A full-automatic tool dismounting device and dismounting method

Abstract

This invention provides a fully automatic tool assembly / disassembly device and method, including a machine base with an assembly / disassembly work area and an NG unloading area. A Latin stacking mechanism, a collet stacking mechanism, and a tool head stacking mechanism are arranged beside the assembly / disassembly work area. Tool placement mechanism one / two, driven by a shifting component, are also arranged beside the assembly / disassembly work area. Within the assembly / disassembly work area, a tool holder assembly / disassembly mechanism, a collet tool head assembly mechanism, a collet tool head disassembly mechanism, a Latin assembly / disassembly mechanism, and an assembly / disassembly robot are arranged. The robot is equipped with a tool holder clamping mechanism, a collet clamping mechanism, a tool head clamping mechanism, a Latin clamping mechanism, and an auxiliary pressing mechanism. A tool holder storage rack, a collet storage rack, and a Latin storage rack are arranged within the NG unloading area. This invention, through the orderly coordination of loading / unloading, material handling, and assembly / disassembly, achieves fully automatic mechanical operation to complete the tool assembly / disassembly process, enabling one set of equipment to perform two opposite operations, thus reducing processing costs.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology and relates to an automatic CNC tool disassembly and assembly system, particularly a fully automatic tool disassembly and assembly device and method. Background Technology

[0002] Currently in the CNC field, tool maintenance is still primarily done manually, resulting in high labor costs and slow tool assembly / disassembly speeds, severely impacting the usability of CNC equipment. For large CNC workshops, the rotation and replacement of tools involves a massive amount of data, requiring substantial manpower and resources to address tool maintenance needs.

[0003] To address the aforementioned problems, some automated mechanical methods for tool assembly and disassembly have been designed. For example, Chinese patent literature has disclosed an automatic CNC tool assembly and disassembly device [Chinese Patent No.: CN202221087623.3]. This utility model belongs to the field of CNC machine tool technology, specifically an automatic CNC tool assembly and disassembly device. Currently, in CNC machining, tool assembly and disassembly are done manually. Due to human error, this can severely negatively impact the appearance and dimensions of the machined product. Sometimes, excessive force applied by workers when locking the tool can damage the tool tip and clamping tools. The following solution is proposed: a machine head with a placement cavity at its bottom. A first cylinder is fixedly installed on the top inner wall of the placement cavity. A tool is movably connected to the bottom of the placement cavity. A positioning rod is fixedly installed on the inner wall of the placement cavity, and the tool cooperates with the positioning rod. A clamping mechanism is provided on the inner wall of the placement cavity, and the clamping mechanism is drivenly connected to the first cylinder. This utility model is simple to operate and easy to use. It allows for quick assembly and disassembly of the cutting tool, as well as easy tool conversion, making it convenient for users.

[0004] The above technical solution has only one disassembly and assembly station, so it can only disassemble and assemble simple and single-structured cutting tools. When faced with complex cutting tool structures with multiple components, it completely loses its disassembly and assembly capabilities. Therefore, the above technical solution has a single function, limited scope of application, and limited usage methods. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a fully automatic tool disassembly and assembly equipment and method that efficiently disassembles and assembles multi-component tool structures through the orderly coordination of loading and unloading, material handling, and division of labor in disassembly and assembly operations.

[0006] The objective of this invention can be achieved through the following technical solution: A fully automatic tool assembly and disassembly device includes a machine base. The machine base is provided with an assembly and disassembly work area and an NG unloading area. A Latin stacking mechanism, a collet stacking mechanism, and a tool head stacking mechanism are arranged on the side of the assembly and disassembly work area. A tool placement mechanism one and a tool placement mechanism two driven by a shifting component are also provided on the side of the assembly and disassembly work area. A tool holder assembly and disassembly mechanism, a collet tool head assembly mechanism, a collet tool head disassembly mechanism, a Latin assembly and disassembly mechanism, and an assembly and disassembly robot are provided in the assembly and disassembly work area. A tool holder clamping mechanism, a collet clamping mechanism, a tool head clamping mechanism, a Latin clamping mechanism, and an auxiliary pressing mechanism are provided in the assembly and disassembly robot. A tool holder storage rack, a collet storage rack, and a Latin storage rack are arranged in the NG unloading area.

[0007] In the aforementioned fully automatic tool assembly and disassembly equipment, the tool holder assembly and disassembly mechanism includes a tool holder positioning hole. A tool holder fixing cylinder is arranged beside the tool holder positioning hole. A tool holder retaining ring is fixedly connected to the lower part of the telescopic end of the tool holder fixing cylinder. An assembly and disassembly clamp is fixedly connected to the upper part of the telescopic end of the tool holder fixing cylinder. The assembly and disassembly clamp drives a pair of assembly and disassembly jaws to open and close. An assembly and disassembly lifting electric cylinder is arranged below the tool holder positioning hole. An assembly and disassembly electric screwdriver is fixedly connected to the lifting end of the assembly and disassembly lifting electric cylinder. A screwdriver bit is vertically inserted into the top of the assembly and disassembly electric screwdriver. The assembly and disassembly lifting electric cylinder is driven by a shifting electric cylinder to reciprocate and translate.

[0008] In the aforementioned fully automatic tool assembly and disassembly equipment, the collet tool head assembly mechanism includes an assembly lifting port, an assembly lifting electric cylinder is installed inside the assembly lifting port, the upward lifting rod of the assembly lifting electric cylinder is fixedly connected to an assembly clamping cylinder, the assembly clamping cylinder opens and closes to drive a pair of assembly grippers, a horizontal pushing cylinder is installed on the side of the assembly lifting port, the telescopic rod of the horizontal pushing cylinder is fixedly connected to a baffle for blocking the assembly lifting port, a flexible tool abutment block is vertically installed with the bottom surface of the baffle facing downwards, and a monitoring camera is installed on the bottom surface of the machine base next to the flexible tool abutment block.

[0009] In the aforementioned fully automatic tool disassembly and assembly equipment, the collet tool head splitting mechanism includes a stand, on which a splitting lifting electric cylinder is installed. A splitting clamping cylinder is fixedly mounted on the lifting plate of the splitting lifting electric cylinder. The splitting clamping cylinder opens and closes to drive a pair of splitting claws. The pair of splitting claws surround to form a splitting clamping opening. A pin is erected on the stand below the center of the splitting clamping opening.

[0010] In the aforementioned fully automatic tool assembly and disassembly equipment, the Latin assembly and disassembly mechanism includes a Latin hole, a Latin lifting electric cylinder is provided below the Latin hole, a Latin electric screwdriver is fixedly connected to the lifting end of the Latin lifting electric cylinder, a Latin screwdriver bit is vertically inserted into the top of the Latin electric screwdriver, and the Latin lifting electric cylinder is driven by the shifting electric cylinder to move to below the tool holder positioning hole.

[0011] In the aforementioned fully automatic tool disassembly and assembly equipment, the disassembly and assembly robot includes a robotic arm fixed to the machine platform. The end of the robotic arm is connected to a multi-faceted frame via a rotating shaft. The tool holder clamping mechanism, the collet clamping mechanism, the tool head clamping mechanism, and the Latin clamping mechanism are respectively installed on each workstation panel of the multi-faceted frame.

[0012] The tool holder clamping mechanism includes a tool holder lifting electric cylinder, the lifting end of which is fixedly connected to a tool holder clamping cylinder, and a limiting member is fixedly provided on the top side of the tool holder clamping opening of the tool holder clamping cylinder, with a limiting strip protruding from the limiting member toward the upper part of the tool holder clamping opening.

[0013] The collet clamping mechanism includes a collet lifting electric cylinder, the lifting end of which is fixedly connected to a collet clamping cylinder, and a baffle is protruding from the top surface of the concave arc clamping opening of the collet clamping cylinder, the baffle blocking part of the open area of ​​the concave arc clamping opening.

[0014] The cutter head clamping mechanism includes a cutter head lifting electric cylinder, the lifting end of which is fixedly connected to a cutter head clamping cylinder, and the cutter head clamping cylinder has a V-shaped clamping port that interlocks with each other.

[0015] The Latin clamping mechanism includes a Latin lifting electric cylinder, the lifting end of which is fixedly connected to a Latin clamping cylinder, and the Latin clamping cylinder has an arc-shaped clamping opening.

[0016] In the aforementioned fully automatic tool assembly and disassembly equipment, the auxiliary pressing mechanism includes a first pressing cylinder fixedly mounted on the robotic arm, a second pressing cylinder fixedly connected to the lifting end of the first pressing cylinder, and a pressing end of the second pressing cylinder connected to a pressing cylinder via a buffer spring.

[0017] In the aforementioned fully automatic tool assembly and disassembly equipment, the Latin stacking mechanism / colache stacking mechanism / tool ​​head stacking mechanism includes a fixed plate and a movable plate arranged vertically in parallel. A lifting servo motor is fixedly mounted on the movable plate. The lead screw driven by the lifting servo motor passes through the fixed plate to form a threaded engagement connection. The top of the lead screw is fixedly connected to the stacking frame. Several guide pins are fixedly mounted on the movable plate. The guide pins slide through the fixed plate and are fixedly connected to the stacking frame. Several Latin disks / colache disks / tool ​​head disks are stacked longitudinally inside the stacking frame. The machine base is equipped with a pull-plate electric cylinder corresponding to the stacking frame. A T-shaped chuck plate protrudes from the edge of the pull-plate of the pull-plate electric cylinder. A T-shaped chuck groove is recessed from the corresponding edge of the Latin disk / colache disk / tool ​​head disk. The T-shaped chuck plate enters the T-shaped chuck groove longitudinally and engages with the T-shaped chuck groove laterally.

[0018] In the aforementioned fully automatic tool assembly and disassembly equipment, the tool placement mechanism one / tool ​​placement mechanism two includes a fixed frame, a stacking rack is placed inside the fixed frame, a climbing rack is erected on the fixed frame, a climbing motor is installed at the bottom of the stacking rack, a gear is sleeved on the rotating shaft of the climbing motor, the gear and the rack form a tooth meshing connection, and several tool holders are stacked longitudinally inside the stacking rack; the shifting component includes a push-pull electric cylinder and a slide rail arranged in parallel, the push-pull block of the push-pull electric cylinder is fixed to the slide rail through a connector, a slider is correspondingly arranged on the machine base, the slide rail is embedded in the slider to form a guide sliding connection, a T-shaped chuck plate is provided at the end of the slide rail, a T-shaped chuck groove is recessed on the corresponding edge of the tool holder, the T-shaped chuck plate enters the T-shaped chuck groove longitudinally, and the T-shaped chuck plate engages with the T-shaped chuck groove laterally.

[0019] In the aforementioned fully automatic tool assembly and disassembly equipment, the tool holder storage rack, the collet storage rack, and the Latin tool storage rack all comprise an integrally fixed frame. The integrated frame is provided with tool holder storage plates, collet storage plates, and tool tip Latin tool storage plates. The tool holder storage plates have several tool holder holes arranged in an array, the collet storage plates have several collet holes arranged in an array, and the tool tip Latin tool storage plates have several Latin holes arranged in an array.

[0020] A method for disassembling and assembling a fully automatic tool disassembly and assembly device includes the following steps:

[0021] A. Assembly method of the cutting tool:

[0022] S1. The disassembly and assembly robot arm grabs the tool handle from the tool handle plate of the tool placement mechanism and puts it into the tool handle positioning hole. The tool handle fixing cylinder extends the tool handle retaining ring to lock and fix the bottom of the tool handle.

[0023] S2. The disassembly and assembly robot grabs the collet from the collet stacking mechanism and places it on the assembly clamping cylinder of the collet cutter head assembly mechanism to form a clamping and fixing. Then, the disassembly and assembly robot grabs the cutter head from the cutter head stacking mechanism and places it into the center hole of the collet. The assembly lifting electric cylinder drives the collet and cutter head to descend to the bottom of the machine. The flat push cylinder pushes the push-pull baffle to block the assembly lifting port. The assembly lifting electric cylinder drives the collet and cutter head to rise, so that the cutter head is installed into the collet under the reaction force of the top pressure flexible cutter block. The length of the cutter head installed into the collet is photographed by a monitoring camera on the side to determine whether it is installed in place.

[0024] S3. After the cutter head and collet are installed, the flat-push cylinder pulls the push-pull baffle to open the assembly lifting port. The assembly lifting electric cylinder drives the collet and cutter head to rise to the top of the machine. The disassembly and assembly robot grabs the cutter head and collet and puts them into the tool handle of the tool handle disassembly and assembly mechanism.

[0025] S4. The disassembly and assembly clamps the collet in a circumferential clamping and fixing manner. The first pressing cylinder of the auxiliary pressing mechanism first drives the pressing cylinder to descend, and then the second pressing cylinder descends the pressing cylinder to elastically press the collet to assist in the installation. At the same time, the disassembly and assembly lifting electric cylinder located below the tool holder raises the disassembly and assembly electric screwdriver, and starts the disassembly and assembly electric screwdriver to drive the collet head to rotate and tighten the collet.

[0026] S5. The disassembly and assembly robot grabs the Latin screwdriver from the Latin stacking mechanism and puts it into the Latin hole of the Latin disassembly and assembly mechanism. The Latin screwdriver is placed on the Latin screwdriver head of the Latin electric screwdriver. The Latin lifting cylinder drives the Latin screwdriver to descend to the bottom of the machine. Then the shifting cylinder drives the disassembly and assembly electric screwdriver to leave the tool holder positioning hole. At the same time, it drives the Latin electric screwdriver to move to the tool holder positioning hole. The Latin lifting cylinder drives the Latin screwdriver to rise. The Latin electric screwdriver drives the Latin screwdriver to rotate and insert it into the bottom of the tool holder.

[0027] S6. Finally, the assembly robot removes the assembled tool from the tool holder positioning hole and places it into the tool holder plate of the tool placement mechanism two.

[0028] B. Method for disassembling the cutting tool:

[0029] S1. The disassembly and assembly robot grabs the tool to be disassembled from the tool holder plate of the tool placement mechanism and puts it into the tool holder positioning hole. The tool holder fixing cylinder extends the tool holder retaining ring to lock and fix the bottom of the tool holder.

[0030] S2. The shifting electric cylinder drives the disassembly electric screwdriver away from the tool holder positioning hole, and at the same time drives the Latin electric screwdriver to move to the tool holder positioning hole. The Latin screwdriver bit contacts the Latin screwdriver at the bottom of the tool to be disassembled. The Latin lifting electric cylinder drives the Latin electric screwdriver to descend. The Latin electric screwdriver drives the Latin screwdriver bit to rotate and remove the Latin screwdriver at the bottom of the tool to be disassembled. The shifting electric cylinder drives the Latin electric screwdriver and the Latin screwdriver to return to the Latin screwdriver hole. The Latin lifting electric cylinder drives the Latin screwdriver to rise to the top of the machine. The disassembly robot takes away the Latin screwdriver and puts it into the Latin screwdriver tray of the Latin screwdriver stacking mechanism.

[0031] S3. The disassembly and assembly lifting electric cylinder raises the disassembly and assembly electric screwdriver. The disassembly and assembly electric screwdriver is started to drive the collet head to rotate and loosen the collet. The collet and the cutter head are pushed out from the top of the handle together. The disassembly and assembly robot takes away the collet and the cutter head and puts them into the disassembly clamping mouth of the collet and cutter head disassembly mechanism. The disassembly and assembly lifting electric cylinder drives the collet and the cutter head to continue to descend, so that the ejector pin gradually extends into the collet and pushes out the cutter head. The disassembly and assembly robot takes away the cutter head and puts it into the cutter head plate of the cutter head stacking mechanism. Then the disassembly and assembly robot takes away the collet and puts it into the collet plate of the collet stacking mechanism.

[0032] S4. Finally, the disassembly and assembly robot removes the remaining tool holder from the tool holder positioning hole and places it into the tool holder plate of the tool placement mechanism two.

[0033] In the above-mentioned fully automatic tool disassembly and assembly method, in step S4, before the disassembly and assembly electric screwdriver drives the collet head to rotate and tighten the collet, the disassembly and assembly clamp loosens the collet so that the collet moves downward as the screw is tightened.

[0034] In the above-mentioned fully automatic tool assembly and disassembly equipment, when defective or damaged tool holders, collets, or lasing rods are found during the assembly or disassembly process, the defective products are placed into the corresponding tool holder holes, collet holes, or lasing rod holes by the disassembly and assembly robot, awaiting further processing.

[0035] Compared with existing technologies, this fully automatic tool disassembly and assembly equipment and method have the following advantages:

[0036] 1. Especially for tool structures assembled from multiple different components, the fully automated mechanical operation completes the tool assembly and disassembly process through orderly coordination of loading and unloading, picking and placing materials, and division of labor for disassembly and assembly. This allows one set of equipment to perform two opposite operations, expanding the equipment's usage methods, reducing processing costs, and improving market competitiveness.

[0037] 2. Optimize the disassembly and assembly process to make the overall assembly / disassembly process more compact, shorten CT time, improve work efficiency while reducing NG rate, ensure disassembly and assembly effect, and reduce manual re-inspection.

[0038] 3. Different parts are stored in categories to prevent confusion of CNC tools during use, thereby ensuring the accuracy of tool assembly and disassembly, avoiding errors, reducing the accident rate, and ensuring safe production. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of the fully automatic tool assembly and disassembly equipment.

[0040] Figure 2 This is the internal three-dimensional structure of the fully automatic tool assembly and disassembly equipment. Figure 1 .

[0041] Figure 3 This is the internal three-dimensional structure of the fully automatic tool assembly and disassembly equipment. Figure 2 .

[0042] Figure 4 This is the internal main view of the fully automatic tool assembly and disassembly equipment.

[0043] Figure 5 This is a three-dimensional structure of the disassembly and assembly work area and the NG unloading area of ​​this fully automatic tool disassembly and assembly equipment. Figure 1 .

[0044] Figure 6 This is a three-dimensional structure of the disassembly and assembly work area and the NG unloading area of ​​this fully automatic tool disassembly and assembly equipment. Figure 2 .

[0045] Figure 7 This is the three-dimensional structure of the disassembly and assembly robot of the fully automatic tool disassembly and assembly equipment. Figure 1 .

[0046] Figure 8 This is the three-dimensional structure of the disassembly and assembly robot of the fully automatic tool disassembly and assembly equipment. Figure 2 .

[0047] In the diagram, 1. Lifting servo motor; 2. Lead screw; 3. Stacking rack; 4. Pulling plate; 5. Latin pallet; 6. Collet; 7. Cutter head plate; 8. Fixing frame; 9. Stacking rack; 10. Climbing rack; 11. Climbing motor; 12. Gear; 13. Tool holder plate; 14. Push-pull electric cylinder; 15. Slide rail; 16. Positioning cylinder; 17. Tool holder fixing cylinder; 18. Tool holder retainer; 19. Disassembly and assembly clamp; 19a. Disassembly and assembly jaw; 20. Disassembly and assembly electric screwdriver; 21. Shifting electric cylinder; 22. Assembly lifting electric cylinder; 23. Assembly clamping cylinder; 24. Horizontal push cylinder; 25. Baffle; 26. Disassembly lifting electric cylinder 27. Split clamping cylinder; 28. Ejector pin; 29. ​​Latin electric screwdriver; 30. Robotic arm; 31. Multi-faceted frame; 32. Tool holder lifting cylinder; 33. Tool holder clamping cylinder; 34. Limiting component; 35. Collet lifting cylinder; 36. Collet clamping cylinder; 37. Tool head lifting cylinder; 38. Tool head clamping cylinder; 39. Latin lifting cylinder; 40. Latin clamping cylinder; 41. Downward pressing cylinder one; 42. Downward pressing cylinder two; 43. Downward pressing cylinder; 44. Tool holder storage plate; 45. Collet storage plate; 46. Tool head Latin storage plate; 47. Tool holder; 48. Collet; 49. Tool head; 50. Latin. Detailed Implementation

[0048] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0049] Example 1

[0050] like Figures 1 to 6 As shown, this fully automatic tool assembly and disassembly equipment includes a machine base. The machine base is equipped with an assembly and disassembly work area and an NG unloading area. A Latin stacking mechanism, a collet stacking mechanism, and a tool head stacking mechanism are arranged on the side of the assembly and disassembly work area. Tool placement mechanism one / tool ​​placement mechanism two driven by the displacement component are also arranged on the side of the assembly and disassembly work area. Tool holder assembly and disassembly mechanism, collet tool head assembly mechanism, collet tool head disassembly mechanism, Latin assembly and disassembly mechanism, and assembly and disassembly robot are arranged in the assembly and disassembly work area. Tool holder clamping mechanism, collet clamping mechanism, tool head clamping mechanism, Latin clamping mechanism, and auxiliary pressing mechanism are arranged on the assembly and disassembly robot. Tool holder storage rack, collet storage rack, and Latin storage rack are arranged in the NG unloading area.

[0051] The Latin stacking mechanism / collar stacking mechanism / cutter head stacking mechanism includes a fixed plate and a movable plate arranged parallel to each other vertically. A lifting servo motor 1 is fixedly mounted on the movable plate. The lead screw 2 driven by the lifting servo motor 1 passes through the fixed plate to form a threaded engagement connection. The top of the lead screw 2 is fixedly connected to the stacking frame 3. Several guide columns are fixedly mounted on the movable plate. The guide columns slide through the fixed plate and are fixedly connected to the stacking frame 3. Several Latin disks 5 / collar disks 6 / cutter head disks 7 are stacked longitudinally inside the stacking frame 3. The machine is equipped with a pull plate electric cylinder corresponding to the stacking frame 3. The pull plate 4 of the pull plate electric cylinder has a T-shaped chuck piece protruding from its edge. The corresponding edges of the Latin disks 5 / collar disks 6 / cutter head disks 7 have T-shaped chuck grooves. The T-shaped chuck pieces enter the T-shaped chuck grooves longitudinally and engage with the T-shaped chuck grooves laterally.

[0052] The lifting servo motor 1 drives the lead screw 2 to rotate forward, causing the stacking frame 3 to raise the Latin disc 5 / collar 6 / cutter head disc 7. When the Latin disc 5 / collar 6 / cutter head disc 7 rises to a certain position, its T-shaped chuck groove and T-shaped chuck plate are precisely engaged. The pull cylinder then pulls the Latin disc 5 / collar 6 / cutter head disc 7 horizontally onto the machine platform. The pull cylinder pushes the Latin disc 5 / collar 6 / cutter head disc 7 onto the stacking frame 3. The lifting servo motor 1 drives the lead screw 2 to rotate in reverse, causing the stacking frame 3 to lower the Latin disc 5 / collar 6 / cutter head disc 7, causing its T-shaped chuck groove to separate from its T-shaped chuck plate, thus achieving material recovery.

[0053] The tool placement mechanism 1 / tool ​​placement mechanism 2 includes a fixed frame 8, a stacking rack 9 is placed inside the fixed frame 8, a climbing rack 10 is erected on the fixed frame 8, a climbing motor 11 is installed at the bottom of the stacking rack 9, a gear 12 is sleeved on the shaft of the climbing motor 11, the gear 12 and the rack form a tooth meshing connection, and several tool holders 13 are stacked longitudinally inside the stacking rack 9; the shifting component includes a push-pull electric cylinder 14 and a slide rail 15 arranged in parallel, the push-pull block of the push-pull electric cylinder 14 is fixed to the slide rail 15 through a connector, a corresponding slider is set on the machine base, the slide rail 15 is embedded in the slider to form a guide connection, a T-shaped chuck plate is set at the end of the slide rail 15, a T-shaped chuck groove is recessed on the corresponding edge of the tool holder 13, the T-shaped chuck plate enters the T-shaped chuck groove longitudinally, and the T-shaped chuck plate engages with the T-shaped chuck groove laterally.

[0054] The climbing motor 11 drives the gear 12 to rotate, and the gear meshing transmission drives the entire stacking frame 9 to rise, simultaneously raising the tool holder plate 13. When the tool holder plate 13 rises to a certain position, its T-shaped chuck groove is precisely engaged with the T-shaped chuck plate. The push-pull electric cylinder 14 drives the slide rail 15 to pull the tool holder plate 13 horizontally onto the machine platform. A set of opposite limiters is set on one side of the slide rail 15, and a limit block is protruding on the connecting piece. The limit block is located between the two limiters. By the limit block abutting against the limiter on either side, the limit position of the tool holder plate 13's movement stroke is determined. A positioning cylinder 16 is set on the side of the tool holder plate 13's loading position on the machine platform. The positioning cylinder 16 extends and retracts the positioning tip, and a corresponding positioning concave angle is set on one side of the tool holder plate 13. When the tool holder plate 13's loading displacement stops, the positioning cylinder 16 extends the positioning tip and engages with the positioning concave angle, achieving precise positioning of the tool holder plate 13 to facilitate accurate material handling by the disassembly and assembly robot.

[0055] The tool holder assembly / disassembly mechanism includes a tool holder positioning hole, a tool holder fixing cylinder 17 is provided next to the tool holder positioning hole, a tool holder retaining ring 18 is fixedly connected to the lower part of the telescopic end of the tool holder fixing cylinder 17, and an assembly / disassembly clamp 19 is fixedly connected to the upper part of the telescopic end of the tool holder fixing cylinder 17. The assembly / disassembly clamp 19 drives a pair of assembly / disassembly jaws 19a to open and close. An assembly / disassembly lifting electric cylinder is provided below the tool holder positioning hole, and an assembly / disassembly electric screwdriver 20 is fixedly connected to the lifting end of the assembly / disassembly lifting electric cylinder. The top of the assembly / disassembly electric screwdriver 20 is vertically inserted with a clamping head. The assembly / disassembly lifting electric cylinder is driven by a shifting electric cylinder 21 to reciprocate and translate.

[0056] Insert the tool holder 47 into the tool holder positioning hole, and extend the tool holder retaining ring 18 through the tool holder fixing cylinder 17 to lock and fix the bottom of the tool holder 47. The collet 48 is circumferentially clamped and fixed by opening and closing a pair of disassembly and assembly jaws 19a using the disassembly and assembly clamping device 19. The disassembly and assembly jaws 19a have concave arc jaw openings, and several vertical teeth are evenly distributed on the concave arc walls of the jaw openings. When the disassembly and assembly jaws 19a clamp the collet 48, the vertical teeth increase the friction force, preventing the collet 48 from slipping circumferentially during assembly. The disassembly and assembly operations of the collet 48 are achieved by rotating the collet bit driven by the disassembly and assembly electric screwdriver 20.

[0057] The collet cutter head assembly mechanism includes an assembly lifting port, within which an assembly lifting cylinder 22 is installed. An upward-facing lifting rod of the assembly lifting cylinder 22 is fixedly connected to an assembly clamping cylinder 23. The assembly clamping cylinder 23 opens and closes to drive a pair of assembly grippers. A horizontal pushing cylinder 24 is located beside the assembly lifting port. The extension rod of the horizontal pushing cylinder 24 is fixedly connected to a baffle 25 for blocking the assembly lifting port. A flexible abutment block is vertically installed facing downwards on the bottom surface of the baffle 25. A monitoring camera is installed on the bottom surface of the machine base beside the flexible abutment block. The collet 48 is clamped by the assembly clamping cylinder 23, and the collet 48 and cutter head 49 are moved up and down within the assembly lifting port by the assembly lifting cylinder 22. The horizontal pushing cylinder 24 reciprocates by pushing and pulling the baffle 25 to block or open the assembly lifting port. The flexible abutment block presses down on the cutter head 49 to prevent damage to it. The monitoring camera captures the length of the cutter head 49 inserted into the collet 48 to determine if it is installed at the appropriate distance.

[0058] The collet-clipper head splitting mechanism includes a frame, on which a splitting lifting electric cylinder 26 is mounted. A splitting clamping cylinder 27 is fixedly mounted on the lifting plate of the splitting lifting electric cylinder 26. The splitting clamping cylinder 27 opens and closes to drive a pair of splitting jaws, which surround to form a splitting clamping opening. A ejector pin 28 is erected below the center of the splitting clamping opening on the frame. The splitting clamping cylinder 27 opens and closes the pair of splitting jaws to clamp the collet 48 and the cutter head 49. The splitting lifting electric cylinder 26 drives the collet 48 and the cutter head 49 to continuously descend, causing the ejector pin 28 to gradually extend into the collet 48 and push out the cutter head 49.

[0059] The Latin disassembly and assembly mechanism includes a Latin hole, and a Latin lifting electric cylinder 39 is set below the Latin hole. A Latin electric screwdriver 29 is fixedly connected to the lifting end of the Latin lifting electric cylinder 39. A Latin screwdriver bit is vertically inserted into the top of the Latin electric screwdriver 29. The Latin lifting electric cylinder 39 is driven by the shifting electric cylinder 21 to move to below the tool holder positioning hole.

[0060] The Latin screwdriver bit carries the Latin 50, which is rotated by the Latin electric screwdriver 29. The Latin lifting cylinder 39 moves the Latin 50 up and down. The shifting cylinder 21 drives two shifting plates to move synchronously back and forth. One shifting plate is equipped with the disassembly and assembly electric screwdriver 20, and the other shifting plate is equipped with the Latin electric screwdriver 29. When the shifting cylinder 21 drives the forward shift, the disassembly and assembly electric screwdriver 20 moves away from the tool holder positioning hole to form a clearance, and the Latin electric screwdriver 29 moves to the tool holder positioning hole for disassembly and assembly of the Latin 50. When the shifting cylinder 21 drives the reverse shift, the disassembly and assembly electric screwdriver 20 returns to below the tool holder positioning hole, and the Latin electric screwdriver 29 returns to below the Latin hole.

[0061] like Figure 7 and Figure 8As shown, the assembly and disassembly robot includes a robotic arm 30 fixed on the machine base. The end of the robotic arm 30 is connected to a multi-faceted frame 31 via a rotating shaft. Each workstation panel of the multi-faceted frame 31 is respectively equipped with a tool holder clamping mechanism, a collet clamping mechanism, a tool head clamping mechanism, and a Latin clamping mechanism.

[0062] The tool holder clamping mechanism includes a tool holder lifting electric cylinder 32, the lifting end of which is fixedly connected to a tool holder clamping cylinder 33. A limiting member 34 is fixedly mounted on the top side of the tool holder clamping opening of the tool holder clamping cylinder 33, with a limiting strip protruding from the limiting member 34 towards the upper part of the tool holder clamping opening. The tool holder 47 has a variable-diameter cylindrical structure, and an annular boss is present on its outer circumference. When the tool holder clamping opening clamps the outer circumference of the tool holder 47, the annular boss fits into the arc-shaped clamping groove, improving clamping stability. Simultaneously, the limiting strip abuts against the edge of the top opening of the tool holder 47, further preventing axial displacement of the tool holder 47. The tool holder lifting electric cylinder 32 drives the tool holder clamping opening to move up and down.

[0063] The collet clamping mechanism includes a collet lifting cylinder 35, the lifting end of which is fixedly connected to a collet clamping cylinder 36. A baffle plate protrudes from the top surface of the concave arc clamping opening of the collet clamping cylinder 36, blocking part of the open area of ​​the concave arc clamping opening. The collet 48 is a variable-diameter cylinder. When the collet 48 is located within the concave arc clamping opening, its top surface abuts against the baffle plate, forming an axial limit. The collet clamp 48 is released and clamped by the collet clamping cylinder 36 driving the opening and closing of the concave arc clamping opening. The collet clamp 48 moves up and down via the collet lifting cylinder 35.

[0064] The cutting head clamping mechanism includes a cutting head lifting electric cylinder 37, the lifting end of which is fixedly connected to a cutting head clamping cylinder 38. The cutting head clamping cylinder 38 has V-shaped clamping openings that interlock and embrace each other. The cutting head clamping cylinder 38 opens and closes to drive a pair of cutting head grippers. Each cutting head gripper has a V-shaped clamping opening, with one gripper recessed in at least one fitting groove and the other gripper correspondingly protruding in at least one insert. The cutting head 49 is a relatively thin round rod. When the cutting head 49 is positioned between the pair of cutting head grippers, the cutting head clamping cylinder 38 is driven to close the pair of cutting head grippers. The insert gradually extends into the fitting groove, causing the opposing V-shaped clamping openings to gradually decrease until the cutting head 49 is securely clamped. The cutting head 49 is moved up and down by the cutting head lifting electric cylinder 37.

[0065] The Latin clamping mechanism includes a Latin lifting electric cylinder 39, the lifting end of which is fixedly connected to a Latin clamping cylinder 40, which has an arc-shaped clamping opening. The Latin clamping cylinder 50 is a variable-diameter cylindrical shaft with an annular groove. When the Latin clamping cylinder 40 clamps the outer circumference of the Latin clamping cylinder 50, the arc-shaped clamping opening fits into the annular groove, improving clamping stability and preventing axial displacement of the Latin clamping cylinder 50. The Latin lifting electric cylinder 39 drives the Latin clamping cylinder 50 to perform lifting and lowering movements.

[0066] The auxiliary pressing mechanism includes a first pressing cylinder 41 fixed to the robotic arm 30. The lifting end of the first pressing cylinder 41 is fixedly connected to a second pressing cylinder 42, and the pressing end of the second pressing cylinder 42 is connected to a pressing cylinder 43 via a buffer spring. The first pressing cylinder 41 drives the pressing cylinder 43 to perform a large-distance lifting and lowering motion. When the pressing cylinder 43 approaches the collet 48, the second pressing cylinder 42 lowers the pressing cylinder 43 to press and install the collet 48. At this time, the buffer spring provides a flexible pressing force to avoid damaging the collet 48.

[0067] The tool holder storage rack, collet storage rack, and Latin tool storage rack consist of an integrally fixed frame. The integrated frame is equipped with a tool holder storage plate 44, a collet storage plate 45, and a tool tip Latin tool storage plate 46. The tool holder storage plate 44 has several tool holder holes arranged in an array, the collet storage plate 45 has several collet holes arranged in an array, and the tool tip Latin tool storage plate 46 has several Latin tool holes arranged in an array. The tool holder holes, collet holes, and Latin tool holes correspond one-to-one with the structure and dimensions of the tool holder 47, collet 48, and Latin tool 50.

[0068] Compared with existing technologies, this fully automatic tool assembly and disassembly equipment has the following advantages:

[0069] 1. Especially for tool structures assembled from multiple different components, the fully automated mechanical operation completes the tool assembly and disassembly process through orderly coordination of loading and unloading, picking and placing materials, and division of labor for disassembly and assembly. This allows one set of equipment to perform two opposite operations, expanding the equipment's usage methods, reducing processing costs, and improving market competitiveness.

[0070] 2. Optimize the disassembly and assembly process to make the overall assembly / disassembly process more compact, shorten CT time, improve work efficiency while reducing NG rate, ensure disassembly and assembly effect, and reduce manual re-inspection.

[0071] 3. Different parts are stored in categories to prevent confusion of CNC tools during use, thereby ensuring the accuracy of tool assembly and disassembly, avoiding errors, reducing the accident rate, and ensuring safe production.

[0072] Example 2

[0073] Based on Embodiment 1, the difference in this embodiment is:

[0074] A method for disassembling and assembling a fully automatic tool disassembly and assembly device includes the following steps:

[0075] A. Assembly method of the cutting tool:

[0076] S1. The disassembly and assembly robot arm grabs the tool handle 47 from the tool handle plate 13 of the tool placement mechanism and puts it into the tool handle positioning hole. The tool handle fixing cylinder 17 extends the tool handle retaining ring 18 to lock and fix the bottom of the tool handle 47.

[0077] S2. The disassembly and assembly robot grabs the collet 48 from the collet plate 6 of the collet stacking mechanism and places it on the assembly clamping cylinder 23 of the collet cutter head assembly mechanism to form a clamping and fixing. Then, the disassembly and assembly robot grabs the cutter head from the cutter head plate 7 of the cutter head stacking mechanism and places it into the center hole of the collet 48. The assembly lifting cylinder 22 drives the collet 48 and the cutter head 49 to descend to the bottom of the machine. The flat push cylinder 24 pushes the push-pull baffle 25 to block the assembly lifting port. The assembly lifting cylinder 22 drives the collet 48 and the cutter head 49 to rise, so that the cutter head 49 is installed into the collet 48 under the reaction force of the top pressure flexible abutment block. The length of the cutter head 49 installed into the collet 48 is photographed by a monitoring camera on the side to determine whether it is installed in place.

[0078] S3. After the cutter head 49 and collet 48 are installed, the flat-push cylinder 24 pulls the push-pull baffle 25 to open the assembly lifting port. The assembly lifting electric cylinder 22 drives the collet 48 and cutter head 49 to rise to the top of the machine. The disassembly and assembly robot grabs the cutter head 49 and collet 48 and puts them into the tool handle 47 of the tool handle disassembly and assembly mechanism.

[0079] S4. The disassembly and assembly clamp 19 clamps and fixes the collet 48 circumferentially. The lowering cylinder 41 of the auxiliary pressing mechanism first drives the lowering cylinder 43 to descend, and then the lowering cylinder 42 lowers the lowering cylinder 43 to elastically press and assist the installation of the collet 48. At the same time, the disassembly and assembly lifting electric cylinder located below the tool holder 47 raises the disassembly and assembly electric screwdriver 20, and starts the disassembly and assembly electric screwdriver 20 to drive the collet bit to rotate and tighten the collet 48.

[0080] S5. The disassembly and assembly robot grabs the Latin 50 from the Latin disk 5 of the Latin stacking mechanism and puts it into the Latin hole of the Latin disassembly and assembly mechanism. The Latin 50 is placed on the Latin bit of the Latin electric screwdriver 29. The Latin lifting cylinder 39 drives the Latin 50 to descend to the bottom of the machine. Then the shifting cylinder 21 drives the disassembly and assembly electric screwdriver 20 away from the tool holder positioning hole. At the same time, it drives the Latin electric screwdriver 29 to move to the tool holder positioning hole. The Latin lifting cylinder 39 drives the Latin 50 to rise. The Latin electric screwdriver 29 drives the Latin 50 to rotate and be installed into the bottom of the tool holder 47.

[0081] S6. Finally, the assembly robot removes the assembled tool from the tool holder positioning hole and places it into the tool holder plate 13 of the tool placement mechanism 2.

[0082] B. Method for disassembling the cutting tool:

[0083] S1. The disassembly and assembly robot grabs the tool to be disassembled from the tool holder plate 13 of the tool placement mechanism and puts it into the tool holder positioning hole. The tool holder fixing cylinder 17 extends the tool holder retaining ring 18 to lock and fix the bottom of the tool holder 47.

[0084] S2. The shifting electric cylinder 21 drives the disassembly electric screwdriver 20 away from the tool holder positioning hole, and at the same time drives the Latin electric screwdriver 29 to move to the tool holder positioning hole. The Latin screwdriver bit contacts the Latin 50 at the bottom of the tool to be disassembled. The Latin lifting electric cylinder 39 drives the Latin electric screwdriver 29 to descend. The Latin electric screwdriver 29 drives the Latin screwdriver bit to rotate and remove the Latin 50 at the bottom of the tool to be disassembled. The shifting electric cylinder 21 drives the Latin electric screwdriver 29 and Latin 50 to return to the Latin hole. The Latin lifting electric cylinder 39 drives the Latin 50 to rise to the top of the machine. The disassembly robot takes away the Latin 50 and puts it into the Latin stacking mechanism's Latin tray 5.

[0085] S3. The disassembly and assembly lifting electric cylinder raises the disassembly and assembly electric screwdriver 20. The disassembly and assembly electric screwdriver 20 is started to drive the collet head to rotate and loosen the collet 48. The collet 48 and the cutting head 49 are pushed out from the top opening of the handle 47 together. The disassembly and assembly robot takes away the collet 48 and the cutting head 49 and puts them into the disassembly clamping opening of the collet cutting head disassembly mechanism. The disassembly lifting electric cylinder 26 drives the collet 48 and the cutting head 49 to continue to descend, so that the ejector pin 28 gradually extends into the collet 48 to push out the cutting head 49. The disassembly and assembly robot takes away the cutting head 49 and puts it into the cutting head plate 7 of the cutting head stacking mechanism. Then the disassembly and assembly robot takes away the collet 48 and puts it into the collet plate 6 of the collet stacking mechanism.

[0086] S4. Finally, the disassembly and assembly robot removes the remaining tool holder 47 from the tool holder positioning hole and places it into the tool holder plate 13 of the tool placement mechanism two.

[0087] In the above-mentioned fully automatic tool disassembly and assembly method, in step S4, before the disassembly and assembly electric screwdriver 20 drives the collet bit to rotate and tighten the collet 48, the disassembly and assembly clamp 19 loosens the collet 48 so that the collet 48 moves downward as the screw is tightened.

[0088] In the above-mentioned fully automatic tool assembly and disassembly equipment, when defective or damaged tool holders 47, collets 48, and lasing plates 50 are found during the assembly or disassembly process, the defective products are placed into the corresponding tool holder holes, collet holes, and lasing plate holes by the disassembly and assembly robot, and await further processing.

[0089] Compared with existing technologies, the disassembly and assembly method of this fully automatic tool disassembly and assembly equipment has the following advantages:

[0090] 1. Especially for tool structures assembled from multiple different components, the fully automated mechanical operation completes the tool assembly and disassembly process through orderly coordination of loading and unloading, picking and placing materials, and division of labor for disassembly and assembly. This allows one set of equipment to perform two opposite operations, expanding the equipment's usage methods, reducing processing costs, and improving market competitiveness.

[0091] 2. Optimize the disassembly and assembly process to make the overall assembly / disassembly process more compact, shorten CT time, improve work efficiency while reducing NG rate, ensure disassembly and assembly effect, and reduce manual re-inspection.

[0092] 3. Different parts are stored in categories to prevent confusion of CNC tools during use, thereby ensuring the accuracy of tool assembly and disassembly, avoiding errors, reducing the accident rate, and ensuring safe production.

[0093] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0094] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A fully automatic tool assembly and disassembly device, comprising a machine base, characterized in that, The machine platform is equipped with a disassembly and assembly work area and an NG unloading area. A Latin stacking mechanism, a collet stacking mechanism, and a cutter head stacking mechanism are arranged on the side of the disassembly and assembly work area. A cutter placement mechanism 1 and a cutter placement mechanism 2 driven by a shifting component are also arranged on the side of the disassembly and assembly work area. A tool holder disassembly and assembly mechanism, a collet cutter head assembly mechanism, a collet cutter head splitting mechanism, a Latin disassembly and assembly mechanism, and a disassembly and assembly robot are arranged in the disassembly and assembly work area. A tool holder clamping mechanism, a collet clamping mechanism, a cutter head clamping mechanism, a Latin clamping mechanism, and an auxiliary pressing mechanism are arranged on the disassembly and assembly robot. A tool holder storage rack, a collet storage rack, and a Latin storage rack are arranged in the NG unloading area. The tool handle assembly / disassembly mechanism includes a tool handle positioning hole, a tool handle fixing cylinder is provided beside the tool handle positioning hole, a tool handle retaining ring is fixedly connected to the lower part of the telescopic end of the tool handle fixing cylinder, and an assembly / disassembly clamp is fixedly connected to the upper part of the telescopic end of the tool handle fixing cylinder. The assembly / disassembly clamp opens and closes to drive a pair of assembly / disassembly jaws. An assembly / disassembly lifting electric cylinder is provided below the tool handle positioning hole, an assembly / disassembly electric screwdriver is fixedly connected to the lifting end of the assembly / disassembly electric cylinder, a screwdriver bit is vertically inserted into the top of the assembly / disassembly electric screwdriver, and the assembly / disassembly lifting electric cylinder is driven by a shifting electric cylinder to reciprocate and translate. The collet cutter head assembly mechanism includes an assembly lifting port, an assembly lifting electric cylinder is installed inside the assembly lifting port, an assembly clamping cylinder is fixedly connected to the upward lifting rod of the assembly lifting electric cylinder, the assembly clamping cylinder opens and closes to drive a pair of assembly grippers, a horizontal pushing cylinder is installed on the side of the assembly lifting port, the telescopic rod of the horizontal pushing cylinder is fixedly connected to a baffle for blocking the assembly lifting port, a flexible abutment block is vertically installed with the bottom surface of the baffle facing downward, and a monitoring camera is installed on the bottom surface of the machine base next to the flexible abutment block; The collet cutter head splitting mechanism includes a stand, on which a splitting lifting electric cylinder is installed. A splitting clamping cylinder is fixedly mounted on the lifting plate of the splitting lifting electric cylinder. The splitting clamping cylinder opens and closes to drive a pair of splitting claws. The pair of splitting claws surround to form a splitting clamping opening. A pin is erected on the stand below the center of the splitting clamping opening. The Latin disassembly and assembly mechanism includes a Latin hole, and a Latin lifting electric cylinder is arranged below the Latin hole. A Latin electric screwdriver is fixedly connected to the lifting end of the Latin lifting electric cylinder. A Latin screwdriver bit is vertically inserted into the top of the Latin electric screwdriver. The Latin lifting electric cylinder is driven by the shifting electric cylinder to move to below the tool holder positioning hole.

2. The fully automatic tool assembly and disassembly equipment as described in claim 1, characterized in that, The assembly / disassembly robot includes a robotic arm fixed to the machine platform. The end of the robotic arm is connected to a multi-faceted frame via a rotating shaft. The tool holder clamping mechanism, the collet clamping mechanism, the tool head clamping mechanism, and the Latin clamping mechanism are respectively installed on each workstation panel of the multi-faceted frame. The tool holder clamping mechanism includes a tool holder lifting electric cylinder, the lifting end of which is fixedly connected to a tool holder clamping cylinder, and a limiting member is fixedly provided on the top side of the tool holder clamping opening of the tool holder clamping cylinder, with a limiting strip protruding from the limiting member toward the upper part of the tool holder clamping opening. The collet clamping mechanism includes a collet lifting electric cylinder, the lifting end of which is fixedly connected to a collet clamping cylinder, and a baffle is protruding from the top surface of the concave arc clamping opening of the collet clamping cylinder, the baffle blocking part of the open area of ​​the concave arc clamping opening. The cutter head clamping mechanism includes a cutter head lifting electric cylinder, the lifting end of which is fixedly connected to a cutter head clamping cylinder, and the cutter head clamping cylinder has a V-shaped clamping port that interlocks with each other. The Latin clamping mechanism includes a second Latin lifting electric cylinder, the lifting end of which is fixedly connected to a Latin clamping cylinder, which has an arc-shaped clamping opening.

3. The fully automatic tool assembly and disassembly equipment as described in claim 2, characterized in that, The auxiliary pressing mechanism includes a first pressing cylinder fixedly mounted on the robotic arm, a second pressing cylinder fixedly connected to the lifting end of the first pressing cylinder, and a pressing end of the second pressing cylinder connected to a pressing cylinder via a buffer spring.

4. The fully automatic tool assembly and disassembly equipment as described in claim 1, characterized in that, The Latin stacking mechanism, the collet stacking mechanism, and the cutter head stacking mechanism all include a fixed plate and a movable plate arranged vertically and parallel to each other. A lifting servo motor is fixedly mounted on the movable plate. The lead screw driven by the lifting servo motor rotates and is threadedly engaged with the fixed plate. The top of the lead screw is fixedly connected to the stacking frame. Several guide pins are fixedly mounted on the movable plate. The guide pins slide through the fixed plate and are fixedly connected to the stacking frame. The stacking frame of the Latin stacking mechanism stacks materials longitudinally. A number of Latin discs are placed, and a number of collet discs are stacked longitudinally in the stacking frame of the collet stacking mechanism. A number of cutter discs are stacked longitudinally in the stacking frame of the cutter head stacking mechanism. A pull-plate electric cylinder is provided on the machine base corresponding to the stacking frame. A T-shaped chuck plate is protruding from the edge of the pull-plate plate of the pull-plate electric cylinder. The corresponding edges of the Latin discs, collet discs, and cutter discs are all recessed with T-shaped chuck grooves. The T-shaped chuck plate enters the T-shaped chuck groove longitudinally and engages with the T-shaped chuck groove laterally.

5. The fully automatic tool assembly and disassembly equipment as described in claim 1, characterized in that, Both the tool placement mechanism one and the tool placement mechanism two include a fixed frame, a stacking rack is placed inside the fixed frame, a climbing rack is erected on the fixed frame, a climbing motor is installed at the bottom of the stacking rack, a gear is sleeved on the shaft of the climbing motor, the gear and the rack form a tooth meshing connection, and several tool holders are stacked longitudinally inside the stacking rack; the shifting component includes a push-pull electric cylinder and a slide rail arranged in parallel, the push-pull block of the push-pull electric cylinder is fixed to the slide rail through a connector, a slider is correspondingly arranged on the machine base, the slide rail is embedded in the slider to form a guide connection, a T-shaped chuck plate is provided at the end of the slide rail, a T-shaped chuck groove is recessed on the corresponding edge of the tool holder, the T-shaped chuck plate enters the T-shaped chuck groove longitudinally, and the T-shaped chuck plate engages with the T-shaped chuck groove laterally.

6. The fully automatic tool assembly and disassembly equipment as described in claim 1, characterized in that, The tool holder storage rack, the collet storage rack, and the Latin tool storage rack all consist of an integrally fixed frame. The integrated frame is provided with a tool holder storage plate, a collet storage plate, and a tool tip Latin tool storage plate. The tool holder storage plate has a plurality of tool holder holes arranged in an array, the collet storage plate has a plurality of collet holes arranged in an array, and the tool tip Latin tool storage plate has a plurality of Latin holes arranged in an array.

7. A method for disassembling and assembling a fully automatic tool disassembly and assembly device, employing the fully automatic tool disassembly and assembly device of claim 3, characterized in that, Includes the following steps: A. Assembly method of the cutting tool: S1. The disassembly and assembly robot arm grabs the tool handle from the tool handle plate of the tool placement mechanism and puts it into the tool handle positioning hole. The tool handle fixing cylinder extends the tool handle retaining ring to lock and fix the bottom of the tool handle. S2. The disassembly and assembly robot grabs the collet from the collet stacking mechanism and places it on the assembly clamping cylinder of the collet cutter head assembly mechanism to form a clamping and fixing. Then, the disassembly and assembly robot grabs the cutter head from the cutter head stacking mechanism and places it into the center hole of the collet. The assembly lifting electric cylinder drives the collet and cutter head to descend to the bottom of the machine. The flat push cylinder pushes the push-pull baffle to block the assembly lifting port. The assembly lifting electric cylinder drives the collet and cutter head to rise, so that the cutter head is installed into the collet under the reaction force of the top pressure flexible cutter block. The length of the cutter head installed into the collet is photographed by a monitoring camera on the side to determine whether it is installed in place. S3. After the cutter head and collet are installed, the flat-push cylinder pulls the push-pull baffle to open the assembly lifting port. The assembly lifting electric cylinder drives the collet and cutter head to rise to the top of the machine. The disassembly and assembly robot grabs the cutter head and collet and puts them into the tool handle of the tool handle disassembly and assembly mechanism. S4. The disassembly and assembly clamps the collet in a circumferential clamping and fixing manner. The first pressing cylinder of the auxiliary pressing mechanism first drives the pressing cylinder to descend, and then the second pressing cylinder descends the pressing cylinder to elastically press the collet to assist in the installation. At the same time, the disassembly and assembly lifting electric cylinder located below the tool holder raises the disassembly and assembly electric screwdriver, and starts the disassembly and assembly electric screwdriver to drive the collet head to rotate and tighten the collet. S5. The disassembly and assembly robot grabs the Latin screwdriver from the Latin stacking mechanism and puts it into the Latin hole of the Latin disassembly and assembly mechanism. The Latin screwdriver is placed on the Latin screwdriver head of the Latin electric screwdriver. The Latin lifting cylinder drives the Latin screwdriver to descend to the bottom of the machine. Then the shifting cylinder drives the disassembly and assembly electric screwdriver to leave the tool holder positioning hole. At the same time, it drives the Latin electric screwdriver to move to the tool holder positioning hole. The Latin lifting cylinder drives the Latin screwdriver to rise. The Latin electric screwdriver drives the Latin screwdriver to rotate and insert it into the bottom of the tool holder. S6. Finally, the assembly robot removes the assembled tool from the tool holder positioning hole and places it into the tool holder plate of the tool placement mechanism two. B. Method for disassembling the cutting tool: S1. The disassembly and assembly robot grabs the tool to be disassembled from the tool holder plate of the tool placement mechanism and puts it into the tool holder positioning hole. The tool holder fixing cylinder extends the tool holder retaining ring to lock and fix the bottom of the tool holder. S2. The shifting electric cylinder drives the disassembly electric screwdriver away from the tool holder positioning hole, and at the same time drives the Latin electric screwdriver to move to the tool holder positioning hole. The Latin screwdriver bit contacts the Latin screwdriver at the bottom of the tool to be disassembled. The first Latin lifting electric cylinder drives the Latin electric screwdriver to descend. The Latin electric screwdriver drives the Latin screwdriver bit to rotate and remove the Latin screwdriver at the bottom of the tool to be disassembled. The shifting electric cylinder drives the Latin electric screwdriver and the Latin screwdriver to return to the Latin screwdriver hole. The first Latin lifting electric cylinder drives the Latin screwdriver to rise to the top of the machine. The disassembly robot takes away the Latin screwdriver and puts it into the Latin screwdriver tray of the Latin screwdriver stacking mechanism. S3. The disassembly and assembly lifting electric cylinder raises the disassembly and assembly electric screwdriver. The disassembly and assembly electric screwdriver is started to drive the collet head to rotate and loosen the collet. The collet and the cutter head are pushed out from the top of the handle together. The disassembly and assembly robot takes away the collet and the cutter head and puts them into the disassembly clamping mouth of the collet and cutter head disassembly mechanism. The disassembly and assembly lifting electric cylinder drives the collet and the cutter head to continue to descend, so that the ejector pin gradually extends into the collet and pushes out the cutter head. The disassembly and assembly robot takes away the cutter head and puts it into the cutter head plate of the cutter head stacking mechanism. Then the disassembly and assembly robot takes away the collet and puts it into the collet plate of the collet stacking mechanism. S4. Finally, the disassembly and assembly robot removes the remaining tool holder from the tool holder positioning hole and places it into the tool holder plate of the tool placement mechanism two.

8. The disassembly and assembly method of the fully automatic tool disassembly and assembly equipment as described in claim 7, characterized in that, In step S4, before the electric screwdriver rotates the collet bit to tighten the collet, the clamping device loosens the collet so that the collet moves downward as the screw is tightened.

9. The disassembly and assembly method of the fully automatic tool disassembly and assembly equipment as described in claim 7, characterized in that, During assembly or disassembly, if defective or damaged tool holders, collets, or lasing rods are found, the defective products are placed into the corresponding tool holder holes, collet holes, or lasing rod holes by the disassembly and assembly robot, awaiting further processing.

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