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 machine tool includes: a spindle head; a spindle rotatably supported on the spindle head; a chuck unit configured to chuck a tool inserted in an axis direction of the spindle; a tool holder configured to hold the tool attached to the chuck unit; and a rotary arm configured to move the tool holder to a reachable position of the spindle. The tool holder is supported on the rotary arm by a support mechanism, and the support mechanism includes a displacement following mechanism configured to support the tool holder on the rotary arm in a manner to be capable of displacing the tool holder in a direction intersecting an axis of the tool.

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 machine tool includes a rotatable spindle, a spindle drive, a tool magazine, a tool changer including a rotating shaft, a rotating shaft drive motor, an angular position detector, a tool change arm having gripping units at both ends, and a controller. After interchanging a first tool mounted on the spindle and a second tool held in a tool pot, when rotating the tool change arm to an intermediate position, rotation of the spindle is started as soon as the second tool mounted on the spindle and the gripping unit are out of contact with each other.

A machine tool includes a door used for opening and closing an opening of a frame and a tool exchanger arm used for exchanging a tool between a tool magazine and a main shaft. The machine tool further includes an interlocking mechanism provided between the door and the tool exchanger arm. The interlocking mechanism works in an interlocking relationship with tool exchanging operation by the tool exchanger arm to open and close the door.

A tool changer 10 includes a tool change arm 40 having tool holding portions 42, 52 at ends thereof, a support shaft supporting the tool change arm 40, a rotation mechanism including a rotation drive motor 25 and rotating the tool change arm 40 about an axis of the support shaft, a forward/backward movement mechanism including a forward/backward movement drive motor 13 and moving the tool change arm 40 forward and backward along the support shaft, and a mount base 11 having the rotation drive motor 25, the forward/backward movement drive motor 13 and the support shaft mounted thereon. The tool changer has a restraining member 60 provided thereon which restrains movement of the tool change arm 40 in a direction along the support shaft by engaging with the tool change arm 40 positioned at an original position.

A tool gripping arrangement for loading an elongate tool having a lengthwise axis into a collet. The tool gripping arrangement includes a tool clamp comprising a pair of tool clamp grippers for clamping the tool along a clamping axis. The tool gripping arrangement further includes a mounting arrangement for mounting the gripping arrangement to a robot arm, the tool clamp being mounted for free rotation relative to the mounting arrangement.

An automatic tool changer (ATC) serves as an ATC for automatically changing a tool attached to a lower tool rest of a machine tool. The ATC includes a robot arm and a movement mechanism unit moving the robot arm between inside and outside of a machining area. The robot arm has a base unit coupled to the movement mechanism unit, an arm unit pivotably coupled to the base unit, and a gripping unit provided in the arm unit and detachably gripping the tool. The arm unit is formed to extend in an arm shape from the base unit toward the gripping unit, and swings on a pivot axis as a fulcrum relative to the base unit. By such a configuration, an ATC implementing an automatic change of a tool by a simple and compact mechanism and a machine tool including such an ATC are provided.

The device and the corresponding method according to the invention relate in particular to a CNC machine tool and a machining method preferably for large machining patterns. The CNC machine tool may comprise a machining head 2 which may be connected to a Z-axis 1 such that it can be manually and/or automatically changed, and which may have at least two tool spindles 3 for receiving tools 4. The Z-axis 1 can be moved in a linear manner at least along two linear axial directions. The Z-axis 1 and/or the machining head 2 may have at least one axis of rotation.

A servo-driven tool unclamping system for a machine tool contains: a tool changing unit, a tool unclamp unit, and a servo control unit. The tool changing unit includes a cam box, a first servo motor for driving the cam box, a driving shaft driven by the cam box, and a tool change arm driven by the driving shaft. The tool unclamp unit includes a spindle, a transmission assembly, and a second servo motor. The servo control unit includes a main controller, a first servo drive and a second servo drive both electrically connected with and controlled by the main controller. The first servo drive and the second servo drive are also electrically coupled with the first servo motor and the second servo motor and numerically control the tool changing unit and the tool unclamp unit, hence the tool change arm operates, and the spindle clamps and unclamps each tool.