Automatic tool changing system and tool changing method

Abstract

The present invention belongs to the field of processing equipment and discloses an automatic tool changing system and method. The automatic tool changing system includes a main machine equipped with at least one vertically movable electric spindle and a worktable movable below the electric spindle; a cutterhead seat, mounted on the main machine, on which a cutterhead for placing tools is placed; a tool changer seat for placing new tools and old tools removed from the electric spindle; a tool gripper mechanism, mounted on the main machine, for placing new tools from the cutterhead onto the tool changer seat and old tools from the tool changer seat onto the cutterhead; and a cutterhead conveyor mechanism, movably mounted on one side of the main machine and for replacing the cutterhead on the cutterhead seat. The cutterhead conveyor mechanism houses the cutterhead required for each electric spindle. The automatic tool changing system of the present invention can automatically change tools for processing equipment, reduce manual operations, lower the probability of errors, and improve the utilization rate of the equipment.

Description

Technical Field

[0001] The present invention relates to the field of processing equipment, and in particular to an automatic tool changing system and a tool changing method. Background Art

[0002] In the PCB industry, with the gradual maturity of equipment like PCB drilling machines and edge milling machines, and the increasing scale of in-plant processing, the need to reduce labor costs and increase automation has become increasingly important. The concept of automated and unmanned workshops is gradually being implemented.

[0003] Currently, in equipment such as PCB drilling machines and milling machines, the number of tool changes, and thus manual operations, is typically reduced by increasing the tool magazine capacity on the equipment. However, manual tool changes are still required, making automated tool changes impossible. Furthermore, increasing the tool magazine capacity will also make the entire equipment too large. Furthermore, during the equipment processing process, if there are no spare new tools, manual replacement is required, which is time-consuming and labor-intensive. Furthermore, the tools of existing PCB drilling machines and milling machines are arranged on their workbenches. To replace or arrange the tools, the equipment must be shut down, and the workbench must be moved to the front so that the operator can replace the tools, reducing the equipment's utilization rate. Therefore, there is an urgent need for a system that can achieve automatic tool changes. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic tool changing system and a tool changing method to realize automatic tool changing and effectively improve the equipment utilization rate.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An automatic tool changing system includes a main machine, wherein the main machine is provided with at least one electric spindle movable in a vertical direction and a workbench movable below the electric spindle, and the automatic tool changing system further includes:

[0007] A cutter disc seat is provided on the main machine, on which a cutter disc for placing cutting tools is placed;

[0008] A tool changer, used for placing new tools and old tools removed from the electric spindle;

[0009] a tool grabbing mechanism, mounted on the main machine, for placing a new tool in the tool disc on the tool changing seat, and placing an old tool on the tool changing seat on the tool disc;

[0010] The cutter disc conveying mechanism is movably placed on one side of the main machine and is used to replace the cutter disc on the cutter disc seat. The cutter disc required by each electric spindle is placed in the cutter disc conveying mechanism.

[0011] Preferably, a tool magazine is further included, to which the cutter disc conveying mechanism can be moved, and the tool magazine can recover and replenish the cutters on the cutter disc conveying mechanism.

[0012] Preferably, the cutter disc conveying mechanism includes a cabinet for placing the cutter disc, and a first manipulator located on the cabinet, wherein the first manipulator is used to replace the cutter disc in the cabinet to the cutter disc seat, and to replace the cutter disc on the cutter disc seat to the cabinet.

[0013] Preferably, the tool-grabbing mechanism includes a crossbeam fixed to the main machine, and a second manipulator movable relative to the crossbeam, wherein the second manipulator is used to take and place the tool on the tool disc.

[0014] Preferably, there are multiple electric spindles, and there is one second manipulator, and the second manipulator can move along a first direction, which is the same as the distribution direction of the electric spindles.

[0015] Preferably, when the tool gripping mechanism is fixed, the tool changing seat is arranged on the tool disc seat;

[0016] Alternatively, when the cutter head seat is fixed, the tool changer seat is arranged on the workbench;

[0017] Alternatively, when the tool gripping mechanism and the cutter disc seat are both movable, the tool changing seat is arranged on the cutter disc seat or the workbench.

[0018] Preferably, a tool detection mechanism is further included for inspecting the new tool and the old tool.

[0019] The present invention also provides a tool changing method, which is applied to the above-mentioned automatic tool changing system, comprising:

[0020] When the host sends information about replacing the cutter disc, the cutter disc conveying mechanism is controlled to move to the position where the cutter disc needs to be replaced on the cutter disc seat, and the cutter disc on the cutter disc seat is replaced;

[0021] When the host sends information about tool replacement, the electric spindle is controlled to retract the old tool to the tool changer, and the tool grabbing mechanism is controlled to grab the new tool from the tool disc to the tool changer.

[0022] The electric spindle is controlled to grab the new tool to continue processing, and the cutter disc conveying mechanism is controlled to recycle the cutter disc on which the old tool is placed.

[0023] As an option, it also includes:

[0024] When a new tool or an old tool is placed on the tool changer, the new tool or the old tool is inspected by a tool inspection mechanism.

[0025] Preferably, after the cutter disc conveying mechanism recovers the cutter disc on which the old cutter is placed, the cutter disc conveying mechanism is controlled to move to a tool magazine to recover and replenish the cutter.

[0026] The automatic tool changing system of the present invention can realize automatic tool changing of processing equipment, reduce manual operation, lower the probability of error, and improve the utilization rate of processing equipment.

[0027] By setting up a cutter disc conveying mechanism, new tools can be automatically added and old tools can be recycled, which frees up manpower and eliminates the need to increase the tool magazine capacity of the processing equipment, reducing the manufacturing cost of adding equipment.

[0028] By moving at least one of the tool gripper mechanism and the cutterhead along the main machine, the tool on the electric spindle can be replaced. Furthermore, by moving the tool gripper mechanism and / or the cutterhead, new tools can be added to the electric spindle simultaneously, without stopping the machine, further improving the machine's utilization rate.

[0029] The present invention separates the tool magazine from the main machine by setting up a tool magazine, which can greatly increase the capacity of the tool magazine as needed, and can realize unified management of multi-station tools, and can realize the centralized placement of new and old tools, thereby facilitating the management of automated replacement and reducing tool management costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 2 is a schematic diagram of the three-dimensional structure of the automatic tool changing system according to the first embodiment of the present invention;

[0031] Figure 2 2 is a front view of the automatic tool changing system according to the first embodiment of the present invention;

[0032] Figure 3 1 is a top view of the automatic tool changing system according to the first embodiment of the present invention;

[0033] Figure 4 This invention Figure 1 A magnified schematic diagram of .

[0034] In the picture:

[0035] 1. Main engine; 11. First beam;

[0036] 2. Electric spindle; 3. Workbench;

[0037] 4. Cutter seat; 41. Cutter disc;

[0038] 51. New knife block; 52. Old knife block; 53. Spare knife block;

[0039] 6. Tool grabbing mechanism; 61. Crossbeam; 62. Second manipulator;

[0040] 7. Cutter disc conveying mechanism; 71. Cabinet; 72. First manipulator;

[0041] 8. Tool detection mechanism;

[0042] 9. Material changing mechanism; 91. Material changing trolley; 92. Material changing base; 93. Material changing silo. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0045] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0047] Example 1

[0048] This embodiment provides an automatic tool changing system for realizing automatic replacement and recycling of machining tools. Figure 1-3 The automatic shifting system includes a main machine 1, an electric spindle 2, a workbench 3, a tool disc seat 4, a tool changer seat, a tool gripping mechanism 6 and a tool disc conveying mechanism 7, wherein:

[0049] The host 1 can be a PCB drilling machine, a PCB milling machine, or a processing device for processing other plates. Figure 1 Specifically, a first crossbeam 11 is provided on the main machine 1, and at least one electric spindle 2 is provided on the first crossbeam 11. The electric spindle 2 is equipped with a tool to process the plate to be processed (such as installing a drill bit for drilling, or installing a cutting tool for cutting and milling, etc.). The electric spindle 2 can move in the vertical direction to achieve the processing of the plate to be processed and the removal and replacement of the tool. Optionally, the electric spindle 2 can also move along the first crossbeam 11 through a guide rail, specifically along Figure 1 The reciprocating movement in the X direction shown can realize the processing of different positions of the plate to be processed.

[0050] For example, in this embodiment, a plurality of the electric spindles 2 are provided, and the plurality of electric spindles 2 are evenly spaced along the length direction (ie, the X direction) of the first beam 11 , so that a plurality of plates to be processed can be processed simultaneously.

[0051] A movable workbench 3 is also provided on the host 1. Specifically, the workbench 3 moves relative to the host 1 via a guide rail, and the moving direction is preferably Figure 1 The workbench 3 moves in the Y direction as shown. The workbench 3 can, on the one hand, load the sheet material to be processed on one side of the main machine 1, and, on the other hand, move the sheet material to be processed under the electric spindle 2 for processing. It should be noted that when multiple electric spindles 2 are provided, the workbench 3 can load multiple sheets to be processed and transport them under multiple electric spindles 2 for processing.

[0052] In this embodiment, a material changing mechanism 9 is provided on one side of the main machine 1, on which the plate to be processed is placed, and the plate to be processed can be placed on the workbench 3. Specifically, Figure 2 As shown, the reloading mechanism 9 includes a reloading trolley 91, a reloading base 92 mounted on the reloading trolley 91, and a reloading silo 93 located on the reloading base 92. The silo 93 is movable relative to the reloading base 92 and contains the sheet materials to be processed. The workbench 3 can be moved to the silo 93, where it places the sheet materials to be processed on the workbench 3. In this embodiment, a robot (not shown) can be mounted on the silo 93 to place the sheet materials to be processed on the workbench 3.

[0053] Please refer to Figure 2 and Figure 3 The cutterhead seat 4 is movably mounted on the main machine 1. A cutterhead 41 is mounted on the cutterhead seat 4, and a cutting tool is placed in the cutterhead 41. For example, the cutterhead seat 4 can be moved relative to the main machine 1 via a guide rail. In this embodiment, the cutterhead seat 4 can move in the Y direction, which can move the cutting tool in the cutterhead 41 to the bottom of the electric spindle 2 and enable the electric spindle 2 to perform a tool change operation.

[0054] In this embodiment, Figure 4 As shown, a tool changer is provided on the tool tray base 4 for placing new tools to be replaced and old tools removed from the electric spindle 2. Specifically, the tool changer includes at least one new tool holder 51 and at least one old tool holder 52, wherein the new tool holder 51 is used to place new tools to be replaced, and the old tool holder 52 is used to place old tools removed from the electric spindle 2. More preferably, the tool changer of this embodiment may also be provided with a spare tool holder 53, which can hold a spare tool for use in special circumstances.

[0055] In this embodiment, the tool holder 4 can be moved with the tool changer to the bottom of the electric spindle 2. The electric spindle 2 then moves down to remove the old tool and place it in the old tool holder 52. The electric spindle 2 then moves to the new tool holder 51, loads the new tool in the new tool holder 51, and returns to its original position to wait for processing. It should be noted that the electric spindle 2 of this embodiment is a prior art and its structure will not be described in detail (the electric spindle is a new technology that has emerged in the field of CNC machine tools in recent years, integrating the machine tool spindle with the spindle motor. It is combined with linear motor technology and high-speed tool technology. The electric spindle is a set of components, which includes the electric spindle itself and its accessories: the electric spindle, a high-frequency frequency conversion device, an oil mist lubricator, a cooling device, a built-in encoder, and a tool changer).

[0056] like Figure 1 As shown, the aforementioned tool-grabbing mechanism 6 is mounted on the main machine 1 and is used to place a new tool in the cutter disc 41 onto the tool changer, and to place an old tool in the tool changer onto the cutter disc 41. Specifically, the tool-grabbing mechanism 6 comprises a crossbeam 61 fixed to the main machine 1, and a second manipulator 62 movable relative to the crossbeam 61. The crossbeam 61 is arranged along the X-direction and is preferably arranged parallel to the first crossbeam 11. The second manipulator 62 is movable along the crossbeam 61 in a first direction (i.e., the X-direction) and relative to the crossbeam 61 in a Z-direction. The movement of the second manipulator 62 in the X- and Z-directions, in conjunction with the movement of the cutter disc holder 4, enables the second manipulator 62 to move to the position of any new tool in the cutter disc 41, then grasp the new tool and place it on the new tool holder 51. Furthermore, when an old tool is placed on the old tool holder 52 of the tool changer, the second manipulator 62 can be used to place the old tool on the cutter disc 41.

[0057] It can be understood that the second manipulator 62 of this embodiment can also move in the three directions of X, Y, and Z, and can also realize the grasping of new tools and the placement of old tools.

[0058] In this embodiment, Figure 4 As shown, a tool detection mechanism 8 is also provided on the cutter head seat 4, which is used to inspect new tools before use and old tools after use. The tool detection mechanism 8 is a common tool detection mechanism 8 in the prior art, and its structure and principle are not described in detail here.

[0059] Please refer to Figure 1 The above-mentioned cutterhead conveying mechanism 7 is movably placed on one side of the main machine 1 and includes a cabinet 71 and a first manipulator 72. The above-mentioned cabinet 71 can move along a track and can be moved to the side of the main machine 1. Multiple cutterheads 41 are placed in the cabinet 71, and each cutterhead 41 is equipped with cutting tools. The cutting tools of different cutterheads 41 correspond to different electric spindles 2. When the cutterhead 41 on the cutterhead seat 4 corresponding to a certain electric spindle 2 needs to be replaced, the cabinet 71 can be moved to the position corresponding to the cutterhead seat 4, and then the cutterhead 41 is replaced (that is, the cutterhead 41 equipped with a new cutting tool replaces the cutterhead 41 on the cutterhead seat 4).

[0060] The first manipulator 72 is used to replace the cutter disc 41 in the cabinet 71 with the cutter disc seat 4. It may include a lifting mechanism (not shown in the figure) and a manipulator (not shown in the figure). The lifting mechanism can remove the cutter disc 41 in the cabinet 71 and lift it to a preset height (which may be a height flush with the cutter disc 41 on the cutter disc seat 4). The manipulator then grabs the cutter disc 41 and places it on the cutter disc seat 4. It should be noted that before the manipulator grabs the new cutter disc 41 on the cutter disc seat 4, the manipulator will first remove the old cutter disc 41 from the cutter disc seat 4 and place it on the cabinet 71.

[0061] In this embodiment, optionally, the above-mentioned cutter disc conveying mechanism 7 can be an AGV cart (i.e., an unmanned guided vehicle (Automated Guided Vehicle). It refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, which can travel along a specified guidance path and has safety protection and various transfer functions. AGV belongs to the category of wheeled mobile robots (WMR-Wheeled Mobile Robot)), or other conveying mechanisms that can realize automatic control of walking.

[0062] Furthermore, the automatic tool changing system of this embodiment also includes a tool magazine (not shown in the figure). This tool magazine can automatically arrange tools on the corresponding tool disk 41 of the electric spindle 2 according to the tool information required by the electric spindle 2, and can place the tool disk 41 with tools installed in the tool disk conveying mechanism 7. The above-mentioned tool magazine can also include a spare tool magazine, which can also realize the replenishment and replacement of new tools on the tool disk conveying mechanism 7.

[0063] The tool magazine can also rationally replenish and arrange new tools on the cutter disc 41 on the cutter disc conveyor mechanism 7 based on tool information on the cutter disc 41 sent by the host computer 1 (such as the number of new tools, the type of new tools, etc.). In addition, the tool magazine also has a sorting and grinding mechanism that can classify old tools and determine whether they can be repaired and used. If so, the old tools are ground, thereby reducing tool management costs.

[0064] This embodiment further provides a tool changing method, which is applied to the above-mentioned automatic tool changing system. Specifically, the method includes:

[0065] When the host 1 sends the information of replacing the cutter disc 41 , the cutter disc conveying mechanism 7 is controlled to move to the position of the cutter disc seat 4 where the cutter disc 41 needs to be replaced, and the cutter disc 41 on the cutter disc seat 4 is replaced.

[0066] When the host 1 sends the information of tool replacement, the electric spindle 2 is controlled to retract the old tool to the tool change seat, and the tool grabbing mechanism 6 is controlled to grab the new tool from the tool disc 41 to the tool change seat.

[0067] When a new tool or an old tool is placed on the tool changer, the tool detection mechanism 8 performs a tool inspection on the new tool or the old tool.

[0068] The electric spindle 2 is controlled to move to the new tool holder of the tool changer, grab and load the new tool, then return to its original position and continue processing. At the same time, the tool disc seat 4 moves to the side of the tool disc conveying mechanism 7, and the tool disc conveying mechanism 7 recycles the tool disc 41 where the old tool is placed.

[0069] After the cutter disc conveying mechanism 7 recovers the cutter disc 41 on which the old cutter is placed, the cutter disc conveying mechanism 7 is controlled to move to the tool magazine to recover and replenish new cutters.

[0070] Specifically, when the above-mentioned tool changing method is applied to the above-mentioned automatic tool changing system, when the host 1 detects that the number of new tools on the cutter disc 41 on the current cutter disc seat 4 is lower than the preset number, an early warning will be issued. At this time, the tool magazine will place the new tool on the cutter disc 41 on the cutter disc conveying mechanism 7, and then control the cutter disc conveying mechanism 7 to move to the position of the cutter disc 41 of the cutter disc seat 4, and take out the cutter disc 41 of the cutter disc seat 4 through the first manipulator 72, and take out the cutter disc 41 in the cabinet 71 (with new tools placed on it) and place it on the cutter disc seat 4.

[0071] When the electric spindle 2 corresponding to the tool disc 41 is in the processing state, the second manipulator 62 of the tool gripping mechanism 6 can take out the next new tool to be replaced while the electric spindle 2 is working, and place it on the tool detection mechanism 8 for tool inspection. After the tool inspection is qualified, the new tool is placed on the new tool holder 51 of the tool changer. When the tool currently loaded on the electric spindle 2 reaches its lifespan, the workbench 3 moves toward the side of the material changing mechanism 9, and then the tool disc seat 4 moves toward the bottom of the electric spindle 2, and finally places the old tool holder 52 of the tool changer under the electric spindle 2. The electric spindle 2 moves downward and withdraws the old tool and places it in the old tool holder 52. The electric spindle 2 then moves to the new tool holder 51, loads the new tool in the new tool holder 51, and moves to its original position. During the upward movement of the electric spindle 2, the cutter disc seat 4 moves away from the electric spindle 2 and finally moves to the edge of the main machine 1. When the number of new tools in the cutter disc 41 on the cutter disc seat 4 is insufficient, the cutter disc conveying mechanism 7 replaces the cutter disc 41 on the cutter disc seat 4 as needed.

[0072] After the cutter disc 41 is replaced, the cutter disc conveying mechanism 7 moves to the tool magazine, which detects, classifies and grinds the old cutters in the cutter disc 41 thereon, and replenishes the cutter disc 41 with new cutters for subsequent use.

[0073] The automatic tool changing system and method described in this embodiment can automatically change tools for machining equipment, reducing manual operations, lowering the probability of errors, and improving the overall equipment utilization rate. Furthermore, this embodiment utilizes the cutterhead conveyor mechanism 7 to replace the cutterhead 41 corresponding to each electric spindle 2, pre-arranging the tools. This allows for unified management of the tools on the cutterheads 41 corresponding to multiple electric spindles 2, allowing new and old tools to be centrally stored, thereby reducing the frequency of tool changes and improving efficiency.

[0074] Example 2

[0075] This embodiment differs from the first embodiment in that the blade gripper mechanism is movable, while the cutterhead holder is fixed to the main machine and immovable. Specifically, in this embodiment, the crossbar of the blade gripper mechanism is movable relative to the main machine in the Y direction, while the second manipulator is movable on the crossbar in a first direction (i.e., the X direction) and relative to the crossbar in the Z direction. The cutterhead holder is fixed to the main machine and serves only to house the cutterhead.

[0076] In this embodiment, the tool changer is not arranged on the cutter disc seat, but on the workbench. When the electric spindle needs to replace the tool, the workbench moves to the cutter disc seat, and then the second manipulator of the tool grabbing mechanism grabs the new tool on the cutter disc seat and places it on the new tool seat of the tool changer. After that, the workbench retracts so that the tool changer is located directly below the electric spindle, and the electric spindle moves down to retract the old tool and load the new tool.

[0077] In this embodiment, the method of replacing the cutter disc on the above-mentioned cutter disc seat is the same as that in embodiment 1 and will not be repeated here.

[0078] Example 3

[0079] This embodiment differs from the first embodiment in that, while both the tool gripper mechanism and the cutterhead holder are movable, the tool changer is positioned on the cutterhead holder or the workbench. When the tool changer is positioned on the cutterhead holder, the tool change method and cutterhead replacement method of this embodiment are the same as those of the first embodiment. When the tool changer is positioned on the workbench, the tool change method and cutterhead replacement method described in the second embodiment can be used in this embodiment.

[0080] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic tool changing system, comprising a main machine (1), wherein the main machine (1) is provided with at least one electric spindle (2) movable in a vertical direction and a workbench (3) movable below the electric spindle (2), characterized in that: The automatic tool changing system also includes: A cutter disc seat (4) is provided on the main machine (1) and has a cutter disc (41) for placing cutters thereon; a tool changer for placing new tools and old tools removed from the electric spindle (2); a tool grabbing mechanism (6) mounted on the main machine (1) and used for placing a new tool in the tool disc (41) on the tool changer seat, and for placing an old tool on the tool changer seat on the tool disc (41); A cutter disc conveying mechanism (7) is movably placed on one side of the main machine (1) and is used to replace the cutter disc (41) on the cutter disc seat (4). The cutter disc conveying mechanism (7) is provided with a cutter disc (41) required for each of the electric spindles (2); It also includes a tool magazine, the tool disc conveying mechanism (7) can be moved to the tool magazine, and the tool magazine can recover and replenish tools from the tool disc (41) on the tool disc conveying mechanism (7); The cutter disc conveying mechanism (7) comprises a cabinet (71) for placing the cutter disc (41), and a first manipulator (72) located on the cabinet (71), wherein the first manipulator (72) is used to replace the cutter disc (41) in the cabinet (71) with the cutter disc seat (4), and to replace the cutter disc (41) on the cutter disc seat (4) with the cabinet (71).

2. The automatic tool changing system according to claim 1, characterized in that: The knife-grabbing mechanism (6) comprises a crossbeam (61) fixed on the main machine (1), and a second manipulator (62) movable relative to the crossbeam (61), wherein the second manipulator (62) is used for taking and placing a knife on the knife disc (41).

3. The automatic tool changing system according to claim 2, characterized in that: The electric spindles (2) are provided in plurality, and the second manipulator (62) is provided in one piece. The second manipulator (62) can move along a first direction, and the first direction is the same as the distribution direction of the electric spindles (2).

4. The automatic tool changing system according to claim 1, characterized in that: When the knife-grabbing mechanism (6) is fixed, the knife-changing seat is arranged on the knife disc seat (4); Alternatively, when the cutter head seat (4) is fixed, the cutter change seat is arranged on the workbench (3); Alternatively, when the tool grabbing mechanism (6) and the cutter disc seat (4) are both movable, the tool changing seat is arranged on the cutter disc seat (4) or the workbench (3).

5. The automatic tool changing system according to any one of claims 1 to 4, characterized in that: It also includes a tool detection mechanism (8) for performing tool inspection on the new tool and the old tool.

6. A tool changing method, applied to the automatic tool changing system according to any one of claims 1 to 5, characterized in that: include: When the host (1) sends information for replacing the cutter disc (41), the cutter disc conveying mechanism (7) is controlled to move to the position of the cutter disc seat (4) where the cutter disc (41) needs to be replaced, and the cutter disc (41) on the cutter disc seat (4) is replaced; When the host (1) sends information about tool replacement, the electric spindle (2) is controlled to retract the old tool to the tool change seat, and the tool grabbing mechanism (6) is controlled to grab a new tool from the tool disc (41) to the tool change seat; The electric spindle (2) is controlled to grab the new tool to continue processing, and the cutter disc conveying mechanism (7) is controlled to recycle the cutter disc (41) on which the old tool is placed.

7. The tool changing method according to claim 6, characterized in that: Also includes: When a new tool or an old tool is placed on the tool change seat, the new tool or the old tool is inspected by a tool inspection mechanism (8).

8. The tool changing method according to claim 6, characterized in that: After the cutter disc conveying mechanism (7) recovers the cutter disc (41) on which the old cutter is placed, the cutter disc conveying mechanism (7) is controlled to move to the tool magazine to recover and replenish the cutter.

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