Patent Publication Number: US-2023139361-A1

Title: Apparatus and method for detecting failure in holding tool of machine tool

Description:
This application is based on and claims the benefit of priority from Japanese Patent Application No. 2021-179298, filed on 2 November, 2021, the content of which is incorporated herein by reference. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to an apparatus and a method for detecting a failure in holding a tool of a machine tool. 
     Related Art 
     Machine tools have come into widespread use which hold a plurality of tools for machining in a tool magazine in an attachable/detachable manner and perform various kinds of machining on workpieces while selectively exchanging and attaching tools suitable for a machining purposes to a machining spindle from among the tools held in the tool magazine. The present applicant has already proposed an apparatus capable of easily and stably passing a tool from a tool magazine to a machining spindle (see, for example, Japanese Patent No. 4834056). 
      Patent Document 1: Japanese Patent No .4834056 
     SUMMARY OF THE INVENTION 
     In a worksite, this type of machine tool may have a disadvantage that tools are not held properly in the tool magazine due to degradation over time or for other reasons, which may result in a breakdown of or damage to the machine tool. However, the proposal in Japanese Patent No .4834056 does not especially mention any solution for such a disadvantage. 
     The present invention has been made in view of the above circumstances, and an object thereof is to provide an apparatus and a method for detecting a failure in holding a tool of a machine tool, which are capable of effectively preventing a risk of a breakdown of and damage to the machine tool that can be caused due to improper holding a tool in a tool magazine. 
     A first aspect of the present invention is directed to an apparatus for detecting a failure in holding a tool of a machine tool (a machine tool  1 , which will be described later, for example) including a tool magazine (a tool magazine  4 , which will be described later, for example) that holds a plurality of tools (tools  6 , which will be described later, for example) in an attachable/detachable manner, and configured to use one tool of the plurality of tools by selectively and exchangeably attaching the one tool to a machining spindle(a machining spindle  3 , which will be described later, for example). The apparatus includes: a plurality of tool holding mechanisms (tool holding mechanisms  8 , which will be described later, for example) configured to hold the tools and provided to the tool magazine. Each of the tool holding mechanisms includes a pair of holding arms (a pair of holding arms  13   a ,  13   b , which will be described later, for example) that extend from one end side (a side of one end a, which will be described later, for example) to an other end side (a side of the other end b, which will be described later, for example) and include tool gripping portions (tool gripping portions  14 , which will be described later, for example) provided on the one end side to grip the tool, a pair of supports (a pair of supports  16   a ,  16   b , which will be described later, for example) that are provided at intermediate points of the pair of holding arms in an extending direction, an urging member (an urging member  17 , which will be described later, for example) that is provided between the pair of holding arms at a location adjacent to the other end side of the holding arms and urges the tool gripping portions in a tool gripping direction via the supports, a locking member (a locking member  18 , which will be described later, for example) that is interposed between the pair of holding arms and provided at a location closer to the other end than a location where the urging member is provided, and is movable between a locking position where the locking member causes the pair of holding arms to continue gripping the tool with the tool gripping portions and a release position where the locking member allows displacement to cause the pair of holding arms to discontinue gripping the tool with the tool gripping portions, and a detection target portion (a detection target portion  22 , which will be described later, for example), which moves integrally with the locking member, a position of which is detected by a predetermined detector (a detector  25 , which will be described later, for example). The pair of holding arms inhibit return of the locking member to the locking position in a case where the position of the tool held by the tool gripping portions has deviated from a proper held position. 
     A second aspect is an embodiment of the first aspect. In the apparatus for detecting a failure in holding a tool of a machine tool according to the second aspect, the detector is fixed to a predetermined portion of the machine tool, and functions as a single detector that is common to the detection target portion of each of the plurality of tool holding mechanisms. 
     A third aspect is an embodiment of the first or second aspect. In the apparatus for detecting a failure in holding a tool of a machine tool according to the third aspect, each of the tool gripping portions of the pair of holding arms has a gripping curved surface (a gripping curved surface  15 , which will be described later, for example) with a semi-circular shape in a side view corresponding to an outer peripheral surface of a cylindrical portion of the tool or a tool, holding body integrated with the tool. 
     A fourth aspect is an embodiment of any one of the first to third aspects. In the apparatus for detecting a failure in holding a tool of a machine tool according to the fourth aspect, the machine tool operates under control of a predetermined controller (a controller  100 , which will be described later, for example), and the controller monitors a detection output from the detector, and in a case where the detection output indicating return of the locking member to the locking position is not received within a predetermined period of time following issuance of a control command to return the locking member to the locking position after causing the locking member move to the release position, the controller issues an output indicating determination of a failure in holding the tool for the machine tool. 
     A fifth aspect is directed to a method for detecting a failure in holding a tool of a machine tool including a tool magazine(a tool magazine  4 , which will be described later, for example) that holds a plurality of tools (tools  6 , which will be described later, for example) in an attachable/detachable manner, and configured to use one tool of the plurality of tools by selectively and exchangeably attaching the one tool to a machining spindle(a machine spindle  3 , which will be described later, for example), The tool magazine includes a plurality of tool holding mechanisms (tool holding mechanisms  8 , which will be described later, for example) that hold the tools, each of the tool holding mechanisms including a pair of holding arms (a pair of holding arms  13   a ,  13   b , which will be described later, for example) that extend from one end side (a side of one end a, which will be described later, for example) to an other end side (a side of the other end b, which will be described later, for example) and include tool gripping portions (tool gripping portions  14 , which will be described later, for example) provided on the one end side to grip the tool, a pair of supports (a pair of supports  16   a ,  16   b , which will be described later, for example) that are provided at intermediate points of the pair of holding arms in an extending direction, an urging member (an urging member  17 , which will be described later, for example) that is provided between the pair of holding arms at a location adjacent to the other end side of the holding arms and urges the tool gripping portions in a tool gripping direction via the supports, and a locking member (a locking member, which will be described later, for example) that is interposed between the pair of holding arms and provided at a location closer to the other end than a location where the urging member is provided, and is movable between a locking position where the locking member causes the pair of holding arms to continue gripping the tool with the tool gripping portions and a release position where the locking member allows displacement to cause the pair of holding arms to discontinue gripping the tool with the tool gripping portions. The method includes: a positioning step (Step S 81  in  FIG.  8   , which will be described later, for example) of causing one of the tool gripping mechanisms in the tool magazine to move to a position where the tool gripping mechanism faces one tool; a locking release step (Step S 82  in  FIG.  8   , which will be described later, for example) of causing the locking member to retract from the locking position to the release position; a gripping step (Step S 83  in  FIG.  8   , which will be described later, for example) of causing the one tool to advance into a gap between the tool gripping portions of the pair of holding arms; a returning step (Step S 84  in  FIG.  8   , which will be described later, for example) of causing the locking member to return to the locking position; and a determination step (Step S 85  and Step S 86  in  FIG.  8   , which will be described later, for example) of determining a failure in holding the tool in a case where a detection output from a detector indicating return of the locking member to the locking position is not issued within a predetermined period of time following a start of the returning step. 
     A sixth aspect is an embodiment of the fifth aspect. In the method for detecting a failure in holding a tool of a machine tool according to the sixth aspect, in the determination step, detection of the position of the locking member is performed using the detector that functions as a single detector common to the plurality of tool holding mechanisms. 
     A seventh aspect is an embodiment of the fifth or sixth aspect. In the method for detecting a failure in holding a tool of a machine tool according to the seventh aspect, in the determination step, detection of the position of the locking member is performed using a non-contact-type detector. 
     An eighth aspect is an embodiment of the seventh aspect. In the method for detecting a failure in holding a tool of a machine tool according to the eighth aspect, a magnetic sensor is used as the non-contact-type detector. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the first aspect, each of the plurality of tool holding mechanisms in the tool magazine is provided with the tool gripping portions on the one end side of the pair of holding arms to grip a tool. 
     The tool gripping portions are constantly urged in the tool gripping direction by the urging member. 
     Further, the pair of holding arms are allowed to be displaced to discontinue gripping the tool with the tool gripping portions against an urging force of the urging member when the locking member has moved to the release position, and are caused to continue gripping the tool with the tool gripping portions when the locking member has returned to the locking position. 
     The pair of holding arms inhibit the return of the locking member to the locking position in a case where the position of the tool held with the tool gripping portions has deviated from the proper held position. 
     Therefore, the detector detects a holding failure state in which the position of the tool in the tool holding mechanism has deviated from the proper held position by detecting the position of the detection target portion that moves integrally with the locking member. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the second aspect, the detector that detects the position of the detection target portion that moves integrally with the locking member is fixed to a predetermined portion in the machine tool and functions as a single detector common to the detection target portion of each of the plurality of tool holding mechanisms. 
     Therefore, the overall configuration of the machine tool is simplified, and maintenance management is also facilitated. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the third aspect, each of the tool gripping portions of the pair of holding arms of each of the plurality of tool holding mechanisms has a gripping curved surface corresponding to an outer peripheral surface of a cylindrical portion of the tool or a tool holding body integrated with the tool. 
     This feature makes it possible to reliably hold the tool between the tool gripping portions of the pair of holding arms in a case where the position of the tool relative to the tool holding mechanism is the proper held position. 
     Moreover, the pair of holding arms in the tool holding mechanism inhibit return of the locking member to the locking position in a case where the relative positions of the tool holding mechanism and the tool are in a tool holding failure state. 
     This feature makes it possible to detect the tool holding failure state by the detector detecting a displaced position of the locking member. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the fourth aspect, the controller that controls the machine tool monitors the detection output of the detector, and in a case where the detection output indicating return of the locking member to the locking position is not received within the predetermined period of time following issuance of a control command to return the locking member to the locking position after causing the locking member to move to the release position, the controller issues the output indicating the determination of a failure in holding the tool for the tool. 
     This feature makes it possible to obtain an accurate result of determination of a failure in holding the tool in consideration of the time required for the proper operation of holding the tool to be held in the tool holding mechanism. 
     In the method for detecting a failure in holding a tool of a machine tool according to the fifth aspect, (the tool gripping portions of) one tool gripping mechanism in the tool magazine is caused to move to a position where the tool gripping mechanism faces one tool in the positioning step, the locking member is caused to retract from the locking position to the release position in the locking release step, and movement that opens the gap between the tool gripping portions of the tool gripping mechanism is thus allowed. 
     In the subsequent gripping step, the one tool is caused to advance into the gap between the tool gripping portions of the pair of holding arms. 
     In the returning step, the locking member is caused to return to the locking position where the gap between the tool gripping portions of the tool gripping mechanism is closed. 
     At the time of the return of the locking member, a failure in holding the tool is determined in the determination step in a case where the return of the locking member to the locking position is not detected within a predetermined period of time following a start of the returning step. 
     This feature makes it possible to obtain an accurate result of determination of a failure in holding the tool in consideration of the time required for performing the proper operation for holding the tool to be held in the tool holding mechanism. 
     In the method for detecting a failure in holding a tool of a machine tool according to the sixth aspect, the detection of the position of the locking member is performed using the detector that functions as a single detector common to the plurality of tool holding mechanisms in the determination step. 
     Therefore, only a small number of detectors are needed, and the maintenance management is facilitated. 
     In the method for detecting a failure in holding a tool of a machine tool according to the seventh aspect, the detection of the position of the locking member is performed using the non-contact-type detector in the determination step. 
     Therefore, maintenance management of the detector and the structure therearound is facilitated. 
     In the method for detecting a failure in holding a tool of a machine tool according to the eighth aspect, the magnetic sensor is used as the non-contact-type detector. 
     Therefore, a detection error due to chips generated during cutting, a coolant for the cutting, or the like is unlikely to occur, thereby making it possible to obtain an accurate detection result. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating a machine tool including an apparatus for detecting a failure in holding a tool of the machine tool according to an embodiment, of the present invention; 
         FIG.  2    is an enlarged view illustrating one tool magazine in the machine tool in  FIG.  1   ; 
         FIG.  3    is an enlarged view illustrating one tool holding mechanism in the tool magazine in  FIG.  2   ; 
         FIG.  4 A  is a diagram for explaining a state in which a locking member in the tool holding mechanism in  FIG.  3    is at a   locking position; 
         FIG.  4 B  is a diagram for explaining a state in which a locking member in the tool holding mechanism is at a release position; 
         FIG.  4 C  is a diagram for explaining a state in which a locking member in the tool holding mechanism has moved to the release position of  FIG.  4 B  once and then cannot return to the locking position of  FIG.  4 A ; 
         FIG.  5 A  is a diagram for explaining a tool holding failure state in the tool holding mechanism in  FIG.  3   ; 
         FIG.  5 B  is a diagram for explaining a proper tool holding state in the tool holding mechanism in  FIG.  3   ; 
         FIG.  6    is a diagram illustrating a structure around a detector applied to the apparatus for detecting a failure in holding a tool of a machine tool according to an embodiment of the present invention; 
         FIG.  7    is a functional block diagram of a controller included in the machine tool in  FIG.  1   ; 
         FIG.  8    is a flowchart showing a method for detecting a failure in holding a tool of a machine tool according to an embodiment of the present invention; 
         FIG.  9 A  is a schematic diagram for explaining main parts of an apparatus according to another embodiment of the present invention, in the state corresponding to  FIG.  4 A ; and 
         FIG.  9 B  is a schematic diagram for explaining main parts of an apparatus according to another embodiment of the present invention, the e corresponding to F4C. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       FIG.  1    is a diagram illustrating a machine tool  1  including an apparatus for detecting a failure in holding a tool of the machine tool according to an embodiment of the present invention.  FIG.  2    is an enlarged view illustrating one tool magazine in the machine tool  1 . The machine tool  1  has a configuration in which a first machine tool  1 L and a second machine tool  1 R are provided on a common surface plate  2 . 
     The first machine tool  1 L and the second machine tool  1 R have similar configurations. In the following description, the first machine tool  1 L and the second machine tool  1 R will be simply referred to as machine tool  1  except for a case where it is necessary to particularly distinguish between them. 
     Each machine tool  1  performs drilling, boring, honing, or the like on a workpiece (not shown) placed on a work table  2   a . The machine tool  1  is comprehensively managed under the control of a controller  100  including a man-machine interface. 
     In  FIG.  1   , as commonly denoted in this type of machine, the axial direction of a machining spindle  3  is defined as a Z direction, a direction toward the workpiece is defined as Z1, and the opposite direction is defined as Z2 in the Z direction. 
     The left-right direction that is orthogonal to the Z direction is defined as an X direction, the leftward direction seen in the X direction is defined as X1, and the opposite direction is defined as X2. 
     A direction that is orthogonal to the Z direction and the X direction is defined as a Y direction, an upward direction is defined as Y1, and the opposite direction is defined as Y2 in the Y direction. 
     The machine tool  1  includes a tool magazine  4  and an auxiliary tool magazine  5  that hold a plurality of tools  6  in an attachable/detachable manner, and uses one tool of the plurality of tools  6  by selectively and exchangeably attaching the one tool to a machining spindle  3 . 
     In the example illustrated in  FIG.  1   , the tool magazine  4  is provided to each of the first machine tool  1 L and the second machine tool  1 R, and the auxiliary tool magazine  5  is provided as one tool magazine that is common to the first machine tool  1 L and the second machine tool  1 R. 
     The machining spindle  3  is provided on one end of a pivot arm  3   a  extending in a direction that is orthogonal to the Z direction, which is an axial direction of the machining spindle  3 . The machining spindle  3  moves to a position at which the machining spindle  3  faces a predetermined tool holding mechanism  8  in the tool magazine  4  by way of pivoting of the pivot arm  3   a , and a tool  6  is passed between the tool. magazine  4  and the machining spindle  3 . 
     The auxiliary tool magazine  5  is provided in order for multiple tools exceeding the number of tools that can be held in the tool magazine  4  to be exchangeable for the first machine tool  1 L and the second machine tool  1 R. 
     As is clear with reference to  FIG.  2   , the tool magazine  4  includes a plurality of tool holding mechanisms  8  for holding the tools  6  such that the tool holding mechanisms  8  face an outer circumference of the plate surface of a support body  7  whose envelope surface constitutes a disk shape and are arranged at substantially equal intervals in the circumferential direction. The support body  7  in this example is constituted by a rotation shaft  9  at the center and a first annular member  10  and a second annular member  11 , which are double annular members having different outer  diameters and connected with a spoke member  12 . 
     The second annular member  11  is located outside the outer circumferential edge of the first annular member  10 . 
     All the plurality of tool holding mechanisms  8  have a similar configuration. The tool  6  includes a cutting tool  6   a  as a leading end portion that is integrally fitted to a cylindrical tool holding body  6   b  forming a base end portion, and a rear end portion of the tool holding body  6   b  forms a substantially cylindrical attachment portion  6   c  attachable to the machining spindle  3 . 
     Next, the tool holding mechanisms  8  will be described with reference to  FIG.  3    as well.  FIG.  3    is an enlarged view illustrating one tool holding mechanism  8  in the tool magazine  4  in  FIG.  2   . The tool holding mechanism  8  includes a pair of holding arms  13   a ,  13   b  extending from one end a to the other end b and facing each other in a direction intersecting with the direction from the one end a to the other end b. The holding arms  13  include the pair of holding arms  13   a  and  13   b  and a square rod-shaped key member  13   k  extending between the pair of holding arms  13   a  and  13   b  along their extending direction. 
     Since the pair of holding arms  13   a  and  13   b  face each other and have a mirror symmetric configuration, the pair of holding arms  13   a ,  13   b  wi11 be collectively referred to as holding arms  13  as needed. 
     The holding arms  13  are provided with tool gripping portions  14  for gripping the tool  6  on their sides toward the one end a. The tool gripping portions  14  have gripping curved surfaces  15  corresponding to an outer peripheral surface of the tool  6  (the cylindrical tool holding body  6   b  thereof) . On the other hand, the tool holding body  6   b  has, on its peripheral surface, key grooves  6   k  formed at two positions that are symmetrical with respect to the axis. The key grooves  6   k  are recesses corresponding to a leading end of the key member  13   k  in a radial direction, and the key member  13   k  is fitted in the key groove  6   k  when the tool holding body  6   b  is at a proper rotation phase position. 
     Due to the configuration described above, when the position of the tool  6  (the cylindrical tool holding body  6   b  thereof) relative to the tool holding mechanism  8  is a proper held position, the outer peripheral part of the tool  6  (the cylindrical tool holding body  6   b ) can be held between the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b  without gap. Moreover, when the position of the tool  6  (the cylindrical tool holding body  6   b  thereof) relative to the tool holding mechanism  8  is in a tool holding failure state, the pair of holding arms  13   a ,  13   b  in the tool holding mechanism  8  inhibit return of a locking member  18  to the locking position. Therefore, it is possible to reliably detect the tool holding failure state by a detector detecting a displaced position of the holding arms. 
     The pair of holding arms  13   a ,  13   b  are rotatably supported at the second annular member  11  of the tool magazine  4  by support shafts that function as a pair of supports  16   a ,  16   b  at intermediate points in the extending direction from the one end a to the other end b. The pair of supports  16   a ,  16   b  will be collectively referred to as supports  16  as needed. An urging member  17  is provided between the holding arms  13  at a location adjacent to the other end b of the pair of holding arms  13   a ,  13   b , and urges the tool gripping portions  14  in a tool gripping direction via the supports  16 . 
     Here, the tool gripping direction is a direction in which the facing gripping curved surfaces  15  of the pair of holding arms  13   a ,  13   b  approach each other. The urging member  17  is a coil spring and urges parts of the pair of holding arms  13   a ,  13   b  abutting on the coil spring and adjacent to the other end b in a separating direction. 
     A shaft-shaped locking member  18  extending in the Z direction is interposed between the pair of holding arms  13   a ,  13   b  that are closer to the other end b than the coil spring abutting parts where the urging member  17  is provided. The locking member  18  has its peripheral surface abutting on the pair of holding arms  13   a ,  13   b  and moves in the Z direction as the axial direction between a locking position at which the locking member  18  causes the pair of holding arms  13   a ,  13   b  to continue gripping the tool  6  (the cylindrical tool holding body  6   b  thereof) wi th the tool gripping portions  14  and a release position at which the locking member  18  allows displacement to cause the pair of holding arms  13   a ,  13   b  to discontinue gripping the tool  6  with the tool gripping portions  14 . The locking member  18  is supported at the first annular member  10  of the tool magazine  4  such that the locking member  18  can be slidably displaced in the axial direction. 
     Next, details of the locking member  18  and the structure therearound will be described with reference to  FIG.  4 A  to  FIG.  4 C .  FIG.  4 A  to  FIG.  4 C  are diagrams of the locking member  18  seen from the other end b of the pair of holding arms  13   a ,  13   b .  FIG.  4 A  illustrates a state in which the locking member  18  is at the aforementioned locking position, and  FIG.  4 B  illustrates a state in which the locking member  18  is at the aforementioned release position.  FIG.  4 C  illustrates a state in which the locking member  18  has moved to the release position illustrated in  FIG.  4 B  once and then cannot return to the locking position. 
     The shaft-shaped locking member  18  includes a head portion  19  that is a short columnar part with a relatively large diameter and located toward the one end side (the side of Z1 in the Z direction), a small diameter shaft portion  20  with a relatively small diameter extending in the axial direction from the head portion  19  to the otherend, and a tapered portion  21  that is a part with a diameter gradually decreasing from the head portion  19  to the small diameter shaft portion  20 . The locking member  18  further includes a detection target portion  22  that is a substantially disc-shaped member having a slightly larger diameter than the head portion  19 . The detection target portion  22  is fixed to the small diameter shaft portion  20  at a location adjacent to an end thereof so as to be concentrically with the small diameter shaft portion  20 . The detection target portion  22  is a dog for a detecting means, which will be described later, to detect a displaced position of the locking member  18  in the axial direction. 
     A coil spring  23  which is a returning urging member is fitted coaxially with the small diameter shaft portion  20  at a part between mutual facing surfaces of the detection target portion  22  at the small diameter shaft portion  20  and the first annular member  10 . In other words, the detection target portion  22  functions also as a reaction force receiving member that receives an urging force caused by the coil spring  23 . The coil spring  23  constantly applies an urging force to the locking member  18  via the detection target portion  22  as the reaction force receiving member, in a direction in which the locking member  18  is returned to the aforementioned locking position. 
     In a case where the pair of holding arms  13   a ,  13   b  hold the tool  6  with theirtool gripping portions  14  in a proper holding state, there is a gap on the side of the end portion b of the holding arms  13   a ,  13   b . Therefore, the urging force of the coil spring  23  advances the head portion  19  of the locking member  18  into the gap between the holding arms  13   a  and  13   b  as in  FIG.  4 A , whereby the head portion  19  prevents the pair of holding arms  13   a ,  13   b  adjacent to the end portion b. In this manner, the holding state of the tool  6  with the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b  is maintained. 
     On the other hand, the machine tool  1  includes, at a predetermined portion thereof, a release rod  24  that causes the locking member  18  to move in the axial direction from the aforementioned locking position to the release position. At the timing at which the tool magazine  4  reaches a predetermined rotation phase position where the tool  6  is passed to the machining spindle  3 , a state in which an end portion of the release rod  24  coaxially faces the end portion of the small diameter shaft portion  20  of the locking member  18  is achieved. In this state, the release rod  24  moves forward and presses the end portion of the small diameter shaft portion  20  under the control of a predetermined servo mechanism that responds to a servo command from the controller  100  in the machine tool1. Consequently, the locking member  18  is displaced in the axial direction to the release position illustrated in  FIG.  4 B . 
     In a case where the locking member  18  is at the release position, a state in which the small diameter shaft portion  20  of the locking member  18  is interposed with gaps from the pair of holding arms  13   a ,  13   b  is achieved on the side of the other end b of the pair of holding arms  13   a ,  13   b . Therefore, displacement in the direction in which the gap between the pair of holding arms  13   a ,  13   b  on the side of the other end b is narrowed is allowed. As a result, tool gripping portions  14  on the side of the one end a of the pair of holding arms  13   a ,  13   b  are turned around the supports  16   a ,  16   b , and displacement in a direction in which the gap therebetween is widened is allowed. In other words, the displacement for releasing the holding state of the tool  6  or for receiving the tool  6  to be exchanged and attached is allowed. 
     When the tool  6  is passed by the tool gripping portions  14  in this state, the release rod  24  is retracted to be separated from the end portion of the small diameter shaft portion  20  of the locking member  18  under the control of the aforementioned servo mechanism. In response to the retraction of the release rod  24 , the urging force of the coil spring  23  prompts displacement of the locking member  18  in such a manner that the locking member  18  returns to the locking state illustrated in the  FIG.  4 A . 
     Here, in a case where the position of the tool  6  held by the tool gripping portion  14  deviates from the proper held position, the pair of holding arms  13   a ,  13   b  is prevented from opening to the extent that, the gap therebetween adjacent to the other end b becomes equal to the dimension of the outer diameter of the head portion  19  of the locking member  18 . This inhibits return of the locking member  18  to the locking position. Therefore, the head portion  19  of the locking member  18  stays by being prevented from advancing into the gap between the pair of holding arms  13   a ,  13   b  adjacent to the other end b as illustrated in the  FIG.  4 C . 
     The phenomenon in which the state in the  FIG.  4 C  is achieved will be described with reference to  FIG.  5 A  as well.  FIG.  5 A  is a diagram for explaining a holding failure state of the tool  6  in the tool holding mechanism  8 . If one tool holding mechanism  8  in the tool magazine  4  reaches the phase position at which the tool  6  is passed to the machining spindle  3  by the predetermined servo mechanism that responds to a servo command from the controller  100  in the machine tool  1 , the locking member  18  is retracted to the release position illustrated in the  FIG.  4 B . In this state, the tool  6  moving from the machining spindle  3  toward the machine tool holding mechanism  8  is directed to the tool gripping portions  14  while the cylindrical machine tool holding body  6   b  thereof pushes the pair of holding arms  13   a  and  13   b  away from each other, and then, is gripped with the gripping curved surfaces  15 . 
     In the process in which the tool  6  is passed to the tool holding mechanism  8  in this manner, the one end a and the other end b of each of the pair of holding arms  13   a ,  13   b  are displaced in mutually opposite directions around the supports  16   a ,  16   b , respectively. At this time, the urging force of the urging member  17  urges the pair of holding arms  13   a ,  13   b   adjacent to the one end a in a direction in which the gap therebetween is closed. Therefore, the tool holding body  6   b  of the tool  6  moves while pushing the pair of holding arms  13   a  and  13   b  away from each other against the urging force and reaches the position where it is gripped by the gripping curved surfaces  15  of the tool gripping portions  14 , and thereafter, the gap between the pair of holding arms  13   a  and  13   b  is closed due to the aforementioned urging force. 
     On the other hand,  FIG.  5 B  is a diagram for explaining the proper holding state of the tool  6  in the tool holding mechanism  8 . Upon the tool holding body  6   b  of the tool  6  reaching the proper rotation phase, the key member  13   k  is fitted into the key grooves  6   k . In this manner, the tool  6  is held in the proper holding state by the tool gripping portions  14 . 
     Once this state is achieved, the pair of holding arms  13   a ,  13   b  adjacent to the one end a are closed to leave a predetermined gap, and as a result, the sides adjacent to the other end b return to the state in which the head portion  19  of the locking member  18  can advance into the gap therebetween, as illustrated in the  FIG.  4 A . However, if the tool holding body  6   b  of the tool  6  is not in the proper rotation phase as in  FIG.  5 A , the key member  13   k  cannot be fitted into the key groove  6   k . 
     In this state, the peripheral surface of the tool holding body  6   b  of the tool  6  is pressed downward with the key member  13   k , the gripping with the holding arms  13  at the proper position is inhibited, thereby achieving a state in which the tool  6  is gripped to such an extent that the tool  6  does not drop. In other words, the tool  6  is not held in the proper holding state with the tool gripping portion  14  and stays at the position at which a part where the outer peripheral surface of the tool holding body  6   b  does not follow the gripping curved surfaces  15  of the tool gripping portions  14  remains, and the abnormal state in which the locking member  18  cannot return to the position as illustrated in the  FIG.  4 C  is achieved. 
     In other words, the state in which the gap between the pair of holding arms  13   a  and  13   b  adjacent to the one end a remains wider than that at the proper held position, and as a result, a state in which the gap between the pair of holding arms  13   a  and  13   b  adjacent to the other end b remains narrower than that at the proper held position. In this state, the locking member  18  cannot return to the state illustrated in the  FIG.  4 A  as described above and remains at the position of the abnormal state illustrated in the  FIG.  4 C . 
     Here, involvement of holding arms  13   a ,  13   b  in the passing of the tool  6  and the actuation of the locking member  18  is described. The pair of holding arms  13   a ,  13   b  inhibit return of the locking member  18  to the locking position in a case where the position of the tool  6  held by the tool gripping portions  14  deviates from the proper held position. The state illustrated in  FIG.  5 A  and  FIG.  4 C  corresponds to the state of the inhibition. 
     The apparatus according to the present embodiment determines a tool holding failure by a detector  25  that detects a displaced position of the locking member  18  in the axial direction in the state illustrated in  FIG.  4 C . The detector  25  and the structure therearound will be described with reference to  FIG.  6   . 
       FIG.  6    is a diagram illustrating the detector  25  and the structure therearound applicable to the apparatus for detecting a failure in holding a tool of a machine tool according to an embodiment of the present invention. As described above with reference to  FIGS.  4  and  5   , whether or not a satisfactory holding state of the tool  6  (tool holding body  6   b ) in the tool holding mechanism  8  is achieved is detected depending on the displaced position of the locking member  18  in the axial direction. The displaced position of the locking member  18  in the axial direction is recognized by the controller  100  on the basis of a detection output of the detector  25  in accordance with the position of the dog, which is the detection target portion  22  that moves integrally with the locking member  18 . 
     The detector  25  is installed in a detection region which is a three-dimensional region corresponding to the locking position at the displaced position of the locking member  18  in the axial direction. Each of the plurality of tool holding mechanism  8  provided in the tool magazine  4  to be radially arranged at intervals in the circumferential direction passes the tool  6  (tool holding body  6   b ) to the machining spindle  3  at the passing position which is a predetermined rotation phase position of the tool magazine  4 . 
     The detector  25  is fixed to a predetermined portion of the machine tool  1  so that the detector  25  functions as a single detector  25  that is common to the detection target portions  22  of the plurality of tool holding mechanisms  8  in order to detect the position of the respective detection target portion  22  in the detection region at the passing position that is common to the plurality of tool holding mechanisms  8 . Therefore, the machine tool  1  does not include a lot of detectors, the overall configuration is simplified, and maintenance management is also facilitated. 
     In the example in  FIG.  6   , the detector  25  is mounted in correspondence with the displaced position at which the detection target portion  22  is when the release rod  24  is retracted from the position where it pushes the end of the small diameter shaft portion  20  of the locking member  18  and when the head portion  19  of the locking member  18  is in the state illustrated in  FIG.  4 A  due to the urging force of the coil spring  23 . In other words, the detector  25  is fixed by a support member:  26  such that a probe faces a location in the aforementioned detection region facing the outer periphery of the detection target portion  22 . 
     In this case, the support member  26  is a plate-shaped member attached to a surface of a housing  27  of the release rod  24  facing the small diameter shaft portion  20  of the locking member  18 . The support member  26  is attached to a front surface of the housing  27  that is orthogonal to the release rod  24 . The support member  26  extends up to a predetermined outer position of the housing  27  in the direction along the front surface and is bent at a substantially right angle so as to be parallel to the small diameter shaft portion  20  of the locking member  18  from the outer position, and the detector  25  is held at the position extended from the bent part by a predetermined dimension such that the probe can face the outer periphery of the detection target portion  22 . From the viewpoint in  FIG.  6   , the support member  26  has a substantially L shape. The detector  25  is a magnetic sensor as a non-contact-type detector. Therefore, maintenance management of the detector  25  and the structure therearound is facilitated, and further, a detection error due to chips generated during cutting, a coolant for the cutting, or the like is unlikely to occur, thereby making it possible to obtain an accurate detection result. 
      The detection output of the detector  25  is supplied to the controller  100  of the machine tool  1 , and whether or not a satisfactory tool holding state is achieved is determined there. The determination method will be described now with reference to  FIGS.  7  and  8   . 
       FIG.  7    is a functional block diagram of the controller  100  included in the machine tool  1  and particularly is a functional block diagram regarding the passing of the tool  6  by the tool holding mechanism  8  and the function of determining whether or not a satisfactory tool held state is achieved.  FIG.  8    is a flowchart representing a method for detecting a failure in holding a tool of a machine tool according to an embodiment of the present invention and particularly is a flowchart regarding the passing of the tool  6  by the tool holding mechanism  8  and the method for determining whether or not a satisfactory tool holding state is achieved. 
     In  FIG.  7   , the controller  100  includes a pivot arm controller  101 , a tool magazine controller  102 , a release rod controller  103 , a detection output recognizer  104 , a holding state determinator  105 , a servo command provider  106 , a display controller  107 , and a manager  108 . The controller  100  issues various servo commands SC regarding machining on a workpiece and exchanging of tools to causes corresponding servo mechanisms in the machine tool  1  to operate. Further, the controller  100  issues a display command DC to cause a predetermined display to display information. On the other hand, the controller  100  receives a feedback signal FS from the servo mechanism that responds to the servo command SC. Additionally, the controller  100  receives a detection signal DS from the detector  25 . 
     The pivot arm controller  101 , the tool magazine controller  102 , and the release rod controller  103  supply the servo commands SC to the corresponding servo mechanisms in the machine tool  1  through the servo command provider  106  and causes the servo mechanisms to perform operations in accordance with a predetermined program. The detection output recognizer  104  recognizes the detection signal DS received from the detector  25 . The holding state determinator  105  determines whether or not a satisfactory holding state of the tool  6  in the tool holding mechanism  8  is achieved, according to a condition in which the detection output recognizer  104  recognizes the detection signal DS. The manager  108  recognizes states of the pivot arm controller  101 , the tool magazine controller  102 , the release rod controller  103 , the detection output recognizer  104 , the holding state determinator  105 , the servo command provider  106 , and the display controller  107 , establishes required coordination therebetween, and comprehensively manages them. The manager  108  also includes a functional unit regarding a man-machine interface with an operator. 
     Next, the passing of the tool  6  by the tool holding mechanism  8  and the determination of whether or not a satisfactory tool holding state is achieved, which are performed under management of the controller  100 , will be described with reference to the flowchart in  FIG.  8   . The tool magazine controller  102  turns the tool magazine  4  by controlling the servo mechanism for turning the tool magazine  4  in response to the servo command SC, causes one tool gripping mechanism  8  in the tool magazine  4  to move to a position where the tool gripping mechanism  8  faces one tool  6  (tool holding body  6   b ), and performs positioning (Step S 81 ). Step S 81  corresponds to the positioning step in the method according to the present embodiment. 
     Then, the release rod controller  103  controls the servo mechanism that drives the release rod  24  in response to the servo command SC, causes the release rod  24  to move forward to retract the locking member  18  from the locking position to the release position, and brings the locking member  18  into the locking release state (Step S 82 ). Step S 82  corresponds to the locking release step in the method according to the present embodiment . 
     Subsequently, the pivot arm controller  101  controls the servo mechanism that turns the pivot arm  3   a  in response to the servo command SC, causes the machining spindle  3  to move so as to advance one tool  6  (tool holding body  6   b ) attached to its leading end into the gap between the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b  (Step S 83 ) . In this manner, in a case where the tool  6  is in the proper held state, the facing tool gripping portions  14  are pushed away from each other by way of passing of the peripheral surface of the tool holding body  6   b , and, the facing tool gripping portions  14  are then closed due to the urging force of the urging member  17  following the passing, whereby the tool  6  (tool holding body  6   b ) is held. At this time, the peripheral surface of the tool  6  (tool holding body  6   b ) and the gripping curved surfaces  15  of the tool gripping portions  14  abut on each other with substantially no clearance therebetween. Step S 83  corresponds to the gripping step in the method according to the present embodiment. 
     Next, the release rod controller  103  issues a servo command SC for causing the servo mechanism that drives the release rod  24  to retract the release rod  24  and returning the locking member  18  from the locking position to the release position (Step S 84 ). Step S 84  corresponds to the returning step in the method according to the present embodiment. 
     In this way, the release rod  24  returns from the state where the release rod  24  has moved forward to the state where the release rod  24  is retracted toward the housing  27 . In other words, the locking member  18  is brought into a state in which the release rod  24  is separated therefrom and one condition for enabling the locking member  18  to return to the locking position illustrated in  FIG.  4 A  is satisfied. It takes a predetermined time for the locking member  18  to return to the locking position even in a case where the tool  6  has been brought into the proper held state. 
     In the state in which the locking member  18  has returned to the locking position, the peripheral edge of the detection target portion  22  that moves integrally with the locking member  18  is at a proximal position facing the leading end of the probe of the detector  25  in  FIG.  6   . In this state, the detector  25  which is a proximity switch issues a detection output. The holding state determinator  105  monitors whether or not the detection output from the detector  25  received within the aforementioned predetermined period of time (Step S 85 ) . 
     A case where the detection output from the detector  25  is received within the predetermined period of time in Step S 85  (Step S 85 : YES) indicates that the locking member  18  has returned properly to the locking position illustrated in  FIG.  4 A . In other words, the tool  6  at the tool gripping portions  14  in the tool holding mechanism  8  is held in a proper held state. Since there is no problem for the machine tool  1  to continue its operation in this state, the process for detecting a failure in holding the tool is ended. 
      On the other hand, in a case where the detection output of the detector  25  is not received within the predetermined period of time (Step S 85 : NO), the holding state determinator  105  determines a failure in holding the tool, issues the display command for a predetermined display through the display controller  107 , causes the display to display the determination result, further issues the servo command SC through the manager  108 , and causes the machine tool  1  to temporarily stop (Step S 86 ). In response to this, the operator the machine tool  1  can take necessary measures. This of the machine to avoid the disadvange that configuration makes it possible to avoid the disadvantage that the tool  6  is not held properly in the tool magazine  4 , which can lead to a breakdown of or damage to the machine tool  1 . Step S 85  and Step S 86  correspond to the determination step in the method according to the present embodiment. 
       FIG.  9 A  and  FIG.  9 B  are schematic diagrams for explaining main parts of an apparatus for detecting a failure in holding a tool of a machine tool according to another embodiment of the present invention. In the embodiment illustrated in  FIG.  9 A  and  FIG.  9 B , a driven rod  18   a  is employed instead of the locking member  18  described with reference to  FIGS.  4 A to  4 C  and  FIG.  6   . The other configurations are similar to those of the machine tool  1  described with reference to  FIGS.  1  to  8   . The parts in  FIG.  9 A  and  FIG.  9 B  corresponding to those in FIGS.  4 A to  4 C  and  FIG.  6    are denoted by the same reference FIGS. signs. Further, illustration of a returning urging member (coil spring) fi lted coaxially with diameter shaft portion  20  is omitted from the schematic diagram. 
     In driven rod  18   a , parts corresponding to the head portion  19  and the tapered portion  21  of the locking member  18  described with reference to  FIGS.  4 A to  4 C  and  FIG.  6    together form a tapered portion  21   a . In other words, the head portion  19  of the locking member  18  is not included, and one end portion of the small diameter shaft portion  20  forms a partial conical body with a diameter increasing toward the one end portion. In the tool holding mechanism  8 , the holding arms  13   a ,  13   b  adjacent to the other end b have, on their portions to face the partial conical body, inclined surfaces  28  that follow the peripheral surface of the partial conical body. 
     In the state in  FIG.  9 A  corresponding to  FIG.  4 A , the tool  6  is held in the proper held state by the pair of holding arms  13   a ,  13   b  adjacent to the one end a in the tool holding mechanism  8 . In this state, the gap between the pair of holding arms  13   a ,  13   b  adjacent to the other end b is relatively widened. Therefore, the tapered portion  21   a  of the driven rod  18   a  advances relatively deeply into the gap between the inclined surfaces  28  and is disposed on the other end where the detection target portion  22  is included. The position of the detection target portion  22  is detected by the detector  25  at this displaced position as in  FIG.  6   , and it is confirmed that the tool  6  is held in the proper held state. 
     In the state in  FIG.  9 B  corresponding to  FIG.  4 C , the tool  6  is not held in the proper held state by the pair of holding arms  13   a ,  13   b  adjacent to the one end a, in the tool holding mechanism  8 , and a tool holding failure state is achieved. In this state, the gap between the pair of holding arms  13   a ,  13   b  adjacent to the other end b remains relatively narrow. Therefore, the tapered portion  21   a  of the driven rod  18   a  cannot advances deeply between the inclined surfaces  28 , and the driven rod  18   a  cannot be displaced to the other end side on which the detection target portion  22  is included. At this position, the position of the detection target portion  22  is not detected by the detector  25  as in  FIG.  6   , and it is determined that the tool  6  has been brought into the holding failure state. 
     According to the apparatus and the method for detecting a failure in holding a tool of a machine tool according to the present embodiment, the following advantages are achieved. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the first aspect, each of the plurality of tool holding mechanisms  8  in the tool magazine  4  is provided with the tool gripping portions  14  on the side of the one end a of the pair of holding arms  13   a ,  13   b  to grip the tool  6  (tool holding body  6   b ). The tool gripping portions  14  are constantly urged in the tool gripping direction (the direction in which the gap between the tool gripping portions  14  is closed) by the urging member  17 . 
     Also, the pair of holding arms  13   a ,  13   b  are allowed to be displaced to discontinue gripping the tool  6  (tool holding body  6   b ) with the tool gripping portions  14  against the urging force of the urging member  17  when the locking member  18  has moved to the release position, and are caused to continue gripping the tool  6  (tool holding body  6   b ) with the tool gripping portions  14  when the locking member  18  has returned to the locking position. 
     The pair of holding arms  13   a ,  13   b  inhibit the return of the locking member  18  to the locking position in a case where the position of the tool  6  (tool holding body  6   b ) held with the tool gripping portions  14  has deviated from the proper held position ( FIG.  5   ). Therefore, the detector  25  detects a holding failure state in which the position of the tool  6  (tool holding body  6   b ) in the tool holding mechanism  8  has deviated from the proper held position by detecting the position of the detection target portion  22  that moves integrally with the locking member  18 . 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the second aspect, the detector  25  that detects the position of the detection target portion  22  that moves integrally with the locking member  18  is fixed to a predetermined portion in the machine tool.  1 , and functions as a single detector  25  that is common to the detection target portion  22  of each of the plurality of tool holding mechanisms  8 . Therefore, the machine tool  1  does not include a lot of detectors, the overall configuration thereof is simplified, and maintenance management is also facilitated. 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the third aspect, each of the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b  of each of plurality of tool holding mechanisms  8  has a gripping curved surface  15  corresponding to an outer peripheral surface of a cylindrical portion of the tool  6  or a tool holding body  6   b  integrated with the tool. This feature makes it possible to reliably hold the tool  6  (tool holding body  6   b ) between the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b  in a case where the position of the tool  6  (tool holding body  6   b ) relative to the tool holding mechanism  8  is the proper held position. 
     Moreover, the pair of holding arms  13   a ,  13   b  in the tool holding mechanism  8  inhibit return of the locking member  18  to the locking position in a case where the relative positions of the tool holding mechanism  8  and the tool  6  (tool holding body  6   b ) are in a tool holding failure state. This feature makes it possible to detect the tool holding failure state by the detector  25  that detects a displaced position of the locking member  18 . 
     In the apparatus for detecting a failure in holding a tool of a machine tool according to the fourth aspect, the controller  100  that controls the machine tool  1  monitors the detection output from the detector  25 , and in a case where the detection output indicating the return of the locking member  18  to the locking position is not received within the predetermined period of time following issuance of a control command to return the locking member  18  to the locking position after causing after the locking member  18  to move to the release position, the controller  100  issues the output indicating the determination of a failure in holding the tool for the tool  6  (tool holding body  6   b ). 
     This feature makes it thus possible to obtain an accurate result of determination of a failure in holding the tool in consideration of the time required for the proper operation of holding the tool  6  (tool holding body  6   b ) to be held in the tool holding mechanism  8 . 
     In the method for detecting a failure in holding a tool of a machine tool according to the fifth aspect, (the tool gripping portions  14  of) one tool gripping mechanism  8  in the tool magazine  4  is caused to move to a position where the tool gripping mechanism  8  faces one tool  6  (tool holding body  6   b ) in the positioning step ( FIG.  8   : Step S 81 ), the locking member  18  is caused to retract from the locking position to the release position in the locking release step ( FIG.  8   : Step S 82 ), and movement that opens the gap between the tool gripping portions  14  of the tool gripping mechanism  8  is allowed. In the subsequent gripping step ( FIG.  8   : Step S 83 ), the one tool  6  (tool holding body  6   b ) is caused to advance into the gap between the tool gripping portions  14  of the pair of holding arms  13   a ,  13   b . 
     In the returning step ( FIG.  8   : Step S 34 ), the locking member  18  is caused to return to the locking position where the gap between the tool gripping portions  14  of the tool gripping mechanism  8  is closed. At the time of the return of the locking member  18 , a failure in holding the tool is determined in the determination step ( FIG.  8   : Step S 85 , Step S 86 ) in a case where the return of the locking member to the locking position is not detected within a predetermined period of time following a start of the returning step. This feature makes it possible to obtain an accurate result of determination of a failure in holding the tool in consideration of the time required for performing the proper operation for holding the tool to be held in the tool holding mechanism  8 . 
     In the method for detecting a failure in holding a tool of a machine tool according to the sixth aspect, the detection of the position of the locking member  18  is performed using the detector  25  that functions as a single detector common to the plurality of tool holding mechanisms  8  in the determination step ( FIG.  8   : Step S 85 , Step S 86 ) . Therefore, only a small number of detectors  25  are needed, and the maintenance management is facilitated. 
     In the method for detecting a failure in holding a tool of a machine tool according to the seventh aspect, the detection of the position of the locking member  18  is performed using the non-contact-type detector  25  in the determination step ( FIG.  8   : Step S 85 , Step S 86 ). Therefore, maintenance management of the detector  25  and the structure therearound is facilitated. 
     In the method for detecting a failure in holding a tool of a machine tool according to the eighth aspect, a magnetic sensor is used as the non-contact-type detector  25 . Therefore, a detection error due to chips generated during cutting, a coolant for the cutting, or the like is unlikely to occur, thereby making it possible to obtain an accurate detection result. 
     While the embodiments of the invention have been described in the foregoing, the present invention is not limited thereto. Configurations of detailed parts may be appropriately modified within the scope of the spirit of the present invention. Although the locking member  18  and the driven rod  18   a  are shaft-shaped bodies extending parallel with the support shafts as the supports  16   a ,  16   b  of the holding arms  13   a ,  13   b  and the displaced position in the axial direction thereof is detected by the detector  25  in the aforementioned embodiments, for example, another configuration can be adopted instead. 
     Specifically, a configuration may be adopted in which a driven member configured to advance into the gap between the facing surfaces of the holding arms  13   a ,  13   b  on the side of the other, end b by an amount of displacement that changes in accordance with the size of the gap between the facing surfaces is provided to be movable in the extending direction of the holding arms  13   a ,  13   b  from the side of the other end b thereof, and in which the displaced position of such a driven member is detected by a non-contact-type detector may also be adopted. 
     EXPLANATION OF REFERENCE NUMERALS 
     
         
         a: One end 
         b: Other end 
         DC : Display command 
         DS: Detection signal 
         FS: Feedback signal 
         SC: Servo command 
           1  Machine tool 
           1 L: First machine tool 
           1 R: Second machine tool 
           2 : Surface plate 
           2   a : Work table 
           3 : Machining spindle 
           3   a : Pivot arm 
           4 : Tool magazine 
           5 : Auxiliary tool magazine 
           6 : Too1 
           6   a : Cutting tool 
           6   b : Tool holding body 
           6   c : Attachment portion 
           6   k : Key groove 
           7 : Support body 
           8 : Tool holding mechanism 
           9 : Potation shaft 
           10 : First annular member 
           11 : Second annu lar member 
           12 : Spoke member 
           13 ,  13   a ,  13   b : Holding arm 
           13   k : Key member 
           14 : Tool gripping portion 
           15 : Gripping curved surface 
           16 ,  16   a ,  16   b : Support (support shaft) 
           17 : Urging member 
           18 : Locking member 
           18   a : Driven rod 
           19 : Head portion 
           29 : Small diameter shaft portion 
           21 ,  21   a : Tapered portion 
           22 : Detection target portion 
           23 : Coil spring 
           24 : Release rod 
           25 : Detector 
           25 : Support member 
           27 : Housing 
           28 : Inclined surface 
           100 : Controller 
           101 : Pivot arm controller 
           102 : Tool magazine controller 
           103 : Release rod controller 
           104 : Detection output recognizer 
           105 : Holding state determinator 
           106 : Servo command provider 
           107 : Display controller 
           108 : Manager