Patent ID: 9533391
Date: 2017-01-03
CPC Classifications: B23B,B23Q,Y10T

Claim:
1. A tool exchanger apparatus of a machine tool comprising a turret which turns around an axis inclining with respect to a vertical direction and which conveys tools, wherein the turret includes a plurality of radially arranged tool gripping portions, and the tool exchanger apparatus comprises: a force calculating portion which includes tool weight data of the tools attached to the tool gripping portions of the turret and tool placement data of the tools in the tool gripping portions, and which calculates forces applied to each of the tool gripping portions from a resultant force of a centrifugal force, gravity and an inertial force applied to each of the tools, using a weight and a position of each of the tools and a turning speed and a turning acceleration of the turret for each of positions in a turning direction of the turret when the turret turns, based on the tool weight data and the tool placement data; a maximum force calculating portion which calculates a maximum force from among forces applied to the tool gripping portions calculated by the force calculating portion; a turret turning motion determining portion which, in advance, sets target values of forces applied to the tool gripping portions, and which individually determines the turning speed of the turret for each of the positions in the turning direction, and which individually determines the turning acceleration of the turret for each of the positions in the turning direction, such that the maximum force calculated by the maximum force calculating portion falls within a predetermined range with respect to the target value for each of the positions in the turning direction when the turret turns; and a controller which turns the turret in accordance with set values of the turning speed and the turning acceleration, for each of the positions in the turning direction, determined by the turret turning motion determining portion.