A tool changing device for machine tool tool magazine

Abstract

The present invention belongs to the technical field of machine tools, and in particular to a tool changing device for a tool magazine of a machine tool. The following scheme is proposed, which specifically includes a mounting bracket, an electric telescopic rod is mounted on the side of the mounting bracket, a rotary actuator is mounted on the other side of the mounting bracket, a tool transfer mechanism is mounted on the output end of the rotary actuator, an electric rotating seat is mounted on the bottom end of the electric telescopic rod, and tool conversion brackets are mounted on both ends of the electric rotating seat, and mounting grooves are arranged on the sides of the two tool conversion brackets. In the present invention, during the action of grabbing the tool, the balancing mechanism located inside the tool conversion bracket is actuated according to the weight difference of the tools at both ends, so that after the two tool grabbing mechanisms grab the tools, the center of gravity of the two tool conversion brackets is concentrated on the axis position of the electric rotating seat, thereby improving the stability of the rotational motion at both ends during tool conversion, thereby improving the stability and safety of the machine tool during tool changing.

Description

Technical Field

[0001] The invention relates to the technical field of machine tools, and in particular to a tool changing device used in a tool magazine of a machine tool. Background Art

[0002] Machine tools refer to machines that manufacture machines, also known as machine tools or machine tools, and are usually referred to as machine tools. The parts of mechanical products are usually processed by machine tools. The variety, quality and processing efficiency of machine tools directly affect the production technology level of other mechanical products. They are the basic production equipment of the machinery industry. CNC machine tool processing is an effective way to solve problems such as a wide variety of parts, small batches, complex shapes, and high precision, and to achieve efficient and automated processing.

[0003] All machine tool processing needs to be achieved through tools. Different processing techniques require different tools, so a tool changing device is needed. The existing tool changing methods used in machine tools generally include robot tool changing, tool magazine tool changing and chuck tool changing. The basic principle of robot tool changing is to grab and replace the tool through a robot arm or manipulator. Specifically, when the tool needs to be replaced, the robot arm will move to the specified position, grab the new tool, and then move to the spindle position, remove the old tool, and install the new tool on the spindle. At present, the exchange transfer component of the robot arm tool changing structure relies on the internal movable pin to clamp the tool in the groove to complete the tool grabbing action. This fixing method pushes the tool to the outside, and the resulting gap can easily cause the tool to fall off, affecting the stability of tool changing.

[0004] In view of this, the present invention provides a tool changing device for a machine tool tool magazine to solve the technical problems existing in the above-mentioned prior art. Summary of the invention

[0005] Based on the technical problems existing in the background technology, the present invention proposes a tool changing device for a machine tool tool magazine.

[0006] The present invention proposes a tool changing device for a machine tool magazine, comprising a mounting bracket, an electric telescopic rod is mounted on the side of the mounting bracket, a rotary actuator is mounted on the other side of the mounting bracket, a tool transfer mechanism is mounted on the output end of the rotary actuator, an electric rotating seat is mounted on the bottom end of the electric telescopic rod, and tool conversion brackets are mounted on both ends of the electric rotating seat, mounting grooves are arranged on the sides of the two tool conversion brackets, and a tool grabbing mechanism of a U-shaped structure is fixedly mounted inside the mounting grooves, two first arc-shaped grabbing members and a second arc-shaped grabbing member that move synchronously are arranged inside the tool grabbing mechanism, and the ends of the first arc-shaped grabbing member and the second arc-shaped grabbing member that are close to each other are slidably connected to each other, the interior of the tool conversion bracket is a hollow structure, and a linkage mechanism, a centrifugal drive mechanism and a stop mechanism are sequentially mounted on one side of the interior of the tool conversion bracket, and the linkage mechanism is arranged between the centrifugal drive mechanism and the tool grabbing mechanism, the stop mechanism is mounted at the end position of the centrifugal drive mechanism, and a balancing mechanism is mounted on the other side of the interior of the tool conversion bracket.

[0007] Preferably in the present invention, the tool transfer mechanism comprises a main push rod motor connected to the output end of the rotary actuator, and a fixed sleeve installed at the front end of the main push rod motor, and a transfer assembly is installed at the front end of the fixed sleeve.

[0008] Preferably in the present invention, the transfer assembly includes an outer shell, and an auxiliary push rod motor installed above the outer shell, an annular cavity is provided at the bottom of the outer shell, and a plurality of elastic retaining members of L-shaped structure are installed inside the annular cavity, and a movable ring for constraining the elastic retaining member is installed at the bottom of the auxiliary push rod motor.

[0009] Preferably in the present invention, the centrifugal drive mechanism includes a guide rail bracket fixedly installed inside the tool conversion bracket, and a shaft rod slidably installed inside the guide rail bracket, a driving rack is provided on the side of one end of the shaft rod, and a return spring is installed between the other end of the shaft rod and the guide rail bracket, a rectangular groove is provided on the side of the guide rail bracket, and a counterweight is slidably installed inside the rectangular groove, and the counterweight is fixedly connected to the shaft rod.

[0010] Preferably in the present invention, the linkage mechanism includes a linkage bracket, and two main transmission rollers and auxiliary transmission rollers for meshing transmission are installed inside the linkage bracket, and a main gear ring for meshing transmission with the driving rack and the second arc-shaped grabbing member is provided in the middle of the main transmission roller, and an auxiliary gear ring for meshing transmission with the first arc-shaped grabbing member is provided on the outer side of the auxiliary transmission roller.

[0011] Preferably in the present invention, the tool grasping mechanism includes a tool grasping shell with a U-shaped structure, and a guide block slidably connected to the first arc-shaped grasping member and the second arc-shaped grasping member is installed inside the tool grasping shell, the middle part of the first arc-shaped grasping member is provided with an inner rack meshing with the auxiliary gear ring on the auxiliary transmission roller, and the outer side of the second arc-shaped grasping member is provided with an outer rack meshing with the main gear ring on the main transmission roller.

[0012] Preferably in the present invention, the stopping mechanism includes a stopping rod fixedly connected to the end of the shaft rod, and a stopping shell fixedly connected to the tool conversion bracket, and a magnetic ring is installed at the other end of the stopping rod, a locking electromagnet is installed at the front end position of the stopping shell, and a damping electromagnet is installed at the rear end of the stopping shell.

[0013] Preferably in the present invention, the balancing mechanism includes balancing guide rails respectively installed inside the two tool conversion brackets, and a balancing block slidably installed inside the balancing guide rails, a movable threaded rod is screwed in the middle of the balancing block, and a servo motor for driving the movable threaded rod is installed at the end of the balancing guide rail.

[0014] Preferably in the present invention, the balancing mechanism also includes a cavity arranged at the bottom end of the electric rotating seat, and an angle sensor is installed inside the cavity, angle rotation counting axes are arranged on both sides of the angle sensor, and a detection axis is installed between the angle rotation counting axis and the end of the movable threaded rod.

[0015] Compared with the prior art, the present invention provides a tool changing device for a machine tool magazine, which has the following beneficial effects:

[0016] In the present invention, a first arc-shaped grabbing member and a second arc-shaped grabbing member are arranged inside the tool grabbing mechanism, which move synchronously under the drive of the linkage mechanism and the centrifugal driving mechanism. When the tool transfer mechanism removes the tool from the tool magazine and transfers it to the side of the electric rotating seat, the electric rotating seat drives the tool conversion bracket and the tool grabbing mechanism to rotate 90 degrees. At this time, the middle part of the tool handle is embedded in the first arc-shaped grabbing member and the second arc-shaped grabbing member, and the electric telescopic rod drives the electric rotating seat, the tool conversion bracket, the tool grabbing mechanism and the tool to move downward, and the tool is removed from the tool transfer mechanism and the machine tool processing axis respectively. Subsequently, the electric rotating seat drives the tool conversion bracket and the tool grabbing mechanism to rotate 1 80°, when the tool conversion bracket rotates, the centrifugal drive mechanism moves outward under the action of centrifugal force, and drives the first arc-shaped grasping member and the second arc-shaped grasping member to move outward and close together through the linkage mechanism, so as to firmly clamp and fix the tool, and effectively prevent the tool from being thrown out during high-speed rotation. Secondly, during the action of grasping the tool, the tool grasping mechanism, according to the weight difference of the tools at both ends, operates the balancing mechanism inside the tool conversion bracket to keep the two tool grasping mechanisms grasping the tools. The center of gravity of the two tool conversion brackets is concentrated on the axis position of the electric rotating seat, which improves the stability of the rotational movement at both ends during tool conversion, thereby improving the stability and safety of the machine tool during tool changing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a tool changing device for a machine tool magazine proposed by the present invention;

[0018] Figure 2 A schematic diagram of the side structure of a tool changing device for a machine tool magazine proposed by the present invention;

[0019] Figure 3 A schematic diagram of the structure of a tool change support for a tool changing device of a machine tool tool magazine proposed by the present invention;

[0020] Figure 4 A schematic diagram of the structure of a tool transfer mechanism of a tool changing device for a machine tool magazine proposed by the present invention;

[0021] Figure 5 A schematic diagram of the exploded structure of a tool transfer mechanism of a tool changing device for a machine tool magazine proposed by the present invention;

[0022] Figure 6 A schematic diagram of the internal structure of a tool change support of a tool changing device for a machine tool tool magazine proposed by the present invention;

[0023] Figure 7 A schematic diagram of the structure of a tool grabbing mechanism for a tool changing device for a machine tool magazine proposed by the present invention;

[0024] Figure 8A schematic diagram of the linkage mechanism structure of a tool changing device for a machine tool magazine proposed by the present invention;

[0025] Fig. 9 A schematic diagram of the structure of a stop mechanism for a tool changing device of a machine tool magazine proposed by the present invention;

[0026] Fig.10 The present invention is a schematic structural diagram of a balancing mechanism for a tool changing device used in a machine tool tool magazine.

[0027] In the figure: 1 mounting bracket, 2 rotary actuator, 3 tool transfer mechanism, 31 main push rod motor, 32 fixed sleeve, 33 auxiliary push rod motor, 34 outer shell, 35 annular cavity, 36 elastic retaining member, 37 movable ring, 4 tool grabbing mechanism, 41 tool grabbing shell, 42 first arc grabbing member, 43 inner rack, 44 outer rack, 45 second arc grabbing member, 46 guide block, 5 tool conversion bracket, 6 electric rotating seat, 7 electric telescopic rod, 8 linkage mechanism, 81 main transmission moving roller, 82 linkage bracket, 83 auxiliary transmission roller, 9 centrifugal drive mechanism, 91 guide rail bracket, 92 counterweight, 93 shaft rod, 94 return spring, 95 drive rack, 10 stopping mechanism, 101 stopping housing, 102 locking electromagnet, 103 damping electromagnet, 104 magnetic ring, 105 stopping rod, 11 balancing mechanism, 111 angle sensor, 112 detection shaft, 113 moving threaded rod, 114 balancing guide rail, 115 servo motor, 116 balancing block. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] Reference Figure 1-10A tool changing device for a machine tool magazine comprises a mounting bracket 1, an electric telescopic rod 7 is mounted on the side of the mounting bracket 1, a rotary actuator 2 is mounted on the other side of the mounting bracket 1, a tool transfer mechanism 3 is mounted on the output end of the rotary actuator 2, an electric rotating seat 6 is mounted on the bottom end of the electric telescopic rod 7, and tool conversion brackets 5 are mounted on both ends of the electric rotating seat 6, and mounting grooves are arranged on the sides of the two tool conversion brackets 5, and a U-shaped tool grabbing mechanism 4 is fixedly mounted inside the mounting groove, and two same tool grabbing mechanisms 4 are arranged inside the tool grabbing mechanism 4 The first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 move in steps, and the ends of the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 that are close to each other are slidably connected to each other. The interior of the tool conversion bracket 5 is a hollow structure, and a linkage mechanism 8, a centrifugal drive mechanism 9 and a stopping mechanism 10 are installed in sequence on one side of the interior of the tool conversion bracket 5, and the linkage mechanism 8 is arranged between the centrifugal drive mechanism 9 and the tool grasping mechanism 4, the stopping mechanism 10 is installed at the end position of the centrifugal drive mechanism 9, and a balancing mechanism 11 is installed on the other side of the interior of the tool conversion bracket 5.

[0030] In the present invention, the tool grabbing mechanism 4 is provided with a first arc-shaped grabbing member 42 and a second arc-shaped grabbing member 45 which move synchronously under the drive of the linkage mechanism 8 and the centrifugal drive mechanism 9. When the tool transfer mechanism 3 removes the tool from the tool magazine and transfers it to the side of the electric rotating seat 6, the electric rotating seat 6 drives the tool conversion bracket 5 and the tool grabbing mechanism 4 to rotate 90°. At this time, the middle part of the tool handle is embedded in the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45, and the electric telescopic rod 7 drives the electric rotating seat 6, the tool conversion bracket 5, the tool grabbing mechanism 4 and the tool to move downward, and remove the tool from the tool transfer mechanism 3 and the machine tool machining axis respectively. Subsequently, the electric rotating seat 6 drives the tool conversion bracket 5, the tool grabbing mechanism 4 and the tool to move downward. When the tool change bracket 5 rotates, the centrifugal drive mechanism 9 moves outward under the action of centrifugal force, and drives the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 to move outward and close together through the linkage mechanism 8, so as to firmly clamp and fix the tool, and effectively prevent the tool from being thrown out during high-speed rotation. Secondly, during the action of grasping the tool by the tool grasping mechanism 4, according to the weight difference of the tools at both ends, the balancing mechanism 11 located inside the tool change bracket 5 is actuated, so that after the two tool grasping mechanisms 4 grasp the tools, the center of gravity of the two tool change brackets 5 is concentrated on the axis position of the electric rotating seat 6, so as to improve the stability of the rotational movement at both ends during tool conversion, thereby improving the stability and safety of the machine tool during tool changing.

[0031] Reference Figure 4-5The tool transfer mechanism 3 includes a main push rod motor 31 connected to the output end of the rotary actuator 2, and a fixed sleeve 32 installed at the front end of the main push rod motor 31, and a transfer component is installed at the front end of the fixed sleeve 32. In the present invention, the main push rod motor 31 in the tool transfer mechanism 3 drives the fixed sleeve 32 and the transfer component to approach the tool on the tool magazine, and relies on the transfer component to fix the upper end of the tool and pull it out of the tool magazine. After that, the rotary actuator 2 rotates to move the tool to the grabbing position of the tool grabbing mechanism 4, which is convenient for the tool changing operation of the tool grabbing mechanism 4.

[0032] As a further solution in the present invention, the transfer assembly includes an outer shell 34 and an auxiliary push rod motor 33 installed above the outer shell 34. An annular cavity 35 is provided at the bottom of the outer shell 34, and a plurality of L-shaped elastic retaining members 36 are installed inside the annular cavity 35. A movable ring 37 for constraining the elastic retaining member 36 is installed at the bottom of the auxiliary push rod motor 33. In the present invention, the top of the tool handle is inserted into the transfer assembly, and the elastic retaining member 36 is deformed and clamped to the outside of the cone head to effectively fix and limit the tool. The auxiliary push rod motor 33 drives the movable ring 37 to descend and limits the outside of the elastic retaining member 36, thereby firmly fixing the tool, facilitating the removal and movement of the tool, and effectively preventing the tool from loosening or dislocating.

[0033] Reference Figure 6-9 The centrifugal drive mechanism 9 includes a guide rail bracket 91 fixedly mounted inside the tool conversion bracket 5, and a shaft rod 93 slidably mounted inside the guide rail bracket 91, a driving rack 95 is arranged on the side of one end of the shaft rod 93, and a return spring 94 is installed between the other end of the shaft rod 93 and the guide rail bracket 91, a rectangular groove is arranged on the side of the guide rail bracket 91, and a counterweight 92 is slidably mounted inside the rectangular groove, and the counterweight 92 is fixedly connected to the shaft rod 93. In the present invention, when the tool grasping mechanism 4 grasps the tool and rotates to convert the position, the tool grasping mechanism 4 grasps the tool and rotates to convert the position. Under the action of centrifugal force, the shaft 93 and the counterweight 92 move outward, driving the rack 95 and the linkage mechanism 8 to mesh and transmit, driving the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 to move outward synchronously, firmly fixing the outer side of the tool handle, and the shaft 93 is stopped by the stopping mechanism 10. When the tool needs to be changed, the stopping mechanism 10 releases the shaft 93, and under the action of the reset spring 94, drives the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 to return to a semi-open state, which is convenient for separation from the tool handle.

[0034] Reference Figure 8The linkage mechanism 8 includes a linkage bracket 82, and two main transmission rollers 81 and auxiliary transmission rollers 83 are installed inside the linkage bracket 82. The middle part of the main transmission roller 81 is provided with a main gear ring that meshes with the driving rack 95 and the second arc-shaped grabbing member 45, and the outer side of the auxiliary transmission roller 83 is provided with an auxiliary gear ring that meshes with the first arc-shaped grabbing member 42. In the present invention, when the centrifugal drive mechanism 9 moves outward, the main transmission roller 81 rotates counterclockwise, thereby driving the second arc-shaped grabbing member 45 to move outward. At this time, the auxiliary transmission roller 83 rotates clockwise, driving the first arc-shaped grabbing member 42 to move outward, and the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45 move outward synchronously to close together to clamp and fix the tool handle.

[0035] Reference Figure 7 The tool grabbing mechanism 4 includes a tool grabbing shell 41 of a U-shaped structure, and a guide block 46 slidably connected to the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45 is installed inside the tool grabbing shell 41. The middle part of the first arc-shaped grabbing member 42 is provided with an inner rack 43 meshing with the auxiliary gear ring on the auxiliary transmission roller 83, and the outer side of the second arc-shaped grabbing member 45 is provided with an outer rack 44 meshing with the main gear ring on the main transmission roller 81. In the present invention, the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45 are in an initial state, and the outer ends are provided with an embedding groove. When the outer ends of the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45 are in an outer state, the outer ends of the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45 are in an outer state. When the end contacts the tool handle, the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 move inward synchronously. When the tool handle is embedded in the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45, the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 return to the initial state under the action of the reset spring 94 of the centrifugal drive mechanism 9. When the tool grasping mechanism 4 drives the tool to rotate, the middle part of the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 moves outward to clamp and fix the tool handle ring hoop, effectively avoiding the loosening of the tool during rapid rotation and providing stability during the tool conversion process.

[0036] Reference Fig. 9The stop mechanism 10 includes a stop rod 105 fixedly connected to the end of the shaft rod 93, and a stop housing 101 fixedly connected to the tool conversion bracket 5, and the other end of the stop rod 105 is installed with a magnetic ring 104, the front end of the stop housing 101 is installed with a locking electromagnet 102, and the rear end of the stop housing 101 is installed with a damping electromagnet 103. In the present invention, when the shaft rod 93 moves, it drives the shaft rod 93 to alternately move between the locking electromagnet 102 and the damping electromagnet 103. When the shaft rod 93 moves to the outermost end The magnetic attraction of the locking electromagnet 102 on the magnetic ring 104 is greater than the elastic force of the reset spring 94, which locks the position of the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45. When the tool needs to be separated, the locking electromagnet 102 stops working, and the magnetic ring 104 moves to the damping electromagnet 103. The magnetic force of the damping electromagnet 103 eliminates the kinetic energy of the movement of the shaft 93, avoiding vibration when the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 are opened and closed, thereby providing stability when grasping, transferring and replacing the tool.

[0037] Reference Fig.10 The balancing mechanism 11 includes a balancing guide rail 114 respectively installed inside the two tool conversion brackets 5, and a balancing block 116 slidably installed inside the balancing guide rail 114. A movable threaded rod 113 is screwed in the middle of the balancing block 116, and a servo motor 115 for driving the movable threaded rod 113 is installed at the end of the balancing guide rail 114. In the present invention, the weight of each tool is different. When different tools need to be replaced, the servo motor 115 is controlled to drive the movable threaded rod 113 to rotate according to the number and weight of the tool, and the distance between the two balancing blocks 116 in the balancing mechanism 11 and the axis of the electric rotating seat 6 is adjusted, so that after the tool grasping mechanism 4 grasps the tool, the center of gravity of the tool conversion bracket 5 and the electric rotating seat 6 is located at the axis of the electric rotating seat 6, avoiding eccentric vibration during rotation and further improving the stability during tool changing.

[0038] As a further scheme in the present invention, the balancing mechanism 11 also includes a cavity arranged at the bottom end of the electric rotating seat 6, and an angle sensor 111 is installed inside the cavity, angle rotation counting shafts are arranged on both sides of the angle sensor 111, and a detection shaft 112 is installed between the angle rotation counting shaft and the end of the movable threaded rod 113. In the present invention, the angle sensor 111 is used to monitor the number of rotations of the two movable threaded rods 113 respectively, obtain the position information of the balancing block 116, quickly adjust the distance between the two balancing blocks 116, balance the center of gravity between the two tool conversion brackets 5 after grabbing the tool, and avoid eccentric vibration when the tool conversion bracket 5 rotates.

[0039] When in use, when the tool transfer mechanism 3 removes the tool from the tool magazine and transfers it to the side of the electric rotating seat 6, the electric rotating seat 6 drives the tool conversion bracket 5 and the tool grabbing mechanism 4 to rotate 90°. At this time, the middle part of the tool handle is embedded in the first arc-shaped grabbing member 42 and the second arc-shaped grabbing member 45, and the electric telescopic rod 7 drives the electric rotating seat 6, the tool conversion bracket 5, the tool grabbing mechanism 4 and the tool to move downward, and remove the tool from the tool transfer mechanism 3 and the machine tool machining axis respectively. Subsequently, the electric rotating seat 6 drives the tool conversion bracket 5 and the tool grabbing mechanism 4 to rotate 180°, and the tool conversion bracket 5 rotates During movement, the centrifugal drive mechanism 9 moves outward under the action of centrifugal force, and drives the first arc-shaped grasping member 42 and the second arc-shaped grasping member 45 to move outward and close together through the linkage mechanism 8, so as to firmly clamp and fix the tool, and effectively prevent the tool from being thrown out during high-speed rotation. Secondly, during the action of grasping the tool by the tool grasping mechanism 4, according to the weight difference of the tools at both ends, the balancing mechanism 11 located inside the tool conversion bracket 5 is actuated, so that after the two tool grasping mechanisms 4 grasp the tools, the center of gravity of the two tool conversion brackets 5 is concentrated on the axial position of the electric rotating seat 6, thereby improving the stability of the rotational movement at both ends during tool conversion.

[0040] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tool changing device for a tool magazine of a machine tool, comprising a mounting bracket (1), an electric telescopic rod (7) being mounted on a side of the mounting bracket (1), and a rotary actuator (2) being mounted on another side of the mounting bracket (1), characterized in that: The output end of the rotary actuator (2) is provided with a tool transfer mechanism (3), the bottom end of the electric telescopic rod (7) is provided with an electric rotating seat (6), and both ends of the electric rotating seat (6) are provided with tool conversion brackets (5), the sides of the two tool conversion brackets (5) are provided with mounting grooves, and the inside of the mounting grooves is fixedly provided with a U-shaped tool grabbing mechanism (4), and the inside of the tool grabbing mechanism (4) is provided with two first arc-shaped grabbing members (42) and a second arc-shaped grabbing member (45) that move synchronously, and the first arc-shaped grabbing member (42) and the second arc-shaped grabbing member (45) are provided with two synchronously moving first arc-shaped grabbing members (42) and second arc-shaped grabbing members (45), and the first arc-shaped grabbing member (42) and the second arc-shaped grabbing member (45) are provided with a tool conversion bracket (5) on the two sides of the two tool conversion brackets (5). 42), the ends of the second arc-shaped grasping members (45) close to each other are slidably connected to each other, the interior of the tool conversion bracket (5) is a hollow structure, and a linkage mechanism (8), a centrifugal drive mechanism (9) and a stop mechanism (10) are sequentially installed on one side of the interior of the tool conversion bracket (5), and the linkage mechanism (8) is arranged between the centrifugal drive mechanism (9) and the tool grasping mechanism (4), the stop mechanism (10) is installed at an end position of the centrifugal drive mechanism (9), and a balancing mechanism (11) is installed on the other side of the interior of the tool conversion bracket (5); The centrifugal drive mechanism (9) comprises a guide rail bracket (91) fixedly mounted inside the tool conversion bracket (5), and a shaft (93) slidably mounted inside the guide rail bracket (91); a driving rack (95) is arranged on the side surface of one end of the shaft rod (93), and a return spring (94) is installed between the other end of the shaft rod (93) and the guide rail bracket (91); a rectangular groove is arranged on the side surface of the guide rail bracket (91), and a counterweight (92) is slidably mounted inside the rectangular groove, and the counterweight (92) is fixedly connected to the shaft rod (93); the linkage mechanism (8) comprises a linkage bracket (82), two main transmission rollers (81) and auxiliary transmission rollers (83) are installed inside the linkage bracket (82), and a main gear ring that is meshed with the driving rack (95) and the second arc-shaped grabbing member (45) is arranged in the middle of the main transmission roller (81), and an auxiliary gear ring that is meshed with the first arc-shaped grabbing member (42) is arranged on the outer side of the auxiliary transmission roller (83). The tool grabbing mechanism (4) comprises a tool grabbing housing (41) of a U-shaped structure, and a guide block (46) slidably connected to a first arc-shaped grabbing member (42) and a second arc-shaped grabbing member (45) is installed inside the tool grabbing housing (41), an inner rack (43) meshing with a secondary gear ring on a secondary transmission roller (83) is arranged in the middle of the first arc-shaped grabbing member (42), and an inner rack (43) meshing with a secondary gear ring on a secondary transmission roller (83) is arranged on the outer side of the second arc-shaped grabbing member (45). The upper main gear ring is meshed with an outer gear rack (44) of the transmission, the stopping mechanism (10) comprises a stopping rod (105) fixedly connected to the end of the shaft rod (93), and a stopping housing (101) fixedly connected to the tool conversion bracket (5), and the other end of the stopping rod (105) is installed with a magnetic ring (104), the front end of the stopping housing (101) is installed with a locking electromagnet (102), and the rear end of the stopping housing (101) is installed with a damping electromagnet (103).

2. A tool changing device for a machine tool magazine according to claim 1, characterized in that: The tool transfer mechanism (3) comprises a main push rod motor (31) connected to the output end of the rotary actuator (2), and a fixed sleeve (32) mounted on the front end of the main push rod motor (31), and a transfer component is mounted at the front end of the fixed sleeve (32).

3. A tool changing device for a machine tool magazine according to claim 2, characterized in that: The transfer assembly comprises an outer shell (34) and an auxiliary push rod motor (33) installed above the outer shell (34); an annular cavity (35) is provided at the bottom of the outer shell (34), and a plurality of elastic retaining members (36) of L-shaped structures are installed inside the annular cavity (35); and a movable ring (37) for constraining the elastic retaining member (36) is installed at the bottom of the auxiliary push rod motor (33).

4. The tool changing device for a machine tool magazine according to claim 1, characterized in that: The balancing mechanism (11) comprises balancing guide rails (114) respectively installed inside two tool conversion brackets (5), and a balancing block (116) slidably installed inside the balancing guide rails (114); a movable threaded rod (113) is screwed to the middle of the balancing block (116), and a servo motor (115) for driving the movable threaded rod (113) is installed at the end of the balancing guide rail (114).

5. The tool changing device for a machine tool magazine according to claim 4, characterized in that: The balancing mechanism (11) further comprises a cavity arranged at the bottom end of the electric rotating seat (6), and an angle sensor (111) is installed inside the cavity. An angle rotation counting shaft is arranged on both sides of the angle sensor (111), and a detection shaft (112) is installed between the angle rotation counting shaft and the end of the movable threaded rod (113).

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