The present disclosure relates to a device for attaching and detaching tools in a magazine, and more particularly, to a device for attaching and detaching tools in a magazine of a machine tool, the device being capable of attaching or detaching a tool having directionality to or from each gripper of the magazine of the machine tool while accurately adjusting a fixed position of the tool.

A gripping device is provided in a turret-type tool magazine of a machine tool and grips a tool or a tool holder that holds the tool. The gripping device includes: a pair of arms configured to grip the tool or the tool holder by pinching the tool or the tool holder between the arms, a main body part configured to support the pair of arms so that each of the paired arms swings in the pinching directions to pinch the tool or the tool holder between the arms; and an angle detector configured to detect a physical quantity indicating a swing angle of the arm.

A docking assembly and method for docking and retrieving a filament holding device includes a motor casing rod defining a recess, filament holders and docking stations. Each filament holder defines a filament receiver channel for receiving the rod and a stop member that is selectively engaged with the recess of the rod, thus coupling a filament holder to the rod for retrieval of the filament holder. Each docking station includes a deployment latch operable to rotate when the rod is inserted into the docking receiver channel so that the deployment latch urges the stop member to the deployed configuration for coupling together the rod and the filament holder. Thus, a filament holder is captured for removal from the docking station. The docking apparatus includes a release lever that operates in reverse of the deployment latch so as to release a filament holder from the rod back to its docking station.

To provide a hand stocker with a simple structure. A hand stocker housing a hand for attaching on an actuator includes a housing board that houses the hand in a hung state and includes a hanging mechanism hanging the hand on a board surface facing the hand. The hanging mechanism includes: a hooking member that extends in a horizontal direction from the board surface to engage with a hanging portion disposed in the hand; a pressing member that prevents the hand hung on the hooking member from moving to a direction separating from the board surface; and a supporting member that restricts the hand hung on the hooking member from moving to a direction approaching the board surface. The hand is sandwiched between the pressing member and the supporting member and housed.

A docking assembly for docking and retrieving a filament holding device includes a motor casing rod defining a recess, filament holders and docking stations. Each filament holder defines a filament receiver channel for receiving the rod and a stop member that is selectively engaged with the recess of the rod, thus coupling a filament holder to the rod for retrieval of the filament holder. Each docking station includes a deployment latch operable to rotate when the rod is inserted into the docking receiver channel so that the deployment latch urges the stop member to the deployed configuration for coupling together the rod and the filament holder. Thus, a filament holder is captured for removal from the docking station. The docking apparatus includes a release lever that operates in reverse of the deployment latch so as to release a filament holder from the rod back to its docking station.

A tool magazine includes a magazine arm and a gripper plate. The magazine arm has a tool pot to hold a tool. The magazine arm is pivotable around a pivotal axis such that the tool pot pivots around the pivotal axis. The gripper plate has at least one gripper to hold the tool at a holding position on a circular arc track along which the tool moves when the magazine arm pivots. The at least one gripper is open in a tangent direction of the circular arc track at the holding position.

A tool exchange assembly and related method configured to swap change tool assemblies with a nutrunner constructed in accordance to one example of the present disclosure includes a nest. The nest has a lower jaw portion and an upper jaw portion. The lower jaw portion has first and second lower fingers that cooperate to define a lower slot. The upper jaw portion has first and second upper fingers that cooperate to define an upper slot. The nest is configured to receive a change tool assembly. Relative movement of the change tool assembly and the nest urges a sleeve on the change tool assembly to move between a locked position and an unlocked position.

A cutting apparatus includes a magazine including a holder to hold a machining tool. The holder includes a container, a magnetic body, and an intermediate member. The container holds a flange of the machining tool. The container includes in its bottom surface a first insertion hole through which a tool body of the machining tool is to be inserted. The magnetic body is disposed under the container. The magnetic body includes a second insertion hole through which the tool body is to be inserted. The intermediate member is disposed inside the second insertion hole. The intermediate member includes a third insertion hole through which the tool body is to be inserted. A length of the intermediate member in a height direction is equal to or longer than a length of the magnetic body in the height direction. The intermediate member is made of a non-magnetic material.

The present disclosure relates to a tool magazine of a machine tool such as a moving column-type machining center, in which a magazine unit is installed on a saddle, a tool accommodated in a gripper part of the magazine unit is loaded or unloaded in a direction perpendicular to a tool axis, and a gripping part of a change arm directly grips a flange portion of the tool at the time of changing the tools by means of a tool changing part movably installed on the saddle and a tool changing part transfer part configured to move the tool changing part independently of a column, thereby reducing tool change time, improving productivity, minimizing a collision or mechanical interference, and improving stability and reliability in the medium-sized or large-sized machine tool having a length in a width direction.

A robotic tool changer system and a method for performing a tool change with the robotic tool changer system are disclosed. Providing a plurality of second coupling units each connected with a tool, wherein the second coupling units are detachably connected to a respective tool changer grippers; driving a first coupling unit along a second direction with a robot arm end shaft to be coupled with a selected second coupling unit; driving the first coupling unit coupled with the selected second coupling unit away from the corresponding tool changer gripper in a first direction, defining an angle between the first direction and the second direction; wherein when the selected second coupling unit is moved to the corresponding tool changer gripper and before the first coupling unit to separate from the selected second coupling unit, a third acting force is applied to the selected second coupling unit for restricting movement.