A method, non-transitory computer-readable storage medium, and tool changing system for changing tools on a machine. The tool changing system includes a tool magazine, a tool transporter, and an automatic tool changer (ATC). The ATC includes a tool holder and a tool changer. The tool magazine is configured to store at least one tool received at the tool loading station. The tool transporter is configured to transport a tool from the tool loading station or the tool magazine to a tool transfer position of the ATC, and to hold the tool at the tool transfer position during an automatic tool change process. The tool holder is configured to hold the tool at the tool transfer position during the automatic tool change process when the tool transporter is not positioned at the tool transfer position. The tool changer is configured to provide the tool at the tool transfer position to a tool change position of a machine during the automatic tool change process.

A tool pot includes a resin-made pot body and a metallic reinforcing member embedded in the pot body by insert molding. The reinforcing member is provided with a reinforcing plate embedded in a portion including a horizontal pin insertion portion in the pot body. The reinforcing plate is provided with a lightening hole so as to avoid the horizontal pin insertion portion.

A tool changer includes a holding member having a tool change arm, a rotating mechanism for rotating the holding member, a forward/backward moving mechanism for moving the holding member forward and backward, and a controller controlling the mechanisms. A zero return controller determines whether the tool change arm is holding tools. When it is not holding tools, the tool change arm is rotated to a predetermined non-interference angle, the tool change arm is translated to a forward/backward movement zero point, and the tool change arm is rotated to a rotation zero point. When it is holding tools, the tool change arm is translated to a forward end, the tool change arm is rotated to position it on an expected path, and the tool change arm is moved along the expected path, thereby moving the tool change arm to the rotation zero point and the forward/backward movement zero point.

A two-layer disk type tool magazine device matched with a numerical control machine tool, comprises a tool magazine base, a tool magazine support, tool sleeve chucks, a tool disk base, tool sleeves and a tool alignment instrument. The tool magazine base is connected to and installed on the machine tool. The tool magazine support is connected to one end of the tool magazine base. The tool disk base is connected to the support by means of a bolt. The tool alignment instrument is installed at the other end of the tool magazine base. The two tool sleeve chucks are installed on the tool disk base and partitioned by a tool disk partition sleeve. The two layers of tool sleeve chucks clamp a tool sleeve base and are fixed by means of bolts. A tool disk pressing ring presses against the tool sleeve chuck on the upper layer.

A tool magazine includes at least one tool carriage movable along a circulation path. The tool holders each have tool pot sockets to which the tool pots are mountable. The tool holders are disposed pivotably about a pivot axis with respect to the at least one tool carriage. The tool pot sockets include a first and second tool pot sockets. An angle is created in a pivoting direction about the pivot axis between a first tool pot mounted to the first tool pot socket and a second tool pot mounted to the second tool pot socket. The turning device turns each of the tool holders about the pivot axis at a position on the circulation path. The tool pot stopper positions each of the tool pots and stops one of the first tool pot and the second tool pot at a pivotable location in the pivoting direction.

A two-layer disk type tool magazine device matched with a numerical control machine tool, comprises a tool magazine base, a tool magazine support, tool sleeve chucks, a tool disk base, tool sleeves and a tool alignment instrument. The tool magazine base is connected to and installed on the machine tool. The tool magazine support is connected to one end of the tool magazine base. The tool disk base is connected to the support by means of a bolt. The tool alignment instrument is installed at the other end of the tool magazine base. The two tool sleeve chucks are installed on the tool disk base and partitioned by a tool disk partition sleeve. The two layers of tool sleeve chucks clamp a tool sleeve base and are fixed by means of bolts. A tool disk pressing ring presses against the tool sleeve chuck on the upper layer.

A tool changer includes a holding member having a tool change arm, a rotating mechanism for rotating the holding member, a forward/backward moving mechanism for moving the holding member forward and backward, and a controller controlling the mechanisms. A zero return controller determines whether the tool change arm is holding tools. When it is not holding tools, the tool change arm is rotated to a predetermined non-interference angle, the tool change arm is translated to a forward/backward movement zero point, and the tool change arm is rotated to a rotation zero point. When it is holding tools, the tool change arm is translated to a forward end, the tool change arm is rotated to position it on an expected path, and the tool change arm is moved along the expected path, thereby moving the tool change arm to the rotation zero point and the forward/backward movement zero point.

A tool changer includes a tool magazine, a support shaft disposed to have a center axis parallel to an axis of a tool spindle, a drive mechanism for rotating the support shaft about the center axis and moving the support shaft in the axial direction, three tool change arms fixed to the support shaft and each having a tool holding unit, a tool transfer mechanism for transferring a tool pot from the tool magazine to a standby position, and a provisional placing pot disposed at a provisional placing position. The tool changer starts a tool change operation in a state where a tool to be attached to the tool spindle, a tool to be used next, and a tool to be used after the next tool are held by the tool holding units of the tool change arms.

A tool magazine includes at least one tool carriage movable along a circulation path. The tool holders each have tool pot sockets to which the tool pots are mountable. The tool holders are disposed pivotably about a pivot axis with respect to the at least one tool carriage. The tool pot sockets include a first and second tool pot sockets. An angle is created in a pivoting direction about the pivot axis between a first tool pot mounted to the first tool pot socket and a second tool pot mounted to the second tool pot socket. The turning device turns each of the tool holders about the pivot axis at a position on the circulation path. The tool pot stopper positions each of the tool pots and stops one of the first tool pot and the second tool pot at a pivotable location in the pivoting direction.

A plurality of pot support members each for detachably supporting the pot are connected, and an endless track is generated for guiding the pot support members driven by sprocket members. Each of the pot support members is supported with a pair of pins so that the pot support members are connected into a chain-like formation. The pitch between the pair of pins for supporting the pot support member is made substantially equal to the pitch between the pins of the adjacent pot support members so as to allow the resultant track to meander both inward and outward.