An intelligent tool changing device

Abstract

The present invention discloses an intelligent tool changing device, which includes a tool sorting robot, a moving tool magazine mechanism, and a sliding workbench mechanism. The tool sorting robot includes a grasping module for picking and placing tools, and a plurality of jaw grasping devices mounted on the grasping module. The moving tool magazine mechanism includes a tool magazine door assembly, a tool magazine for placing tools, and a moving tool holder assembly for transporting tools. The sliding workbench mechanism includes a sliding platform and a tool aligning component that slides along with the sliding platform. The beneficial effects of the present invention are as follows: Through the coordinated operation of the tool sorting robot, the moving tool magazine mechanism, and the sliding workbench mechanism, the present invention can change multiple tools simultaneously. When applied to numerical control machining, it not only improves the automation degree and production efficiency of the machining equipment, but also reduces the labor cost.

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 modern CNC machine tool processing, tool changing is a key factor affecting production efficiency and machining quality. As machining processes become increasingly complex, the types and number of tools involved are also increasing. Traditional manual tool changing not only reduces production efficiency but also leads to high labor costs, operational errors, and difficult tool management.

[0003] Typically, operators need to manually remove tools from the tool magazine and install them on the spindle, making the tool change process tedious and time-consuming. Furthermore, when frequently changing multiple tools, the constant removal and replacement of tools greatly increases the complexity and uncertainty of the overall machining 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 existing technology.

[0006] (2) 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 worktable mechanism. The tool sorting robot includes a gripping module for picking up and placing tools, and multiple gripping devices mounted on the gripping 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 worktable mechanism includes a sliding platform and a tool setting instrument assembly that slides with the sliding platform.

[0009] By employing this technical solution, when the machining axis changes tools, the mobile tool holder assembly drives the movable tool holder to slide under the tool, then pick up the tool removed from the machining axis. The movable tool holder then moves under the tool sorting robot, which removes the tool and places it in the tool reserve tray. It then retrieves the new tool and transfers it to the movable tool holder. The mobile tool magazine mechanism then moves the new tool set to the gripping position on the machining axis.

[0010] Furthermore, the grasping module includes a motor crossbeam, to which a motor adapter plate is installed and connected; a first motor and a first synchronous pulley - synchronous belt structure that is installed on the motor adapter plate and cooperates with the first motor are provided. The first synchronous pulley - synchronous belt structure is connected and installed with a first lead screw, and the first lead screw is used to drive the z - axis guide rail mounting base plate to move back and forth. The first lead screw is cooperatively installed with a first lead 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 frames are slidably connected to the y - axis slide plate through a y - axis guide rail - slider mechanism. An x - axis guide rail - slider mechanism is horizontally arranged on the y - axis slide plate, and the x - axis guide rail - slider mechanism is slidably connected to the x - axis slide plate. One end of the y - axis slide plate is connected with a motor two mounting plate, and a second motor is installed on the motor two mounting plate. The second motor is cooperatively installed with a second lead screw and a second lead screw nut, and the second lead screw nut is installed on an 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 a motor three adapter plate is installed on the z - axis guide rail mounting base plate. A third motor and a second synchronous pulley - synchronous belt structure that is installed on the motor three adapter plate and cooperates with the third motor are provided. A vertically arranged z - axis guide rail - slider mechanism is installed on the z - axis guide rail mounting base plate, 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. The third motor is cooperatively installed with a third lead screw and a third lead screw nut, and the third lead screw nut is installed on a z - axis nut seat fixed on the z - axis slide plate. The third lead screw is used to drive the z - axis slide plate to move up and down. A plurality of jaw grasping devices are installed on the z - axis slide plate.

[0011] Furthermore, the jaw grasping device includes a guide rod cylinder, and a jaw cylinder washer is connected to the guide rod of the guide rod cylinder. A fixed end seat is fixedly connected to the side of the guide rod of the guide rod cylinder, and a movable opening for the guide rod and the jaw cylinder washer to pass through is provided in the center of the fixed end seat. A tool shank positioning sleeve and an openable two - way horizontal clamp are installed at the lower end of the fixed end seat. The two - way horizontal clamp is located on both sides of the jaw cylinder washer and is covered in the upper cavity of the tool shank positioning sleeve. A wedge - shaped cut inclined surface is provided on the inner side surface of the two - way horizontal clamp, and a wedge - shaped surface movable slider is arranged on the wedge - shaped cut inclined surface. The wedge - shaped surface movable slider is connected to the jaw cylinder washer. A grasping jaw is installed on the outer side of the two - way horizontal clamp.

[0012] Furthermore, the tool magazine door assembly includes a tool magazine box body, and the tool magazine box body is hinged to the first side of the opening and closing tool magazine door. A tool magazine door zip bracket is installed on the opening and closing tool magazine door. The tool magazine box body is connected with a tool magazine bottom seal plate. A rubber seal strip is provided on the tool magazine box body. When the opening and closing tool magazine door is opened, the opening and closing tool magazine door performs a shaft rotation movement, and the opening and closing tool magazine door no longer blocks the hollow surface on one side of the tool magazine box body.

[0013] Further, the tool magazine includes a spare tool mounting plate, on which a spare tool disc and a pull chain spring bracket are mounted. A tension spring is provided on the pull chain spring bracket. One end of the tension spring is connected to the pull chain spring bracket, and the other end is connected to the tool magazine door wire. The tool magazine door wire is connected to the tool magazine door pull chain bracket through a pull chain guide wheel. A wire locking device is mounted on the tool magazine door wire. Tool placement holes are provided on the spare tool disc and the spare tool mounting plate.

[0014] Further, the moving tool rest assembly includes a moving disc frame fixedly connected to the spare tool mounting plate, and a gear plate is mounted on the moving disc frame. A moving disc guide rail-slider structure is mounted at the lower end of the moving disc frame, and the tool magazine moving disc is fixedly connected to the moving disc slider of the moving disc guide rail-slider structure.

[0015] Further, the gear plate is meshed and cooperated with a 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 moving disc transmission bearing seat fixedly connected to the tool magazine moving disc, and a moving disc motor mounting plate. A moving disc motor is mounted on the moving disc motor mounting plate, and a moving disc bearing and a transmission shaft are cooperatively mounted on the second transmission gear. Multiple tool placement holes are provided on the movable tool holder.

[0016] Further, the sliding platform is slidably connected to the front and rear transfer modules. The tool aligning component is mounted at one end of the sliding platform. The front and rear transfer modules are mounted on the platform base, and two support columns are oppositely arranged on the platform base. The tool sorting robot and the moving tool magazine mechanism are fixedly connected to the support columns.

[0017] (III) Advantageous Effects

[0018] Through the coordinated operation of the tool sorting robot, the moving tool magazine mechanism and the sliding workbench mechanism, the present invention can replace multiple tools simultaneously. When applied to numerical control machining, it not only improves the automation degree and production efficiency of the processing equipment, but also reduces the labor cost and improves the production efficiency. The tool magazine capable of controllably supplying, retrieving and placing tools and the high-precision tool transporting device make the tool management simple, improve the tool changing and installation accuracy, and reduce the occurrence of tool assembly mistakes. Description of the Drawings

[0019] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0020] Figure 1 is the perspective view (I) of the intelligent tool changing device of the present invention;

[0021] Figure 2 is the perspective view (II) of the intelligent tool changing device of the present invention;

[0022] Figure 3It is the perspective view (one) of the tool sorting robot in the intelligent tool changing device of the present invention;

[0023] Figure 4 It is the perspective view (two) of the tool sorting robot in the intelligent tool changing device of the present invention;

[0024] Figure 5 It is the perspective view of the jaw grasping device in the intelligent tool changing device of the present invention;

[0025] Figure 6 It is the sectional view of the jaw grasping device in the intelligent tool changing device of the present invention;

[0026] Figure 7 It is the perspective view (one) of the moving tool magazine mechanism in the intelligent tool changing device of the present invention;

[0027] Figure 8 It is the perspective view (two) of the moving tool magazine mechanism in the intelligent tool changing device of the present invention.

[0028] The description of the reference numerals in the drawings is as follows:

[0029] 1. Tool sorting robot; 2. Mobile tool magazine mechanism; 3. Sliding workbench mechanism; 4. Gripping module; 5. Jaw gripping device; 6. Tool magazine door assembly; 7. Tool magazine; 8. Mobile tool holder assembly; 9. Sliding platform; 10. Tool aligning device assembly; 401. Motor crossbeam; 402. Motor adapter plate; 403. Motor 1; 404. First synchronous pulley - synchronous belt structure; 405. First lead screw; 406. Z-axis guide rail mounting base plate; 407. Y-axis nut seat; 408. First lead screw 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 2 mounting plate; 418. Motor 2; 419. Second lead screw; 420. Second lead screw nut; 422. Motor 3 adapter plate; 423. Motor 3; 424. Second synchronous pulley - synchronous belt structure; 425. Z-axis guide rail - slider mechanism; 426. Z-axis slide plate; 427. Z-axis nut seat; 428. Third lead screw; 429. Third lead screw nut; 501. Guide rod cylinder; 502. Guide rod; 503. Jaw cylinder washer; 504. Fixed end seat; 505. Movable opening; 506. Tool holder positioning sleeve; 507. Bidirectional horizontal clamp; 508. Upper cavity; 509. Wedge cut slope; 510. Movable wedge slider; 511. Gripping jaw; 601. Tool magazine box body; 602. Open / close tool magazine door; 603. Tool magazine door zip bracket; 604. Tool magazine bottom sealing plate; 605. Rubber sealing strip; 701. Standby tool mounting plate; 702. Standby tool disc; 703. Zip spring bracket; 704. Tensile spring; 705. Tool magazine door wire; 706. Zip guide pulley; 7**8. Wire lock; 709. Tool placement hole position; 801. Movable disc frame; 802. Gear plate; 803. Movable disc guide rail - slider structure; 804. Movable tool holder; 805. Driving motor - gear mechanism; 806. First transmission gear; 807. Second transmission gear; 808. Third transmission gear; 809. Movable disc transmission bearing seat; 810. Movable disc motor mounting plate; 811. Movable disc motor; 812. Movable disc bearing; 813. Transmission shaft; 814. Movable disc bearing; 815. Tool placement hole position; 816. Tool magazine movable disc; 901. Front and rear transfer module; 902. Platform base; 903. Support column. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation to the present application.

[0032] Please refer to Figures 1-8 , the present invention provides a technical solution: including a tool sorting robot (1), a movable tool magazine mechanism (2), and a sliding workbench mechanism (3). The tool sorting robot (1) includes a grasping module (4) for picking and placing tools, and a plurality of jaw grasping devices (5) installed on the grasping module (4). The movable tool magazine mechanism includes a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a movable tool carrier assembly (8) for transporting tools. The sliding workbench mechanism includes a sliding platform (9) and a tool aligning component (10) that slides along with the sliding platform (9). When the machining spindle replaces the tool, the movable tool carrier assembly drives the movable tool holder to slide under the tool, and then picks up the tool removed by the machining spindle. Then, it drives the movable tool holder to move under the tool sorting robot, and the tool sorting robot takes away the tool and places it in the tool preparation tray, and takes out a new tool and transfers it into the movable tool holder. Under the action of the movable tool magazine mechanism, this set of new tools is moved to the jaw grasping position of the machining spindle.

[0033] Preferably, the grasping module (4) includes a motor crossbeam (401), and a motor adapter plate (402) is installed and connected to the motor crossbeam (401). A first motor (403) and a first synchronous pulley - synchronous belt structure (404) cooperatively installed with the first motor (403) are installed on the motor adapter plate (402). The first synchronous pulley - synchronous belt structure (404) is connected and installed with a first lead screw (405), and the first lead screw (405) is used to drive the z - axis guide rail mounting base plate (406) to move back and forth. The first lead screw (405) is cooperatively installed with a first lead screw nut (408) fixed on the y - axis nut seat (407), and the y - axis nut seat (407) is installed 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 frames (412) are slidably connected to the y - axis slide plate (409) through a y - axis guide rail - slider mechanism (413). An x - axis guide rail - slider mechanism (414) is horizontally arranged 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 second motor mounting plate (417), and a second motor (418) is installed on the second motor mounting plate (417). The second motor (418) is cooperatively installed with a second lead screw (419) and a second lead screw nut (420), and the second lead screw nut (420) is installed 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 third motor adapter plate (422) is installed on the z - axis guide rail mounting base plate (406). A third motor (423) and a second synchronous pulley - synchronous belt structure (424) cooperatively installed with the third motor (423) are installed on the third motor 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). The third motor (423) is cooperatively installed with a third lead screw (428) and a third lead screw nut (429), and the third lead screw nut (429) is installed on a z - axis nut seat (427) fixed on the z - axis slide plate (426), and the third lead screw (428) is used to drive the z - axis slide plate (426) to move up and down. A plurality of jaw grasping devices (5) are installed on the z - axis slide plate (426). In the first part of the operation of picking up and placing the tool, the z - axis slide plate (426) descends and then returns to its original position, and the position of the tool below is sensed by the sensor between the jaws. After the y - axis slide plate (409) translates in the direction towards the movable tool holder (804), it drives the z - axis slide plate (426) to descend. At this time, the jaw cylinder grabs the tool to be replaced in the tool placement position. Subsequently, the z - axis slide plate (426) is driven to rise so that the bottom of the tool is higher than the tool placement hole position (709).Then, the y-axis slide (409) is driven by the first synchronous wheel-synchronous belt structure (404) and the first screw rod (405) to move toward the tool preparation disc (702) to above the tool placement hole (709), and the z-axis slide (426) is driven to slide down to place the tool to be replaced into the tool placement hole (709), and the clamping jaws are opened and moved upward a certain distance. Then, in the second part of the action, the x-axis slide (416) is driven to move horizontally on the x-axis guide rail-slider mechanism (414). At this time, the air clamping cylinder moves to another tool placement hole position (709). Then, the z-axis slide (426) is driven to move downward. The clamping claws of the clamping cylinder close and 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 (426) and the x-axis slide (416) to move, and the tool to be used is placed in the tool placement hole (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 the entire action of tool removal. In one action, six tools can be grabbed at the same time, and the tool changing efficiency is high.

[0034] Preferably, the jaw gripping device (5) includes a guide rod cylinder (501), and a jaw cylinder washer (503) is connected to the guide rod (502) of the guide rod cylinder (501). A fixed end seat (504) is fixedly connected to the guide rod side of the guide rod cylinder (501), and a movable opening (505) for the guide rod (502) and the jaw cylinder washer (503) to pass through is provided in the center of the fixed end seat (504). A tool holder positioning sleeve (506) and an openable and closable two-way horizontal clamp (507) are installed at the lower end of the fixed end seat (504). The two-way horizontal clamp (507) is located on both sides of the jaw cylinder washer (503) and is covered in the upper cavity (508) of the tool holder positioning sleeve (506). A wedge-shaped cut inclined surface (509) is provided on the inner side surface of the two-way horizontal clamp (507), and a wedge-shaped surface movable slider (510) is arranged on the wedge-shaped cut inclined surface. The wedge-shaped surface movable slider (510) is connected to the jaw cylinder washer (503). A gripping jaw (511) is installed on the outer side of the two-way horizontal clamp (507). When gripping a tool, first, the tool holder recognition sensor detects whether there is a tool below. After confirming that there is a tool to be gripped, the guide rod cylinder (501) drives the guide rod (502) to move upward. The jaw cylinder washer (503) drives the wedge-shaped surface movable slider (510) to move upward accordingly to drive the two-way horizontal clamp (507) to expand toward both sides of the gripping jaw (511), thereby opening the two-way horizontal clamp (507) and the gripping jaw (511). When the clamping opening of the tool jaw drops to be flush with the clamping part on the upper part of the tool, the guide rod cylinder (501) drives the guide rod (502) to move downward, and the jaw cylinder washer (503) drives the wedge-shaped surface movable slider (510) to move downward to make the two-way horizontal clamp (507) move inward, so that the clamping opening fits with the clamping part, thereby completing the action of the gripping jaw (511) gripping 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 openable and closable tool magazine door (602). A tool magazine door pull cord bracket (603) is installed on the openable and closable tool magazine door (602). A tool magazine bottom sealing plate (604) is connected to the tool magazine box body (601). A rubber sealing strip (605) is provided on the tool magazine box body (601). When the openable and closable tool magazine door (602) is opened, the openable and closable tool magazine door (602) performs an axial rotation movement, and the openable and closable tool magazine door (602) no longer blocks the hollow surface on one side of the tool magazine box body (601). Driven by the drive motor - gear mechanism (805), the moving tool rest moves back and forth; at the same time, the tool magazine door pull cord (705) between the tool magazine door (602) and the moving tool rest changes from a tightened state to a relaxed state, and the openable and closable tool magazine door (602) opens, so as to continue 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 spare tool mounting plate (701), on which a spare tool disc (702) and a zip spring bracket (703) are mounted. A tension spring (704) is provided on the zip spring bracket (703). One end of the tension spring (704) is connected to the zip spring bracket (703), and the other end is connected to the tool magazine door wire (705). The tool magazine door wire (705) is connected to the tool magazine door zip bracket (707) through a zip guide pulley (706). A wire locking device (708) is mounted on the tool magazine door wire (705). Tool placement holes (709) are provided on the spare tool disc (708) and the spare tool mounting plate (701). When the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs a rotational movement about an axis, 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). 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), it can block the chips during machining and open when transporting tools.

[0037] Preferably, the moving tool rest assembly (8) includes a moving disc holder (801) fixedly connected to the spare tool mounting plate (701), and a gear plate (802) is mounted on the moving disc holder (801). A moving disc guide rail - slider structure (803) is mounted at the lower end of the moving disc holder (801), and the moving disc of the tool magazine is fixedly connected to the moving disc slider of the moving disc guide rail - slider structure (803). The moving disc of the tool magazine is provided with movable tool holders (804) having the same number as the spare tool disc (702). In the closed - door state, the tension spring (704) provides a pulling force, and at this time, the tool magazine door wire (705) is in a taut state to keep the opening and closing tool magazine door (602) closed tightly. The tension state of the tension spring (704) changes with the movement of the tool magazine (7) and the moving tool rest assembly (8).

[0038] Preferably, the gear plate (802) meshes with a 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) meshing with the gear plate (802), a moving disc transmission bearing seat (809) fixedly connected to the moving disc of the tool magazine (801), and a moving disc motor mounting plate (810). A moving disc motor (811) is mounted on the moving disc motor mounting plate (810), and the second transmission gear (807) is fitted with a moving disc bearing (812) and a transmission shaft (813). The movable tool holder (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 moving disc of the tool magazine to move towards the opening and closing tool magazine door direction and make the movable tool holder (804) 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 setter 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 two support columns (903) are oppositely arranged on the platform base. The tool sorting robot (1) and the movable 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 setter assembly (10) for tool alignment, improving the tool loading accuracy. The front and rear transfer module (901) is used to transport the workpiece to be processed.

[0040] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the invention. Various modifications to these embodiments will be readily 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 invention. Thus, the invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent tool changing device, characterized in that, Comprising: A tool sorting robot (1), the tool sorting robot (1) includes a grasping module (4) for picking and placing tools, and a plurality of jaw grasping devices (5) installed on the grasping module (4); A movable tool magazine mechanism (2), the movable tool magazine mechanism includes a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a movable tool carrier assembly (8) for transporting tools; A sliding workbench mechanism (3), the sliding workbench mechanism includes a sliding platform (9) and a tool aligning component (10) that slides along with the sliding platform (9); The jaw grasping device (5) includes a guide rod cylinder (501), and a guide rod (502) of the guide rod cylinder (501) is connected to a jaw cylinder gasket (503); A fixed end seat (504) is fixedly connected to the guide rod side of the guide rod cylinder (501), and a movable opening (505) for the guide rod (502) and the jaw cylinder gasket (503) to pass through is provided in the center of the fixed end seat (504); A tool handle positioning sleeve (506) and an openable and closable two-way horizontal clamp (507) are installed at the lower end of the fixed end seat (504); The two-way horizontal clamp (507) is located on both sides of the jaw cylinder gasket (503) and is covered in the upper cavity (508) of the tool handle positioning sleeve (506); A wedge-shaped notch inclined surface (509) is provided on the inner side surface of the two-way horizontal clamp (507), and a wedge-shaped surface movable slider (510) is arranged on the wedge-shaped notch inclined surface; The wedge-shaped surface movable slider (510) is connected to the jaw cylinder gasket (503); A grasping jaw (511) is installed on the outer side of the two-way horizontal clamp (507); The tool magazine (7) includes a tool preparation mounting plate (701), a tool preparation disk (702) and a zip spring bracket (703) are installed on the tool preparation mounting plate (701); A tension spring (704) is provided on the zip spring bracket (703); One end of the tension spring (704) is connected to the zip spring bracket (703), and the other end is connected to a tool magazine door wire (705), and the tool magazine door wire (705) is connected to a tool magazine door zip bracket (603) through a zip guide wheel (706); A wire locking device (708) is installed on the tool magazine door wire (705); Tool placement holes (709) are provided on the tool preparation disk (702) and the tool preparation mounting plate (701); The movable tool carrier assembly includes a movable disk frame (801) fixedly connected to the tool preparation mounting plate (701), and a gear plate (802) is installed on the movable disk frame (801); A movable disk guide rail-slider structure (803) is installed at the lower end of the movable disk frame (801), and a tool magazine movable disk (816) is fixedly connected to the movable disk slider of the movable disk guide rail-slider structure (803); A movable tool handle holder (804) with the same number as the tool preparation disk (702) is installed on the tool magazine movable disk (816).

2. The intelligent tool changing device according to claim 1, wherein: The grasping module (4) includes a motor crossbeam (401), and a motor adapter plate (402) is installed and connected to the motor crossbeam (401); a motor one (403) and a first synchronous pulley-synchronous belt structure (404) cooperatively installed with the motor one (403) are installed on the motor adapter plate (402); the first synchronous pulley-synchronous belt structure (404) is connected and installed with a first lead screw (405), and the first lead screw (405) is used to drive the z-axis guide rail mounting base plate (406) to move back and forth; the first lead screw (405) is cooperatively installed with a first lead screw nut (408) fixed on the y-axis nut seat (407), and the y-axis nut seat (407) is installed 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 frames (412) are slidably connected to the y-axis slide plate (409) through a y-axis guide rail-slider mechanism (413); an x-axis guide rail-slider mechanism (414) is horizontally arranged 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 with a motor two mounting plate (417), and a motor two (418) is installed on the motor two mounting plate (417); the motor two (418) is cooperatively installed with a second lead screw (419) and a second lead screw nut (420), and the second lead screw nut (420) is installed 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), 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 pulley-synchronous belt structure (424) cooperatively installed with the motor three (423) are installed 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); the motor three (423) is cooperatively installed with a third lead screw (428) and a third lead screw nut (429), and the third lead screw nut (429) is installed on a z-axis nut seat (427) fixed on the z-axis slide plate (426), and the third lead screw (428) is used to drive the z-axis slide plate (426) to move up and down; a plurality of jaw grasping devices (5) are installed on the z-axis slide plate (426).

3. The intelligent tool changing device according to claim 1, characterized in that: 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 side of the opening and closing tool magazine door (602); a tool magazine door zip bracket (603) is installed on the opening and closing tool magazine door (602); a tool magazine bottom sealing plate (604) is connected to the tool magazine box body (601); a rubber sealing strip (605) is provided on the tool magazine box body (601); when the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs a shaft 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).

4. The intelligent tool changing device according to claim 1, wherein: The gear plate (802) is meshed and matched 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 moving disk transmission bearing seat (809) fixedly connected to the tool magazine moving disk (816), and a moving disk motor mounting plate (810); a moving disk motor (811) is installed on the moving disk motor mounting plate (810), and a moving disk bearing (812) and a transmission shaft (813) are cooperatively installed on the second transmission gear (807); the movable tool holder (804) is provided with a plurality of tool placement holes (815).

5. The intelligent tool changing device according to claim 4, characterized in that: The sliding platform (9) is slidably connected to the front and rear transfer module (901); the tool aligning component (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 two support columns (903) are oppositely arranged on the platform base, and the tool sorting robot (1) and the moving tool magazine mechanism (2) are fixedly connected to the support columns (903).

Images