Intelligent tool changing device

Abstract

The invention discloses an intelligent tool changing device which comprises a tool sorting robot, a movable tool magazine mechanism and a sliding workbench mechanism. The tool sorting robot comprises a grabbing module used for taking and placing tools and a plurality of clamping jaw grabbing devices installed on the grabbing module. The movable tool magazine mechanism comprises a tool magazine door assembly, a tool magazine used for containing tools and a movable tool rest assembly used for conveying the tools. The sliding workbench mechanism comprises a sliding platform and a tool setting gauge assembly sliding along with the sliding platform. The tool sorting robot has the beneficial effects that through coordinated operation of the tool sorting robot, the movable tool magazine mechanism and the sliding workbench mechanism, a plurality of tools can be replaced at the same time. When the device is applied to numerical control machining, the automation degree and the production efficiency of machining equipment are improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tool replacement, and in particular to an intelligent tool changing device. Background Art

[0002] In the modern CNC machine tool processing, tool replacement operation is a key factor affecting production efficiency and processing quality. As the processing technology becomes increasingly complex, the types and number of tools involved are gradually increasing. The traditional manual tool replacement method not only reduces production efficiency, but also brings problems such as high labor costs, operational errors and difficult tool management.

[0003] Usually, operators need to manually take out the tool from the tool magazine and install it on the spindle. The tool change process is cumbersome and time-consuming. Moreover, when changing multiple tools frequently, the constant removal and replacement of tools greatly increases the complexity and uncertainty of the overall processing process. Summary of the invention

[0004] 1. Problems to be solved

[0005] The technical problem to be solved by the present invention is to provide an intelligent tool changing device in view of the current status of the prior art.

[0006] (II) Technical solution

[0007] The present invention is achieved through the following technical solutions:

[0008] An intelligent tool changing device includes a tool sorting robot, a mobile tool magazine mechanism, and a sliding workbench mechanism. The tool sorting robot includes a grabbing module for picking up and placing tools, and a plurality of gripping devices mounted on the grabbing module. The mobile tool magazine mechanism includes a tool magazine door assembly, a tool magazine for placing tools, and a mobile tool holder assembly for transporting tools. The sliding workbench mechanism includes a sliding platform and a tool setting instrument assembly that slides following the sliding platform.

[0009] By adopting the above technical solution, when the machining axis replaces the tool, the movable tool holder assembly drives the movable tool holder to slide under the tool, and then takes the tool removed from the machining axis. Then the movable tool holder is driven to move under the tool sorting robot, and the tool sorting robot takes the tool and places it in the tool standby disk, and takes out the new tool and transfers it to the movable tool holder. Under the action of the mobile tool magazine mechanism, this set of new tools is moved to the gripping position of the machining axis clamp.

[0010] Further, the grabbing module includes a motor crossbeam, and the motor crossbeam is installed with a motor 1 adapter plate; the motor 1 adapter plate is installed with motor 1 and a first synchronous wheel-synchronous belt structure installed in cooperation with motor 1. The first synchronous wheel-synchronous belt structure is connected with a first screw rod, and the first screw rod is used to drive the z-axis guide rail mounting base plate to move forward and backward. The first screw rod is installed in cooperation with a first screw nut fixed on the y-axis nut seat, and the y-axis nut seat is installed and fixed on the y-axis slide plate. Transmission frames are arranged at both ends of the motor crossbeam, and the transmission frame and the y-axis slide plate are slidably connected through the y-axis guide rail-slider mechanism. The y-axis slide plate is laterally arranged with an x-axis guide rail-slider mechanism, and the x-axis guide rail-slider mechanism is slidably connected with the x-axis slide plate. One end of the y-axis slide plate is connected with a motor 2 mounting plate, and motor 2 is installed on the motor 2 mounting plate. Motor 2 is installed in cooperation with a second screw rod and a second screw nut, and the second screw nut is installed on the x-axis nut seat fixed on the z-axis guide rail mounting base plate. The x-axis slide plate is fixedly connected to the z-axis guide rail mounting base plate, and the z-axis guide rail mounting base plate is installed with a motor three adapter plate, and the motor three adapter plate is installed with a motor three and a second synchronous wheel-synchronous belt structure installed in conjunction with the motor three. The z-axis guide rail mounting base plate is installed with a vertically arranged z-axis guide rail-slider mechanism, and the z-axis guide rail mounting base plate is slidably connected to the z-axis slide plate through the z-axis guide rail-slider mechanism. Motor three is installed in conjunction with the third screw rod and the third screw rod nut, and the third screw rod nut is installed on the z-axis nut seat fixed on the z-axis slide plate, and the third screw rod is used to drive the z-axis slide plate to move up and down. A plurality of gripping claws are installed on the z-axis slide plate.

[0011] Furthermore, the gripping device of the clamping jaws includes a guide rod cylinder, and the guide rod of the guide rod cylinder is connected to the clamping jaw cylinder gasket. A fixed end seat is connected and fixed to the guide rod side of the guide rod cylinder, and a movable opening is provided in the center of the fixed end seat for the guide rod and the clamping jaw cylinder gasket to pass through. A tool handle positioning sleeve and an openable and closable bidirectional horizontal clamp are installed at the lower end of the fixed end seat. The bidirectional horizontal clamp is located on both sides of the clamping jaw cylinder gasket and is covered in the upper cavity of the tool handle positioning sleeve. The inner side surface of the bidirectional horizontal clamp is provided with a wedge-shaped cut slope, and a wedge-shaped movable slider is arranged on the wedge-shaped cut slope. The wedge-shaped movable slider is connected to the clamping jaw cylinder gasket. A gripping clamp is installed on the outer side of the bidirectional horizontal clamp.

[0012] Further, the tool magazine door assembly includes a tool magazine box body, and the tool magazine box body is hinged to the first edge of the opening and closing tool magazine door. The opening and closing tool magazine door is equipped with a tool magazine door zipper bracket. The tool magazine box body is connected to a tool magazine bottom sealing plate. The tool magazine box body is provided with a rubber sealing strip. When the opening and closing tool magazine door is opened, the opening and closing tool magazine door performs an axial rotation movement, and the opening and closing tool magazine door no longer blocks the hollow surface of one side of the tool magazine box body.

[0013] Furthermore, the tool magazine includes a spare knife mounting plate, on which a spare knife disc and a zipper spring bracket are mounted. The zipper spring bracket is provided with a tension spring. One end of the tension spring is connected to the zipper spring bracket, and the other end is connected to the tool magazine door pull wire, and the tool magazine door pull wire is connected to the tool magazine door zipper bracket through a zipper guide wheel. A wire locker is installed on the tool magazine door pull wire. The spare knife disc and the spare knife mounting plate are provided with tool placement holes.

[0014] Further, the movable tool holder assembly includes a movable plate frame connected and fixed to the standby tool mounting plate, the movable plate frame is installed with a gear plate, a movable plate guide rail-slider structure is installed at the lower end of the movable plate frame, and the tool magazine movable plate is fixedly connected to the movable plate slider of the movable plate guide rail-slider structure.

[0015] Furthermore, the gear plate is meshed with the drive motor-gear mechanism. The drive motor-gear mechanism includes a first transmission gear, a second transmission gear, a third transmission gear meshed with the gear plate, a dynamic disk transmission bearing seat fixedly connected to the tool magazine dynamic disk, and a dynamic disk motor mounting plate. The dynamic disk motor is mounted on the dynamic disk motor mounting plate, and the second transmission gear is matched with the dynamic disk bearing and the transmission shaft. The movable tool holder is provided with a plurality of tool placement holes.

[0016] Furthermore, the sliding platform is slidably connected to the front and rear transfer modules. The tool setting instrument assembly is installed at one end of the sliding platform. The front and rear transfer modules are installed on the platform base, and the platform base is provided with two supporting columns placed opposite to each other, and the tool sorting robot and the mobile tool magazine mechanism are fixedly connected to the supporting columns.

[0017] (III) Beneficial effects

[0018] The present invention can replace multiple tools at the same time through the coordinated operation of the tool sorting robot, the mobile tool magazine mechanism and the sliding workbench mechanism. When applied to CNC machining, it not only improves the automation level and production efficiency of the machining equipment, but also reduces labor costs and improves production efficiency. The controllable tool magazine for picking up and placing tools and the high-precision tool transport device make tool management simple, improve the accuracy of tool replacement installation, and reduce the occurrence of tool assembly errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0020] Figure 1 is a three-dimensional diagram of the intelligent tool changing device of the present invention (I);

[0021] Figure 2 is a three-dimensional diagram of the intelligent tool changing device of the present invention (II);

[0022] Figure 3is a three-dimensional diagram of a tool sorting robot in the intelligent tool changing device of the present invention (I);

[0023] Figure 4 is a three-dimensional diagram of the tool sorting robot in the intelligent tool changing device of the present invention (II);

[0024] Figure 5 It is a three-dimensional diagram of the clamping claw grasping device in the intelligent tool changing device of the present invention;

[0025] Figure 6 It is a cross-sectional view of the clamping claw grasping device in the intelligent tool changing device of the present invention;

[0026] Figure 7 1 is a three-dimensional diagram of the mobile tool magazine mechanism in the intelligent tool changing device of the present invention (I);

[0027] Figure 8 It is a three-dimensional diagram (two) of the mobile tool magazine mechanism in the intelligent tool changing device described in the present invention.

[0028] The reference numerals are as follows:

[0029] 1. Tool sorting robot; 2. Mobile tool magazine mechanism; 3. Sliding workbench mechanism; 4. Grabbing module; 5. Gripping device; 6. Tool magazine door assembly; 7. Tool magazine; 8. Mobile tool holder assembly; 9. Sliding platform; 10. Tool setting instrument assembly; 401. Motor beam; 402. Motor 1 adapter plate; 403. Motor 1; 404. First synchronous wheel-synchronous belt structure; 405. First screw rod; 406. Z-axis guide rail mounting base; 407. Y-axis nut seat; 408. First screw rod nut; 409. Y-axis slide plate; 412. Transmission frame; 413. Y-axis guide Rail-slider mechanism; 414, x-axis guide rail-slider mechanism; 416, x-axis slide plate; 417, motor two mounting plate; 418, motor two; 419, second screw rod; 420, second screw rod nut; 422, motor three adapter plate; 423, motor three; 424, second synchronous wheel-synchronous belt structure; 425, z-axis guide rail-slider mechanism; 426, z-axis slide plate; 427, z-axis nut seat; 428, third screw rod; 429, third screw rod nut; 501, guide rod cylinder; 502, guide rod; 503, clamping claw cylinder gasket; 504, fixed end seat; 50 5. Movable opening; 506. Tool handle positioning sleeve; 507. Two-way horizontal clamp; 508. Upper cavity; 509. Wedge-shaped cutout bevel; 510. Wedge-shaped movable slider; 511. Grasping clamp; 601. Tool magazine box; 602. Opening and closing tool magazine door; 603. Tool magazine door zipper bracket; 604. Tool magazine bottom sealing plate; 605. Rubber sealing strip; 701. Spare tool mounting plate; 702. Spare tool disc; 703. Zipper spring bracket; 704. Tension spring; 705. Tool magazine door pull wire; 706. Zipper guide wheel; 708. Wire locker; 709. Tool placement hole ;801, moving disc frame;802, gear plate;803, moving disc guide rail-slider structure;804, movable tool handle frame;805, driving motor-gear mechanism;806, first transmission gear;807, second transmission gear;808, third transmission gear;809, moving disc transmission bearing seat;810, moving disc motor mounting plate;811, moving disc motor;812, moving disc bearing;813, transmission shaft;814, moving disc bearing;815, tool placement hole;816, tool magazine moving disc;901, front and rear transfer module;902, platform base;903, support column. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present application, it should be understood that the terms "thickness", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0032] See also Figure 1-Figure 8 The present invention provides a technical solution: including a tool sorting robot (1), a mobile tool magazine mechanism (2), and a sliding workbench mechanism (3). The tool sorting robot (1) includes a gripping module (4) for picking up and placing tools, and a plurality of gripping devices (5) mounted on the gripping module (4). The mobile tool magazine mechanism includes a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a mobile tool holder assembly (8) for transporting tools. The sliding workbench mechanism includes a sliding platform (9) and a tool setting instrument assembly (10) that slides following the sliding platform (9). When the tool of the machining axis is replaced, the mobile tool holder assembly drives the movable tool holder to slide under the tool, and then receives the tool removed from the machining axis. Then, the movable tool holder is driven to move to the bottom of the tool sorting robot, and the tool sorting robot takes the tool and places it in the tool standby disk, and takes out the new tool and transfers it to the movable tool holder. Under the action of the mobile tool magazine mechanism, this group of new tools is moved to the gripping position of the machining axis gripper.

[0033] Preferably, the grab module (4) includes a motor beam (401), and the motor beam (401) is installed and connected with a motor adapter plate (402). The motor adapter plate (402) is installed with a motor (403) and a first synchronous wheel-synchronous belt structure (404) installed in conjunction with the motor (403). The first synchronous wheel-synchronous belt structure (404) is connected and installed with a first screw rod (405), and the first screw rod (405) is used to drive the z-axis guide rail mounting base plate (406) to move forward and backward. The first screw rod (405) is installed in conjunction with a first screw rod nut (408) fixed on a y-axis nut seat (407), and the y-axis nut seat (407) is installed and fixed on a y-axis slide plate (409). Transmission frames (412) are provided at both ends of the motor beam (401), and the transmission frame (412) and the y-axis slide plate (409) are slidably connected through a y-axis guide rail-slider mechanism (413). An x-axis guide rail-slider mechanism (414) is arranged transversely on the y-axis slide plate (409), and the x-axis guide rail-slider mechanism (414) is slidably connected to the x-axis slide plate (416). One end of the y-axis slide plate (409) is connected to a motor two mounting plate (417), and a motor two (418) is mounted on the motor two mounting plate (417). The motor two (418) is mounted in conjunction with a second screw rod (419) and a second screw rod nut (420), and the second screw rod nut (420) is mounted on an x-axis nut seat fixed on the z-axis guide rail mounting base plate (406). The x-axis slide plate (416) is fixedly connected to the z-axis guide rail mounting base plate (406), and a motor three adapter plate (422) is installed on the z-axis guide rail mounting base plate (406), and a motor three (423) and a second synchronous wheel-synchronous belt structure (424) mounted in conjunction with the motor three (423) are mounted on the motor three adapter plate (422). A vertically arranged z-axis guide rail-slider mechanism (425) is installed on the z-axis guide rail mounting base plate (406), and the z-axis guide rail mounting base plate (406) is slidably connected to the z-axis slide plate (426) through the z-axis guide rail-slider mechanism (425). Motor three (423) is installed in conjunction with the third screw rod (428) and the third screw rod nut (429), and the third screw rod nut (429) is installed on the z-axis nut seat (427) fixed on the z-axis slide plate (426), and the third screw rod (428) is used to drive the z-axis slide plate (426) to move up and down. A plurality of clamping claw grasping devices (5) are installed on the z-axis slide plate (426). In the first part of the tool placement action, the z-axis slide plate (426) descends and then returns to its position, and the sensor between the clamping claws senses the position of the tool below. After the y-axis slide plate (409) moves in a direction toward the movable tool holder (804), the z-axis slide plate (426) is driven to descend, and the clamping claw cylinder clamps the tool to be replaced in the tool placement position. Then, the z-axis slide plate (426) is driven to rise, so that the bottom of the tool is higher than the tool placement hole (709).Next, the y-axis slide plate (409) is driven by the first synchronous wheel-synchronous belt structure (404) and the first screw rod (405) to move toward the direction of the spare tool disc (702) to above the tool placement hole (709), and the z-axis slide plate (426) is driven to slide down to place the tool to be replaced into the tool placement hole (709), and the clamp is opened and moved upward a certain distance. Then, in the second part of the action, the x-axis slide plate (416) is driven to move horizontally on the x-axis guide rail-slider mechanism (414), and the air clamping claw cylinder is moved to another tool placement hole position (709) above the tool placement hole position, and then the z-axis slide plate (426) is driven to move downward, and the clamping claw of the clamping claw cylinder is closed to clamp the tool to be used. The first synchronous wheel-synchronous belt structure (404), the first screw rod (405), and the third screw rod (428) drive the z-axis slide plate (426) and the x-axis slide plate (416) to move, and the tool to be used is placed in the tool placement hole position (709) of the movable tool holder (804). Finally, the driving motor-gear mechanism (805) moves the movable tool holder (804) loaded with the tool to be used to a preset position, completing all the actions of tool removal. Six tools can be grabbed at the same time in one action, and the tool change efficiency is high.

[0034] Preferably, the gripping device (5) comprises a guide rod cylinder (501), and the guide rod (502) of the guide rod cylinder (501) is connected to a gripping cylinder gasket (503). A fixed end seat (504) is connected and fixed to the guide rod side of the guide rod cylinder (501), and a movable opening (505) is provided in the center of the fixed end seat (504) for the guide rod (502) and the gripping cylinder gasket (503) to pass through. A tool handle positioning sleeve (506) and a bidirectional horizontal clamp (507) that can be opened and closed are installed at the lower end of the fixed end seat (504). The bidirectional horizontal clamp (507) is located on both sides of the gripping cylinder gasket (503) and is covered in the upper cavity (508) of the tool handle positioning sleeve (506). The inner side surface of the bidirectional horizontal clamp (507) is provided with a wedge-shaped cut inclined surface (509), and a wedge-shaped movable slider (510) is arranged on the wedge-shaped cut inclined surface. The wedge-shaped movable slider (510) is connected to the clamping jaw cylinder gasket (503). A grabbing jaw (511) is installed on the outer side of the bidirectional horizontal clamp (507). When clamping a tool, the tool handle identification sensor first detects whether there is a tool below. After confirming that there is a tool to be clamped, the guide rod cylinder (501) drives the guide rod (502) to move upward. The clamping jaw cylinder gasket (503) then drives the wedge-shaped movable slider (510) to move upward to drive the bidirectional horizontal clamp (507) to open toward the two sides of the grabbing jaw (511), thereby opening the bidirectional horizontal clamp (507) and the grabbing jaw (511). When the jaws of the tool clamp descend to be flush with the clamping portion on the upper part of the tool, the guide rod cylinder (501) drives the guide rod (502) to move downward, and the jaw cylinder gasket (503) then drives the wedge-shaped movable slider (510) to move downward, causing the bidirectional horizontal clamp (507) to move inward, so that the jaws fit with the clamping portion, thereby completing the action of the grabbing jaw (511) clamping the tool.

[0035] Preferably, the tool magazine door assembly (6) includes a tool magazine box body (601), and the tool magazine box body (601) is hinged to the first edge of the opening and closing tool magazine door (602). The opening and closing tool magazine door (602) is installed with a tool magazine door zipper bracket (603). The tool magazine box body (601) is connected to a tool magazine bottom sealing plate (604). The tool magazine box body (601) is provided with a rubber sealing strip (605). When the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs an axial rotation movement, and the opening and closing tool magazine door (602) no longer blocks the hollow surface on one side of the tool magazine box body (601). Driven by the driving motor-gear mechanism (805), the movable tool holder moves forward and backward; at the same time, the tool magazine door pull wire (705) between the tool magazine door (602) and the movable tool holder changes from a taut state to a relaxed state, and the opening and closing tool magazine door (602) opens, thereby continuing to transport the movable tool holder (804) away from the tool magazine box body (601) for an external mechanism to select a tool.

[0036] Preferably, the tool magazine (7) includes a tool preparation installation plate (701), on which a tool preparation disc (702) and a zipper spring bracket (703) are installed. The zipper spring bracket (703) is provided with a tension spring (704). One end of the tension spring (704) is connected to the zipper spring bracket (703), and the other end is connected to the tool magazine door pull wire (705), and the tool magazine door pull wire (705) is connected to the tool magazine door zipper bracket (707) through a zipper guide wheel (706). A wire locker (708) is installed on the tool magazine door pull wire (705). The tool preparation disc (708) and the tool preparation installation plate (701) are provided with tool placement holes (709). When the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs axial rotation movement, and the opening and closing tool magazine door (602) no longer blocks the hollow surface of one side of the tool magazine box body (601). During the machining process, the machining table and the tool magazine are generally separated to prevent metal chips from entering the tool magazine. By designing this opening and closing tool magazine door (602), chips can be blocked during machining and opened when transporting tools.

[0037] Preferably, the movable tool holder assembly (8) includes a movable disc frame (801) connected and fixed to the standby tool mounting plate (701), and the movable disc frame (801) is installed with a gear plate (802). A movable disc guide rail-slider structure (803) is installed at the lower end of the movable disc frame (801), and the tool magazine movable disc is fixedly connected to the movable disc slider of the movable disc guide rail-slider structure (803). The tool magazine movable disc is installed with movable tool handle frames (804) of the same number as the standby tool disc (702). In the closed door state, the tension spring (704) provides tension, and at this time, the tool magazine door pull wire (705) is in a tensioned state to close the opening and closing tool magazine door (602). The tension state of the tension spring (704) changes with the movement of the tool magazine (7) and the movable tool holder assembly (8).

[0038] Preferably, the gear plate (802) meshes with the drive motor-gear mechanism (805). The drive motor-gear mechanism (805) includes a first transmission gear (806), a second transmission gear (807), a third transmission gear (808) meshed with the gear plate (802), a dynamic disk transmission bearing seat (809) fixedly connected to the tool magazine dynamic disk (801), and a dynamic disk motor mounting plate (810). A dynamic disk motor (811) is mounted on the dynamic disk motor mounting plate (810), and the second transmission gear (807) is mounted with a dynamic disk bearing (812) and a transmission shaft (813). The movable tool handle frame (804) is provided with a plurality of tool placement holes (815). The gear plate (802) and the drive motor-gear mechanism (805) are used to drive the tool magazine dynamic disk to move toward the direction of opening and closing the tool magazine door and to allow the movable tool handle frame (804) to pass through the tool magazine box body (601).

[0039] Preferably, the sliding platform (9) is slidably connected to the front and rear transfer module (901). The tool setting instrument assembly (10) is installed at one end of the sliding platform (9). The front and rear transfer module (901) is installed on the platform base, and the platform base is provided with two support columns (903) placed opposite to each other, and the tool sorting robot (1) and the mobile tool magazine mechanism (2) are fixedly connected to the support columns (903). When selecting a tool, the lower end of the tool contacts the tool setting instrument assembly (10) for tool setting, thereby improving the tool installation accuracy. The front and rear transfer module (901) is used to carry the workpiece to be processed.

[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent tool changing device, characterized in that: include: A tool sorting robot (1), the tool sorting robot (1) comprising a gripping module (4) for picking up and placing tools, and a plurality of gripping claw gripping devices (5) mounted on the gripping module (4); A mobile tool magazine mechanism (2), the mobile tool magazine mechanism comprising a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a mobile tool holder assembly (8) for transporting tools; A sliding workbench mechanism (3), the sliding workbench mechanism comprising a sliding platform (9) and a tool setting instrument component (10) that slides following the sliding platform (9).

2. The intelligent tool changing device according to claim 1, characterized in that: The grabbing module (4) comprises a motor crossbeam (401), the motor crossbeam (401) being installed and connected with a motor 1 adapter plate (402); the motor 1 adapter plate (402) being installed with a motor 1 (403) and a first synchronous wheel-synchronous belt structure (404) being installed in cooperation with the motor 1 (403); the first synchronous wheel-synchronous belt structure (404) being connected and installed with a first screw rod (405), the first screw rod (405) being used to drive the z-axis guide rail mounting base plate (406) to move forward and backward; the first screw rod (405) being installed in cooperation with a first screw rod nut (406) fixed on a y-axis nut seat (407) 408), the y-axis nut seat (407) is mounted and fixed on the y-axis slide plate (409); transmission frames (412) are arranged at both ends of the motor crossbeam (401), and the transmission frame (412) and the y-axis slide plate (409) are slidably connected through a y-axis guide rail-slider mechanism (413); an x-axis guide rail-slider mechanism (414) is arranged horizontally on the y-axis slide plate (409), and the x-axis guide rail-slider mechanism (414) is slidably connected to the x-axis slide plate (416); one end of the y-axis slide plate (409) is connected to a motor second mounting plate (417), and a motor second ( 418); the motor 2 (418) is installed in cooperation with the second screw (419) and the second screw nut (420), and the second screw nut (420) is installed on the x-axis nut seat fixed on the z-axis guide rail mounting base plate (406); the x-axis slide plate (416) is fixedly connected to the z-axis guide rail mounting base plate (406), and the z-axis guide rail mounting base plate (406) is installed with a motor 3 adapter plate (422), and the motor 3 adapter plate (422) is installed with a motor 3 (423) and a second synchronous wheel-synchronous belt structure (424) installed in cooperation with the motor 3 (423); the z-axis guide rail mounting base plate A vertically arranged z-axis guide rail-slider mechanism (425) is installed on the plate (406), and the z-axis guide rail mounting base plate (406) is slidably connected to the z-axis slide plate (426) through the z-axis guide rail-slider mechanism (425); the motor three (423) is installed in cooperation with the third screw rod (428) and the third screw rod nut (429), and the third screw rod nut (429) is installed on the z-axis nut seat (427) fixed on the z-axis slide plate (426), and the third screw rod (428) is used to drive the z-axis slide plate (426) to move up and down; a plurality of clamping claw grasping devices (5) are installed on the z-axis slide plate (426).

3. The intelligent tool changing device according to claim 2, characterized in that: The clamping claw grasping device (5) comprises a guide rod cylinder (501), wherein the guide rod (502) of the guide rod cylinder (501) is connected to a clamping claw cylinder gasket (503); a fixed end seat (504) is connected and fixed to the guide rod side of the guide rod cylinder (501), and a movable opening (505) is provided in the center of the fixed end seat (504) for the guide rod (502) and the clamping claw cylinder gasket (503) to pass through; a tool handle positioning sleeve (506) and an openable and closable bidirectional horizontal clamp (506) are installed at the lower end of the fixed end seat (504). 07); the bidirectional horizontal clamp (507) is located on both sides of the clamping jaw cylinder gasket (503) and is enclosed in the upper cavity (508) of the tool handle positioning sleeve (506); the inner side surface of the bidirectional horizontal clamp (507) is provided with a wedge-shaped cut slope (509), and a wedge-shaped surface movable slider (510) is arranged on the wedge-shaped cut slope; the wedge-shaped surface movable slider (510) is connected to the clamping jaw cylinder gasket (503); the outer side of the bidirectional horizontal clamp (507) is installed with a grabbing clamp (511).

4. The intelligent tool changing device according to claim 3 is characterized in that: The tool magazine door assembly (6) comprises a tool magazine box body (601), wherein the tool magazine box body (601) is hinged to a first edge of an opening and closing tool magazine door (602); the opening and closing tool magazine door (602) is provided with a tool magazine door zipper bracket (603); the tool magazine box body (601) is connected to a tool magazine bottom sealing plate (604); the tool magazine box body (601) is provided with a rubber sealing strip (605); when the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs an axial rotation movement, and the opening and closing tool magazine door (602) no longer blocks the hollow surface of one side of the tool magazine box body (601).

5. The intelligent tool changing device according to claim 4, characterized in that: The tool magazine (7) comprises a tool preparation installation plate (701), on which a tool preparation disc (702) and a zipper spring bracket (703) are installed; the zipper spring bracket (703) is provided with a tension spring (704); one end of the tension spring (704) is connected to the zipper spring bracket (703), and the other end is connected to a tool magazine door pull wire (705); the tool magazine door pull wire (705) is connected to the tool magazine door zipper bracket (707) via a zipper guide wheel (706); a wire locker (708) is installed on the tool magazine door pull wire (705); and tool placement holes (709) are provided on the tool preparation disc (708) and the tool preparation installation plate (701).

6. The intelligent tool changing device according to claim 5, characterized in that: The movable tool holder assembly comprises a movable disc frame (801) connected and fixed to the standby tool mounting plate (701), the movable disc frame (801) being installed with a gear plate (802); a movable disc guide rail-slider structure (803) being installed at the lower end of the movable disc frame (801), the tool magazine movable disc (801) being fixedly connected to the movable disc slide of the movable disc guide rail-slider structure (803); and the tool magazine movable disc (801) being installed with movable tool handle frames (804) having the same number as the standby tool disc (702).

7. The intelligent tool changing device according to claim 6, characterized in that: The gear plate (802) is meshed with the driving motor-gear mechanism (805); the driving motor-gear mechanism (805) comprises a first transmission gear (806), a second transmission gear (807), a third transmission gear (808) meshed with the gear plate (802), a movable disk transmission bearing seat (809) fixedly connected to the tool magazine movable disk (801), and a movable disk motor mounting plate (810); a movable disk motor (811) is mounted on the movable disk motor mounting plate (810), and the second transmission gear (807) is matched with a movable disk bearing (812) and a transmission shaft (813); the movable tool holder frame (804) is provided with a plurality of tool placement holes (815).

8. The intelligent tool changing device according to claim 7, characterized in that: The sliding platform (9) is slidably connected to the front and rear transfer module (901); the tool setting instrument assembly (10) is installed at one end of the sliding platform (9); the front and rear transfer module (901) is installed on the platform base, and the platform base is provided with two supporting columns (903) placed opposite to each other, and the tool sorting robot (1) and the mobile tool magazine mechanism (2) are fixedly connected to the supporting columns (903).

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