numerically controlled machine tool. 8 and an ATC mechanism (tool changing mechanism) 13 installed between a tool stocker (not shown) and the spindle head 2. FIG. 1 shows a spindle tool loosening mechanism 8 and A.
FIG. 2 is a plan view when the TC mechanism 13 is connected, and FIG. 2 is a plan view when the spindle tool loosening mechanism 8 is separated from the ATC mechanism 13.

The spindle head 2 is installed so as to be movable in two horizontal directions and three orthogonal directions perpendicular to each other. A tool 1 of a machine tool is removably attached to a tip end of a spindle 3 that projects horizontally from a spindle head 2. A drawbar 4 is built in the main shaft 3 in the axial direction, and the tool 1 is clamped or unclamped on the main shaft 3 by the back-and-forth movement of the drawbar 4 in the axial direction.

A spindle tool loosening mechanism 8 fixed to the spindle head 2 includes a rotary cam 6 which is driven to rotate in one direction by a drive motor 5. The drive motor 5 is an AC motor or a step motor, and when the rotary cam 6 is rotated once, the rotary cam 6 is rotated.
The draw bar 4 is driven back and forth in the axial direction by the cam surface, and the tool 1 is clamped and unclamped on the spindle 3.
The ATC mechanism 13 includes a tool changer arm 10 that swivels between a tool stocker installed in the ATC mechanism 13 and a spindle 3 of a spindle head 2, and a cam mechanism 1 that swivels the tool exchange arm 10.
1 and a drive shaft 12 that transmits the power of the drive motor 5 to the cam mechanism 11.

The present invention is characterized in that the rotary shaft 7 of the spindle tool loosening mechanism 8 and the drive shaft 12 of the ATC mechanism 13 are detachably connected. In the embodiment shown in the drawings, the drive shaft 12 and the rotary shaft 7 are coaxially arranged, and both the drive shaft 12 and the rotary shaft 7 are engaged with each other by axial back-and-forth movement, and connected by a coupling 14 that is disengaged. Is characterized by.

The coupling 14 comprises a pair of a first disc 15 fixed to the end of the rotary shaft 7 and a second disc 16 fixed to the end of the drive shaft 12. As shown in FIG. 1, when the rotary shaft 7 and the drive shaft 12 are connected by the coupling 14, the drive motor 5 synchronously drives both the spindle tool loosening mechanism 8 and the ATC mechanism 13. Further, as shown in FIG. 2, the first disc 15 and the second disc 16 of the coupling 14 are provided.
Is released, only the spindle tool loosening mechanism 8 is driven by the drive motor 5, and the ATC mechanism 13 is not driven and remains stationary. In this disengagement operation of the coupling 14, the ATC mechanism 13 is arranged at a fixed position, and the spindle tool loosening mechanism 8
Is moved to the opposite side of the ATC mechanism 13 together with the spindle head 2. Such movement of the spindle head 2 is performed by an existing numerical control head driving device (not shown) that moves the spindle head 2 in three orthogonal directions.

A specific structure and operation example of the above embodiment will be described with reference to FIGS.

The coupling 14 shown in FIGS. 3 (a) and 3 (b) has a pair of locking rollers 17 projecting from both ends of the front surface of the first disk 15 in the diametrical direction, and a pair of locking rollers 17 is provided on the second disk 16. A locking groove 18 is formed in the front surface in the diametrical direction. The first disk 15 is arranged coaxially with respect to the second disk 16 so as to move toward and away from each other, and the locking groove 18 and the locking roller 17 of both are opposed to each other. When the one circular plate 15 is brought closer,
The locking roller 17 is fitted and inserted into both ends of the locking groove 18, and the second
The first disc 15 is connected to the disc 16. When the first disc 15 is rotated by the rotating shaft 7 in this state, the second disc 16 and the drive shaft 12 are integrally synchronized with the first disc 15 and rotate in the same direction. When the first circular plate 15 is separated from the second circular plate 16, the locking roller 17 comes out from the locking groove 18 and the coupling 14 is disconnected.

5 (a) and 5 (b) show specific examples of the spindle 3 on which the tool 1 is mounted and the spindle tool loosening mechanism 8.
The main shaft 3 has a built-in drawbar 4, a collet 20 installed at the tip of the drawbar 4, and a disc spring 21 that biases the drawbar 4 so as to constantly withdraw in the opposite direction of the collet 20. The collet 20 holds the pull stud 1b protruding from the tool holder 1a of the tool 1, the disc spring 21 retracts the drawbar 4 to the retracted position, and the collet 20 retracts the pull stud 1b. The inserted tool 1 is clamped.

The spindle tool loosening mechanism 8 includes a drive motor 5, a speed reducer 22 for the drive motor 5, and a bearing 23 for supporting the rotary shaft 7 of the rotary cam 6 orthogonal to the drawbar 4. The rotary cam 6 is fixed so as to be orthogonal to the rotary shaft 7, and a power transmission roller 24 and a pressure receiving member 25 are arranged between the cam surface of the rotary cam 6 and the base end surface of the draw bar 4. When the drive motor 5 is driven,
The rotary shaft 7 and the rotary cam 6 rotate via the speed reducer 22, and while the rotary cam 6 rotates 360 °, the drawbar 4 moves back and forth once via the roller 24 and the pressure receiving member 25. The rotation angle of the rotary cam 6 is constantly detected by the first detection means 26 such as a touch sensor. The detection signal from the first detection means 26 is used as a detection signal of the absolute position of the draw bar 4, and is used for controlling the independent operation of the spindle tool loosening mechanism 8 and the synchronous operation with the ATC mechanism 13, as described later.

The ATC mechanism 13 shown in FIGS. 6 and 7.
Is attached to one end of the fixed frame 30 by the cam mechanism 11
And the drive shaft 12 is installed at the other end. Cam mechanism 11
Has a roller gear cam 32 fixed orthogonally to a cam shaft 31 rotatably attached to the frame 30. The cam shaft 31 and the drive shaft 12 are parallel to each other, and the chain belt 3 is erected on sprockets 33 and 34 fixed to both base ends thereof.
At 5, the rotational force of the drive shaft 12 is transmitted to the cam shaft 31.

The drive shaft 12 is supported on the frame 30 by bearings 36. The second disc 16 of the coupling 14 is axially slidably fitted to the tip of the drive shaft 12 via a spring 37. Further, the second detecting means 39 is fixed to the tip of the support arm 38 extending from the bearing 36 toward the coupling 14. The second detecting means 39 detects the position of the edge of the second disc 16 with respect to the drive shaft 12 to detect whether or not the coupling 14 is normally coupled. That is,
The first disk 15 separated from the second disk 16 of the coupling 14 is advanced toward the second disk 16 by the advance of the spindle tool loosening mechanism 8, and the locking roller 17 is fitted into the locking groove 18. When the two discs 15 and 16 are displaced in the circumferential direction and the locking roller 17 does not enter the locking groove 18, the locking roller 17 resists the second disc 16 against the spring force of the spring 37. When the second circular plate 16 is moved backward by pushing it, the second detecting means 39 detects the backward movement of the second circular plate 16. The detection signal of the second detection means 39 is processed as an abnormality occurrence signal that cannot be coupled by coupling, and is useful for safe operation of the automatic tool changer.

The roller gear cam 32 rotates to rotate the shaft 40 of the tool exchanging arm 10 and to move back and forth in the axial direction. A shaft rotation peripheral cam groove 41 is provided on the outer circumference and a shaft forward and backward movement is provided on the side surface. Side cam groove 42
Have. The follower spider 44 of the turret 43 for shaft rotation is slidably fitted in the circumferential cam groove 41 from a fixed direction. When the roller gear cam 32 is rotated, the circumferential cam groove 4
The follower spider 44 slides along the turret 43.
And the turret shaft 45 that fixes the turret 43 to one end rotates intermittently. This rotational force is generated by the turret shaft 45 and the shaft 4.
0 is transmitted to the shaft 40 via a pair of bevel gears 46 and 47 connecting the 0, and the shaft 40 and the tool exchange arm 10
Rotates intermittently at a predetermined angle and direction.

Further, the side cam groove 4 of the roller gear cam 32 is provided.
A cam follower 51 at one end of the rocking lever 50 is fitted and inserted into the swing lever 2. When the roller gear cam 32 is rotated once, the cam follower 51 slides in the side surface cam groove 42 and the swing lever 5
0 swings about the support shaft 52 as a fulcrum, and the other end of the swing lever 50 moves the shaft 40 back and forth in the axial direction, so that the tool changing arm 10 moves back and forth once.

Further, the roller gear cam 32 is provided with a cam positioning mechanism 53 for positioning the roller gear cam 32 when the tool exchange arm 10 is in the tool exchange position for tool delivery. The cam positioning mechanism 53 includes a pressing lever 54 that is swingably installed along the side surface of the roller gear cam 32, a positioning roller 55 that is provided at a fixed position on the side surface of the roller gear cam 32, and the pressing lever 54 that is positioned in the positioning roller 55. An elastic member 56 such as a spring for elastically pressing in the direction is provided. When the roller gear cam 32 shown in FIG. 7 rotates in the direction of the arrow in FIG. 7, the positioning roller 55 separates from the pressing lever 54, and when the roller gear cam 32 makes one rotation and the tool changing arm 10 comes to the fixed position for tool delivery and replacement, the pressing lever 55 moves. The positioning roller 55 is fitted into the notch 57 formed on the side surface of the roller 54 to determine the absolute position of the roller gear cam 32.

The ATC mechanism 13 intermittently rotates the tool exchanging arm 10 between a tool exchanging position A in actual battle shown in FIG. 8 and a standby position B shown by a chain line in FIG. Move back and forth in the direction. The operation of such an ATC mechanism 13 is synchronized with the operation of the spindle tool loosening mechanism 8,
For example, the time chart shown in FIG. 4 is used.

At the start of the automatic tool changing operation, the automatic tool changing apparatus has a state in which the spindle head 2 and the spindle tool loosening mechanism 8 are moved to the ATC mechanism 13 side, and the rotary shaft 7 and the drive shaft 12 are connected by the coupling 14. , The tool change arm 10 is in the standby position B. When the drive motor 5 is operated in this state to rotate the rotary shaft 7 in a predetermined direction, first, the draw bar 4 is pushed by the rotary cam 6 to move forward, and the collet 20 is loosened to start the unclamp operation. At the same time, the rotation of the drive shaft 12 rotating integrally with the rotary shaft 7 causes the roller gear cam 32 to start rotating, and the tool exchanging arm 10 rotates 90 ° from the standby position B to the tool exchanging position A, so that the tool stocker and the main spindle 3 are rotated. Holds the mounted tool 1. After this tool holding, the tool unclamping of the spindle 3 is completed, and the tool exchanging arm 10 starts to advance a little before that, and the tool exchanging arm 10 extracts the tool from the spindle 3 and the tool stocker.

Shortly before the removal of the tool by the tool exchanging arm 10 is completed, the tool exchanging arm 10 rotates 180 ° in the direction opposite to the previous direction of rotation, and the tool stocker and the spindle 3 are rotated.
The positions of the tools 1 are exchanged. Shortly before the end of the tool exchange, the tool exchange arm 10 starts to retract, and the tool 1 held by the tool exchange arm 10 is inserted into the tool stocker and the spindle 3. Shortly before the insertion of the tool is finished, the draw bar 4 of the main shaft 3 starts to retreat by the elastic force of the disc spring 21, and the tool clamping by the collet 20 is started. After the tool is clamped, the tool exchanging arm 10 is further rotated 90 ° to be separated from the tool 1 and moved to the original standby position B.

The above tool exchanging operation is performed once each time the drive motor 5 rotates the rotary shaft 7 and the drive shaft 12 once.
At this time, the synchronization between the spindle tool loosening mechanism 8 and the ATC mechanism 13 is always accurately performed because the drive source is common. In addition, the spindle tool loosening mechanism 8 and the ATC mechanism 13 that operate in synchronization
The absolute position of can be accurately monitored only by the signal from the first detecting means 26, and the position detecting means for the synchronous operation can be minimized only by the first detecting means 26.

When the tool 1 of the spindle head 2 is manually replaced without using the ATC mechanism 13 and the spindle head 2 is used alone, as shown in FIGS. 2 and 6, the spindle head 2 is in a fixed position ATC. The first circular plate 15 of the spindle tool loosening mechanism 8 is moved to a position A by a constant stroke in a direction away from the mechanism 13.
Separate from the second disc 16 of the TC mechanism 13 to remove the coupling 1
Release the binding of 4. When the drive motor 5 is driven in this state, only the spindle tool loosening mechanism 8 is driven, the draw bar 4 of the spindle 3 moves back and forth, and the unclamping and clamping operations of the tool 1 on the spindle 3 are performed. The manual replacement of the tool 1 is performed. At this time, ATC
The mechanism 13 is in a stationary state, the tool exchanging arm 10 is held at the standby position B, and the tool exchanging work on the spindle 3 and the tool 1 are performed.
Does not disturb the work processing work.

The present invention is not limited to the above embodiment, but the means for detachably connecting the rotary shaft of the spindle tool loosening mechanism and the drive shaft of the ATC mechanism may be a spline coupling or the like. Further, the ATC mechanism is not limited to one in which the tool exchanging arm is pivotally driven by one roller gear cam, and may be one using a plurality of cams or levers such as a cam dedicated to rotation of the tool exchanging arm and a cam dedicated to forward / backward movement.
Further, the ATC mechanism side may be moved toward and away from the spindle tool loosening mechanism to couple and disconnect the coupling.

Although the above embodiment has been described with reference to a horizontal automatic tool changing device having a horizontal spindle, the present invention can be effectively applied to a vertical automatic tool changing device having a vertical spindle.

[0034]

According to the present invention, the drive shaft for power transmission, which is the drive source of the ATC mechanism, is detachably connected to the rotary shaft of the spindle tool loosening mechanism that is rotated by one drive motor. , The ATC mechanism is synchronously driven together with the spindle tool loosening mechanism by the drive of the spindle tool loosening mechanism, so that the spindle tool loosening mechanism and the ATC mechanism can always be synchronized accurately without requiring a special synchronization control mechanism. It is possible to provide a highly reliable automatic tool changer capable of high-speed operation. Further, by sharing the drive source, downsizing and cost reduction of the entire automatic tool changer can be easily achieved. In addition, the rotary shaft of the spindle tool loosening mechanism and the drive shaft of the ATC mechanism are disconnected, and only the spindle tool loosening mechanism is driven by its own drive motor, and the spindle is manually attached and detached by the spindle head. It is possible to provide an automatic tool changer which is convenient for the user.

Further, the rotary shaft of the spindle tool loosening mechanism and the ATC
If the drive shaft of the mechanism is connected by a coupling that connects and disconnects by axial movement, the coupling and disconnection of the spindle tool loosening mechanism and the ATC mechanism can be easily and reliably performed with a coupling of a simple structure, and automatic tool change The operation of switching between the use of the spindle head and the spindle head alone is stable, and a highly reliable automatic tool changer can be provided.

Further, when the ATC mechanism is installed at a fixed position and the spindle tool slackening mechanism and the spindle head are movably installed with respect to the ATC mechanism, a special driving operation for connecting and disconnecting the spindle tool slackening mechanism and the ATC mechanism is performed. It is possible to realize an automatic tool changer which is advantageous in terms of capital investment, because it can be performed by utilizing the movement of the existing drive device of the spindle head without using a mechanism.

[Brief description of drawings]

FIG. 1 is a plan view of an automatic tool changer according to an embodiment of the present invention.

FIG. 2 is a plan view of the apparatus shown in FIG. 1 when the spindle head is used alone.

3 (a) and 3 (b) are enlarged perspective views of two members constituting the coupling in the device of FIG.

FIG. 4 is a time chart diagram showing an operation at the time of automatic tool change by the apparatus in FIG.

5 (a) is an enlarged sectional view of a main part of a spindle tool loosening mechanism and a main shaft in the apparatus of FIG. 2, and FIG. 5 (b) is a side sectional view of the main part of FIG. 5 (a).

FIG. 6 is an enlarged cross-sectional view of a main part of the ATC mechanism in the device shown in FIG.

FIG. 7 is a side sectional view of a main part of the ATC mechanism shown in FIG. 6;

FIG. 8 is a front view of a tool changing arm in the ATC mechanism shown in FIG. 7;

[Explanation of symbols]

 1 Tool 2 Spindle Head 3 Spindle 4 Drawbar 5 Drive Motor 6 Rotating Cam 7 Rotating Axis 8 Spindle Tool Relaxing Mechanism 10 Tool Exchange Arm 11 Cam Mechanism 12 Drive Axis 13 Tool Exchange Mechanism (ATC Mechanism) 14 Coupling

Claims (3)

[Claims] 1. An automatic tool exchanging device for automatically exchanging tools by swiveling a tool exchanging arm between a tool stocker for holding a large number of tools in a numerically controlled machine tool and a spindle of a spindle head. It is equipped with a motor and a rotary cam that is driven to rotate by this drive motor to move the drawbar built in the spindle back and forth to clamp and unclamp the tool mounted on the spindle, and is installed integrally on the spindle head. And a main shaft tool loosening mechanism, a cam mechanism for rotating and driving the tool changing arm to insert and remove the tool from the tool stocker and the main shaft, and a tool changer, and detachably connected to the rotary shaft of the rotary cam. An automatic tool changer having a tool change mechanism having a drive shaft for power transmission that rotationally drives the cam mechanism by the rotational force of the rotary cam. 2. The rotating shaft of the rotary cam of the spindle tool loosening mechanism and the drive shaft for power transmission of the tool exchanging mechanism are detachably connected by a coupling that moves relatively back and forth in the axial direction.
The automatic tool changer described. 3. The automatic tool changer according to claim 1, wherein the tool stocker and the tool changer mechanism are installed at fixed positions, and the spindle tool loosening mechanism is installed together with the spindle head so as to be detachable from the tool changer mechanism. apparatus.