A servo tool magazine and tool changing method based on four-spindle vertical machine tool

Abstract

The application provides a servo tool magazine based on a four-main-shaft vertical machine tool and a tool changing method, which comprises a base, a main frame and an adjusting part; the adjusting part and the main frame can be combined to form a rectangular ring frame structure, and the spacing can be adjusted through an adjusting structure; a chain tool magazine assembly is movably arranged on the outer side of the adjusting part and the main frame; a driving device for driving the chain tool magazine assembly is arranged at the bottom of the main frame; a cleaning device is bolted to the outer side wall of the main frame; the application effectively solves the problem of low tool changing efficiency of the chain tool magazine of the prior art for multiple main shafts, and makes a significant improvement in view of the defect; the application is used for simultaneously changing tools of multiple main shafts of the same machine tool, effectively reduces the tool changing process, and improves the operation efficiency; in addition, the application increases the cleaning device, repeatedly sweeps the surface of the tool through the brush, and avoids the influence of residual iron chips of the tool bit on subsequent machining.

Description

Technical Field

[0001] This invention relates to the field of machine tool magazines, and more particularly to a servo tool magazine and tool changing method for a four-spindle vertical machine tool. Background Technology

[0002] Chain-driven tool magazines are advanced automatic tool changers widely used in CNC machine tools. They employ a chain drive system to arrange tools in a specific order on the chain, and tool selection and replacement are achieved through the operation of the control system. Chain-driven tool magazines have advantages such as high tool changing reliability, which can significantly improve the machining efficiency and accuracy of machine tools.

[0003] Existing chain-type tool magazines mainly consist of a chain, a tool holder, and a tool changing device. The chain serves as the carrier of the tools and is driven by a motor to rotate in a certain direction. The tool holder is used to fix the tools on the chain to ensure their stability and accuracy. The tool changing device achieves fast and accurate tool replacement by working in coordination with the spindle.

[0004] In practical applications, the reliability of chain tool magazines has been widely recognized; however, due to their structural characteristics and working principle, chain tool magazines also have some shortcomings, especially in multi-spindle machine tools. In multi-spindle machine tools, the tool changing efficiency of chain tool magazines is relatively low; due to the limitations of chain length and structure, the tool changing process requires multiple steps, which takes a long time; moreover, existing chain tool magazines for multi-spindle machine tools complete tool changing through sequential tool changing on a single spindle, further reducing efficiency. Summary of the Invention

[0005] To address the problem of low tool changing efficiency for single spindles in multi-spindle machine tools using existing chain tool magazines, this invention provides a servo tool magazine and tool changing method for four-spindle vertical machine tools.

[0006] The present invention provides a servo tool magazine and tool changing method for a four-spindle vertical machine tool, which adopts the following technical solution:

[0007] A servo tool magazine for a four-spindle vertical machine tool includes a base, the top of which is integrally formed with a main frame; an adjustment part is also slidably connected to the top of the base; the adjustment part and the main frame can be combined to form a rectangular ring-shaped frame structure, and the spacing can be adjusted by the adjustment structure; a chain-type tool magazine assembly is movably disposed on the outer side of the adjustment part and the main frame; a drive device for driving the chain-type tool magazine assembly is disposed at the bottom of the main frame; and a cleaning device is bolted to the outer wall of the main frame.

[0008] Furthermore, a guide rail is bolted to the top of the base; a slider is bolted to the bottom of the adjustment part; the slider is slidably connected inside the guide rail.

[0009] Furthermore, the adjustment structure can be a bolt and a nut; the nut is welded and fixed to the adjustment part and is threadedly connected to the bolt;

[0010] Furthermore, the tool magazine assembly includes unit blocks, tool holders, upper rollers, lower rollers, and linkage shafts; the number of unit blocks is N, where N≥2; each unit block is connected end-to-end by linkage shafts, forming a ring around the outside of the main frame and the adjustment part; each linkage shaft has an upper roller and a lower roller installed at its upper and lower ends respectively; the upper rollers and lower rollers are tightly fitted to the main frame and the adjustment part respectively; a tool holder is bolted to the front side of each unit block;

[0011] Furthermore, the tool holder is internally provided with a spring clip for fixing the tool head;

[0012] Furthermore, the spacing between each of the aforementioned linkage shafts is 10X millimeters, where X is a positive integer;

[0013] Furthermore, the driving device includes a servo motor, a planetary reducer, a transmission belt, a drive shaft, a driven wheel, and a drive disc; the servo motor is bolted to the bottom of the main frame; the planetary reducer is installed at the output end of the servo motor; the drive shaft is rotatably connected inside the main frame; a driven wheel is fixedly installed at one end of the drive shaft on the lower side of the main frame; the driven wheel and the planetary reducer are connected by a transmission belt; a drive disc is installed at one end of the drive shaft on the upper side of the main frame; the outer wall of the drive disc has a groove for locking the upper roller.

[0014] Furthermore, the number of slots is M, where M≥2; the inner diameter of each slot is equal to the diameter of the upper roller.

[0015] Furthermore, a guide plate is bolted to the top of the adjustment part and the main frame; a guide groove is provided at the bottom of the guide plate; and the top of the linkage shaft is restricted to slide direction by the guide groove.

[0016] Furthermore, the cleaning device includes a storage slot; a fixing frame is integrally formed inside the storage slot; a plurality of staggered mounting slots are provided inside the fixing frame, and a brush is installed in the mounting slot by bolts;

[0017] Furthermore, a mounting bracket is fixed to the top of the main frame by bolts; a signal receiver for receiving machine tool signals to control the servo motor is detachably installed inside the mounting bracket.

[0018] A tool changing method based on a servo tool magazine for a four-spindle vertical machine tool includes the following steps:

[0019] SP1: Preparation Stage: Place the corresponding tools into the tool magazine assembly. The tools are grouped into sets of four adjacent tools. Set several groups of four tools each, and sort them according to the required tool models for each spindle of the four-spindle machine tool. Write the four tools as a group into the machine tool control program. Before machining begins, check whether the tools in the tool magazine assembly are ready and confirm that the number and type of tools meet the requirements. Confirm that the machine tool sensor system is working properly and that the servo tool magazine drive is operating normally.

[0020] SP2: Sending instructions: The machine tool control system sends instructions to the servo tool magazine to transfer tools based on the tool requirements of the four-spindle machine tool and the tool status in the chain tool magazine. The instructions include information such as the four tools of the corresponding group 4 that need to be replaced and the corresponding spindle number; the servo tool magazine receives the instructions through the signal receiver and controls the servo motors.

[0021] SP3: Tool Transfer: The chain tool magazine, according to the instructions of the control system, transfers the tool to be replaced to the vicinity of the corresponding spindle via a servo motor-driven drive device; during the transfer process, the machine tool's built-in sensor system can detect the position and status of the tool to ensure accurate transfer.

[0022] SP4: Ready to grab: The corresponding group of tools moves to the appropriate position according to the instructions of the machine tool control system;

[0023] SP5: Tool Grip: The spindle grips the transmitted tool, ensuring a secure grip;

[0024] SP6: Tool Change: The new tool is installed on the corresponding spindle, precisely controlled by the machine tool's built-in motor and sensors; during the tool change process, safety measures can be taken, such as using safety covers and emergency stop buttons, to ensure operational safety;

[0025] SP7: Check Status: The machine tool sensor system detects the tool installation status, including whether the tool is installed correctly and whether the clamping force is appropriate; the sensor system sends the detection results to the machine tool control system, and the control system determines whether the tool change operation is successful based on the detection results;

[0026] SP8: Tool Change Complete: If the sensor system detects that the tool change operation is successful, the control system sends a notification to the relevant personnel to inform them that the tool change operation is complete; if an abnormal situation occurs, the control system will send an alarm message to the relevant personnel and take appropriate measures to handle it.

[0027] SP9: Debugging and Maintenance: After completing the tool change operation, inspect and debug the entire system to ensure that the chain tool magazine can work normally; regularly inspect and maintain the system, including replacing the brushes in the cleaning device, cleaning the iron filings in the storage box, and checking the wear of components such as the linkage shaft, servo motor, and transmission belt in the tool magazine assembly, to ensure the stability and reliability of the device.

[0028] In summary, the beneficial effects of the present invention are as follows:

[0029] This invention effectively solves the problem of low tool changing efficiency of multi-spindle chain tool magazines in the prior art by adding an adjustment unit, main frame, tool magazine assembly and drive device, and combining it with the tool changing method described in this invention. It significantly improves upon this defect. Using this invention, multiple spindles of the same machine tool can be changed simultaneously, which effectively reduces the tool changing process and improves the operation efficiency.

[0030] In addition, the present invention adds a cleaning device, which allows the surface of the cutting tools of the multi-spindle to be repeatedly cleaned by a brush during the operation of the present invention after the previous set of cutting tools is replaced, so as to avoid residual iron filings on the cutting head from affecting subsequent processing. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 For the present invention Figure 1 An enlarged schematic diagram of part A in the middle;

[0033] Figure 3 For the present invention Figure 1 Enlarged schematic diagram of part B in the middle;

[0034] Figure 4 This is a top view of the overall structure of the present invention;

[0035] Figure 5 This is a schematic diagram of the overall structure of the tool holder module of the present invention;

[0036] Figure 6 This is a front view schematic diagram of the overall structure of the present invention;

[0037] Figure 7 This is a plan view of the overall internal structure of the present invention;

[0038] Figure 8 This is a side view of the overall structure of the present invention;

[0039] Figure 9 This is a schematic diagram of the drive device portion of the present invention;

[0040] Figure 10This is a schematic diagram of the tool changing process for a four-spindle machine tool according to the present invention.

[0041] As shown in the figure: 1-base, 11-main frame, 2-adjustment part, 21-guide rail, 22-slider, 23-adjustment structure, 3-servo motor, 31-planetary reducer, 32-transmission belt, 33-drive shaft, 34-driven wheel, 35-drive disk, 36-slot, 4-unit block, 41-tool holder, 411-spring clip, 42-upper roller, 43-lower roller, 44-linkage shaft, 5-guide plate, 51-guide groove, 6-storage groove, 61-fixed frame, 62-brush, 7-mounting bracket, 71-signal receiver. Detailed Implementation

[0042] The following is in conjunction with the appendix Figure 1-10 Specific embodiments of this disclosure will be described in detail below. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit this disclosure.

[0043] In this disclosure, unless otherwise stated, directional terms such as "inner" and "outer" refer to the inner and outer contours of the component or structure itself. Furthermore, it should be noted that terms such as "first" and "second" are used to distinguish one element from another and do not indicate sequence or importance. Additionally, in the description with reference to the accompanying drawings, the same reference numerals in different drawings denote the same element.

[0044] This invention discloses a servo tool magazine for a four-spindle vertical machine tool, such as... Figure 1As shown, a servo tool magazine for a four-spindle vertical machine tool includes a base 1, with a main frame 11 integrally formed on the top of the base 1; an adjustment part 2 is also slidably connected to the top of the base 1; the adjustment part 2 and the main frame 11 can be combined to form a rectangular ring frame structure, and the spacing can be adjusted by an adjustment structure 23; a chain tool magazine assembly is movably disposed on the outer side of the adjustment part 2 and the main frame 11; a drive device for driving the chain tool magazine assembly is disposed at the bottom of the main frame 11; a cleaning device is bolted to the outer side wall of the main frame 11; in this embodiment, the top of the base 1 is divided into a fixed main frame 11 and a slidable adjustment part 2, which adjusts... The structure of part 2 is similar to that of the main frame 11. Both can be regarded as rectangles cut in half. The adjustment part 2 and the main frame 11 can be connected to form a complete rectangle with rounded corners. The movable part is movably connected to the top of the base 1. The purpose is to adjust the distance between it and the main frame 11. This process is accomplished by the adjustment structure 23. This operation can tighten the tension of the tool magazine assembly around the main frame 11 and the outside of the adjustment part 2, so that the tool magazine assembly can be more stably driven by the chain. The tool magazine assembly is around the outside of the main frame 11 and the adjustment part 2. It is driven by the drive device to send the tool to the corresponding spindle for tool changing.

[0045] In addition, in the above embodiments, a cleaning device is provided for cleaning the replaced cutting tools to prevent metal shavings on the tool surface from affecting the next processing.

[0046] like Figure 6 As shown, a guide rail 21 is bolted to the top of the base 1; a slider 22 is bolted to the bottom of the adjustment part 2; the slider 22 is slidably connected inside the guide rail 21; in this embodiment, the guide rail 21 and the slider 22 are respectively mounted on the base 1 and the adjustment part 2. The guide rail 21 has a groove that matches the cross section of the slider 22. The groove is in transition fit with the slider 22, so that the slider 22 slides stably in the guide rail, avoiding shaking during adjustment, and also avoiding unstable transmission of the tool magazine assembly due to loose connection.

[0047] like Figure 1 , Figure 7 As shown, the adjustment structure 23 can be a bolt and a nut; the nut is welded and fixed to the adjustment part 2 and threadedly connected to the bolt; in this embodiment, the adjustment structure 23 can control the distance between the adjustment part 2 and the main frame 11, and is used to adjust the tension of the chain drive of the tool magazine assembly; as Figure 4The top view shows that the nut is fixed on the side wall of the adjustment part 2 facing the main frame 11, and a through hole is opened at the corresponding nut thread hole. The screw is screwed into the nut and the nut of the screw is pressed against the main frame 11. At this time, simply rotate the screw to adjust the length of the screw out of the nut, increase the distance between the adjustment part 2 and the main frame 11, and improve the tension of the tool magazine assembly.

[0048] In addition, it should be noted that in the above embodiment, a guide rod that cooperates with the adjustment structure 23 is also provided between the adjustment part 2 and the main frame 11 to facilitate the linear movement of the adjustment part 2.

[0049] like Figure 1 , Figure 2 , Figure 5 As shown, the tool magazine assembly includes unit blocks 4, tool holders 41, upper rollers 42, lower rollers 43, and linkage shafts 44; the number of unit blocks 4 is N, where N≥2; each unit block 4 is connected end-to-end by linkage shafts 44, forming a ring around the outside of the main frame 11 and the adjustment part 2; each linkage shaft 44 has an upper roller 42 and a lower roller 43 mounted on its upper and lower ends respectively; the upper rollers 42 and lower rollers 43 are tightly fitted to the main frame 11 and the adjustment part 2 respectively; the tool holders 41 are bolted to the front of the unit blocks 4; in this embodiment, the tool magazine assembly mainly consists of multiple unit tool holders 41 rotating and connected. The assembly consists of a unit block 4 corresponding to a tool holder 41 assembly. Each unit block 4 has two connecting frames and one connecting frame on each side. Two adjacent unit blocks 4 insert one connecting frame between the two connecting frames of another unit block 4, and insert a linkage shaft 44 into the through hole of the connecting frame. Multiple unit blocks 4 are connected in sequence to form a closed loop. Rollers 42 and lower rollers 43 are fitted on the outer wall of the linkage shaft 44. The upper rollers 42 and lower rollers 43 are in close contact with the outer wall of the column main frame 11 and the adjustment part 2 to complete the chain drive. The tool holder 41 is installed on the front side of the unit block 4 by bolts. The tool holder 41 is detachable and replaceable.

[0050] like Figure 5 As shown, the tool holder 41 is equipped with a spring clip 411 for fixing the tool head; the tool holder 41 mainly uses the spring clip 411 as a tool fixing component, and the spring clip 411 is made of shape memory alloy.

[0051] like Figure 5 As shown, the spacing between each linkage shaft 44 is 10X millimeters, where X is a positive integer; in this embodiment, the distance between two linkage shafts 44 is the distance the tool holder 41 travels in one unit; the spacing of 10X allows for the most convenient programming of the tool magazine assembly's movement.

[0052] For example, if X is 10, then the distance between the linkage shafts 44 is 100 mm. Setting the walking distance in units of 100 mm can avoid a lot of complicated calculations.

[0053] like Figure 1 , Figure 6 , Figure 7 , Figure 9 As shown, the drive unit includes a servo motor 3, a planetary reducer 31, a transmission belt 32, a drive shaft 33, a driven wheel 34, and a drive disc 35. The servo motor 3 is bolted to the bottom of the main frame 11. The planetary reducer 31 is installed at the output end of the servo motor 3. The drive shaft 33 is rotatably connected inside the main frame 11. The driven wheel 34 is fixedly installed at one end of the drive shaft 33 on the lower side of the main frame 11. The driven wheel 34 and the planetary reducer 31 are connected by the transmission belt 32. The drive disc 35 is installed at one end of the drive shaft 33 on the upper side of the main frame 11. The outer wall of the drive disc 35 has a slot 36 for locking the upper roller 42. In this embodiment, the drive unit mainly serves as the power source for the chain drive of the tool magazine assembly, and the planetary reducer is installed at the output end of the servo motor 3. The device 31 is used to limit the speed of the servo motor 3 and promote stable transmission of the tool magazine assembly. The output end of the planetary reducer 31 is set as the driving wheel. The drive shaft 33 is rotatably installed inside the main frame 11 through components such as bushings and bearings. The lower end of the drive shaft 33 extends downward to install the driven wheel 34. The driving wheel and the driven wheel 34 of the planetary reducer 31 rotate simultaneously under the action of the transmission belt 32, so that the drive wheel drives the drive disk 35 to rotate simultaneously. The slot 36 opened on the outer side of the drive disk 35 can be completely matched with the upper roller 42. The slot 36 is distributed in a circumferential array on the drive disk 35. Therefore, when the slot 36 rotates alternately, it will carry the upper roller 42 to match and move in sequence. At this time, the upper roller 42 and the lower roller 43 roll tightly against the outer side of the main frame 11 and the adjustment part 2 to complete the chain transmission.

[0054] like Figure 1 , Figure 2 , Figure 4 As shown, the number of slots 36 is M, where M≥2; the inner diameter of the slots 36 is equal to the diameter of the upper roller 42; in this embodiment, the number of slots 36 can be determined by the user.

[0055] like Figure 1 , Figure 6As shown, guide plates 5 are bolted to the top of the adjustment part 2 and the main frame 11; guide grooves 51 are provided at the bottom of the guide plates 5; the top of the linkage shaft 44 is restricted to slide direction by the guide grooves 51; in this embodiment, the guide plates 5 are bolted to the four sides of the rectangular frame of the main frame of the adjustment part 2 and the main frame 11 respectively, and the bolt holes on the guide plates 5 are keyway shaped to facilitate the position adjustment of the guide plates 5, so that the guide grooves 51 can cover the top of all the linkage shafts 44, so that the tool magazine assembly can be stably driven.

[0056] like Figure 1 , Figure 3 , Figure 8 As shown, the cleaning device includes a storage slot 6; a fixing frame 61 is integrally formed inside the storage slot 6; a plurality of staggered mounting slots are provided inside the fixing frame 61, and a brush 62 is installed in the mounting slot by bolts; in this embodiment, the storage slot 6 is installed on the outer side wall of the main frame 11 by bolts, and through slots are opened on both sides of the main frame 11 in the same direction for the blade to pass through. The fixing frame 61 in the storage slot 6 is installed with the brush 62 by bolts. The brush 62 needs to be replaced regularly to avoid iron filings remaining in the brush 62, which would cause wear to the blade.

[0057] Additionally, it should be noted that any iron filings remaining inside the storage box need to be cleaned regularly.

[0058] like Figure 1 As shown, a mounting bracket 7 is fixed to the top of the main frame 11 by bolts; a signal receiver 71 for receiving machine tool signals to control the servo motor 3 is detachably installed inside the mounting bracket 7.

[0059] In this embodiment, when the machine tool needs to change tools, it will issue a specific tool change signal. This signal can be an electrical signal or a mechanical signal, depending on the type of machine tool and the control system. After receiving this signal, the signal receiver 71 will transmit it to the servo motor 3 control system. After receiving the tool change signal transmitted by the signal receiver 71, the servo motor 3 control system will control the operation of the servo motor 3 according to the preset program and control strategy. The servo motor 3 is connected to the chain tool magazine through the transmission system, thereby driving the rotation of the chain tool magazine. Under the drive of the servo motor 3, the chain tool magazine rotates according to the preset trajectory and speed. When it rotates to the position where the tool needs to be changed, the chain tool magazine will stop rotating, and the spindle will... Upon receiving instructions from the servo motor 3 control system, the robot extends above the chain tool magazine and positions itself at the location of the tool to be replaced. The robotic arm or other gripping device retrieves the tool from the chain tool magazine and installs it onto the spindle. Simultaneously, the spindle removes the used tool from its own spindle and returns it to the designated position in the chain tool magazine. After the tool change operation is complete, the servo motor 3 control system resets the chain tool magazine to its initial position. This process can be achieved through preset programs and controls to ensure that the chain tool magazine does not collide or interfere with other equipment during the reset process. Once the chain tool magazine has reset, the entire tool change operation is complete, and the machine tool can continue its machining task using the new tool.

[0060] The following details the tool changing method proposed above for a servo tool magazine used in a four-spindle vertical machine tool:

[0061] A tool changing method based on a servo tool magazine for a four-spindle vertical machine tool includes the following steps:

[0062] SP1: Preparation Stage: Place the corresponding tools into the tool magazine assembly. The tools are grouped into sets of four adjacent tools. Set several groups of four tools each, and sort them according to the required tool models for each spindle of the four-spindle machine tool. Write the four tools as a group into the machine tool control program. Before machining begins, check whether the tools in the tool magazine assembly are ready and confirm that the number and type of tools meet the requirements. Confirm that the machine tool sensor system is working properly and that the servo tool magazine drive is operating normally.

[0063] SP2: Sending instructions: The machine tool control system sends instructions to the servo tool magazine to transfer tools based on the tool requirements of the four-spindle machine tool and the tool status in the chain tool magazine. The instructions include information such as the four tools of the corresponding group 4 that need to be replaced and the corresponding spindle number; the servo tool magazine receives the instructions through the signal receiver 71 and controls the servo motor 3.

[0064] SP3: Tool Transfer: The chain tool magazine, according to the instructions of the control system, transfers the tool to be replaced to the vicinity of the corresponding spindle via a drive device dominated by servo motor 3; during the transfer process, the machine tool's built-in sensor system can detect the position and status of the tool to ensure accurate transfer.

[0065] SP4: Ready to grab: The corresponding group of tools moves to the appropriate position according to the instructions of the machine tool control system;

[0066] SP5: Tool Grip: The spindle grips the transmitted tool, ensuring a secure grip;

[0067] SP6: Tool Change: The new tool is installed on the corresponding spindle, precisely controlled by the machine tool's built-in motor and sensors; during the tool change process, safety measures can be taken, such as using safety covers and emergency stop buttons, to ensure operational safety;

[0068] SP7: Check Status: The machine tool sensor system detects the tool installation status, including whether the tool is installed correctly and whether the clamping force is appropriate; the sensor system sends the detection results to the machine tool control system, and the control system determines whether the tool change operation is successful based on the detection results;

[0069] SP8: Tool Change Complete: If the sensor system detects that the tool change operation is successful, the control system sends a notification to the relevant personnel to inform them that the tool change operation is complete; if an abnormal situation occurs, the control system will send an alarm message to the relevant personnel and take appropriate measures to handle it.

[0070] SP9: Debugging and Maintenance: After completing the tool change operation, inspect and debug the entire system to ensure that the chain tool magazine can work normally; regularly inspect and maintain the system, including replacing the brush 62 in the cleaning device, cleaning the iron filings in the collection slot, and checking the wear of components such as the linkage shaft 44, servo motor 3, and transmission belt 32 in the tool magazine assembly, to ensure the stability and reliability of the device.

[0071] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. The various components mentioned in this invention are common technologies in the existing field. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A tool changing method based on a servo tool magazine for a four-spindle vertical machine tool, comprising a base (1), characterized in that: The base (1) has an integrally formed main frame (11) on its top; the base (1) also has an adjustable part (2) slidably connected to its top; the adjustable part (2) and the main frame (11) can be combined to form a rectangular ring frame structure, and the spacing can be adjusted by the adjustable structure (23); a chain-type tool magazine assembly is movably arranged on the outside of the adjustable part (2) and the main frame (11); a driving device for driving the chain-type tool magazine assembly is arranged at the bottom of the main frame (11); a cleaning device is installed on the outer side wall of the main frame (11) by bolts; The top of the base (1) is bolted with a guide rail (21); the bottom of the adjustment part (2) is bolted with a slider (22); the slider (22) is slidably connected to the inside of the guide rail (21); The adjustment structure (23) consists of a bolt and a nut; the nut is welded and fixed to the adjustment part (2) and is threadedly connected to the bolt. The tool magazine assembly includes a unit block (4), a tool holder (41), an upper roller (42), a lower roller (43), and a linkage shaft (44); the number of unit blocks (4) is N, where N≥2; each unit block (4) is connected end to end by a linkage shaft (44) and forms a ring around the outside of the main frame (11) and the adjustment part (2); an upper roller (42) and a lower roller (43) are respectively installed at the upper and lower ends of each linkage shaft (44); the upper roller (42) and the lower roller (43) are respectively tightly fitted to the main frame (11) and the adjustment part (2); the tool holder (41) is bolted to the front side of the unit block (4); the tool holder (41) is provided with a spring clip (411) for fixing the tool head inside; The spacing between each of the aforementioned linkage shafts (44) is 10X millimeters, where X is a positive integer; The drive unit includes a servo motor (3), a planetary reducer (31), a transmission belt (32), a drive shaft (33), a driven wheel (34), and a drive disc (35); the servo motor (3) is bolted to the bottom of the main frame (11); the planetary reducer (31) is installed at the output end of the servo motor (3); the drive shaft (33) is rotatably connected inside the main frame (11); the drive shaft (33) is located at one end of the lower side of the main frame (11). A driven wheel (34) is fixedly installed; the driven wheel (34) is connected to the planetary reducer (31) by a transmission belt (32); the drive shaft (33) is set on one end of the upper side of the main frame (11) and a drive disc (35) is installed; the outer wall of the drive disc (35) is provided with a slot (36) for locking the upper roller (42); the number of slots (36) is M, M≥2; the inner diameter of the slot (36) is equal to the diameter of the upper roller (42); The top of the adjustment part (2) and the main frame (11) are bolted with guide plates (5); the bottom of the guide plate (5) is provided with guide grooves (51); the top of the linkage shaft (44) is restricted to sliding direction by the guide grooves (51); The cleaning device includes a storage slot (6); a fixing frame (61) is integrally formed inside the storage slot (6); a plurality of staggered mounting slots are provided inside the fixing frame (61), and a brush (62) is installed in the mounting slot by bolts; The top of the main frame (11) is fixed with a mounting bracket (7) by bolts; a signal receiver (71) for receiving machine tool signals to control the servo motor (3) is detachably installed in the mounting bracket (7); The tool changing method includes the following steps: SP1: Preparation Stage: Using the servo tool magazine for a four-spindle vertical machine tool, place the corresponding tools into the tool magazine assembly. Each group consists of four adjacent tools. Set several groups of four tools and sort them according to the required tool models for each spindle of the four-spindle machine tool. Write the four-tool groups into the machine tool control program. Before machining begins, check if the tools in the tool magazine assembly are ready, and confirm that the quantity and type of tools meet the requirements. Confirm that the machine tool sensor system is working properly, and that the servo tool magazine drive is operating normally. SP2: Sending instructions: The machine tool control system sends instructions to the servo tool magazine to transfer tools according to the tool requirements of the four-spindle machine tool and the tool status in the chain tool magazine. The instructions include the four tools of the corresponding group 4 that need to be replaced and the corresponding spindle number information. The servo tool magazine receives the instructions through the signal receiver (71) and controls the servo motor (3). SP3: Tool Transfer: The chain tool magazine, according to the instructions of the control system, transfers the tool to be replaced to the vicinity of the corresponding spindle through the drive device dominated by the servo motor (3); during the transfer process, the machine tool's built-in sensor system detects the position and status of the tool to ensure accurate transfer. SP4: Ready to grab: The corresponding group of tools moves to the appropriate position according to the instructions of the machine tool control system; SP5: Tool Grip: The spindle grips the transmitted tool, ensuring a secure grip; SP6: Tool Change: The new tool is installed on the corresponding spindle, precisely controlled by the machine tool's built-in motor and sensors; during the tool change process, safety measures are taken, such as using safety covers and emergency stop buttons, to ensure safe operation; SP7: Check Status: The machine tool sensor system detects the tool installation status, including whether the tool is installed correctly and whether the clamping force is appropriate; the sensor system sends the detection results to the machine tool control system, and the control system determines whether the tool change operation is successful based on the detection results; SP8: Tool Change Complete: If the sensor system detects that the tool change operation is successful, the control system sends a notification to the relevant personnel to inform them that the tool change operation is complete; if an abnormal situation occurs, the control system will send an alarm message to the relevant personnel and take appropriate measures to handle it. SP9: Debugging and maintenance: After completing the tool change operation, check and debug the entire system to ensure that the chain tool magazine can work normally; regularly check and maintain the system, including replacing the brush (62) in the cleaning device, cleaning the iron filings in the collection slot, checking the wear of the linkage shaft (44), servo motor (3), and transmission belt (32) in the tool magazine assembly, to ensure the stability and reliability of the device.

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