Automatic Tool Changer

Contents

1.Introduction--------------------------------------------------------------3
2.Working principle-------------------------------------------------------4
3.Main components-------------------------------------------------------5
3.1.Fixed frame and first sliding frame---------------------------5
3.2.The second sliding frame--------------------------------------6
3.3.The transmission of the power--------------------------------7
3.4.Translation mechanism for claw------------------------------8
3.5.The claw----------------------------------------------------------9
3.6.The accessories------------------------------------------------10
4.Assembly views--------------------------------------------------------12
5.Overall 3D view--------------------------------------------------------15
6.Technical calculus statement-----------------------------------------17
6.1.Motor choice---------------------------------------------------17
6.2.Distributor 5/2--------------------------------------------------21
Appendix 1 – Stepper motor--------------------------------------------24
Appendix 2 – Distributor 5/2-------------------------------------------31
Appendix 3 – Tapered roller bearings---------------------------------34
Appendix 4 – Proximity sensor----------------------------------------39
Appendix 5 – Pneumatic fitting----------------------------------------41
Safety----------------------------------------------------------------------43
Conclusion----------------------------------------------------------------44

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 1.Introduction

An Automatic Tool Changer is equipment that reduces

cycle times by automatically changing tools between cuts.
Automatic tool changers are differentiated by tool-to-tool time
and the number of tools they can hold.
CNC tool changers allow a machine to perform more
than one function without requiring an operator to change
the tooling. A CNC tool changer can quickly change the end
effectors without the requirement of multiple robots. Tool
changers can be a manual tool changers or automatic tool
changers. A CNC tool changer fulfills the requirement of
multiple tooling for a wide variety of machine tools.

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 2.Working principle

In operation, the automatic tool change is accomplished in the

following steps:
- by tape command (and from any location the magazine) the
tool magazine rotates to proper position to bring the preselected
tool into place for particular operation;
- one end of the tool changer grasps the tool while the opposite end
grasps the tool to be replaced in the spindle;
- the tool changer arm moves out away from the spindle removing
one tool from the magazine and other tool from the spindle.

Fig. 1. Example of tool changer

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 3.Main components
3.1.Fixed frame and first sliding frame

The fixed frame supports the whole mechanism of the

automatic tool changer. The sliding frame which is mounted on the
fixed frame can perform translation movement, being helped by the
pneumatic pressure force.
It performs the stroke till the other end, which means it can
change, when needed, between the stands which are holding the
tools.

Fig. 2. Fixed frame & first sliding frame

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 3.2.The second sliding frame

The second sliding frame which is mounted on the first sliding

frame can perform translation movement too, being helped by a
pneumatic system.
The sliding frame performs maximum stroke which helps the
claw not to hit the stand frame while changing between the two
stands that are holding the tools.
It also drives the claw to the position in which the tool must
push/pull the tool from the magazine.

Fig. 3. The second sliding frame

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 3.3.The transmission of the power

The transmission of the power is made by using a stepper

motor which can adjust its angle and make the claw rotate exaclty
the amount of degrees needed for the tool changing operation.
We also have here a direct coupling which transfers the torque
and the rotational speed from the motor through the splindle to the
claw. The rotation of the motor is controlled by the motor’s driver.

Fig. 4. Transmission of the power

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 3.4.Translation mechanism for claw

In this picture it is shown the pneumatic mechanism which is

working as a translation movement for the shaft that has a
maximum stroke which is equal to the required distance traveled
by the claw to be able to push or to extract the tool from the tool
magazine.
After it executes the rotation, the valve on the right side is
putting pressure on the shoulder of the shaft making it to move to
the left side till it reaches the maximum stroke. That means the tool
is inserted in the magazine. Then the valve on the left side will put
pressure on the shoulder, moving it back to the initial position.

Fig. 5. Pneumatic mechanism for translation movement of the claw

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 3.5.The claw

The most important part of the assembly is, obviously, the

claw which is performing translation movement to the tool from
the magazine in order to grab it from there. The pulling of the tool
is executed by the pneumatic mechanism seen before. Then it
rotates 180° with the help of the stepper motor, thus the changing
of the tool is possible.

Fig. 6. The claw

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 3.6.The accessories

Accessories used in order to make the mechanism work, based

on the dimensions and the forces:
- Keyways ( used for power transmission );

Fig. 7. Keyways

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- Tapered Roller Bearings ( used to eliminate the frictional
forces and to resist to the axial and radial forces involved ).

Fig. 8. Tapered roller bearings

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4.Assembly views

Front view

Right view

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Section and detailed view

Top view

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Bottom view

Isometric view

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5.Overall 3D view

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 6.Technical calculus statement
6.1.Motor choice

For the choice of the motor it was used an arm application

sizing tool (provided by Orientalmotor) with the following inputs:

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 The operating condition is the positioning operation for
which are introduced the following inputs:

The result of the sizing application is:

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 Taking into account the problem that we have to solve
which is the precise positioning, a stepper motor is the perfect
choice. It’s found in printers, machine tools, and process control
systems and are built for high-holding torque that gives the user the
ability to move from one step to the next.
They have a controller system that designates the position
through signal pulses sent to a driver, which interprets them and
sends proportional voltage to the motor. They are relatively simple
to make and control, but they draw maximum current constantly.
Small step distance limits top speed and steps can be skipped at
high loads.

Fig. 9. Detection of the position using the

sensor

Fig. 10. Sensor

output signal

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 It has been chosen a closed loop performance stepper
motor: this stepper motor use closed loop technology to maintain
positioning operation even during abrupt load fluctuations and
accelerations without hunting or gain tuning. The rotor position
detection sensor monitors the rotation speed and amount. When an
overload condition is detected, it will instantaneously regain
control using the closed loop mode. When an overload condition
continues it will output an alarm signal, thereby providing
reliability.

Fig. 11. Angle-Torque Chatacteristics

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 6.2.Distributor 5/2

a) Component
This distributor is a drawer distributor. It has 5 orifices and 2
positions, rest position and working position:
- three working orifices: compressed air feeding 1 and 2
orifices 3 and 5
- two orifices of use 2 and 4 tied to the receptors or to the
actioning element.
b) Functioning
Int one of the positions, the drawer permits the passing
between the orifice tied to the compressed air feeding 1 and one
orifice of use 2. The orifice of use 4 is tied to one of the 2 orifices
for evacuation 5. Orifice 3 is blocked.
c) Representation

Fig. 12. Representation of the distributor

5/2

d) Use
Its function is to distribute the power energy to an actioning
element with double efect. The commutation is assured by one or
two electrical commands.

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 Fig. 13. Monostable
distribuitor

Fig. 14. Section through a

pneumatic distributor 5/2

The disadvantage of this is the lifetime relatively short

because of the wear through „shaving” of the gaskets: the
intersection between the reaming of the drawer and orifices is a
sharp edge.
Generally the distributors 4/2 are replaced with distributors
5/2 for the advantage of having a separately controlled evacuation
to both advancement of the rod and retiring of it.
There are 3 distributors of this type this type which will
command the movement of the two sliding frames and the claw.

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Fig. 15. Feeding from distributor to allow the first sliding frame to
move

Fig. 16. Feeding from distributor to allow the second sliding frame
to move

Fig. 17. Feeding from

distributor to allow
the claw to make
translation movement

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 Appendix 1

ARM98MC-N5, 3.54 in. (90 mm) Closed Loop Stepper Motor

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 Appendix 2
Distribuitor cu bobina cu 3 pozitii
Model 4V410-15

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 Appendix 3
Tapered roller bearings

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 The above bearing was chosen based on the following
calculus (SKF bearings calculator):

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 Appendix 4
Proximity sensor

This sensor is used to know wheter or not the complete stroke

has been done by the sliding frames.

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 Appendix 5
Pneumatic fitting

Specifications
DESCRIPTION 3018 - SINGLE BANJO, BSPT
AND NPT THREAD

Unit weight 0.016

Diameter D 6 mm

C R1/8

F 13 mm

Diameter G 10.5 mm

H 18.5 mm

L 20 mm

L1 7 mm

L2

Maximum working 20 bar

pressure

Min/max working -20/80°C

temperature

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Vacuum capability 755 MMH

Body Technical polymer

‘O’-Rings NBR

Gripping ring Stainless steel

Screw Nickel plated brass

Fig. 18. Dimensional drawing

Fig. 19. 3D Component

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 Safety

- Use caution when handling, testing, and adjusting during

installation, set-up and operation.
- Service should not be performed with power applied.
- Exposed circuitry should be properly guarded or enclosed
to prevent unauthorized human contact with live circuitry.
- All products should be securely mounted and adequately
grounded.
- Provide adequate air flow and heat dissipation.
- Do not operate in the presence of flammable gases, vapors,
liquids or dust.

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 Conclusions

Advantages:
- easy construction
- simple controlling systems
- can change between the two stands of the tool magazine
- precise positioning using a stepper motor
Disadvantages:
- translation using the pneumatic mechanism takes a little bit
more time

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