Automatic tool changer and control method therefor and machine tool including same

An automatic tool changer of a machine tool, comprising:

• a base that is installed on top of a spindle of the machine tool, wherein the spindle is configured to hold a workpiece;
• a support that is installed on the base such that the support is displaceable in a first horizontal direction;
• a magazine that is configured to hold a plurality of tools, wherein the magazine is installed on the support such that the magazine is displaceable along with the support in the first horizontal direction;
• and
• a tool support that is configured to support a selected tool of the plurality of tools during a tool exchange,
• wherein the tool support comprises a guide;
• a slider that is installed on the guide so as to be displaceable in the first horizontal direction;
• and an elevator that is installed on the slider such that the elevator is displaceable along with the slider in the first horizontal direction, and wherein a compensator of the elevator is configured to be moved up and down with respect to the slider so as to contact and support a first end of the selected tool;
• wherein, during the tool exchange, an opposing second end of the selected tool is clamped by a first gripper of the magazine, and the first end of the selected tool is contacted and supported by the compensator of the elevator so as to maintain the selected tool in an orientation in which a longitudinal axis of the selected tool extends horizontally;
• and
• wherein the magazine is configured to be moved toward a tool post of the machine tool such that the selected tool of the plurality of tools is directly exchanged from the magazine to the tool post.