A tool retrieval system for a storage tool magazine and a control method thereof

Abstract

The present invention relates to the field of machine tool tool magazines, and in particular to a tool picking system for a storage tool magazine and a control method thereof, wherein the system comprises: a first tool selection slide rail, fixedly installed; a first tool selection base, driven by a first driving device to slide on the first tool selection slide rail; a second tool selection slide rail, fixedly installed on the first tool selection base; a second tool selection base, driven by a second driving device to slide on the second tool selection slide rail; a tool picking mechanism, installed on the second tool selection base; the tool picking mechanism comprises: a third tool selection slide rail, fixedly installed on the second tool selection base; a tool picking base, driven by a third driving device to slide on the third tool selection slide rail; a rotating seat, driven by a rotating motor to rotate on the tool picking base; a tool picking cylinder, fixedly arranged on the rotating seat; a conical structure is arranged at one end of the cylinder; a tool picking cylinder is also provided with a tool dropping prevention mechanism; wherein the tool dropping prevention mechanism comprises a locking block. The design of the tool dropping prevention mechanism of the present invention effectively prevents the tool from falling and more effectively protects the tool.

Description

Technical Field

[0001] The invention relates to the technical field of machine tool tool magazines, and in particular to a tool taking system for a storage tool magazine and a control method thereof. Background Art

[0002] In modern manufacturing, CNC machine tools are widely used in various precision machining tasks. CNC machine tools are usually equipped with automatic tool changing systems to improve machining efficiency and reduce downtime. However, the traditional tool changing system may have the following problems when selecting and removing tools: the traditional tool changing system usually relies on movement in a single direction, and the tool changing speed is slow, which affects the overall machining efficiency; at the same time, the traditional tool is fixed by a tapered hole, which is not reliable enough. During the transportation of the tool, the tool is easy to fall, which poses a safety hazard, especially for some precision tools. Once the tool falls, it may be damaged. Summary of the invention

[0003] In view of at least one of the above technical problems, the present invention provides a tool retrieval system for a storage tool magazine and a control method thereof, which adopts a multi-directional motion automatic tool retrieval and a tool drop prevention mechanism to improve processing efficiency and avoid tool drop.

[0004] According to a first aspect of the present invention, there is provided a tool retrieval system for a storage tool magazine, comprising:

[0005] The first tool selection slide rail is fixedly installed in the tool magazine;

[0006] The first tool selection base slides on the first tool selection slide rail and is driven to move by the first driving device;

[0007] The second tool selection slide rail is fixedly mounted on the first tool selection base and is perpendicular to the first tool selection slide rail;

[0008] The second tool selection base slides on the second tool selection slide rail and is driven to move by the second driving device;

[0009] The knife taking mechanism is installed on the second knife selecting base; the knife taking mechanism includes:

[0010] The third tool selection slide rail is fixedly mounted on the second tool selection base and is perpendicular to the first tool selection slide rail;

[0011] The knife selection base slides on the third knife selection slide rail and is driven to move by the third driving device;

[0012] The rotating seat is rotatably arranged on the knife-taking base and driven to move by a rotating motor;

[0013] The knife taking cylinder is fixedly arranged on the rotating seat; a conical structure for clamping the knife is arranged at one end of the knife taking cylinder; a knife-dropping prevention mechanism is also arranged in the knife taking cylinder for limiting the position of the knife; wherein the knife-dropping prevention mechanism includes a locking block arranged on the side of the knife taking cylinder, and the locking block slides along the radial direction of the knife taking cylinder; when locked, the locking block extends into the knife taking cylinder.

[0014] Furthermore, the knife-dropping prevention mechanism further comprises:

[0015] The equipment seat is installed in the knife barrel;

[0016] An oil chamber, arranged in the equipment seat;

[0017] The piston slides in the oil chamber along the axial direction of the knife barrel;

[0018] The pressure accumulator is fixedly mounted on the rotating seat and is used to store the hydraulic oil in the oil chamber pushed out by the piston;

[0019] A spring is arranged between the locking block and the equipment seat;

[0020] a first oil passage, communicating with the oil chamber and the pressure accumulator;

[0021] A second oil passage, communicating with the locking block and the pressure accumulator;

[0022] The solenoid valve is arranged on the first oil passage to control the opening and closing of the first oil passage.

[0023] Furthermore, the second driving device is a screw slider mechanism driven by a driving motor; on the second driving device, there are also:

[0024] The reduction mechanism is composed of multi-stage gears; the input end of the reduction mechanism is connected to the screw in the screw slider mechanism;

[0025] Counting agencies, including:

[0026] The counting seat is fixedly arranged relative to the second driving device; the counting seat is provided with a rotating first driving wheel, a multi-groove Geneva groove wheel, a second driving wheel and a plurality of three-groove Geneva groove wheels;

[0027] The first driving wheel is provided with a first shifting column and is driven to rotate by the output end of the speed reduction mechanism;

[0028] A multi-groove Geneva groove wheel is provided with a plurality of first shifting grooves;

[0029] The first driving wheel and the multi-groove Geneva groove wheel are combined to form a first Geneva mechanism;

[0030] The second driving wheel and the multi-groove Geneva groove wheel rotate synchronously, and a second toggle column is provided;

[0031] A plurality of three-groove Geneva groove wheels are distributed around the first driving wheel, and the number of the three-groove Geneva groove wheels is equal to the number of the first toggle grooves; each three-groove Geneva groove wheel is provided with three second toggle grooves;

[0032] The second driving wheel and the three-groove Geneva groove wheel are combined to form a second Geneva mechanism;

[0033] a plurality of detectors for detecting the position of each three-groove Geneva wheel;

[0034] The rotation ratio between the input end of the speed reduction mechanism and the first driving wheel is set so that when the tool taking mechanism moves from one tool storage position to an adjacent tool storage position in the vertical direction, the first driving wheel rotates one circle.

[0035] Furthermore, the input end of the speed reduction mechanism and the first driving wheel are connected by a magnetic gear.

[0036] According to a second aspect of the present invention, a control method for a tool retrieval system for a storage tool magazine is provided, using the tool retrieval system for a storage tool magazine as described above, comprising the following steps:

[0037] S10: Calculating motion parameters required by the first drive device, the second drive device and the rotating motor according to the target tool storage position;

[0038] S20: Control the first drive device and the second drive device to work according to the motion parameters, so that the tool taking mechanism moves to the target tool storage position, and the rotary motor controls the rotation direction of the rotary seat to align the tool taking cylinder with the tool handle at the target tool storage position;

[0039] S30: the third driving device drives the tool taking mechanism to move toward the target tool storage position to take the tool, and after the tool taking mechanism moves to the target position, the locking block of the tool drop prevention mechanism extends to complete the locking of the tool;

[0040] S40: The first driving device drives the tool to leave the target tool storage position, and then the rotary motor drives the rotary seat to rotate so that the tool moves toward the tool changing position; then the first driving device and the second driving device drive the tool taking mechanism to move to the tool changing position;

[0041] S50: After the tool changing arm at the tool changing position clamps the tool, the tool drop prevention mechanism is released, and the first driving device drives the tool taking mechanism to move, so that the tool is separated from the tool taking mechanism, and the tool taking is completed.

[0042] Furthermore, in step S10, the calculated motion parameters are verified for feasibility. If the verification is passed, the subsequent steps are continued; if the verification is not passed, the subsequent steps are stopped and an alarm is issued.

[0043] Further, in step S10, the second driving device is a screw slider mechanism driven by a driving motor, and the motion parameters of the second driving device include the number of rotations r of the screw. The specific process of calculating the number of rotations r is as follows:

[0044] The tool storage positions in each tool storage mechanism in the tool magazine are numbered 0, 1, 2, etc. in order from bottom to top; the movement of the tool taking mechanism from bottom to top is set as the positive direction;

[0045] When the knife mechanism moves to the adjacent knife storage position in the vertical direction, the number of turns of the screw rod is R;

[0046] Then the number of rotations r = (target tool storage position number - current tool storage position number) × R;

[0047] An encoder is provided on the driving motor to record the number of revolutions r of the driving motor, and r is set to be positive when the tool taking mechanism moves from bottom to top;

[0048] In the subsequent steps, the number of turns r of the screw rod is controlled to make the tool taking mechanism reach the target tool storage position vertically.

[0049] Further, in step S20, after the tool taking mechanism moves to the target tool storage position, positioning verification is performed, and the specific steps of positioning verification are as follows:

[0050] Setting up a counting mechanism;

[0051] When the tool taking mechanism moves upward, the rotation direction of the three-groove Geneva groove wheel is set to the positive rotation direction, and the three-groove Geneva groove wheel is divided into three equal parts along the positive rotation direction and marked as No. 1 station, No. 2 station, and No. 3 station respectively, and when the tool taking mechanism stops at the lowest tool storage position, the No. 1 station of all three-groove Geneva groove wheels stops at the corresponding detector;

[0052] If the detector detects station 1, it will send out a binary digital 00 signal;

[0053] If the detector detects station 2, it will send out a binary digital 01 signal;

[0054] If the detector detects station 3, it will send a binary number 10 signal;

[0055] After the tool taking mechanism moves to the target tool storage position, the signal values ​​detected by each detector are summed and then converted into a decimal number, which is the verification number;

[0056] The verification number is compared with the target tool storage location number. If they are consistent, the subsequent steps will continue. If they are inconsistent, the subsequent steps will be stopped and an alarm will be issued.

[0057] Furthermore, after the tool removal mechanism moves to the target tool storage position, the signal values ​​detected by all detectors are checked. If 00 and 10 appear in the signal values ​​at the same time, all "00" signal values ​​are replaced with "11" before calculating the verification number, and then the verification number is calculated.

[0058] Furthermore, the number of tool storage positions of each tool storage mechanism in the tool magazine is less than or equal to 15.

[0059] The beneficial effects of the present invention are as follows: the present invention can quickly and accurately select and remove tools by adopting a multi-dimensional sliding and rotating mechanism design, greatly shortening the tool change time and improving processing efficiency. The design of the anti-knife drop mechanism effectively prevents the tool from falling during the tool removal process, reduces the risk during the tool change process, and improves operational safety. Through the coordination of the drive motor, encoder and control method, the system realizes a fully automated tool removal operation, reduces manual intervention, and improves the consistency and reliability of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0061] Figure 1 It is a structural schematic diagram of a tool taking system for a storage tool magazine in an embodiment of the present invention;

[0062] Figure 2 It is a schematic structural diagram of a tool storage mechanism of a tool taking system for a tool storage magazine in an embodiment of the present invention after being hidden;

[0063] Figure 3 The present invention is a tool storage magazine for taking out the tool system Figure 2 A magnified image of point A;

[0064] Figure 4 The present invention is a tool storage magazine for taking out the tool system Figure 2 The enlarged view of point B;

[0065] Figure 5 It is a structural schematic diagram of a tool taking cylinder of a tool taking system for a storage tool magazine in an embodiment of the present invention;

[0066] Figure 6 A side view of a tool taking cylinder of a tool taking system for a storage tool magazine in an embodiment of the present invention;

[0067] Figure 7 The tool taking system for the tool storage magazine in the embodiment of the present invention is in the first state Figure 6 Sectional view at point C;

[0068] Figure 8 The tool taking system for the tool storage magazine in the embodiment of the present invention is in the second state Figure 6Sectional view at point C;

[0069] Fig. 9 The tool taking system for the tool storage magazine in the embodiment of the present invention is in the third state Figure 6 Sectional view at point C;

[0070] Fig.10 It is a component disassembled diagram of a counting mechanism of a tool taking system for a storage tool magazine in an embodiment of the present invention;

[0071] Attached markings: 1. Knife removal base; 2. Rotating seat; 3. Knife removal cylinder; 3a. Locking block; 3b. Oil chamber; 3c. Piston; 3d. Accumulator; 3e. Spring; 3f. First oil channel; 3g. Second oil channel; 3h. Solenoid valve; 4. Speed ​​reduction mechanism; 5. Counting mechanism; 5a. Counting seat; 5b. First driving wheel; 5c. Multi-groove Geneva groove wheel; 5d. Second driving wheel; 5e. Three-groove Geneva groove wheel; 5f. Detector. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0073] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0075] This tool retrieval system is used in a scenario where a tool magazine in a machining center retrieves tools from outside. There are multiple tool storage mechanisms in the tool magazine, and each mechanism has multiple tool storage positions evenly distributed vertically. Tools of various types are stored in their corresponding tool storage positions. When the machining center needs to use a certain tool, this tool retrieval system is required to remove the tool from the tool magazine and transport it to a specific tool change position. There is a tool change arm at the tool change position, and the clamp on the tool change arm will clamp the tool transported by this tool retrieval system to complete the tool retrieval.

[0076] The present invention provides a tool taking system for a storage tool magazine, such as Figure 1~2 As shown, including:

[0077] The first tool selection slide rail is fixedly installed in the tool magazine;

[0078] The first tool selection base slides on the first tool selection slide rail and is driven to move by the first driving device;

[0079] The second tool selection slide rail is fixedly mounted on the first tool selection base and is perpendicular to the first tool selection slide rail;

[0080] The second tool selection base slides on the second tool selection slide rail and is driven to move by the second driving device;

[0081] The knife taking mechanism is installed on the second knife selecting base; the knife taking mechanism includes:

[0082] The third tool selection slide rail is fixedly mounted on the second tool selection base and is perpendicular to the first tool selection slide rail;

[0083] The knife selection base 1 slides on the third knife selection slide rail and is driven to move by the third driving device;

[0084] The rotating seat 2 is rotatably arranged on the knife taking base 1 and driven to move by a rotating motor;

[0085] The knife taking cylinder 3 is fixedly arranged on the rotating seat 2; a conical structure for clamping the knife is arranged at one end of the knife taking cylinder 3; a knife-dropping prevention mechanism is also arranged in the knife taking cylinder 3 for limiting the position of the knife; wherein the knife-dropping prevention mechanism includes a locking block 3a arranged on the side of the knife taking cylinder 3, and the locking block 3a slides along the radial direction of the knife taking cylinder 3; when locked, the locking block 3a extends into the knife taking cylinder 3.

[0086] The present invention realizes horizontal and vertical movement through the combination of the first tool selection slide rail, the first tool selection base, the second tool selection slide rail and the second tool selection base, so that the tool picking mechanism can cover all tool storage positions in the tool magazine. The provision of the third tool selection slide rail and the tool picking base 1 enables the tool picking mechanism to move finely in the tool picking direction, further improving the accuracy of the tool picking operation. The design of the rotating seat 2 enables the tool picking mechanism to rotate, so that the tool picking operation can be flexibly performed at different angles and directions, and it is more convenient to transport the tool from the storage tool holder to the tool changing arm. The anti-knife drop mechanism in the tool picking mechanism effectively prevents the tool from falling during the tool picking process, thereby improving the safety and reliability of the operation.

[0087] The movement of the locking block 3a can be realized by a variety of existing structures. The present knife removal system provides a more concise knife-dropping prevention mechanism based on hydraulic pressure, such as Figure 3 and Figures 5 to 9 As shown, including:

[0088] The equipment seat is installed in the knife taking cylinder 3;

[0089] The oil chamber 3b is arranged in the equipment seat;

[0090] The piston 3c slides in the oil chamber 3b along the axial direction of the knife barrel 3;

[0091] The accumulator 3d is fixedly mounted on the rotating seat 2 and is used to store the hydraulic oil in the oil chamber 3b pushed out by the piston 3c. The accumulator 3d has a structure composed of a plug body and a spring. When the hydraulic oil enters the accumulator 3d, it pushes the plug body inside to compress the spring, thereby increasing the oil pressure of the hydraulic oil.

[0092] Spring 3e, arranged between locking block 3a and equipment seat;

[0093] A first oil passage 3f, communicating with the oil chamber 3b and the accumulator 3d;

[0094] The second oil passage 3g is connected with the locking block 3a and the pressure accumulator 3d;

[0095] The solenoid valve 3h is provided on the first oil passage 3f to control the opening and closing of the first oil passage 3f;

[0096] If necessary, a valve block may be installed on the equipment seat or the rotating seat 2, and the first oil passage 3f, the second oil passage 3g and the solenoid valve 3h may be designed together to reduce the number of pipeline connections.

[0097] The principle of this structure is: when the tool enters, Figure 7-8 As shown, the solenoid valve 3h is opened, at this time, the piston 3c, the oil chamber 3b, the accumulator 3d and the locking block 3a are interconnected through the first oil channel 3f and the second oil channel 3g; at this time, the hydraulic oil pressure acting on the locking block 3a is low, the tool handle can push the locking block 3a to enter the tool removal mechanism, the tool handle will push the piston 3c to squeeze the oil chamber 3b, so that the hydraulic oil enters the accumulator 3d along the first oil channel 3f, and the oil pressure in the whole device gradually increases.

[0098] When the tool is fully inserted, Fig. 9 As shown, the solenoid valve 3h is closed, so that the first oil channel 3f is in an independent state. At this time, the second oil channel 3g is still connected to the locking block 3a and the pressure accumulator 3d. The hydraulic oil passes through the second oil channel 3g and directly applies oil pressure to the locking block 3a. The compression spring 3e makes the locking block 3a stuck in the tool handle to complete the locking.

[0099] When the tool needs to be taken out, the solenoid valve 3h is opened. At this time, the piston 3c, the oil chamber 3b and the accumulator 3d are connected again through the first oil channel 3f, and the hydraulic oil can flow back to the oil chamber 3b and act on the piston 3c; and as the tool is detached, the accumulator 3d presses the hydraulic oil in the system back to the oil chamber 3b. In this process, the oil pressure gradually decreases, and at the same time reduces the hydraulic oil pressure acting on the locking block 3a, so that the locking block 3a is in a state that can be pushed open by the tool handle.

[0100] The tool drop prevention mechanism controls the locking block 3a by hydraulic pressure to ensure that the tool does not drop during the in and out process, reducing the possibility of tool drop damage and improving overall safety. The hydraulic system controlled by the solenoid valve 3h enables the locking and releasing operations to be automated, reducing manual intervention, improving the efficiency of tool change and processing, and has important application value and economic benefits.

[0101] Preferably, Figure 4 As shown, the second driving device is a screw slider mechanism driven by a driving motor; on the second driving device, there are also:

[0102] The speed reduction mechanism 4 is composed of a multi-stage gear; the input end of the speed reduction mechanism 4 is connected to the screw in the screw slider mechanism;

[0103] Counting mechanism 5, such as Fig.10 As shown, including:

[0104] The counting seat 5a is fixedly arranged relative to the second driving device; the counting seat 5a is equipped with a rotating first driving wheel 5b, a multi-groove Geneva groove wheel 5c, a second driving wheel 5d and a plurality of three-groove Geneva groove wheels 5e;

[0105] The first driving wheel 5b is provided with a first shifting column and is driven to rotate by the output end of the speed reduction mechanism 4;

[0106] The multi-groove Geneva groove wheel 5c is provided with a plurality of first shifting grooves;

[0107] The first driving wheel 5b and the multi-groove Geneva groove wheel 5c are combined to form a first Geneva mechanism;

[0108] The second driving wheel 5d rotates synchronously with the multi-groove Geneva groove wheel 5c and is provided with a second toggle column;

[0109] A plurality of three-groove Geneva groove wheels 5e are distributed around the first driving wheel 5b, and the number of the three-groove Geneva groove wheels 5e is equal to the number of the first toggle grooves; each three-groove Geneva groove wheel 5e is provided with three second toggle grooves;

[0110] The second driving wheel 5d and the three-groove Geneva groove wheel 5e are combined to form a second Geneva mechanism;

[0111] A plurality of detectors 5f for detecting the position of each three-groove Geneva wheel 5e;

[0112] The rotation ratio between the input end of the speed reduction mechanism 4 and the first driving wheel 5b is set so that when the tool taking mechanism moves from one tool storage position to a tool storage position adjacent in the vertical direction, the first driving wheel 5b rotates one circle.

[0113] The second driving device realizes precise vertical movement and position inspection of the knife picking mechanism through the combination of the driving motor, the screw slider mechanism, the speed reduction mechanism 4 and the counting mechanism 5. The driving motor drives the screw slider mechanism to realize the sliding of the knife picking mechanism on the second knife selection slide rail, and controls the knife picking mechanism to move to the height of the target knife storage position; the speed reduction mechanism 4 converts the rotation of the screw with a higher speed into the low-speed and high-precision rotation of the first driving wheel 5b connected to the output end through the speed reduction effect of the multi-stage gears, ensuring the counting accuracy of the counting mechanism 5; the counting mechanism 5 drives the counter to complete the precise inspection of the position of the knife picking mechanism through the multi-stage Geneva groove wheel structure, ensuring that the system can accurately record the current position of the knife picking mechanism. The Geneva mechanism is an existing structure, which can make the passive wheel rotate a specific angle when the active wheel rotates one circle. Its specific structure and principle are existing technologies and will not be repeated here.

[0114] A magnetic gear connection is preferably used between the input end of the reduction mechanism 4 and the first drive wheel 5b. The magnetic gear achieves contactless transmission through magnetic force, reduces friction and wear between traditional mechanical gears, and improves the life and reliability of the system. The magnetic gear can isolate mechanical vibrations and shocks, provide smoother transmission, reduce vibration and noise in the system, and improve the working environment. The magnetic gear has a natural overload protection function. When the torque exceeds a certain value, the magnetic force will automatically disengage to prevent damage to mechanical components. Overall, the magnetic gear connection plays an important role and has significant beneficial effects in improving system performance and reliability.

[0115] The present invention also provides a control method for a tool taking system for a storage tool magazine, using the tool taking system for a storage tool magazine as described above, comprising the following steps:

[0116] S10: Calculate the motion parameters required by the first drive device, the second drive device and the rotary motor according to the target tool storage position.

[0117] S20: The first drive device and the second drive device are controlled to work according to the motion parameters. The first drive device drives the tool picking mechanism to move between the various tool storage mechanisms. The second drive device drives the tool picking mechanism to move in the vertical direction, and finally the tool picking mechanism is moved to the target tool storage position. Usually, the tool storage mechanism is set on both sides of the first tool selection slide rail. At this time, the motor is rotated to control the steering direction of the rotating seat 2, so that the tool picking cylinder 3 is aligned with the tool handle at the corresponding target tool storage position.

[0118] S30: The third driving device drives the tool taking mechanism to move toward the target tool storage position to take the tool, and after the tool taking mechanism moves into position, the conical structure will clamp the tool handle, and at the same time, the locking block 3a of the tool-dropping prevention mechanism extends to complete the locking of the tool.

[0119] S40: The first drive device drives the tool to leave the target tool storage position, and then the rotary motor drives the rotating seat 2 to rotate, so that the tool faces the tool changing position (at this time the tool axis is parallel to the first tool selection slide rail) to avoid the tool hitting the parts on both sides during subsequent movement; then the first drive device and the second drive device drive the tool picking mechanism to move to the tool changing position.

[0120] S50: After the tool changing arm at the tool changing position clamps the tool, the tool drop prevention mechanism is released, and the first driving device drives the tool taking mechanism to move, so that the tool is separated from the tool taking mechanism, and the tool taking is completed.

[0121] Through the control method of the above steps, the entire tool removal process is highly automated and precisely controlled, ensuring accurate removal and safe operation of the tool. This not only improves work efficiency, but also significantly improves the reliability and stability of the system, reduces manual operation errors and equipment wear, and extends the service life of the equipment.

[0122] Preferably, in step S10, the calculated motion parameters are verified for feasibility, including whether the motion parameters exceed the limit values ​​of each driving device, whether the calculated and installed motion parameters exceed the limit position after movement, etc. If the verification is passed, the subsequent steps are continued to avoid damage to the equipment. If the verification fails, the subsequent steps are stopped and an alarm is issued.

[0123] The spacing between adjacent knife storage mechanisms is large, so the accuracy is easier to control, while the spacing between vertical knife storage positions is relatively small, so a special control method must be used to ensure accuracy. In this method, preferably in step S10, the second drive device is set to be a screw slider mechanism driven by a drive motor, and the motion parameters of the second drive device include the number of rotations r of the screw rod. The specific process of calculating the number of rotations r is as follows:

[0124] The tool storage positions in each tool storage mechanism in the tool magazine are numbered 0, 1, 2, etc. in order from bottom to top; the movement of the tool taking mechanism from bottom to top is set as the positive direction;

[0125] When the knife mechanism moves to the adjacent knife storage position in the vertical direction, the number of turns of the screw rod is R;

[0126] Then the number of rotations r = (target tool storage position number - current tool storage position number) × R;

[0127] An encoder is provided on the driving motor to record the number of revolutions r of the driving motor, and r is set to be positive when the tool taking mechanism moves from bottom to top;

[0128] In the subsequent steps, the number of turns r of the screw rod is controlled to make the tool taking mechanism reach the target tool storage position vertically.

[0129] This control method further improves the accuracy and reliability of the system. The calculation of motion parameters and the use of encoders ensure the accuracy of each step of the operation, further optimizing the automation and efficiency of the tool removal process. This highly accurate control method not only improves the operating efficiency of the system, but also reduces errors and maintenance costs, extending the service life of the equipment.

[0130] In order to determine whether the tool taking mechanism is in place vertically, in step S20, after the tool taking mechanism moves to the target tool storage position, positioning verification is performed. The specific steps of positioning verification are as follows:

[0131] A counting mechanism 5 is provided;

[0132] When the knife-taking mechanism moves upward, the rotation direction of the three-groove Geneva groove wheel 5e is set to the positive rotation direction, and the three-groove Geneva groove wheel 5e is divided into three equal parts along the positive rotation direction and marked as No. 1 station, No. 2 station, and No. 3 station respectively, and when the knife-taking mechanism stops at the lowest knife storage position, the No. 1 station of all the three-groove Geneva groove wheels 5e stops at the corresponding detector 5f;

[0133] If the detector 5f detects station 1, it will send out a binary digital 00 signal;

[0134] If the detector 5f detects station 2, it will send out a binary digital 01 signal;

[0135] If the detector 5f detects station 3, it will send a binary number 10 signal;

[0136] After the tool taking mechanism moves to the target tool storage position, the signal values ​​detected by each detector 5f are summed and then converted into a decimal number, which is the verification number, corresponding to the number of the tool storage position where the tool taking mechanism actually stops at this time;

[0137] The verification number is compared with the target tool storage location number. If they are consistent, the subsequent steps will continue. If they are inconsistent, the subsequent steps will be stopped and an alarm will be issued.

[0138] This step can ensure the accurate positioning of the tool picking mechanism and avoid misoperation by comparing the verification number with the target tool storage position number. The system can automatically detect and respond to mismatches, improving the intelligence level and operational stability of the system. In addition, this step can also perform necessary software corrections and adjustments to ensure the accuracy of system settings and algorithms.

[0139] The principle of this step is as follows: due to the rotation ratio between the input end and the output end of the speed reduction mechanism 4, when the tool picking mechanism moves from one tool storage position to the adjacent tool storage position in the vertical direction, the output end rotates one circle, and under the cooperation of the two-stage Geneva mechanism of the counting mechanism 5, at this time, after the first driving wheel 5b rotates one circle, the multi-groove Geneva groove wheel 5c and the second driving wheel 5d will rotate a certain angle, and at this time, the second toggle column on the second driving wheel 5d will toggle a three-groove Geneva groove wheel 5e to rotate a certain angle, that is: when the tool picking mechanism moves from one tool storage position to the adjacent tool storage position in the vertical direction, a three-groove Geneva groove wheel 5e will rotate a certain angle, and multiple three-groove Geneva groove wheels 5e will rotate in sequence, so that the number of the tool storage position where the tool picking mechanism actually stops is reflected through this change. For example, if multiple three-groove Geneva groove wheels 5e are numbered A, B, C, D, and E, and the corresponding detectors 5f are also numbered A~E, there will be:

[0140] When the tool-taking mechanism stops at the tool storage position 0, the positions of the three-groove Geneva groove wheels 5e from A to E that stop at the detector 5f are all position 1, that is, the values ​​of the detectors 5f from A to E are "00, 00, 00, 00, 00" respectively, and the sum of the values ​​and conversion into a decimal number is "0";

[0141] When the tool-taking mechanism moves from the tool storage position 0 to the tool storage position 1, the three-groove Geneva groove wheel 5e of number A will rotate, so that the position at the detector 5f of number A changes from the position 1 to the position 2, and the model detected by the detector 5f of number A changes from "00" to "01", while the positions at the detectors 5f of numbers B to E are still the position 1, that is, the values ​​of the detectors 5f of numbers A to E are "01, 00, 00, 00, 00" respectively, and the sum of the values ​​and conversion into a decimal number is "1";

[0142] When the tool-taking mechanism moves from the tool storage position No. 1 to the tool storage position No. 2, the three-groove Geneva groove wheel No. B 5e will rotate, so that the position at the detector No. B 5f changes from the position No. 1 to the position No. 2, and the model detected by the detector No. B 5f changes from "00" to "01", while the position at the detector No. A 5f remains the position No. 2, and the positions at the detectors No. C to No. E 5f are still the position No. 1, that is, the values ​​of the detectors No. A to No. E 5f are "01, 01, 00, 00, 00" respectively, and the sum and conversion into a decimal number is "2";

[0143] When the tool-taking mechanism moves from the tool storage position No. 2 to the tool storage position No. 3, the C three-groove Geneva groove wheel 5e will rotate, so that the position at the C detector 5f changes from the No. 1 position to the No. 2 position, and the model detected by the C detector 5f changes from "00" to "01", while the positions at the A~B detectors 5f remain at the No. 2 position, and the positions at the D~E detectors 5f are still at the No. 1 position, that is, the values ​​of the A~E detectors 5f are "01, 01, 01, 00, 00" respectively, and the sum and conversion into a decimal number is "3";

[0144] …

[0145] As mentioned above, when the knife removing mechanism moves in the forward direction (i.e. from bottom to top), the three-groove Geneva wheel 5e will change according to the rule of A, B, C, D, E, A, B, C, D, E... Each change will cause the corresponding workstation at the detector 5f to change, and the signal value of the detector 5f will be +1, thereby changing the verification number corresponding to the knife storage position; when the knife removing mechanism moves in the reverse direction (i.e. from top to bottom), the three-groove Geneva wheel 5e will in turn change according to the rule of E, D, C, B, A, E, D, C, B, A... Each change will cause the corresponding workstation at the detector 5f to change, and the signal value of the detector 5f will be -1.

[0146] The above calculation method has a certain limit on the number of tool storage positions on a tool storage mechanism, which can only be 0~10. In order to expand some more tool storage positions, it is preferred to check the signal values ​​detected by all detectors 5f after the tool removal mechanism moves to the target tool storage position. If 00 and 10 appear in the signal value at the same time, all "00" signal values ​​are replaced with "11" before calculating the verification number, and then the verification number calculation is performed. When calculating with this method, the number of tool storage positions of each tool storage mechanism in the tool magazine needs to be less than or equal to 15, that is, the tool storage position number can only be 0~14 to ensure the reliability of the calculation result.

[0147] The detector 5f can be a laser detector or a proximity switch. In this case, it is sufficient to set the corresponding detected structure at each work station of the three-groove Geneva groove wheel 5e. For example, different numbers of holes are opened at positions 1, 2, and 3, and the work station is determined by detecting the number of holes.

[0148] In the embodiment of the present invention, when the direction from bottom to top is set as the positive direction and other directions are set as the positive direction, only the relevant structures and methods need to be adjusted accordingly to adapt. The technicians in this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A tool retrieval system for a storage tool magazine, characterized in that: include: The first tool selection slide rail is fixedly installed in the tool magazine; A first tool selection base slides on the first tool selection slide rail and is driven to move by a first driving device; A second tool selection slide rail is fixedly mounted on the first tool selection base and is perpendicular to the first tool selection slide rail; A second tool selection base slides on the second tool selection slide rail and is driven to move by a second driving device; The knife taking mechanism is installed on the second knife selecting base; the knife taking mechanism comprises: A third tool selection slide rail is fixedly mounted on the second tool selection base and is perpendicular to the first tool selection slide rail; A knife selection base (1) slides on the third knife selection slide rail and is driven to move by a third driving device; A rotating seat (2) is rotatably arranged on the knife-taking base (1) and is driven to move by a rotating motor; The knife-taking cylinder (3) is fixedly arranged on the rotating seat (2); one end of the knife-taking cylinder (3) is provided with a conical structure for clamping the knife; the knife-taking cylinder (3) is also provided with a knife-dropping prevention mechanism for limiting the position of the knife; Wherein, the knife-dropping prevention mechanism comprises: A locking block (3a) is arranged on the side of the knife-taking cylinder (3), and the locking block (3a) slides along the radial direction of the knife-taking cylinder (3); when locked, the locking block (3a) extends into the knife-taking cylinder (3); An equipment seat is installed in the knife taking cylinder (3); An oil chamber (3b) is arranged in the equipment seat; A piston (3c) slides in the oil chamber (3b) along the axial direction of the knife removal cylinder (3); A pressure accumulator (3d) is fixedly mounted on the rotating seat (2) and is used to store the hydraulic oil in the oil chamber (3b) pushed out by the piston (3c); A spring (3e) is arranged between the locking block (3a) and the equipment seat; A first oil passage (3f) communicating with the oil chamber (3b) and the pressure accumulator (3d); A second oil passage (3g) communicating with the locking block (3a) and the pressure accumulator (3d); A solenoid valve (3h), arranged on the first oil passage (3f), controls the opening and closing of the first oil passage (3f); The second driving device is a screw slider mechanism driven by a driving motor; on the second driving device, there are also: A speed reduction mechanism (4) is composed of a multi-stage gear; the input end of the speed reduction mechanism (4) is connected to the screw in the screw slider mechanism; The counting mechanism (5) comprises: A counting seat (5a) is fixedly arranged relative to the second driving device; a rotating first driving wheel (5b), a multi-groove Geneva groove wheel (5c), a second driving wheel (5d) and a plurality of three-groove Geneva groove wheels (5e) are installed in the counting seat (5a); The first driving wheel (5b) is provided with a first shifting column and is driven to rotate by the output end of the speed reduction mechanism (4); The multi-groove Geneva groove wheel (5c) is provided with a plurality of first shifting grooves; The first driving wheel (5b) and the multi-groove Geneva groove wheel (5c) are combined to form a first Geneva mechanism; The second driving wheel (5d) and the multi-groove Geneva groove wheel (5c) rotate synchronously and are provided with a second toggle column; A plurality of the three-groove Geneva groove wheels (5e) are distributed around the first driving wheel (5b), and the number of the three-groove Geneva groove wheels (5e) is equal to the number of the first toggle grooves; each of the three-groove Geneva groove wheels (5e) is provided with three second toggle grooves; The second driving wheel (5d) and the three-groove Geneva groove wheel (5e) are combined to form a second Geneva mechanism; A plurality of detectors (5f) for detecting the position of each three-groove Geneva wheel (5e); The rotation ratio between the input end of the speed reduction mechanism (4) and the first driving wheel (5b) is set so that when the tool taking mechanism moves from one tool storage position to an adjacent tool storage position in a vertical direction, the first driving wheel (5b) rotates one circle.

2. The tool retrieval system for a tool storage magazine according to claim 1, characterized in that: The input end of the speed reduction mechanism (4) and the first driving wheel (5b) are connected via a magnetic gear.

3. A control method for a tool taking system for a storage tool magazine, characterized in that: Using the tool retrieval system for a storage tool magazine as claimed in claim 1 or 2 comprises the following steps: S10: Calculating motion parameters required by the first drive device, the second drive device and the rotating motor according to the target tool storage position; S20: controlling the first drive device and the second drive device to work according to the motion parameters, so that the tool taking mechanism moves to the target tool storage position, and the rotary motor controls the rotation direction of the rotary seat (2) so that the tool taking cylinder (3) is aligned with the tool handle at the target tool storage position; S30: the third driving device drives the tool taking mechanism to move toward the target tool storage position to take the tool, and after the tool taking mechanism moves to the target position, the locking block (3a) of the tool falling prevention mechanism extends to complete the locking of the tool; S40: the first driving device drives the tool to leave the target tool storage position, and then the rotary motor drives the rotating seat (2) to rotate so that the tool moves toward the tool changing position; then the first driving device and the second driving device drive the tool taking mechanism to move to the tool changing position; S50: After the tool changing arm at the tool changing position clamps the tool, the tool drop prevention mechanism is released, and the first driving device drives the tool taking mechanism to move, so that the tool is separated from the tool taking mechanism, and the tool taking is completed.

4. The control method of the tool retrieval system for the storage tool magazine according to claim 3 is characterized in that: In step S10, the calculated motion parameters are verified for feasibility. If the verification is passed, the subsequent steps are continued. If the verification is not passed, the subsequent steps are stopped and an alarm is issued.

5. The control method of the tool retrieval system for a storage tool magazine according to claim 3, characterized in that: In step S10, the second driving device is a screw slider mechanism driven by a driving motor, and the motion parameters of the second driving device include the number of rotations r of the screw. The specific process of calculating the number of rotations r is as follows: The tool storage positions in each tool storage mechanism in the tool magazine are numbered 0, 1, 2, etc. in order from bottom to top; the movement of the tool taking mechanism from bottom to top is set as the positive direction; When the knife mechanism moves to the adjacent knife storage position in the vertical direction, the number of turns of the screw rod is R; Then the number of rotations r = (target tool storage position number - current tool storage position number) × R; An encoder is provided on the driving motor to record the number of revolutions r of the driving motor, and r is set to be positive when the tool taking mechanism moves from bottom to top; In the subsequent steps, the number of turns r of the screw rod is controlled to make the tool taking mechanism reach the target tool storage position vertically.

6. The control method of the tool retrieval system for a storage tool magazine according to claim 5, characterized in that: In step S20, after the tool taking mechanism moves to the target tool storage position, positioning verification is performed. The specific steps of positioning verification are as follows: A counting mechanism (5) is provided; When the knife-taking mechanism moves upward, the rotation direction of the three-groove Geneva groove wheel (5e) is set to positive rotation, and the three-groove Geneva groove wheel (5e) is divided into three equal parts along the positive rotation and marked as No. 1 station, No. 2 station, and No. 3 station respectively, and when the knife-taking mechanism stops at the lowest knife storage position, the No. 1 station of all the three-groove Geneva groove wheels (5e) stops at the corresponding detector (5f); If the detector (5f) detects station 1, it sends a binary digital 00 signal; If the detector (5f) detects station 2, it sends a binary digital 01 signal; If the detector (5f) detects station 3, it will send out a binary number 10 signal; After the tool taking mechanism moves to the target tool storage position, the signal values ​​detected by each detector (5f) are summed and then converted into a decimal number, which is the verification number; The verification number is compared with the target tool storage location number. If they are consistent, the subsequent steps will continue. If they are inconsistent, the subsequent steps will be stopped and an alarm will be issued.

7. The control method of the tool retrieval system for a storage tool magazine according to claim 6, characterized in that: After the tool taking mechanism moves to the target tool storage position, the signal values ​​detected by all detectors (5f) are checked. If 00 and 10 appear in the signal values ​​at the same time, all "00" signal values ​​are replaced with "11" before calculating the verification number, and then the verification number calculation is performed.

8. The control method of the tool retrieval system for a storage tool magazine according to claim 7, characterized in that: The number of tool storage positions of each tool storage mechanism in the tool magazine is less than or equal to 15.

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