A tool magazine of a gear milling cutter head, automatic tool mounting and dismounting device and tool changing method

Abstract

This invention provides a tool magazine for a milling cutter head. The tool magazine includes a rotating mechanism, a column, a turntable, and a cutter head mounting assembly. The column is vertically mounted on the movable part of the rotating mechanism. At least one turntable is mounted on the column along the vertical direction, and multiple cutter head mounting assemblies are evenly distributed on the turntable. The cutter head mounting assembly includes a cutter head sleeve, a clamping mechanism, and a rotatably mounted spindle. The cutter head sleeve is movably fitted onto one end of the spindle. The clamping mechanism is located inside the spindle and includes a telescopic drive and a telescopic plunger connecting the movable part of the telescopic drive. The telescopic plunger can freely pass through the side walls of the spindle and the cutter head sleeve to clamp the milling cutter head fitted onto the cutter head sleeve. The tool magazine stores the milling cutter head. This invention also provides an automatic tool removal and installation device and tool changing method for milling cutter heads. By cooperating with a robotic arm and the tool magazine, automated replacement of milling inserts can be achieved.

Description

Technical Field

[0001] This invention relates to the field of automated tool changing equipment technology, specifically to a tool magazine for a milling cutter head, an automatic tool disassembly and assembly device, and a tool changing method. Background Technology

[0002] In bearing operation, the gear ring is a key component for power transmission, determining the bearing's service life and performance parameters. Gear milling machines use milling cutters and inserts to cut the tooth grooves one by one. The cutting edge shape of the milling cutters and inserts is the same as the tooth profile shape on both sides of the tooth groove of the gear being cut. Therefore, the wear of the milling inserts directly affects the machining accuracy of the gear ring teeth.

[0003] During gear milling, the milling inserts need to be replaced in a timely manner to ensure the machining accuracy of the gear teeth. Currently, the milling cutter head is disassembled and assembled manually, one by one. However, because the milling cutter head is heavy and has sharp milling inserts all over its body, it is easy to cut the operator's fingers and injure their feet during the disassembly and assembly process. In addition, during the process of changing the milling inserts, the manual back-and-forth reversal of the milling cutter head not only affects the structural accuracy of the cutter head and the milling inserts, but also makes it impossible to monitor and control the quality of the used milling inserts.

[0004] In summary, there is an urgent need for a tool magazine, an automatic tool loading and unloading device, and a tool changing method for milling cutter heads to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a tool magazine for milling cutter heads, aiming to solve the problem of storing milling cutter heads of different specifications. The specific technical solution is as follows:

[0006] A tool magazine for a milling cutter head, the tool magazine including a rotating mechanism, a column, a turntable and a cutter head mounting assembly, the column being vertically mounted on the movable part of the rotating mechanism, the column having at least one turntable along the vertical direction, and a plurality of cutter head mounting assemblies being evenly distributed on the turntable;

[0007] The cutter head mounting assembly includes a cutter head sleeve, a clamping mechanism, and a rotatably mounted spindle. The cutter head sleeve is movably fitted onto one end of the spindle. The clamping mechanism is provided inside the spindle. The clamping mechanism includes a telescopic drive and a telescopic plunger connecting the movable part of the telescopic drive. The telescopic plunger can freely pass through the side walls of the spindle and the cutter head sleeve to clamp the milling cutter head fitted onto the cutter head sleeve.

[0008] In a preferred embodiment of the above technical solution, the spindle has an internal cavity, the telescopic drive is disposed in the cavity, and the side wall of the spindle has a through hole communicating with the interior of the cavity; the side wall of the cutter head sleeve has a telescopic through hole; after the cutter head sleeve is sleeved on the spindle and the through hole is aligned with the telescopic through hole, the telescopic plunger can freely pass through the through hole and the telescopic through hole under the drive of the telescopic drive.

[0009] The cutter head sleeve includes various outer diameter specifications, and the types of outer diameter specifications correspond one-to-one with the specifications of the milling cutter head.

[0010] In a preferred embodiment of the above technical solution, a groove is provided on the inner wall of the cavity on the side opposite to the through hole, and the telescopic drive component is engaged in the groove; the cavity has an internal thread at the end near the cutter head sleeve, and a pressure cap is threaded to the end, the pressure cap pressing against the telescopic drive component located in the groove.

[0011] In a preferred embodiment of the above technical solutions, the cavity is further provided with a plunger drive system, which is connected to a telescopic drive component and is used to provide a drive medium for the telescopic drive component.

[0012] In a preferred embodiment of the above technical solutions, the cutter head mounting assembly further includes a rotary drive component and a support fixedly mounted on the turntable. The spindle is rotatably mounted on the support via a bearing, and the end of the spindle away from the cutter head sleeve is connected to the rotary drive component.

[0013] In the preferred embodiment of the above technical solution, the main shaft is a stepped shaft, and the end face of the cutter head sleeve and the stepped end face of the main shaft, as well as the end face of the milling cutter head and the end face of the cutter head sleeve, are positioned by the cooperation of bosses and grooves.

[0014] In the preferred embodiment of the above technical solution, the rotating mechanism includes a second rotating drive component, an outer gear ring of a turntable bearing, an inner ring of a turntable bearing, and an intermediate retaining assembly. The outer gear ring and the inner ring of the turntable bearing are coaxially sleeved together, and an intermediate retaining assembly is provided between them. The output end of the second rotating drive component is provided with a bevel gear for meshing with the outer gear ring of the turntable bearing. The bottom of the column is fixedly mounted on the upper end surface of the outer gear ring of the turntable bearing via a column base.

[0015] In the preferred embodiment of the above technical solution, the top of the column is provided with a top cover, and the top cover is provided with threaded holes for hoisting; multiple reinforcing ribs are provided between the turntable and the column and between the column and the column base.

[0016] This invention also provides an automatic milling cutter head disassembly and assembly device, which aims to solve the drawbacks of manual replacement of milling cutter inserts in the prior art. The specific technical solution is as follows:

[0017] The automatic tool disassembly and assembly device for milling cutter discs includes a robotic arm and the aforementioned tool magazine. The tool magazine is located on one side of the robotic arm, and the movable end of the robotic arm is detachably equipped with identification disassembly and assembly tools or clamping tools.

[0018] The identification and disassembly tool includes a vacuum suction port, a laser probe, and a disassembly tool. The laser probe is used to scan the milling cutter head and the milling inserts on the milling cutter head. The vacuum suction port and the disassembly tool are used to replace the milling inserts. The clamping tool is used to clamp the milling cutter head and the cutter head sleeve.

[0019] The present invention also provides a tool changing method for the above-mentioned automatic tool removal and installation device for milling cutter heads, including a method for replacing the milling cutter inserts on the milling cutter head and / or a method for replacing a qualified milling cutter head onto a milling machine:

[0020] Method for replacing milling inserts on a milling cutter head:

[0021] The rotating mechanism drives the column to rotate, moving the idle cutter head mounting assembly to the working position of the robot arm; the specifications of the cutter head sleeve are selected according to the specifications of the milling cutter head to be replaced, and the robot arm clamps the selected cutter head sleeve with the clamping tool and puts it onto the end of the spindle. The end face of the cutter head sleeve and the stepped end face of the spindle are positioned by the engagement of the boss and the groove, and the through hole on the spindle and the telescopic through hole on the cutter head sleeve are aligned.

[0022] The robotic arm uses a clamping tool to hold the milling cutter head to be replaced and fits it onto the cutter head sleeve. The end face of the milling cutter head to be replaced and the end face of the cutter head sleeve are positioned by a boss and a groove. Then, the telescopic drive drives the telescopic plunger to extend and press against the milling cutter head to be replaced, and the installation of the milling cutter head to be replaced is completed.

[0023] The robotic arm is replaced with an identification and disassembly tool. A laser probe scans the milling cutter head to be replaced and the milling cutter inserts on it. At the same time, the spindle is controlled to rotate to perform a comprehensive scan and identification of the wear condition of the milling cutter head to be replaced and the milling cutter inserts on it.

[0024] The spindle rotates, moving the milling cutters that need to be replaced one by one to the replacement position, and the milling cutters are replaced through the vacuum suction port and disassembly tools;

[0025] Method for replacing a qualified gear milling cutter head on a gear milling machine:

[0026] The robotic arm installs the clamping tool, and the rotating mechanism drives the column to rotate, moving the qualified milling cutter head on the cutter head mounting assembly to the working position of the robotic arm.

[0027] The robotic arm uses a clamping tool to hold a qualified milling cutter head, while the telescopic drive drives the telescopic plunger to retract. The robotic arm then removes the qualified milling cutter head from the tool magazine and installs it onto the milling machine or places it at the cutter head transfer position.

[0028] Beneficial effects:

[0029] This invention features a cutter head sleeve mounted on the spindle, with a telescopic plunger holding the milling cutter head in place. By replacing the cutter head sleeve with different specifications, different sizes of milling cutter heads can be installed, providing high versatility. At the same time, the use of a boss and a groove allows for quick positioning between the milling cutter head and the cutter head sleeve, and between the cutter head sleeve and the spindle, making installation convenient and fast.

[0030] This invention includes multiple turntables and multiple cutter head mounting assemblies on each turntable, enabling the placement of multiple milling cutter heads in the tool magazine for storage and cutting tool maintenance and replacement. Through the rotation of the spindle and the rotation mechanism driving the column to rotate, all milling cutter heads on the turntable can be moved to the working position of the robot arm, and each cutting tool of the milling cutter head can be moved to the replacement position, achieving fully automated tool changing.

[0031] By scanning the milling cutter head and milling inserts with a laser probe, wear data of the cutter head and inserts can be obtained, thereby acquiring the wear status of the tools during the milling process. This enables precise detection of the wear degree and service life of the milling inserts on the cutter head, ensuring the milling accuracy and efficiency of the workpiece (i.e., gear ring) and reducing the scrap rate. It can also effectively identify which inserts need to be replaced based on the wear data, providing guidance for tool changing. At the same time, the machining parameters of the workpiece can be adjusted based on the wear data (i.e., comparing the wear of the same type of milling cutter head under different machining parameters), thus guiding the optimization of machining parameters.

[0032] The automatic tool changing device for milling cutter discs of the present invention avoids direct contact between human hands and milling cutter discs, thus avoiding the risk of hand injuries and endangering operators.

[0033] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0035] Figure 1 This is a schematic diagram of the overall structure of the automatic disassembly and assembly knife device of the present invention;

[0036] Figure 2 yes Figure 1 Cross-sectional view of the tool magazine;

[0037] Figure 3 This is a schematic diagram of the cutter head mounting assembly;

[0038] Figure 4 This is a schematic diagram of the cutter head sleeve;

[0039] Among them, 1. Robot arm, 2. Foundation pit, 3. Cutter head sleeve, 4. Support, 5. Milling cutter head, 6. Milling cutter insert, 7. Rotary drive component one, 8. Column, 9. Top cover, 10. Reinforcing rib plate, 11. Main shaft, 12. Tightening mechanism, 13. Turntable;

[0040] 1.1 Vacuum suction port; 1.2 Laser probe; 1.3 Disassembly and assembly tools; 2.1 Left cover plate; 2.2 Right cover plate; 2.3 Rotary drive component two; 2.4 Bevel gear; 2.5 Turntable bearing outer gear ring; 2.6 Turntable bearing inner ring; 2.7 Column base; 2.8 Intermediate retaining assembly; 3.1 Telescopic through hole; 3.2 Groove two; 3.3 Positioning inner hole; 3.4 Boss one;

[0041] 11.1 Thrust ball bearing; 11.2 Intermediate sleeve; 11.3 Deep groove ball bearing; 11.4 Limiting sleeve; 11.5 Nut; 12.1 End cap; 12.2 Piston; 12.3 Gland; 12.4 Piston cylinder body; 12.5 Piston drive system; 12.6 Piston seal; 12.7 Telescopic plunger; 12.8 Stepped end face. Detailed Implementation

[0042] To facilitate understanding of the present invention, a more comprehensive description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0044] Example 1:

[0045] See Figures 1-4An automatic tool disassembly and assembly device for milling cutter heads includes a robotic arm 1 and a tool magazine disposed on one side of the robotic arm 1. The movable end of the robotic arm 1 is detachably equipped with identification disassembly / assembly tools or clamping tools. Specifically, the movable end of the robotic arm 1 is provided with a quick-change connector, thereby realizing the rapid replacement of identification disassembly / assembly tools and clamping tools. Specifically, the replacement method can be manual or by other automated equipment (such as another robotic arm). For the specific structure of the robotic arm 1, please refer to the prior art.

[0046] Furthermore, the tool magazine includes a rotating mechanism, a column 8, a turntable 13, and a tool disc mounting assembly. The column 8 is vertically mounted on the movable part of the rotating mechanism, thereby driving the column 8 to rotate. The column 8 is provided with at least one turntable 13 along the vertical direction (preferably, the turntables are equally spaced). Multiple tool disc mounting assemblies are evenly distributed on the turntable 13.

[0047] The cutter head mounting assembly includes a cutter head sleeve 3, a clamping mechanism 12, and a rotatably mounted spindle 11. The cutter head sleeve 3 is movably sleeved on one end of the spindle 11. The clamping mechanism 12 is provided inside the spindle 11. The clamping mechanism 12 includes a telescopic drive and a telescopic plunger 12.7 connecting the movable part of the telescopic drive. The telescopic plunger 12.7 can freely pass through the side walls of the spindle 11 and the cutter head sleeve 3 to clamp the milling cutter head 5 sleeved on the cutter head sleeve 3.

[0048] Preferably, the spindle 11 has an internal cavity, i.e., the spindle is a hollow shaft; the telescopic drive is disposed in the cavity, and the side wall of the spindle 11 has a through hole communicating with the inside of the cavity; the side wall of the cutter head sleeve 3 has a telescopic through hole 3.1. After the cutter head sleeve 3 is sleeved on the spindle 11 and the through hole is aligned with the telescopic through hole 3.1, the telescopic plunger 12.7 can freely pass through the through hole and the telescopic through hole 3.1 under the drive of the telescopic drive; that is, the telescopic drive drives the telescopic plunger to extend and press against the milling cutter head 5 on the cutter head sleeve 3. At the same time, after the telescopic plunger 12.7 extends, it will limit the cutter head sleeve 3 in the axial direction to prevent the cutter head sleeve 3 from falling off the spindle 11.

[0049] See Figure 1 and Figure 2 In this embodiment, the rotating mechanism is installed in the foundation pit 2, and two turntables are provided on the column 8 along the vertical direction; six cutter head mounting assemblies are evenly distributed on each turntable, so that six milling cutter heads 5 can be installed on one turntable. The axial direction of the main shaft 11 is parallel to the radial direction of the turntable, and the cutter head sleeve is located at the end away from the center of the turntable.

[0050] Preferably, the cutter head sleeve 3 includes various outer diameter specifications, referring to the outer diameter of the portion of the cutter head 5 fitted onto the cutter head sleeve 3. The types of outer diameter specifications correspond one-to-one with the types of milling cutter heads 5. Therefore, by fitting cutter head sleeves 3 with different outer diameter specifications onto the spindle 11, milling cutter heads 5 of different specifications can be installed. Furthermore, changing the outer diameter of the cutter head sleeve does not affect the structural dimensions of the spindle 11 or the clamping mechanism 12, thus exhibiting high versatility.

[0051] The cavity has a groove on the inner wall opposite to the through hole. The lower part of the telescopic drive is engaged in the groove, thus limiting the telescopic drive. The cavity has an internal thread at the end near the cutter head sleeve, and a pressure cap 12.3 is threaded to this end. The pressure cap 12.3 presses against the telescopic drive. That is, the pressure cap 12.3 tightens the telescopic drive. At this time, the lower part of the telescopic drive is engaged in the groove, and pressure is applied to the side near the pressure cap 12.3, which cooperates with the inner wall of the groove to clamp and limit the telescopic drive.

[0052] The cavity also houses a plunger drive system 12.5, which connects to a telescopic drive component and provides a driving medium for it. Specifically, the telescopic drive component can be a hydraulic cylinder or a pneumatic cylinder, and the plunger drive system can provide high-pressure air or pressurized oil. For details on the composition of the plunger drive system, please refer to existing technologies. The most basic hydraulic cylinder telescopic control circuit or the most basic pneumatic cylinder telescopic control circuit in the prior art can meet the requirements of this embodiment.

[0053] See Figure 3 In this embodiment, the plunger drive system 12.5 provides pressurized oil as the driving medium. The telescopic drive component includes an end cap 12.1, a piston 12.2, a plunger cylinder 12.4, and a plunger seal 12.6. The plunger cylinder 12.4 is engaged in the groove and is pressed against by a pressure cap 12.3. The piston 12.2 is slidably disposed in the plunger cylinder 12.4 and moves according to the pressure of the driving medium on both sides. The telescopic plunger 12.7 is connected to the piston 12.2 and moves telescopically with the piston 12.2. An end cap 12.1 is provided on the side of the plunger cylinder 12.4 where the telescopic plunger 12.7 is located. The end cap 12.1 is provided inside the end cap 12.1. The plunger seal 12.6 is in sealing contact with the telescopic plunger to prevent leakage of the driving medium inside the plunger cylinder. The plunger seal is preferably a nitrile sealing ring.

[0054] In this embodiment, the plunger drive system is located on the side of the telescopic drive component away from the pressure plate 12.3. When designing the structure of the plunger drive system, a boss can be set to press against the plunger cylinder body, that is, to press against both sides of the plunger cylinder body.

[0055] Specifically, the cutter head mounting assembly further includes a rotary drive component 7 and a support 4 fixedly mounted on the turntable 13. The main shaft 11 is rotatably mounted on the support 4 via bearings, and the end of the main shaft 11 away from the cutter head sleeve 3 is connected to the rotary drive component 7. The main shaft 11 is a stepped shaft, and the end face of the cutter head sleeve 3 and the stepped end face 12.8 of the main shaft 11, as well as the end face of the milling cutter head 5 and the end face of the cutter head sleeve 3, are positioned by the engagement of bosses and grooves.

[0056] See Figure 3 The support 4 has a mounting through hole, through which the main shaft 11 is disposed. The rotary drive component 7 is mounted on the support 4, and its output shaft is connected to the main shaft 11. Two deep groove ball bearings 11.3 are disposed between the main shaft 11 and the support 4. An intermediate sleeve 11.2 is disposed between the two deep groove ball bearings 11.3. A limiting sleeve 11.4 and a nut 11.5 are provided at the rear end of the deep groove ball bearing near the rotary drive component 7, thereby limiting the two deep groove ball bearings. A thrust ball bearing 11.1 is disposed between the support 4 and the main shaft 11 near the cutter head sleeve. The thrust ball bearing and the deep groove ball bearing ensure the smooth rotation of the main shaft.

[0057] See Figure 4 The cutter head sleeve 3 has a flange at its tail end and a positioning inner hole 3.3 on it, through which it is fitted onto the spindle. A boss 3.4 is provided on the side of the flange closest to the milling cutter head 5. This boss 3.4 is used to match and position itself against a groove 1 on the milling cutter head 5 (groove 1 is inherent to the milling cutter head). A groove 3.2 is provided on the side of the flange away from the milling cutter head, and a matching boss 2 is provided on the corresponding stepped end face 12.8 of the spindle (i.e., the stepped end face in contact with the flange). This allows the cutter head sleeve 3 to be fitted onto the spindle 11 and to be quickly positioned. Through the cooperation between the boss and the groove, the cutter head sleeve 3 and the spindle 11, and the milling cutter head 5 and the cutter head sleeve 3, can be positioned to ensure synchronous rotation of each cutter head sleeve, milling cutter head, and spindle, and can be quickly positioned during assembly, improving assembly efficiency. Meanwhile, as the telescopic plunger extends and presses against the milling cutter head 5, the relative positions of the cutter head sleeve 3, the milling cutter head 5, and the spindle 11 are fixed, which facilitates the maintenance and replacement of the milling cutter head and / or the milling cutter inserts.

[0058] See Figure 2The rotating mechanism is installed in the foundation pit 2. The upper opening of the foundation pit 2 is sealed with a left cover plate 2.1 and a right cover plate 2.2, both of which have semi-circular openings that match the column 8. Specifically, the rotating mechanism includes a rotating drive component 2.3, a turntable bearing outer gear ring 2.5, a turntable bearing inner ring 2.6, and an intermediate retaining assembly 2.8. The turntable bearing outer gear ring 2.5 and the turntable bearing inner ring 2.6 are coaxially mounted and the intermediate retaining assembly 2.8 is provided between them. The output end of the rotating drive component 2.3 is provided with a bevel gear 2.4 for meshing with the turntable bearing outer gear ring 2.5. The bottom of the column 8 is fixedly mounted on the upper end face of the turntable bearing outer gear ring 2.5 via a column base 2.7. Preferably, the intermediate retaining assembly 2.8 includes rolling elements and a cage, i.e., the turntable bearing outer gear ring 2.5, the turntable bearing inner ring 2.6, and the intermediate retaining assembly 2.8 constitute a bearing structure.

[0059] Preferably, the top of the column 8 is provided with a top cover 9, and the top cover 9 is provided with threaded holes for hoisting, so as to facilitate hoisting; multiple reinforcing ribs 10 are provided between the turntable 13 and the column 8 and between the column 8 and the column base 2.7 to enhance the structural strength and stability of the equipment.

[0060] Furthermore, the identification and disassembly tools include a vacuum suction port 1.1, a laser probe 1.2, and a disassembly tool 1.3. The laser probe 1.2 is used to scan the milling cutter head 5 and the milling inserts 6 on the milling cutter head 5. The vacuum suction port 1.1 and the disassembly tool 1.3 are used to replace the milling inserts 6. Specifically, the vacuum suction port 1.1 is used to hold the milling inserts 6, and the disassembly tool is used to tighten or loosen the fasteners of the milling inserts 6. The clamping tool is used to clamp the milling cutter head 5 and the cutter head sleeve 3. For details of the clamping tool and disassembly tool, please refer to the prior art. They can be such as chucks and screwdrivers.

[0061] The milling cutter head and milling inserts are scanned by laser probe 1.2 to obtain wear data, which can reveal the wear status of the tools during the milling process. Based on the wear data, the machining parameters of the workpiece can be adjusted, i.e., to guide the optimization of machining parameters. At the same time, the wear data can also identify which inserts need to be replaced, providing guidance for tool changing.

[0062] Preferably, the rotary drive component 1 7 and the rotary drive component 2 3 are servo motors.

[0063] This embodiment also provides a method for changing tools using the above-mentioned automatic tool removal and installation device for milling cutter discs, including the following two tool changing methods:

[0064] The first method (i.e., replacing the milling inserts on the milling cutter head):

[0065] The rotating mechanism drives the column 8 to rotate, moving the idle cutter head mounting assembly to the working position of the robot arm 1; the specifications of the cutter head sleeve 3 are selected according to the specifications of the milling cutter head 5 to be replaced, and the robot arm 1 clamps the selected cutter head sleeve 3 with a clamping tool and puts it onto the end of the spindle 11. The end face of the cutter head sleeve 3 is positioned with the stepped end face 12.8 of the spindle 11 through a boss and a groove. The through hole on the spindle 11 and the telescopic through hole 3.1 on the cutter head sleeve 3 are aligned.

[0066] The robotic arm 1 uses a clamping tool to hold the milling cutter head 5 to be replaced and fits it onto the cutter head sleeve 3 (specifically, the end face of the milling cutter head has three evenly distributed circular holes, which are used to accurately position and clamp the milling cutter head). The end face of the milling cutter head 5 to be replaced and the end face of the cutter head sleeve 3 are positioned by the engagement of a boss and a groove. Then, the telescopic drive drives the telescopic plunger 12.7 to extend and press against the milling cutter head 5 to be replaced, and the installation of the milling cutter head 5 to be replaced is completed.

[0067] The robotic arm 1 is replaced with an identification and disassembly tool. The laser probe 1.1 scans the milling cutter head 5 to be replaced and the milling cutter blades 6 on it. At the same time, the spindle 11 is controlled to rotate to perform a comprehensive scan and identification of the wear condition of the milling cutter head 5 to be replaced and the milling cutter blades 6 on it.

[0068] The spindle 11 rotates, moving the milling cutter 6 that needs to be replaced to the replacement position one by one, and replacing the milling cutter 6 through the vacuum suction port 1.1 and the disassembly and assembly tool 1.3;

[0069] The second method (replacing the qualified milling cutter head with the milling machine):

[0070] The robot arm 1 installs the clamping tool, and the rotating mechanism drives the column 8 to rotate, moving the qualified milling cutter 5 on the cutter head mounting assembly to the working position of the robot arm 1.

[0071] The robotic arm 1 grips the qualified milling cutter head 5 with a clamping tool, while the telescopic drive drives the telescopic plunger to retract. The robotic arm 1 removes the qualified milling cutter head 5 from the tool magazine and installs it onto the milling machine or places it at the cutter head rotation position. The cutter head rotation position here refers to the cutter head rotation position when the milling machine changes the milling cutter head. The qualified milling cutter head is placed at the cutter head rotation position, and then the qualified milling cutter head is installed onto the milling machine manually or by other automated equipment.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tool magazine for a milling cutter head, characterized in that: The tool magazine includes a rotating mechanism, a column (8), a turntable (13), and a tool disc mounting assembly. The column (8) is vertically mounted on the movable part of the rotating mechanism. The column (8) has at least one turntable (13) along the vertical direction. Multiple tool disc mounting assemblies are evenly distributed on the turntable (13). The cutter head mounting assembly includes a cutter head sleeve (3), a clamping mechanism (12), and a rotatably mounted spindle (11). The cutter head sleeve (3) is movably sleeved on one end of the spindle (11). The spindle (11) is provided with a clamping mechanism (12). The clamping mechanism (12) includes a telescopic drive and a telescopic plunger (12.7) connecting the movable part of the telescopic drive. The telescopic plunger (12.7) can freely pass through the side wall of the spindle (11) and the cutter head sleeve (3) to clamp the milling cutter head (5) sleeved on the cutter head sleeve (3). The spindle (11) has a cavity inside, and the telescopic drive is disposed in the cavity. The side wall of the spindle (11) has a through hole that connects to the inside of the cavity. The side wall of the cutter head sleeve (3) has a telescopic through hole (3.1). After the cutter head sleeve (3) is sleeved on the spindle (11) and the through hole is aligned with the telescopic through hole (3.1), the telescopic plunger (12.7) can freely pass through the through hole and the telescopic through hole (3.1) under the drive of the telescopic drive.

2. The tool magazine of the milling cutter head according to claim 1, characterized in that, The cutter head sleeve (3) includes various outer diameter specifications, and the types of outer diameter specifications correspond one-to-one with the specifications of the milling cutter head (5).

3. The tool magazine of the milling cutter head according to claim 2, characterized in that, The cavity has a groove on the inner wall opposite to the through hole, and the telescopic drive is engaged in the groove; the cavity has an internal thread at the end near the cutter head sleeve, and the end is threadedly connected to a pressure cap (12.3), which presses against the telescopic drive located in the groove.

4. The tool magazine of the milling cutter head according to claim 3, characterized in that, The cavity is also provided with a plunger drive system (12.5), which is connected to the telescopic drive component and is used to provide a drive medium for the telescopic drive component.

5. The tool magazine of the milling cutter head according to claim 4, characterized in that, The cutter head mounting assembly also includes a rotary drive component (7) and a support (4) fixedly mounted on the turntable (13). The spindle (11) is rotatably mounted on the support (4) via a bearing. The end of the spindle (11) away from the cutter head sleeve (3) is connected to the rotary drive component (7).

6. The tool magazine of the milling cutter head according to claim 1, characterized in that, The main shaft (11) is a stepped shaft. The end face of the cutter head sleeve (3) and the stepped end face (12.8) of the main shaft (11) and the end face of the milling cutter head (5) and the end face of the cutter head sleeve (3) are positioned by the cooperation of the boss and the groove.

7. The tool magazine of the milling cutter head according to any one of claims 1-6, characterized in that, The rotating mechanism includes a second rotating drive component (2.3), an outer gear ring of a turntable bearing (2.5), an inner ring of a turntable bearing (2.6), and an intermediate retaining component (2.8). The outer gear ring of the turntable bearing (2.5) and the inner ring of the turntable bearing (2.6) are coaxially sleeved together, and an intermediate retaining component (2.8) is provided between them. The output end of the second rotating drive component (2.3) is provided with a bevel gear (2.4) for meshing with the outer gear ring of the turntable bearing (2.5). The bottom of the column (8) is fixedly mounted on the upper surface of the outer gear ring of the turntable bearing (2.5) through a column base (2.7).

8. The tool magazine of the milling cutter head according to claim 7, characterized in that, The top of the column (8) is provided with a top cover (9), and the top cover (9) is provided with threaded holes for hoisting; multiple reinforcing ribs (10) are provided between the turntable (13) and the column (8) and between the column (8) and the column base (2.7).

9. An automatic tool disassembly and assembly device for a milling cutter head, characterized in that, Includes a robotic arm (1) and a tool magazine as described in any one of claims 1-8, wherein the tool magazine is disposed on one side of the robotic arm (1), and the movable end of the robotic arm (1) is detachably equipped with an identification and disassembly tool or a clamping tool; The identification and disassembly tool includes a vacuum suction port (1.1), a laser probe (1.2), and a disassembly tool (1.3). The laser probe (1.2) is used to scan the milling cutter head (5) and the milling cutter blades (6) on the milling cutter head (5). The vacuum suction port (1.1) and the disassembly tool (1.3) are used to replace the milling cutter blades (6). The clamping tool is used to clamp the milling cutter head (5) and the cutter head sleeve (3).

10. A tool changing method for the automatic tool removal and installation device for milling cutter heads as described in claim 9, characterized in that, This includes methods for replacing milling cutters on a milling cutter head and / or methods for replacing a qualified milling cutter head onto a milling machine: Method for replacing milling inserts on a milling cutter head: The rotating mechanism drives the column (8) to rotate, moving the idle cutter head mounting assembly to the working position of the robot (1); the specifications of the cutter head sleeve (3) are selected according to the specifications of the milling cutter head (5) to be replaced, and the robot (1) clamps the selected cutter head sleeve (3) with the clamping tool and puts it onto the end of the spindle (11). The end face of the cutter head sleeve (3) and the stepped end face (12.8) of the spindle (11) are positioned by the engagement of the boss and the groove. The through hole on the spindle (11) and the telescopic through hole (3.1) on the cutter head sleeve (3) are aligned. The robotic arm (1) clamps the milling cutter disc (5) to be replaced onto the cutter disc sleeve (3) using a clamping tool. The end face of the milling cutter disc (5) to be replaced and the end face of the cutter disc sleeve (3) are positioned by a boss and a groove. Then, the telescopic drive drives the telescopic plunger (12.7) to extend and press against the milling cutter disc (5) to be replaced. The installation of the milling cutter disc (5) to be replaced is completed. The robotic arm (1) is replaced with an identification and disassembly tool. The laser probe (1.2) scans the milling cutter disc (5) to be replaced and the milling cutter blades (6) on it. At the same time, the spindle (11) is controlled to rotate to fully scan and identify the wear of the milling cutter disc (5) to be replaced and the milling cutter blades (6) on it. The spindle (11) rotates and moves the milling cutter (6) to be replaced one by one to the replacement position. The milling cutter (6) is replaced by vacuum suction port (1.1) and disassembly tool (1.3). Method for replacing a qualified gear milling cutter head on a gear milling machine: The robot (1) is equipped with a clamping tool, and the rotating mechanism drives the column (8) to rotate, moving the qualified milling cutter (5) on the cutter head mounting assembly to the working position of the robot (1); The robot (1) clamps the qualified milling cutter head (5) with a clamping tool, and at the same time, the telescopic drive drives the telescopic plunger to retract. The robot (1) takes the qualified milling cutter head (5) out of the tool magazine and installs it on the milling machine or places it in the middle position of the cutter head.

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