Debugging method of automatic tool changer, automatic tool changer and machine tool

Abstract

The invention relates to the technical field of machining, in particular to a debugging method of an automatic tool changer, the automatic tool changer and a machine tool. The debugging method of the automatic tool changing device comprises the steps that the tool magazine mechanism and the tool changing mechanism are installed on the pallet platform; starting the controller, and issuing a debugging instruction by the controller; the tool changing mechanism is debugged, the state of the tool changing mechanism is monitored, and if the tool changing mechanism reaches the first preset state, debugging of the tool changing mechanism is completed; the tool magazine mechanism is debugged, the state of the tool magazine mechanism is monitored, and if the tool magazine mechanism reaches a second preset state, debugging of the tool magazine mechanism is completed; the pallet platform is installed on the machine tool body, the debugging time can be shortened, the debugging efficiency is improved, the cost is reduced, and the failure rate is reduced. The automatic tool changer is used for executing the debugging method of the automatic tool changer, and the debugging efficiency is improved. By applying the automatic tool changing device to the machine tool, the machining efficiency can be improved, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of machining, and in particular to a debugging method, an automatic tool changing device and a machine tool. Background Art

[0002] The tool magazine is one of the important functional components of CNC machine tools. The tool magazine is used to hold the tools needed for clamping and processing, which facilitates the tool change operation when the machine tool is processing products. With the development of machine tool CNC technology, more and more CNC machine tools are equipped with automatic tool changers. Using the automatic tool changer to automatically change the tools in the tool magazine, the same product can be turned, milled, drilled, and ground on the same equipment, greatly improving the processing efficiency.

[0003] When changing tools automatically, the tool has multiple actions, each of which has a corresponding detection signal. Signal errors will cause tool change errors. Mechanically, the tool claws, tool walls, air pressure, and tool discs will also be adjusted. Once a signal error or mechanical precision adjustment is unqualified, an alarm will be triggered at best, and a tool collision will occur at worst, paralyzing the machine tool. Therefore, the automatic tool changer needs to be debugged before it is used.

[0004] The debugging of the tool magazine and the adjustment of the positions of each tool are often performed on the machine tool side. Some equipment is often affected by the machine tool space, and installation and debugging are inconvenient, especially for tool positions with a large number of tools. The efficiency of adjusting the tool positions is low, and the automatic tool changing device is far away from the human-machine interaction component, resulting in at least two people cooperating when testing the tool magazine movement and signals, leading to problems such as long debugging time, low efficiency, and high cost.

[0005] Therefore, there is an urgent need for a debugging method for an automatic tool changing device, an automatic tool changing device and a machine tool to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a debugging method for an automatic tool changing device, an automatic tool changing device and a machine tool, so as to reduce the debugging time, improve the debugging efficiency, reduce the cost and reduce the failure rate.

[0007] In order to achieve the above objectives, the following technical solutions are provided:

[0008] The debugging method of the automatic tool changing device includes:

[0009] S100, installing the tool magazine mechanism and the tool changing mechanism on the pallet platform;

[0010] S200, starting the controller, and the controller issues a debugging instruction;

[0011] S300, start debugging the tool changing mechanism, monitor the state of the tool changing mechanism, if the tool changing mechanism reaches a first preset state, the debugging of the tool changing mechanism is completed;

[0012] S400, start debugging the tool magazine mechanism, monitor the state of the tool magazine mechanism, if the tool magazine mechanism reaches a second preset state, the debugging of the tool magazine mechanism is completed;

[0013] S500, installing the pallet platform onto the machine tool body.

[0014] As an optional solution, step S300 includes:

[0015] S301, starting the tool changing mechanism and issuing an instruction for the tool claw to complete a first preset action;

[0016] S302, observing whether the knife claw completes the first preset action. If the knife claw completes the first preset action, the debugging of the knife changing mechanism is completed; otherwise, the user is reminded to intervene manually.

[0017] As an optional solution, an instruction to complete the first preset action is issued to the knife claw through a human-computer interaction component.

[0018] As an optional solution, if the knife claw fails to complete the first preset action, the wiring and installation of the knife claw are adjusted; if the knife claw completes the first preset action, the debugging of the knife changing mechanism is completed; otherwise, the user is reminded to intervene manually.

[0019] As an optional solution, step S400 includes:

[0020] S401, starting the tool magazine mechanism and issuing an instruction for the tool magazine mechanism to complete a second preset action;

[0021] S402, observing whether the tool magazine mechanism completes the second preset action. If the tool magazine mechanism completes the second preset action, the debugging of the tool magazine mechanism is completed; otherwise, the user is reminded to intervene manually.

[0022] As an optional solution, if the tool magazine mechanism fails to complete the second preset action, the wiring and installation of the tool magazine mechanism are adjusted; if the tool magazine mechanism completes the second preset action, the debugging of the tool magazine mechanism is completed; otherwise, the user is reminded to intervene manually.

[0023] An automatic tool changing device, used to execute the above-mentioned debugging method of the automatic tool changing device, the automatic tool changing device comprising:

[0024] A pallet platform, a tool magazine mechanism and a tool changing mechanism, wherein the tool magazine mechanism and the tool changing mechanism are respectively detachably connected to the pallet platform.

[0025] As an optional solution, the tool magazine mechanism includes:

[0026] A cutter disc, on which a cutter is mounted;

[0027] A first driving member, wherein the cutter disc is arranged at an output end of the first driving member, and the first driving member can drive the cutter disc to rotate;

[0028] The origin detection element is configured to detect the origin position of the cutter disc.

[0029] As an optional solution, the tool changing mechanism includes:

[0030] knife claw;

[0031] A second driving member, wherein the knife claw is arranged at an output end of the second driving member, and the second driving member can drive the knife claw to clamp at least a part of the tool magazine mechanism;

[0032] A third driving member, wherein the second driving member is arranged at an output end of the third driving member, and the third driving member can drive the second driving member and the knife claw thereon to rotate.

[0033] The machine tool comprises a machine tool body and the above-mentioned automatic tool changing device, wherein the automatic tool changing device is detachably connected to the machine tool body.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The debugging method of the automatic tool changing device provided by the present invention can realize debugging of the automatic tool changing device before it is installed on the machine tool body, thereby avoiding the influence of other structures on the machine tool body on the automatic tool changing device during debugging, reducing the debugging time and improving the debugging efficiency. In addition, the above method only requires one debugging personnel to complete it, thereby reducing costs; by performing debugging control through the controller, all actions and signals of the tool magazine mechanism and the tool changing mechanism can ensure consistency and reduce the failure rate.

[0036] The automatic tool changing device provided by the present invention is used to execute the debugging method of the automatic tool changing device, which can reduce the debugging time, improve the debugging efficiency, reduce the cost, and reduce the failure rate.

[0037] The machine tool provided by the present invention can improve processing efficiency, reduce costs and reduce failure rate by applying the automatic tool changing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0039] Figure 1 One of the structural schematic diagrams of the automatic tool changing device provided by an embodiment of the present invention;

[0040] Figure 2 A second structural schematic diagram of the automatic tool changing device provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the structure of a tool magazine mechanism provided by an embodiment of the present invention;

[0042] Figure 4 A flowchart of a debugging method for an automatic tool changing device provided by an embodiment of the present invention;

[0043] Figure 5 The present invention provides a flowchart of the opening action debugging process of the knife claw provided in the embodiment of the present invention.

[0044] Reference numerals:

[0045] 100. Automatic tool changing device;

[0046] 10. Pallet platform;

[0047] 20. Connecting mechanism;

[0048] 30. tool changing mechanism; 31. tool claw; 32. second driving member; 33. third driving member; 34. first detecting member; 35. second detecting member;

[0049] 40. tool magazine mechanism; 41. tool; 42. tool disc; 43. origin detection member; 44. mounting member; 441. tool change port; 45. first driving member; 46. third detection member;

[0050] 50. Protective mechanism. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0053] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0057] This embodiment provides a machine tool, which includes a machine tool body, and the machine tool body realizes machining of parts. The machine tool body can be a vertical machining center or a horizontal machining center.

[0058] In order to facilitate the tool changing operation of the machine tool body when processing parts, the machine tool also includes an automatic tool changing device 100. The automatic tool changing device 100 is connected to the machine tool body. The automatic tool changing device 100 automatically changes the tool 41 in the tool magazine, and can perform turning, milling, drilling, grinding and other processes on the same part on the same machine tool body equipment, greatly improving the processing efficiency.

[0059] The automatic tool changing device 100 is detachably connected to the machine tool body. After the automatic tool changing device 100 is installed and debugged, it is installed on the machine tool body, which reduces the debugging difficulty, gets rid of the dependence of the automatic tool changing device 100 debugging process on the machine tool body, improves efficiency, reduces costs, and reduces failure rates.

[0060] Optionally, the automatic tool changer 100 is threadedly connected to the machine tool body, which facilitates quick disassembly and assembly of the automatic tool changer 100 and the machine tool body, thereby improving the installation efficiency of the automatic tool changer 100 and the machine tool body.

[0061] like Figure 1 and Figure 2 As shown, the automatic tool changing device 100 includes a pallet platform 10, a connecting mechanism 20, a tool magazine mechanism 40 and a tool changing mechanism 30. The tool magazine mechanism 40 and the tool changing mechanism 30 are detachably connected to the pallet platform 10 via the connecting mechanism 20, respectively, to facilitate the installation and disassembly of tool magazine mechanisms 40 and tool changing mechanisms 30 of different specifications.

[0062] The automatic tool changing device 100 further includes a controller, and the tool magazine mechanism 40 and the tool changing mechanism 30 are electrically connected to the controller respectively, so that the controller can control the tool magazine mechanism 40 and the tool changing mechanism 30 to cooperate with each other.

[0063] like Figure 1-Figure 3The tool magazine mechanism 40 includes a mounting member 44, a cutter disc 42, and a first driving member 45. The mounting member 44 is arranged on the connecting mechanism 20. The cutter disc 42 is rotatably connected to the mounting member 44. A plurality of cutters 41 are mounted on the cutter disc 42. The plurality of cutters 41 are arranged on the cutter disc 42 in a circular array. The cutter disc 42 is arranged at the output end of the first driving member 45. The first driving member 45 can drive the cutter disc 42 to rotate so as to move the cutter 41. The first driving member 45 may be a motor.

[0064] The tool magazine mechanism 40 further includes an origin detection member 43, which is configured to detect the origin position of the tool disc 42 and establish a coordinate reference origin of the tool magazine mechanism 40. The origin detection member 43 may be an existing proximity switch.

[0065] The tool magazine mechanism 40 further includes a third detection member 46, which is disposed on the tool disc 42. The mounting member 44 is provided with a tool changing port 441. The third detection member 46 is used to detect whether the target tool 41 is located at the tool changing port 441. The third detection member 46 is connected to the controller signal. When the third detection member 46 detects that the target tool 41 is located at the tool changing port 441, the signal is transmitted to the controller. The controller controls the first driving member 45 to stop working, and controls the tool changing mechanism 30 to clamp the tool 41.

[0066] The tool changing mechanism 30 includes a knife claw 31, a second driving member 32 and a third driving member 33. The knife claw 31 is arranged at the output end of the second driving member 32. The second driving member 32 can drive the knife claw 31 to clamp the tool 41. The second driving member 32 is arranged at the output end of the third driving member 33. The third driving member 33 is arranged on the connecting mechanism 20. The third driving member 33 can drive the second driving member 32 and the knife claw 31 thereon to rotate so that the knife claw 31 completes the first preset action. Among them, the second driving member 32 can be a cylinder, etc.; the third driving member 33 can be a motor, etc.

[0067] Optionally, the tool changing mechanism 30 also includes a linear drive structure, the second drive member 32 is arranged at the output end of the linear drive structure, and the linear drive structure is arranged at the output end of the third drive member 33, and the linear drive structure is used to drive the second drive member 32 and the claw 31 thereon to output or retract.

[0068] The knife changing mechanism 30 further includes a knife claw 31 sensing switch, and the knife claw 31 sensing switch is used to detect whether the knife claw 31 is opened.

[0069] The tool changing mechanism 30 further includes a first detecting member 34 and a second detecting member 35. The first detecting member 34 and the second detecting member 35 are both limit switches for limiting the rotation range of the third driving member 33.

[0070] The automatic tool changing device 100 further includes a protection mechanism 50 , which is disposed on both sides of the tool magazine mechanism 40 to protect the tool magazine mechanism 40 and prevent chips, cutting fluid, etc. generated by the machine tool body during operation from having an adverse effect on the tool magazine mechanism 40 .

[0071] Optionally, the automatic tool changing device 100 further includes a box body, and the pallet platform 10, the connecting mechanism 20, the tool magazine mechanism 40 and the tool changing mechanism 30 are arranged on the box body, and the box body realizes the bearing function of the above-mentioned various mechanisms.

[0072] Optionally, casters are provided under the box body to facilitate the staff to move the automatic tool changing device 100.

[0073] Optionally, the automatic tool changing device 100 further includes a human-machine interaction component, which is electrically connected to the controller, and the debugging status of the tool changing mechanism 30 and the tool magazine mechanism 40 can be interactively acquired through the human-machine interaction component, or the debugging personnel can select the debugging action of the tool changing mechanism 30 and the tool magazine mechanism 40. Exemplarily, the human-machine interaction component can be a touch screen, a button, a knob, or a voice receiving structure to obtain the required instructions of the debugging personnel.

[0074] Optionally, the human-computer interaction component is connected to the box body via a bracket, wherein the bracket is an existing rotatable bracket, so that the user can rotate the human-computer interaction component to any angle as needed when using the human-computer interaction component, which is convenient for use.

[0075] like Figure 4 As shown, this embodiment also provides a debugging method for an automatic tool changing device, comprising the following steps:

[0076] S100, installing the tool magazine mechanism 40 and the tool changing mechanism 30 on the pallet platform 10;

[0077] S200, starting the controller, and the controller issues a debugging instruction;

[0078] S300, start debugging the tool changing mechanism 30, monitor the state of the tool changing mechanism 30, if the tool changing mechanism 30 reaches a first preset state, the debugging of the tool changing mechanism 30 is completed;

[0079] S400, start debugging the tool magazine mechanism 40, monitor the state of the tool magazine mechanism 40, if the tool magazine mechanism 40 reaches the second preset state, the debugging of the tool magazine mechanism 40 is completed;

[0080] S500 , installing the pallet platform 10 to the machine tool body.

[0081] Through the above steps, the automatic tool changing device 100 can be debugged before being installed on the machine tool body, so as to avoid the influence of other structures on the machine tool body on the automatic tool changing device 100 during debugging, thereby reducing the debugging time and improving the debugging efficiency. In addition, the above method only requires one debugger to complete the process, thus reducing the cost. By performing debugging and control through the controller, all actions and signals of the tool magazine mechanism 40 and the tool changing mechanism 30 can ensure consistency and reduce the failure rate.

[0082] The first preset state is that all actions and signal outputs of the tool changing mechanism 30 are correct. The second preset state is that all actions and signal outputs of the tool magazine mechanism 40 are correct.

[0083] It should be noted that the order of step S300 and step S400 is not limited. In other embodiments, step S400 may be performed first and then step S300.

[0084] Optionally, step S300 includes:

[0085] S301, start the tool changing mechanism 30, and issue an instruction for the knife claw 31 to complete a first preset action;

[0086] S302, observe whether the knife claw 31 completes the first preset action. If the knife claw 31 completes the first preset action, the debugging of the knife changing mechanism 30 is completed. Otherwise, the user is reminded to intervene manually.

[0087] If the knife claw 31 does not complete the first preset action, adjust the wiring and installation of the knife claw 31. If the knife claw 31 completes the first preset action, the debugging of the knife changing mechanism 30 is completed. Otherwise, the user is reminded to intervene manually.

[0088] Optionally, an instruction to complete the first preset action is issued to the knife claw 31 through the human-computer interaction component.

[0089] It should be noted that the first preset action may be opening, clamping, extending, or retracting of the knife claw 31 , or forward or reverse rotation of the knife claw 31 .

[0090] For example, Figure 5 As shown, taking the debugging of the opening action of the knife claw 31 as an example, the debugging process of the opening action of the knife claw 31 is that the controller starts the tool changing mechanism 30, and issues the opening command of the knife claw 31 through the human-computer interaction component. The debugging personnel observe whether the knife claw 31 is opened. If not, check whether the wiring and installation of the tool changing mechanism 30 are in place. If so, observe whether the input and output lights of the opening of the knife claw 31 in the human-computer interaction component are on. If not, check the position of the sensing switch of the knife claw 31 and check the wiring. If so, the debugging of the sensing switch of the knife claw 31 and the wiring of the knife claw 31 is completed.

[0091] Optionally, step S400 includes:

[0092] S401, starting the tool magazine mechanism 40, and issuing an instruction for the tool magazine mechanism 40 to complete a second preset action;

[0093] S402, observe whether the tool magazine mechanism 40 has completed the second preset action. If the tool magazine mechanism 40 has completed the second preset action, the debugging of the tool magazine mechanism 40 is completed. Otherwise, the user is reminded to intervene manually.

[0094] If the tool magazine mechanism 40 does not complete the second preset action, adjust the wiring and installation of the tool magazine mechanism 40. If the tool magazine mechanism 40 completes the second preset action, the debugging of the tool magazine mechanism 40 is completed. Otherwise, the user is reminded to intervene manually.

[0095] Optionally, an instruction to complete the second preset action is issued to the tool magazine mechanism 40 through the human-machine interaction component.

[0096] It should be noted that the second preset action can be the setting of the origin of the tool magazine mechanism 40, the return of the origin of the tool magazine mechanism 40, the forward rotation of the tool disc 42, the reverse rotation of the tool disc 42, whether there is a tool on the tool disc 42, whether there is a target tool 41 at the lane change, etc.

[0097] Exemplarily, taking the setting of the origin of the tool magazine mechanism 40 and the position adjustment of the tool 41 as an example, the debugging procedure is to start the controller, control the tool disc 42 and the tool 41 thereon to return to the initial state through the controller, and establish the coordinate reference origin of the tool magazine mechanism 40; based on the established coordinate reference origin of the tool magazine mechanism 40, adjust the tool position coordinates of the first tool 41, and according to the equally spaced tool position coordinates, automatically write the theoretical value of the coordinates of each tool 41 into the controller; perform a running-in test on the tool magazine mechanism 40 to determine the position of all tools 41; if there is an error in the position of the tool 41, readjust the position of the tool 41 until the positions of all tools 41 meet the set accuracy requirements; and finally save all accurate tool 41 positions through the human-computer interaction component and the controller.

[0098] Note that in the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0099] The above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A debugging method for an automatic tool changing device, characterized in that: include: S100, installing the tool magazine mechanism (40) and the tool changing mechanism (30) on the pallet platform (10); S200, starting the controller, and the controller issues a debugging instruction; S300, starting to debug the tool changing mechanism (30), monitoring the state of the tool changing mechanism (30), and if the tool changing mechanism (30) reaches a first preset state, the debugging of the tool changing mechanism (30) is completed; S400, starting to debug the tool magazine mechanism (40), monitoring the state of the tool magazine mechanism (40), if the tool magazine mechanism (40) reaches a second preset state, the debugging of the tool magazine mechanism (40) is completed; S500, installing the pallet platform (10) onto the machine tool body.

2. The debugging method of the automatic tool changing device according to claim 1, characterized in that: Step S300 includes: S301, starting the tool changing mechanism (30) and issuing an instruction for the tool claw (31) to complete a first preset action; S302, observing whether the knife claw (31) completes the first preset action, if the knife claw (31) completes the first preset action, the debugging of the knife changing mechanism (30) is completed, otherwise, reminding the user to intervene manually.

3. The debugging method of the automatic tool changing device according to claim 2, characterized in that: An instruction for completing the first preset action is issued to the knife claw (31) through a human-machine interaction component.

4. The debugging method of the automatic tool changing device according to claim 2, characterized in that: If the knife claw (31) fails to complete the first preset action, the wiring and installation of the knife claw (31) are adjusted; if the knife claw (31) completes the first preset action, the debugging of the knife changing mechanism (30) is completed; otherwise, the user is reminded to intervene manually.

5. The debugging method of the automatic tool changing device according to claim 1, characterized in that: Step S400 includes: S401, starting the tool magazine mechanism (40), and issuing an instruction for the tool magazine mechanism (40) to complete a second preset action; S402, observing whether the tool magazine mechanism (40) completes the second preset action. If the tool magazine mechanism (40) completes the second preset action, the debugging of the tool magazine mechanism (40) is completed; otherwise, the user is reminded to intervene manually.

6. The debugging method of the automatic tool changing device according to claim 5, characterized in that: If the tool magazine mechanism (40) does not complete the second preset action, the wiring and installation of the tool magazine mechanism (40) are adjusted; if the tool magazine mechanism (40) completes the second preset action, the debugging of the tool magazine mechanism (40) is completed; otherwise, the user is reminded to intervene manually.

7. Automatic tool changing device, characterized in that: Used to execute the debugging method of the automatic tool changing device according to any one of claims 1 to 6, the automatic tool changing device comprising: A pallet platform (10), a tool magazine mechanism (40) and a tool changing mechanism (30); the tool magazine mechanism (40) and the tool changing mechanism (30) are respectively detachably connected to the pallet platform (10).

8. The automatic tool changing device according to claim 7, characterized in that: The tool magazine mechanism (40) comprises: A cutter disc (42), wherein a cutter (41) is mounted on the cutter disc (42); A first driving member (45), the cutter disc (42) being arranged at an output end of the first driving member (45), and the first driving member (45) being capable of driving the cutter disc (42) to rotate; The origin detection element (43) is configured to detect the origin position of the cutter disc (42).

9. The automatic tool changing device according to claim 7, characterized in that: The tool changing mechanism (30) comprises: Claw(31); a second driving member (32), the knife claw (31) being arranged at an output end of the second driving member (32), and the second driving member (32) being capable of driving the knife claw (31) to clamp at least a portion of the tool magazine mechanism (40); A third driving member (33), wherein the second driving member (32) is arranged at an output end of the third driving member (33), and the third driving member (33) can drive the second driving member (32) and the knife claw (31) thereon to rotate.

10. A machine tool, characterized in that It comprises a machine tool body and an automatic tool changing device as described in any one of claims 7 to 9, wherein the automatic tool changing device is detachably connected to the machine tool body.

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