A tool changing system and method based on a central tool magazine

Abstract

The present application relates to the technical field of tool changing, and particularly relates to a tool changing system and method based on a central tool magazine, which comprises a central tool magazine, a buffer station and a tool changing robot, the central tool magazine is provided with a plurality of bearing structures for bearing tool shanks, and the center lines of the tool shanks located on the central tool magazine are horizontally arranged, and the buffer station is provided with a transfer structure for temporarily receiving the tool shanks; the end of the tool changing robot is provided with a first clamping mechanism and a second clamping mechanism, the first clamping mechanism clamps a clamping groove of the tool shank to realize tool changing between the buffer station and a machine tool magazine, and the second clamping mechanism clamps a pull pin of the tool shank to realize tool changing between the buffer station and the central tool magazine, the central tool magazine of the present application has a vertical tool storage form, realizes transfer through the buffer station, has a large tool storage capacity and meets the tool storage demand.

Description

Technical Field

[0001] This invention relates to the field of tool changing technology, and in particular to a tool changing system and method based on a central tool magazine. Background Technology

[0002] Currently, CNC machine tools are widely used, and the complexity of parts processing is increasing. As the processing complexity increases, more tools are needed to complete the task. However, the total number of tools in the disc-type tool magazines equipped inside CNC machine tools is relatively limited, so tools need to be changed frequently. The capacity of the external tool magazine also determines the number of tools. Chinese patent with publication number CN210756623U discloses an intelligent tool changing system for CNC machine tools, which uses a tool storage component for tool storage. However, this structure is still limited, and the tool storage capacity cannot meet the demand. Summary of the Invention

[0003] To address the problem that the capacity of existing tool storage mechanisms cannot meet the demand, this invention provides a tool changing system and method based on a central tool magazine to increase tool storage capacity.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] A tool changing system based on a central tool magazine, characterized in that it includes:

[0006] A central tool magazine, wherein the central tool magazine is provided with several supporting structures for supporting tool holders, and the center line of the tool holders on the central tool magazine is set horizontally;

[0007] A buffer station, wherein the buffer station is provided with a transfer structure for temporarily receiving the tool holder;

[0008] The tool changing robot has a first clamping mechanism and a second clamping mechanism installed at its end. The first clamping mechanism clamps the tool holder in a clamping slot to realize tool changing between the buffer station and the machine tool magazine, and the second clamping mechanism clamps the tool holder in a pull stud to realize tool changing between the buffer station and the central tool magazine.

[0009] Furthermore, it also includes an installation platform and a truss. The central tool magazine is installed on the installation platform, and a robot mounting tray is slidably mounted on the truss. The tool changing robot is mounted on the robot mounting tray. Above the CNC machine tool's tool magazine, there is a window for the tool changing robot to reach in and change the tool holder. The buffer station is fixed on the robot mounting tray.

[0010] Furthermore, the central tool magazine is provided with several vertically arranged tool holder base plates. The supporting structure includes tool storage slots on both sides of the tool holder base plates for supporting tool handles. Each tool storage slot includes an arc-shaped slot that matches the shape of the tool handle's clamping slot and an opening slot for connecting the arc-shaped slot and the end of the tool holder base plate. The tool holder base plate at the edge of the arc-shaped slot is engaged in the clamping slot. The two sides of the opening slot have a first opening guide wall and a second opening guide wall, respectively. Both the first and second opening guide walls are inclined downwards along the direction from the opening to the arc-shaped slot. The distance between the first opening guide wall and the second opening guide wall is greater than the outer diameter of the clamping slot, thereby ensuring the smooth passage of the tool handle.

[0011] Furthermore, the tool storage slots are distributed vertically in opposite directions on the tool holder base plate, and tool storage slots are provided on both sides of the tool holder base plate. The number of tool holder base plates is at least two, and the surface of the tool holder base plates is parallel to the sliding direction of the robot mounting tray. Adjacent tool holder base plates are spaced apart.

[0012] Furthermore, the transfer structure includes a horizontally arranged limiting plate with a semi-circular opening. The top of the semi-circular opening has a support groove that matches the shape of the protruding ring of the tool holder. Above the support groove is a clamping spring for pressing against the protruding ring of the tool holder.

[0013] Furthermore, the tool holder has a limiting groove, and the limiting plate is also provided with a limiting protrusion that matches the limiting groove of the tool holder. The limiting protrusion matches the limiting groove of the tool holder itself, which can at least realize the rotational limitation of the tool holder at the buffer station, thereby ensuring the positioning accuracy of the overall flow of the tool holder.

[0014] Furthermore, the first clamping mechanism and the second clamping mechanism are integrated on the gripper assembly. The gripper assembly includes two gripper units. The first clamping mechanism includes a gripper claw disposed at the first end of the gripper unit. The second clamping mechanism includes a clamping block disposed at the second end of the gripper unit. The clamping block is provided with a clamping hole that matches the shape of the knife handle and a clamping part for clamping in the middle groove of the pull stud.

[0015] Furthermore, at least one gripper unit is fixed with a positioning block, and the tool holder is provided with a positioning groove that cooperates with the positioning block.

[0016] Furthermore, the tool-changing robot is a six-axis robot.

[0017] A tool changing method for a tool changing system based on a central tool magazine, as described above, includes the following steps:

[0018] Tool changing in the machine tool magazine: The tool changing robot moves the gripper assembly to the front of the tool holder support of the machine tool magazine. Then the gripper moves forward and opens the spring of the tool holder support. The gripper assembly retracts or opens to take the tool holder out of or put it into the machine tool magazine.

[0019] Tool handling at the buffer station: The tool changing robot moves its gripper assembly to the front of the buffer station, and the gripper moves to the top of the limit plate. The gripper assembly retracts or opens to remove or place the tool holder from the buffer station.

[0020] Tool handling in the central tool magazine: The tool changing robot moves by having the gripper assembly clamp the pull pin and move the tool holder until the clamping slot is in full contact with the tool storage slot, or completely remove the tool holder from the tool storage slot.

[0021] Beneficial effects:

[0022] (1) The central tool magazine of the present invention adopts a vertical tool storage form and realizes transfer through the buffer station. It has a large tool storage capacity and meets the tool storage requirements.

[0023] (2) The central tool magazine of the present invention adopts the structure of a tool holder base plate. The tool storage slots are arranged in rows on the tool holder base plate. The tool holder clamping slots contact and cooperate with the tool storage slots to realize tool storage. The structure is simple and easy to implement.

[0024] (3) The tool storage slots are set on both sides of the tool holder base plate, so that the area of ​​the tool holder base plate can be fully utilized and the tool holder base plate will not be left with a lot of blank space, thus saving costs while reducing the space occupied.

[0025] (4) The tool changing robot can be slidably mounted on the truss above the machine tool through the robot mounting plate, without occupying the space of the workshop. The tool changing robot can slide above several CNC machine tools and share a central tool magazine, saving the space of the workshop. The buffer station is also fixed on the robot mounting plate. In this way, the tool changing of multiple CNC machine tools can be realized through one buffer station. It has high integration, strong functionality, and is easy to realize the automated control of the workshop.

[0026] (5) The central tool magazine system can rationally allocate the tools shared by several machine tools, thereby reducing the number of duplicate tools, improving tool utilization, and reducing tool usage costs;

[0027] (6) By setting up a buffer station, the present invention realizes the transfer of the tool holder from the machine tool magazine to the vertical tool post. At the same time, the buffer station has a certain tool storage function and can adapt to more tool changing needs.

[0028] (7) The support groove and clamping spring of the buffer station cooperate to realize the movement limit of the tool holder in the up, down and left and right directions. By setting the limit protrusion, the anti-rotation limit of the tool holder is realized, so that the tool holder on the buffer station can be stably matched to prevent shaking or rotation. In addition, the limit protrusion realizes the limit of the tool holder during the intermediate rotation process, which can ensure the position accuracy of the tool holder when it is moved to the machine tool magazine, so as not to affect the normal tool changing of the machine tool magazine.

[0029] (8) By setting arc-shaped grooves and inclined opening grooves, the tool holder is stably stored. At the same time, the tool changing robot sends the tool holder to the bottom of the arc-shaped groove, that is, the clamping groove and the arc-shaped groove are in complete contact. On the one hand, it ensures that the tool holder can be placed properly. On the other hand, it prevents the tool changing robot from releasing the tool holder in the middle of the tool storage groove. After the tool holder rolls, the position of the limiting groove will be deflected, which will prevent it from cooperating with the limiting protrusion of the buffer station.

[0030] (9) The gripper unit of the present invention integrates a gripper and a clamping block. The tool is transferred between the machine tool magazine and the buffer station by the gripper holding the tool holder in the clamping groove. The tool holder is transferred between the buffer station and the central tool magazine by the clamping block holding the clamping part of the pull stud. The transfer can be achieved by one robot. It has strong functions, good action continuity and high efficiency. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of the tool changing system based on a central tool magazine according to the present invention;

[0033] Figure 2 This is a schematic diagram of the knife handle.

[0034] Figure 3 To conceal the structural diagram of the CNC machine tool;

[0035] Figure 4 This is a schematic diagram of the tool changing robot and the machine tool magazine.

[0036] Figure 5 This is a schematic diagram of the front structure of the central tool magazine;

[0037] Figure 6 This is a schematic diagram of the rear structure of the central tool magazine;

[0038] Figure 7 This is a schematic diagram of the tool holder base plate;

[0039] Figure 8 This is a structural diagram of the cache station;

[0040] Figure 9 for Figure 10 Enlarged view of a section at point A

[0041] Figure 10 This is a schematic diagram of the gripper component;

[0042] Figure 11 A schematic diagram of the gripper unit holding the tool holder;

[0043] Figure 12 This is a schematic diagram of the gripper unit's clamping block holding the pull stud.

[0044] Among them, 1. CNC machine tool, 2. Tool holder, 21. Clamping groove, 22. Pull stud, 221. Middle groove, 23. Limiting groove, 24. Positioning groove, 25. Protruding ring, 3. Mounting platform, 4. Central tool magazine, 41. Tool holder base plate, 411. Tool storage groove, 4111. Arc groove, 4112. Opening groove, 4113. First opening guide wall, 4114. Second opening guide wall, 5. Buffer station, 51. Limiting plate, 511. Semi-circular opening, 512. Support groove, 513. Limiting protrusion, 52. Clamping spring, 6. Truss, 7. Robot mounting plate, 8. Tool changing robot, 81. Gripper unit, 811. Gripper, 812. Clamping block, 8121. Clamping hole, 8122. Clamping part, 82. Positioning block. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0049] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0050] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0051] This invention provides a tool changing system based on a central tool magazine, such as... Figures 1-4 The machine tool magazine includes a central tool magazine 4, a buffer station 5, and a tool changing robot 8. The central tool magazine 4 has several support structures for carrying tool holders 2, and the center lines of the tool holders 2 on the central tool magazine 4 are horizontally arranged. The buffer station 5 has a transfer structure for temporarily receiving the tool holders 2. The end of the tool changing robot 8 is equipped with a first clamping mechanism and a second clamping mechanism. The first clamping mechanism clamps the tool holder 2 through a clamping groove 21 to achieve tool changing between the buffer station 5 and the machine tool magazine. The second clamping mechanism clamps the tool holder 2 through a pull stud 22 to achieve tool changing between the buffer station 5 and the central tool magazine 4. The machine tool magazine of this invention can be, but is not limited to, a chain-type tool magazine.

[0052] The tool changing system also includes a mounting platform 3 and a truss 6. A central tool magazine 4 is mounted on the mounting platform 3. A robot mounting plate 7 is mounted on the truss 6, and a tool changing robot 8 is mounted on the robot mounting plate 7. Above the tool magazine of the CNC machine tool 1, there is a window for the tool changing robot 8 to reach in and change the tool holder 2. The robot mounting plate 7 slides on the truss 6, and a buffer station 5 is fixed to the robot mounting plate 7. In this way, the truss 6 spans several CNC machine tools, allowing several CNC machine tools to share one tool changing robot 8, one buffer station 5, and one central tool magazine 4, saving costs and facilitating control.

[0053] like Figures 5-7The central tool magazine 4 is provided with several vertically arranged tool holder base plates 41. The supporting structure includes tool storage slots 411 on both sides of the tool holder base plate 41 for supporting tool handles 2. The two groove walls of the clamping groove 21 of the tool handle 2 are respectively located on both sides of the tool holder base plate 41. The tool storage slot 411 includes an arc-shaped groove 4111 that matches the shape of the clamping groove 21 of the tool handle 2 and an opening slot 4112 for connecting the arc-shaped groove 4111 and the end of the tool holder base plate 41. The tool holder base plate 41 at the edge of the arc-shaped groove 4111 is stuck in the clamping groove 21. The opening can face left and right or up and down. Theoretically, setting the opening upward is convenient for the tool changing robot 8 to load the tool handle 2 and can also achieve stable installation of the tool handle 2. However, in this invention, considering the need to make full use of the space of the tool holder base plate 41, the opening slots 4112 all open to the left or right. In this way, two rows of tool storage slots 411 can be arranged side by side on the tool holder base plate 41, which is compact, occupies little space, and does not waste the area of ​​the tool holder base plate 41, thus saving space. The opening groove 4112 has a first opening guide wall 4113 and a second opening guide wall 4114 on both sides, and both the first opening guide wall 4113 and the second opening guide wall 4114 are inclined downward along the direction from the opening to the arc-shaped groove 4111. The lower first opening guide wall 4113 can be parallel to the upper second opening guide wall 4114. Of course, the second opening guide wall 4114 can be inclined at a larger angle to facilitate the entry of the tool holder 2. The arc-shaped groove 4111 is tangent to both the first opening guide wall 4113 and the second opening guide wall 4114, thereby ensuring a smooth transition of the groove surface of the tool storage groove 411.

[0054] The tool storage slots 411 are distributed vertically in opposite directions on the tool holder base plate 41, and tool storage slots 411 are provided on both sides of the tool holder base plate 41. There are at least two tool holder base plates 41. The surface of the tool holder base plates 41 is parallel to the sliding direction of the robot mounting plate 7. Adjacent tool holder base plates 41 are spaced apart. The spacing between the tool holder base plates 41 allows the tool changing robot 8 to pick up and put down the tool handle 2 in the tool storage slots 41.

[0055] like Figures 8-9 The transfer structure includes a horizontally positioned limiting plate 51. The limiting plate 51 has a semi-circular opening 511. The top of the semi-circular opening 511 has a support groove 512 that matches the shape of the protruding ring 25 of the tool holder 2. Above the support groove 512 is a clamping spring 52 for pressing against the protruding ring 25 of the tool holder 2. The tool holder 2 has a limiting groove 23, and the limiting plate 51 also has a limiting protrusion 513 that matches the limiting groove 23 of the tool holder 2.

[0056] like Figures 10-12The first and second clamping mechanisms are integrated on the gripper assembly, which includes two gripper units 81. The first clamping mechanism includes a gripper 811 at the first end of the gripper unit 81, and the second clamping mechanism includes a clamping block 812 at the second end of the gripper unit 81. The clamping block 812 has a clamping hole 8121 that matches the shape of the tool handle 2 and a clamping part 8122 for clamping in the middle groove 221 of the pull stud 22. Of course, the tool storage groove 411 can also be provided with a limiting part similar to the limiting protrusion 513, or the clamping block 812 can be provided with a protrusion, and the pull stud 22 or the tool handle 2 can be provided with a corresponding groove to achieve anti-rotation limiting when the clamping block 812 clamps. However, the clamping block 812 has a large clamping force when clamping and will not rotate. Therefore, the anti-rotation limiting of the clamping block 812 can be omitted.

[0057] At least one gripper unit 81 is fixed with a positioning block 82, and the tool holder 2 is provided with a positioning groove 24 that cooperates with the positioning block 82.

[0058] The buffer station 5 is set with its back to the tool changing robot. The tool changing robot 8 is a six-axis robot that can cross the buffer station 5 to reach the front of the buffer station 5 to realize the transfer of the tool holder.

[0059] A tool changing method for a tool changing system based on a central tool magazine, as described above, includes the following steps:

[0060] Tool changing on the machine tool magazine: The tool changing robot 8 moves, the gripper assembly moves to the front of the tool holder support of the machine tool magazine, and then the gripper 811 moves forward and opens the spring of the tool holder support. The gripper assembly retracts or opens to take the tool holder 2 out of or put it into the machine tool magazine.

[0061] Tool handling at buffer station 5: The tool changing robot 8 moves, the gripper assembly moves to the front of the buffer station 5 of the machine tool magazine, the gripper 811 moves to the top of the limit plate 51, and the gripper assembly retracts or opens to realize the removal or placement of the tool holder 2 from the buffer station 5.

[0062] Tool loading and unloading on the central tool magazine 4: The tool changing robot 8 moves, the gripper assembly clamping block 812 clamps the pull pin 22 and moves the tool holder 2 to the clamping groove 21 and the tool storage groove 411 in full contact, or completely removes the tool holder 2 from the tool storage groove 411.

[0063] Specifically, the following four tool changing processes are included:

[0064] (1) Move the tool holder 2 from the machine tool magazine to the buffer station 5: The tool changing robot 8 moves, the gripper assembly moves to the front of the tool holder support of the machine tool magazine, and then the gripper 811 moves forward and opens the spring of the tool holder support. The gripper assembly retracts, and the gripper 811 clamps the clamping groove 21 of the tool holder 2. At the same time, the positioning block 82 cooperates with the positioning groove 24 to prevent the tool holder 2 from rotating during the clamping process. Take the tool holder 2 out of the machine tool magazine, and then the tool changing robot 8 moves, the gripper assembly moves to the front of the buffer station 5 of the machine tool magazine, the gripper 811 moves to the top of the limit plate 51, the gripper 811 extends forward, the convex ring 25 of the tool holder 2 pushes open the clamping spring 52 and enters the support groove 512 and is clamped by the clamping spring. Then the gripper assembly opens to complete the transfer.

[0065] (2) Move the tool holder from the buffer station 5 to the central tool magazine 4: The tool changing robot 8 moves, the gripper block 812 of the gripper assembly clamps the gripping part 8122 of the pull stud 22 and drives the tool holder 2 to move to the tool storage slot 411 of the tool holder base plate 41. The gripper assembly continues to drive the tool holder 2 to enter the opening slot 4112 at an angle until the gripping slot 21 of the tool holder is fully in contact with the arc slot 4111. Then the gripper assembly releases and the tool storage is completed.

[0066] (3) Move the tool holder from the central tool magazine 4 to the buffer station 5: The tool changing robot 8 moves, the gripper block 812 of the gripper assembly clamps the pull pin 22 and drives the tool holder 2 to move to the front of the buffer station 5. The gripper 811 extends forward and inserts the protruding ring 25 of the tool holder 2 into the support groove 51 below the clamping spring 52. The clamping spring 52 is pushed up by the protruding ring 25. Then the gripper assembly releases, and the protruding ring 25 is pressed by the clamping spring 52 to complete the transfer.

[0067] (4) Moving the tool holder from the buffer station 5 to the machine tool magazine: The tool changing robot 8 moves, the gripper assembly moves to the front of the buffer station 5, the gripper 811 moves to the top of the limit plate 51, and then the gripper assembly retracts, the gripper 811 clamps in the clamping groove 21 of the tool holder. At the same time, the positioning block 82 cooperates with the positioning groove 24 to prevent the tool holder 2 from rotating during the clamping process, and moves the tool holder 2 horizontally out to disengage from the clamping spring 52. The tool changing robot 8 drives the gripper assembly. The tool holder 811 moves to the front of the tool holder support of the machine tool tool magazine. The gripper 811 extends forward and opens the spring plate of the tool holder support. The tool holder support has two spring plates, one for pressing on the top of the convex ring 25 and the other for locking on the outer circumference of the convex ring 25 (locked in the circumferential position above the clamping groove 21). When the gripper 811 extends forward, the spring plate used to press on the top of the convex ring 25 is lifted up, the gripper assembly opens, and the convex ring 25 of the tool holder 2 is pressed tightly by the spring plate of the tool holder support, completing the transfer.

[0068] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A central-magazine-based tool changer system, characterized by: The application relates to a tool magazine system of a numerical control machine tool (1), which comprises: a central tool magazine (4) provided with a plurality of bearing structures for bearing tool shanks (2) and arranged in a horizontal center line of the tool shanks (2) on the central tool magazine (4); a buffer station (5) provided with a transfer structure for temporarily bearing the tool shanks (2); a tool changing robot (8) provided with a first clamping mechanism and a second clamping mechanism at the tail end, the first clamping mechanism clamps a clamping groove (21) of the tool shank (2) to realize tool changing between the buffer station (5) and a machine tool magazine, and the second clamping mechanism clamps a pull pin (22) of the tool shank (2) to realize tool changing between the buffer station (5) and the central tool magazine (4); the first clamping mechanism and the second clamping mechanism are integrally arranged on a gripper assembly, the gripper assembly comprises two gripper units (81), the first clamping mechanism comprises a clamping jaw (811) arranged at a first end of the gripper unit (81), and the second clamping mechanism comprises a clamping block (812) arranged at a second end of the gripper unit (81), the clamping block (812) is provided with a clamping hole (8121) matched with the shape of the tool shank (2) and a clamping part (8122) used for clamping a middle groove (221) of the pull pin (22).

2. The tool changer system based on a central tool magazine according to claim 1, characterized in that The application further comprises a mounting platform (3) and a truss (6), the central tool magazine (4) is mounted on the mounting platform (3), the truss (6) is provided with a robot mounting plate (7) slidingly arranged thereon, the tool changing robot (8) is mounted on the robot mounting plate (7), a window for the tool changing robot (8) to extend into and change the tool shank (2) is arranged above a machine tool magazine of the numerical control machine tool (1), and the buffer station (5) is fixed on the robot mounting plate (7).

3. The tool changer system based on a central tool magazine according to claim 2, characterized in that: The central tool magazine (4) is provided with a plurality of vertically arranged tool rack base plates (41), the bearing structure comprises a tool storage groove (411) arranged on both sides of the tool rack base plate (41) and used for bearing the tool shank (2), the tool storage groove (411) comprises an arc-shaped groove (4111) matched with the shape of the clamping groove (21) of the tool shank (2) and an opening groove (4112) used for connecting the arc-shaped groove (4111) and an end of the tool rack base plate (41), the tool rack base plate (41) at the edge of the arc-shaped groove (4111) is clamped in the clamping groove (21), and the two sides of the opening groove (4112) are respectively provided with a first opening guide wall (4113) and a second opening guide wall (4114), and the first opening guide wall (4113) and the second opening guide wall (4114) are both inclined downward along the opening direction to the arc-shaped groove (4111).

4. The tool changer system based on a central tool magazine according to claim 3, characterized in that: The tool storage grooves (411) are vertically and oppositely spaced on the tool rack base plates (41), the tool storage grooves (411) are arranged on both sides of the tool rack base plate (41), the number of the tool rack base plates (41) is at least two, the plate surfaces of the tool rack base plates (41) are parallel to the sliding direction of the robot mounting plate (7), and adjacent tool rack base plates (41) are arranged in a spaced mode.

5. The centralized tool storage magazine based tool changer system according to claim 3 or 4, characterized in that: The transfer structure comprises a horizontally arranged limiting plate (51), the limiting plate (51) is provided with a semicircular opening (511), the top end of the semicircular opening (511) is provided with a supporting groove (512) matched with the convex ring (25) of the tool handle (2), and the supporting groove (512) is provided with a pressing spring (52) used for pressing on the top of the convex ring (25) of the tool handle (2).

6. The tool changer system based on a central tool magazine according to claim 5, characterized in that: The tool handle (2) is provided with a limiting groove (23), and the limiting plate (51) is further provided with a limiting convex part (513) matched with the limiting groove (23) of the tool handle (2).

7. The centralized tool storage magazine based tool changer system according to claim 1, characterized in that: The at least one gripper unit (81) is fixed with a positioning block (82), and the tool handle (2) is provided with a positioning groove (24) matched with the positioning block (82).

8. The centralized tool storage magazine based tool changer system according to claim 1, characterized in that: The tool changing robot (8) is a six-axis robot.

9. A tool change method for a central-magazine-based tool changer system as claimed in any one of claims 5 or 6, characterized in that: The method comprises the following steps: Tool changing on the machine tool magazine: the tool changing robot (8) acts, the gripper assembly moves to the front of the tool handle support of the machine tool magazine, then the clamping jaw (811) acts forward and supports the spring of the tool handle support, the gripper assembly contracts or expands, and the tool handle (2) is taken out or put into the machine tool magazine; Tool taking and placing on the buffer station (5): the tool changing robot (8) acts, the gripper assembly moves to the front of the buffer station (5), the clamping jaw (811) moves to the top of the limiting plate (51), the gripper assembly contracts or expands, and the tool handle (2) is taken out or put into the buffer station (5); Tool taking and placing on the central tool magazine (4): the tool changing robot (8) acts, the clamping block (812) of the gripper assembly clamps the draw stud (22) and drives the tool handle (2) to move to the complete contact of the clamping groove (21) and the tool storage groove (411), or completely removes the tool handle (2) from the tool storage groove (411).

Images