| 摘要 |
In a tool exchanger apparatus of a machine tool including a turret which turns around an axis inclining with respect to a vertical direction and which conveys tools, forces applied to tool gripping portions are calculated 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 turning phases when the turret turns, and the turning speed and the turning acceleration of the turret are determined for each of the turning phases. |
