Tool changing device, tool box changing method, machining system and tool changing method

Abstract

The invention relates to a tool changing device, a tool box changing method, a machining system and a tool changing method.The tool changing device comprises a taking and placing mechanism, and the taking and placing mechanism is used for taking and placing a tool disc or a tool box; in the cutter position, the cutter obtained by the taking and placing mechanism is placed in the cutter position, and the new cutter box and the old cutter box are exchanged in the cutter position; the cutterhead opening and closing mechanism is used for opening or closing the cutterheads at the cutterhead positions, when the cutterheads are opened, the cutter boxes can be taken out or put into the cutterheads, and when the cutterheads are closed, the cutter boxes in the cutterheads are fixed; and the knife box position is used for storing a knife box. The tool box in the tool disc can be replaced on the tool changing device, efficient circulation of tools is achieved, use of the tool disc is reduced, and cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit board processing, and in particular to a tool changing device, a tool box replacement method, a processing system and a tool changing method. Background Art

[0002] During the processing of circuit boards, the processing device uses tools to drill and cut the workpieces to be processed. For example, an automatic drilling machine uses tools to drill holes on circuit boards. The tools will be damaged during use and need to be replaced with new tools. Existing tools are placed in tool boxes, each of which contains multiple tools. Several tool boxes are placed in a tool tray for easy storage and use by the tool replacement mechanism on the processing device. The tool boxes and tools in the tool tray are configured in the tool distribution room.

[0003] At present, in order to improve the production utilization rate of equipment, processing equipment is developing towards automation and intelligence. In order to further improve the efficiency of equipment, the importance of automatic circulation of cutter discs is becoming increasingly apparent. In order to realize the automation of the drilling machine cutter disc and the circulation of the tool box in the tool distribution room, it is necessary to solve the problem of how to put the tool box into the cutter disc. The more mature solution is to use auxiliary equipment to place the tools output by the tool distribution room into the tool box, and then move the tool box as a whole or individually to the cutter disc. This is inefficient and requires the addition of additional equipment, which reduces the utilization rate of the plant. In addition, new tool boxes are currently placed in the cutter disc for circulation. The tool changing device moves and transports between the tool distribution room and the processing device and replaces the cutter disc. Therefore, a large number of cutter discs are required. The current cost of the cutter disc is as high as hundreds of yuan each. The circulation of a large number of cutter discs requires a large amount of funds to be spent on cutter disc reserves, resulting in an increase in the implementation cost of automatic tool circulation, which is not conducive to promotion. Summary of the invention

[0004] An object of the present invention is to solve the existing technical problems and provide a tool changing device that can reduce the usage of a tool disc and realize the replacement of a tool box.

[0005] Another object of the present invention is to provide a knife box replacement method, which can solve the problem of knife box replacement of a knife disc.

[0006] Another object of the present invention is to provide a processing system that can solve the tool changing problem of the processing device.

[0007] Another object of the present invention is to provide a tool changing method that can solve the tool changing problem of a machining system.

[0008] To achieve the purpose of the present invention, the embodiment of the present invention adopts the following technical solutions:

[0009] Tool changing device, comprising:

[0010] A pick-and-place mechanism, which is used to pick up and place the knife disc or knife box;

[0011] The cutter disc position, the cutter disc obtained by the pick-and-place mechanism is placed in the cutter disc position, and the new cutter box and the old cutter box are exchanged in the cutter disc position;

[0012] The knife disc opening and closing mechanism is used to open or close the knife disc at the knife disc position. When the knife disc is opened, the knife box can be taken out or put into the knife disc. When the knife disc is closed, the knife box in the knife disc is fixed;

[0013] The knife box position is used to store the knife box.

[0014] In some embodiments, the tool changing device also includes a working position and a storage section. The working position is used for storing and retrieving old tool boxes and new tool boxes. The picking and placing mechanism moves the tool box between the working position, the tool disc position and the tool box position. The storage section is used to store the tool boxes, and the working position is located above the storage section.

[0015] In some embodiments, the tool changing device also includes a machine body, a pick-and-place mechanism is arranged on the top of the machine body, a lifting mechanism is provided under the pick-and-place mechanism, and the tool box of the storage part is transported to the working position through the lifting mechanism.

[0016] In some embodiments, the knife box position is set on the tray of the machine body and / or the working position.

[0017] In some embodiments, the material storage portion is provided with a plurality of trays, the trays are used to directly carry the knife boxes, and the trays are transported between the working position and the material storage portion by a lifting mechanism;

[0018] And / or, a moving module is provided at the bottom of the body.

[0019] In some embodiments, the material storage portion is detachable from the machine body, and a lifting mechanism is provided under the material storage portion, which pushes the material storage portion up and down.

[0020] In some embodiments, the pick-and-place mechanism includes a plurality of clamps and a switching mechanism connected to the clamps. The plurality of clamps switch positions through the switching mechanism, and the plurality of clamps respectively grab the new knife box and / or the old knife box.

[0021] In some embodiments, the blade disc is disposed on a blade disc opening and closing mechanism, and a pick-and-place mechanism obtains the blade disc and places it on the blade disc opening and closing mechanism.

[0022] In some embodiments, the cutter disc opening and closing mechanism includes a support plate, a drive assembly, and a connector connected to the drive assembly. The support plate is used to support the cutter disc, the connector corresponds to the moving part of the cutter disc, and the drive assembly drives the connector to move to open or close the cutter disc.

[0023] In some embodiments, the support plate and the tray are positioned via positioning members and matching holes, and the support plate and the tray are fixed via magnetic attraction.

[0024] In some embodiments, the cutter disc opening and closing mechanism is arranged on the pick-and-place mechanism. The pick-and-place mechanism moves the cutter disc opening and closing mechanism closer to the cutter disc position, and the cutter disc is opened. The pick-and-place mechanism moves the cutter disc opening and closing mechanism away from the cutter disc position, and the cutter disc is closed.

[0025] In some embodiments, the blade disc opening and closing mechanism includes a triggering portion, which corresponds to a locking block of the blade disc, and the triggering portion pushes the locking block to move downward.

[0026] The method for replacing a knife box of a knife changing device comprises the following steps:

[0027] The knife disc containing the old knife box is obtained by a pick-and-place mechanism and placed in the knife disc position;

[0028] Open the cutter disc through the cutter disc opening and closing mechanism;

[0029] The old knife box in the knife tray is taken out by the pick-and-place mechanism and placed in the knife box position;

[0030] Get a new knife box through a pick-and-place mechanism and place it on the knife tray;

[0031] The pick-and-place mechanism fills the knife disc with new knife boxes, and the knife disc opening and closing mechanism closes the knife disc.

[0032] In some embodiments, the steps include:

[0033] Several grippers of the pick-and-place mechanism simultaneously obtain multiple old knife boxes in the knife tray and place them in the knife box position;

[0034] Several clamping claws of the pick-and-place mechanism simultaneously obtain multiple new knife boxes at the working position and put them into the knife disc.

[0035] In some embodiments, the picking and placing mechanism obtains a new knife box from the tray of the working position, and the tray is transported between the storage part and the working position through the lifting mechanism; after the picking and placing mechanism obtains the old knife box, if there is an empty space in the tray, the picking and placing mechanism directly puts the old knife box back to the empty space on the tray of the working position; if there is no empty space in the tray, the picking and placing mechanism places the old knife box in the knife box position of the machine body.

[0036] In some embodiments, after the tray at the working station is filled with old knife boxes, it is sent back to the storage part through the lifting mechanism, and then another tray is transported to the working station.

[0037] The method for replacing a knife box of a knife changing device comprises the following steps:

[0038] The knife disc containing the old knife box is obtained by a plurality of clamping claws of the pick-and-place mechanism and placed in the knife disc position;

[0039] Open the cutter disc through the cutter disc opening and closing mechanism;

[0040] The pick-and-place mechanism first takes out the old knife box through at least one clamping claw, and then the vacant clamping claw of the pick-and-place mechanism obtains the new knife box at the working position and puts the old knife box back;

[0041] Or, the pick-and-place mechanism first obtains the new knife box at the working position through at least one clamping claw, and then the vacant clamping claw of the pick-and-place mechanism takes out the old knife box at the knife disc position and puts in the new knife box;

[0042] The pick-and-place mechanism fills the knife disc with new knife boxes, and the knife disc opening and closing mechanism closes the knife disc.

[0043] Processing system, including:

[0044] A processing device, which processes the workpiece using a tool;

[0045] A tool matching room is used to configure the tools in the tool box, and the tool changing device moves between the processing device and the tool matching room to change the tool box;

[0046] And the above-mentioned tool changing device.

[0047] In some embodiments, the processing system further includes a temporary storage rack, which is used to place a material storage portion, in which a plurality of tool boxes are arranged, and the tool changing device moves between the processing device, the tool matching room and the temporary storage rack.

[0048] The tool changing method of the machining system comprises the following steps:

[0049] The knife room equips knives into knife boxes;

[0050] The tool changing device moves to the tool changing position of the processing device, and the pick-and-place mechanism places the tool disc from the processing device to the tool disc position of the tool changing device;

[0051] The knife disc is opened by the knife disc opening and closing mechanism, and the pick-and-place mechanism takes out the old knife box from the knife disc and places it in the knife box position;

[0052] The pick-and-place mechanism grabs the new tool box on the tray and places it on the tool disc, and the tool disc opening and closing mechanism operates to close the tool disc; the pick-and-place mechanism grabs the replaced tool disc and places it on the processing device.

[0053] In some embodiments, after the knives in the knife room are configured in the knife box, the knife box is placed on a pallet, the pallet is placed in the material storage part, the material storage part is placed on a temporary storage rack, and the tool changing device lifts the material storage part onto the tool changing device through a lifting mechanism.

[0054] In some embodiments, the tray in the material storage portion on the tool changing device is transported to the working position by a lifting mechanism.

[0055] The present invention includes the following major advantages:

[0056] (1) The tool disc can be opened or closed on the tool changing device, and the tool box in the tool disc can be replaced directly on the tool changing device through the pick-and-place mechanism, which can improve the efficiency of the tool box circulation; (2) The tool box can be directly stored in the material storage part of the tool changing device, without the need to store the tool disc, and the tool box in the tool matching room can be directly supplied to the tool changing device, which reduces the use of the tool disc and reduces the cost of use; (3) The tool changing device can move by itself, between the tool matching room and the processing device, so as to transport the tool, and at the same time, the tool box of the tool disc can be replaced, further improving the overall utilization rate of the processing device; (4) The pick-and-place mechanism is arranged on the top of the machine body, and the working position of the pick-and-place mechanism is located on the top of the material storage part, which can save space layout and reduce the overall size of the tool changing device. Other advantages of the technical solution of the present invention are described in specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. 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 these drawings without creative labor.

[0058] Figure 1 It is a three-dimensional diagram of a tool changing device provided in an embodiment of the present invention.

[0059] Figure 2 It is a schematic diagram of a tray-mounted knife box provided in an embodiment of the present invention.

[0060] Figure 3 Schematic diagram of a tray provided in an embodiment of the present invention.

[0061] Figure 4 It is a schematic diagram of a material storage unit provided in an embodiment of the present invention.

[0062] Figure 5 It is a schematic diagram of the clamping claw of the material taking mechanism provided in an embodiment of the present invention.

[0063] Figure 6 Schematic diagram of a lifting mechanism provided in an embodiment of the present invention.

[0064] Figure 7 Schematic diagram of a cutter disc provided in an embodiment of the present invention.

[0065] Figure 8 is another schematic diagram of the cutter disc provided in an embodiment of the present invention.

[0066] Fig. 9 It is a schematic diagram of the cutter disc opening and closing mechanism provided in the second embodiment of the present invention.

[0067] Fig.10It is a schematic diagram of the drive assembly of the cutter disc opening and closing mechanism provided in the second embodiment of the present invention.

[0068] Fig.11 It is a schematic diagram of the bottom of the cutter disc provided in the second embodiment of the present invention.

[0069] Fig.12 It is a schematic diagram of the cutter disc opening and closing mechanism provided in the third embodiment of the present invention.

[0070] Fig.13 It is a schematic diagram of the cutter disc provided in the third embodiment of the present invention.

[0071] Fig.14 It is a schematic diagram of a locking block provided in Embodiment 3 of the present invention.

[0072] Fig.15 It is a schematic diagram of the pick-and-place mechanism provided in the fourth embodiment of the present invention.

[0073] Fig.16 It is a schematic diagram of two clamping jaws provided in the fourth embodiment of the present invention.

[0074] Fig.17 It is a schematic diagram of the processing device provided in Example 5 of the present invention.

[0075] Fig.18 It is an architecture diagram of the processing system provided in the fourth embodiment of the present invention.

[0076] In the attached figure:

[0077] 10. Pick-and-place mechanism; 11. Clamp; 12. Camera; 13. Switch mechanism; 20. Cutter position; 30. Cutter opening and closing mechanism; 31. Support plate; 32. Drive assembly; 33. Connector; 34. Protrusion; 35. Spring; 36. Output shaft; 37. Positioning member; 38. Electromagnet; 40. Cutter box position; 50. Tray; 51. Identification point; 52. Cutter box placement slot; 60. Cutter; 61. Cutter box; 62. Moving part; 63. Fixed part; 64. Matching hole; 65. Magnetic part; 70. Body; 71. Frame; 72. Moving module; 80 , working position; 90, material storage part; 100, tool changing device; 110, lifting mechanism; 111, lifting mechanism; 112, supporting part; 120, lifting mechanism; 131, driving motor; 132, connecting arm; 200, processing device; 210, workbench; 220, tool disc cache; 300, tool matching room; 400, temporary storage rack; 601, tool; 31', trigger part; 60', tool disc; 61', tool box; 62', locking block; 63', elastic member; 64', guide hole; 65', power part; 311', inclined plane; 621', socket. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0079] In the present invention, "several" and "plurality" refer to two or more. In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention 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 cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0080] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] <Example 1>

[0082] The tool changing device provided in this embodiment is used for transporting and replacing tools of a processing device, and the processing device uses tools to process a workpiece. Taking a circuit board drilling machine as an example, the drilling machine uses tools to process circuit boards, and during the processing, damaged tools need to be replaced.

[0083] like Figures 1 to 7 As shown, a tool changing device 100 of the present embodiment includes a pick-up and placement mechanism 10, a tool disc position 20, a tool disc opening and closing mechanism 30 and a tool box position 40. The pick-up and placement mechanism 100 is used to pick up and place a tool disc or a tool box. The tool box of the present embodiment includes a new tool box and an old tool box. The pick-up and placement mechanism 10 can adopt a device with a clamping or releasing function such as a manipulator. The pick-up and placement mechanism 10 of the present embodiment has a clamping claw 11, which is used to clamp or release the tool disc 60 or the tool box 61. The clamping claw 11 is provided with a camera 12, which is used to identify the identification point 51 on the tray 50, so as to facilitate the relative position judgment between the clamping claw 11 and the tray, so that the clamping claw 11 can accurately pick up and place the tool box 61. When the clamping claw 11 clamps the tool box, multiple tool boxes can be clamped at one time, or a single tool box can be clamped, which can be flexibly configured according to the processing requirements.

[0084] The knife disc position 20 is used to place the knife disc 60. The knife disc 60 is used for the processing device. The knife disc stores the knife box on the processing device, which can facilitate the processing device to take the knife. A number of knife boxes 61 can be placed in each knife disc 60, and a number of knives 601 are placed in each knife box. When the knives on the processing device need to be replaced, the old knives are put back into the knife box of the knife disc, and new knives are replaced to continue processing. When the knife box in the knife disc is full of old knives, the knife disc 60 is placed in the knife disc position 20 through the pick-and-place mechanism 10 of the tool changing device, and the new knife box is exchanged with the old knife box at the knife disc position, so that the new and old knife boxes can be replaced on the tool changing device, thereby improving the efficiency of knife box replacement. When the knife box is replaced, the knife disc 60 needs to be opened or closed by the knife disc opening and closing mechanism 30. When the knife disc 60 is opened, the knife box 61 can be taken out of or put into the knife disc 60. When the knife disc 60 is closed, the knife box in the knife disc 60 is fixed. When replacing the knife box in the knife disc, first open the knife disc 60 through the knife disc opening and closing mechanism 30 to make the knife box 61 in a removable state, then take out the old knife box through the pick-and-place mechanism 10, put in the new knife box, and then close the knife disc opening and closing mechanism 30 to complete the replacement of the old and new knife boxes. By opening and closing the knife disc through the knife disc opening and closing mechanism 30, the knife box in the knife disc can be directly replaced on the tool changing device without moving the knife disc. In addition, the new knife box does not need to be placed in the knife disc waiting for use, and the knife disc on the processing device can be reused, which reduces the use of the knife disc and reduces the cost.

[0085] Further, the knife box 61 taken from the knife disc 60 by the pick-and-place mechanism 10 is placed in the knife box position 40. When replacing, the old knife box in the knife disc 60 is first placed in the knife box position 40, and then the knife disc 60 is vacated to place the new knife box. The position of the knife box position 40 can be set on the body 70 and / or the tray 50, that is, the knife box position 40 can be a certain position on the body 70 or an empty position on the tray, as long as it can place the knife box, the old knife box is temporarily stored on the body, and the old knife box is placed in the tray 50 after the new knife box is replaced. By setting the knife box position 40, the action time of the pick-and-place mechanism can be reduced and the grasping efficiency can be improved. In this embodiment, the body 70 has a frame 71, and the frame structure can reduce the weight of the body 70. The knife box position 40 is arranged on the top of the frame 71, and the knife box position 40 and the knife disc position 20 are arranged on both sides of the pick-and-place mechanism 10 relative to each other, which is convenient for the pick-and-place mechanism 30 to pick up and place back and forth and reduce the moving distance. The pick-and-place mechanism 10 is disposed on the top of the body 70 , specifically, in the frame 71 , so that the pick-and-place mechanism 10 does not occupy the space outside the body.

[0086] like Figure 3As shown, as another embodiment of the knife box position 40, the knife box position 40 can be set on the tray 50, that is, the old knife box can be directly obtained by the pick-and-place mechanism 10 and directly placed in the knife box placement slot 52 on the tray 50, instead of being temporarily stored on the machine body. Each tray 50 can be provided with multiple knife box placement slots 52 for accommodating new knife boxes and replaced old knife boxes. Those skilled in the art will know that two or more knife box positions 40 can also be provided, which can be respectively provided on the machine body and the tray, as long as the pick-and-place mechanism can pick and place.

[0087] Furthermore, the tool changing device 100 also includes a working position 80, and the pick-and-place mechanism 10 picks and places the knife box on the tray 50 at the working position 80, which is used for storing and accessing the old knife box and the new knife box. The working position 80 is arranged on the machine body, specifically, on the frame 71. When replacing the knife disc and knife box, the tray 50 equipped with the new knife box is transported to the working position 80, and the pick-and-place mechanism 10 moves the knife box between the working position 80, the knife disc position 30 and the knife box position 40, so that the knife box can be quickly circulated to complete the replacement. In this embodiment, the knife disc position 20 and the knife box position 40 are located at the top of the machine body 70, which is convenient for the pick-and-place operation of the pick-and-place mechanism 10. The pick-and-place mechanism 10 obtains the new knife box at the working position 80 and puts it into the knife disc 60, and puts the old knife box back into the tray 50 of the working position to achieve replacement. The working position 80 is arranged above the material storage part 90 of the tool changing device 100. The material storage part 90 is used to store the knife box 61. The working position 80 is located above the material storage part 90. The knife box 61 in the material storage part 90 is transported to the working position 80 by the lifting mechanism 110. Since the installation position of the pick-and-place mechanism 10 is located within the boundary range of the machine body 70, that is, within the frame 71, if the material storage part 90 is arranged directly below the pick-and-place mechanism 10, it is difficult for the pick-and-place mechanism 10 to obtain the tray 50 in the material storage part 90. Therefore, the material storage part 90 is arranged on the side of the pick-and-place mechanism 10, and the lifting mechanism 110 is arranged below the pick-and-place mechanism 10, so that the lifting mechanism 110 transports the tray 50 in the material storage part 90 to the working position 80, which can save space layout and facilitate the pick-and-place mechanism 10 to pick up and place the knife box at the working position 80.

[0088] Specifically, the knife box 61 is placed on the tray 50, and the lifting mechanism 110 transports the tray 50 to the working position 80. The storage part 90 is provided with a tray 50, and a plurality of trays 50 are stacked vertically. The lifting mechanism 110 includes a lifting mechanism 111, and a support part 112 arranged on the lifting mechanism. The support part 112 can move horizontally, and the support part 112 extends to the bottom of the tray 50 of the storage part. After the tray 50 is transported to the support part 112, it is raised by the lifting mechanism and transported to the working position by the horizontal movement of the support part. There are many public examples of the specific implementation structure of the lifting mechanism, such as the patent with announcement number CN115816550B, which will not be repeated here. In this embodiment, the knife box 61 in the storage part 90 is directly arranged on the tray 50, and there is no need to use a knife disc, which reduces the use of the knife disc and saves costs.

[0089] As an improvement, a tray support portion can be provided on the top of the storage portion 90 to support the tray of the work station, thereby eliminating the need to provide a support structure on the frame 71 of the machine body, that is, the work station 80 can be provided on the top of the storage portion 90, thereby saving space layout.

[0090] Furthermore, a mobile module 72 is provided at the bottom of the machine body 70, and the mobile module 72 enables the tool changing device to move on the ground, so that it can move back and forth between processing devices to replace the tool box. The mobile module 72 can adopt AGV, and the machine body is set on the existing AGV module for integration.

[0091] Furthermore, a lifting mechanism 120 is provided below the material storage part 90, and the lifting mechanism 120 pushes the material storage part 90 to rise and fall. The lifting mechanism 120 can lift the material storage part 90 as a whole, so that the tool changing device can conveniently take and place the material storage part 90. The material storage part 90 and the machine body 70 can be separated, that is, the material storage part 90 can be separated from the machine body 70 and taken away separately, so that when the new knife box in the material storage part 90 on the tool changing device is used up, the entire material storage part 90 can be quickly replaced.

[0092] In this embodiment, the blade disc 60 storing the old blade box is opened on the blade changing device through the blade disc opening and closing mechanism 30, and the pick-up and placement mechanism 10 is used to complete the replacement of the old and new blade boxes. The blade box replacement can be completed quickly without replacing the blade disc, thereby reducing the usage of the blade disc and lowering costs.

[0093] The following is a further description of the knife box replacement method of the knife changing device of this embodiment.

[0094] The knife box replacement method of the knife changing device of this embodiment comprises the following steps:

[0095] S100: The pick-and-place mechanism 10 is used to obtain the blade disc 60 containing the old blade box and place it in the blade disc position 20. In this embodiment, one blade disc position 20 is set. If there are multiple blade disc positions 20, step S100 can be repeated to place multiple blade discs 60 in the blade disc positions 20 for blade box replacement.

[0096] S200: Open the cutter disc 60 through the cutter disc opening and closing mechanism 30, so that the cutter disc 60 is in an open state, and the old cutter box in the cutter disc 60 can be taken out.

[0097] S300: The pick-and-place mechanism 10 takes out the old knife box from the knife tray 60 and places it in the knife box position 40. The knife box position 40 can be a knife box position on the machine body or a knife box position on a tray, as long as there is space to accommodate the old knife box.

[0098] S400: The new knife box is obtained by the pick-and-place mechanism 10 and placed on the knife disc 60, thereby completing the placement of the new knife box.

[0099] S500: Loop through steps S300 and S400 until the knife disc is filled with new knife boxes. The number of knife boxes that the pick-and-place mechanism 10 picks and places each time can be one box or multiple boxes. When the pick-and-place mechanism 10 picks and places one box of knife boxes each time, since each knife disc can hold multiple boxes of knife boxes, the pick-and-place mechanism 10 needs to pick and place multiple times to fill the knife disc 60 with new knife boxes. When the pick-and-place mechanism 10 can pick and place multiple boxes of knife boxes each time, the number of pick-and-place times can be reduced. For example, the knife disc can hold three boxes of knife boxes, and the pick-and-place mechanism can pick and place three boxes of knife boxes each time, then the pick-and-place mechanism 10 can take away all the old knife boxes at one time, and put three new knife boxes in the knife disc at one time. After the knife disc is filled with new knife boxes, the knife disc opening and closing mechanism 30 closes the knife disc 60, and the pick-and-place mechanism 10 can put the knife disc back to the acquisition position.

[0100] Through the knife box replacement method of this embodiment, it is possible to replace the old knife box with the new one in the knife changing device, so that the knife disc 60 can be reused, the usage of the knife disc can be reduced, the cost can be reduced, and the efficient circulation of the tool can be achieved.

[0101] Furthermore, in step S300, the pick-and-place mechanism places the old knife box in the knife box position 40, and the working position 80 obtains the new knife box, which is stored in the tray and transported between the storage part 90 and the working position 80 by the lifting mechanism 110. The new knife box is provided by the storage part 90, and the tray with the new knife box is transported from the storage part 90 to the working position 80 by the lifting mechanism 110. The working position 80 is arranged above the storage part 90. The replaced tray with the old knife box is transported from the working position to the storage part 90 by the lifting mechanism 110 for storage. Each tray is provided with a plurality of knife boxes 61. In this embodiment, each tray can hold 6 knife boxes, so that multiple knife boxes can be transported at one time.

[0102] Furthermore, when the knife box position 40 is set on the body 70 of the knife changing device, the pick-and-place mechanism first places the old knife box on the knife box position 40, and then goes to the working position 80 to obtain the new knife box. At this time, the old knife boxes are all placed on the body. Multiple knife box positions 40 can be set on the body. When the new knife box on the tray of the working position is used up, the old knife box on the body is put back into the tray through the pick-and-place mechanism. When the knife box position 40 is set on the tray, the tray needs to have an empty space, that is, the knife box placement slot 52 of the tray 50. The pick-and-place mechanism can directly place the old knife box in the knife box placement slot 52 at the working position, and then obtain the new knife box. The knife box position 40 can also be set on the tray of the body and the working position, that is, there is space to place the old knife box in both places. At this time, the old knife box obtained from the knife tray is directly put back into the tray of the working position. Therefore, the knife box position in this embodiment is a temporary storage position for the old knife box, and the old knife box is eventually put back on the tray of the working position by the pick-and-place mechanism and transported back to the storage part for storage by the lifting mechanism.

[0103] Furthermore, when executing step S300, after the pick-and-place mechanism 10 obtains the old knife box, if there is an empty space in the tray, the pick-and-place mechanism directly puts the old knife box back into the empty space of the tray at the working position. If there is no empty space in the tray, the pick-and-place mechanism places the old knife box in the knife box position of the machine body. Through the above technical solution, the old knife box can be put back into the tray more efficiently. When the tray 50 is transported from the storage section 90 to the working position, the tray 50 is usually full of new knife boxes. At this time, there is no empty space for the old knife box. The pick-up and placement mechanism 10 obtains the old knife box and places it in the knife box position 40 of the machine body, and then obtains the new knife box in the tray 50 and places it on the knife disk. At this time, an empty space appears in the tray; the old knife box obtained by the pick-up and placement mechanism next time is directly placed back in the empty space on the tray until all the new knife boxes in the tray are taken away. Finally, the pick-up and placement mechanism 10 puts the old knife box on the machine body back to the last empty space on the tray. The tray is then full of old knife boxes. The old knife boxes are sent to the storage section by the lifting mechanism, and then another tray full of new knife boxes is transported from the storage section to the working position. The action of the lifting mechanism can be performed in parallel with other actions. For example, when the tool changing device moves, the lifting mechanism can transport the tray, thereby improving the overall efficiency and reducing the waiting time for the tray when the knife box is replaced.

[0104] <Example 2>

[0105] In this embodiment, the same parts as those in the first embodiment are given the same figure marks, and the same text descriptions are omitted.

[0106] like Figure 1 , Figures 7 to 11 As shown, compared with the first embodiment, this embodiment provides a tool changing device and has the following different structural designs:

[0107] The cutter disc position 20 is set on the cutter disc opening and closing mechanism 30. After the pick-up and placement mechanism 10 obtains the cutter disc 60, it is placed on the cutter disc opening and closing mechanism 30, so that the cutter disc 60 can be directly opened or closed by the cutter disc opening and closing mechanism 30, reducing the action time of the pick-up and placement mechanism 10 and improving efficiency.

[0108] Furthermore, the knife disc opening and closing mechanism 30 includes a support plate 31, a drive assembly 32, and a connector 33 connected to the drive assembly 32. The support plate 31 is used to support the knife disc 60. Specifically, the knife disc 60 is placed on the protrusion 34 of the support plate 31 and is clamped by the moving part 62 and the fixed part 63 on both sides of the support plate 31. A spring 35 is provided between the moving part 62 and the protrusion 34. The spring 35 tightens the moving part 62 so that the moving part 62 can clamp the knife box 61. The spring 35 is sleeved on the guide rod to facilitate the spring expansion and contraction guidance. The connector 33 corresponds to the moving part 62 of the knife disc 60. The drive assembly 32 drives the connector 33 to move, and the moving part 62 moves synchronously. The distance between the moving part 62 and the fixed part 63 increases or decreases, so that the knife disc 60 is opened or closed. The driving assembly 32 can adopt a driving unit such as a screw motor, and the two connectors 33 are connected by a connecting plate 35, and the connecting plate 35 is threadedly connected to the output shaft 36 of the driving assembly 32, so that the connecting plate 35 can be reciprocated by the positive and negative rotation of the output shaft 36, driving the connector 33 and the moving part 62 to move. The support plate 31 and the cutter disc 60 are positioned by the positioning member 37 and the matching hole 64, so that the position of the cutter disc 60 can be ensured to be accurate when it is placed on the support plate 31. In this embodiment, the positioning member 37 is convexly arranged on the support plate 31, and a pin can be adopted, and the matching hole 64 is set at the bottom of the cutter disc 60. Of course, the positioning member 37 and the accessory hole 64 can also be exchanged. The support plate 31 and the cutter disc 60 are fixed by magnetic attraction, so that the cutter disc 60 will not shake after being placed on the support plate 31. Specifically, an electromagnet 38 is provided on the support plate 31, and a magnetic attraction portion 65 is provided at a corresponding position of the cutter disc 60. The cutter disc 60 is fixed or released by adsorbing or releasing the magnetic attraction portion 65 by the electromagnet 38.

[0109] <Example 3>

[0110] In this embodiment, the same parts as those in Embodiments 1 and 2 are given the same figure marks, and the same text descriptions are omitted.

[0111] like Figure 12 to Figure 14 As shown, compared with the above embodiment, this embodiment provides a tool changing device and has such a different structural design:

[0112] The knife disc opening and closing mechanism 30' is arranged on the pick-and-place mechanism 10, so that the knife disc opening and closing mechanism 30' can move with the pick-and-place mechanism 10. When there are multiple knife disc positions on the machine body, the knife disc opening and closing mechanism 30' can be opened in sequence through the movement of the pick-and-place mechanism 10, without setting a knife disc opening and closing mechanism at each knife disc position, which effectively reduces the cost. When the knife disc 60' at the knife disc position needs to be opened, the pick-and-place mechanism 10 moves to the top of the knife disc position, the pick-and-place mechanism 10 moves downward, and the knife disc opening and closing mechanism 30' moves toward the knife disc 60' at the knife disc position until the knife disc opening and closing mechanism 30' drives the knife disc to open. At this time, the pick-and-place mechanism 10 can clamp the knife box 61' through the clamping claw 11'. The knife disc opening and closing mechanism 30' of this embodiment is arranged on the side of the clamping claw 11' to prevent the knife disc opening and closing mechanism from blocking the clamping claw from clamping. Then the pick-and-place mechanism moves upward, the knife disc opening and closing mechanism 30' moves away from the knife disc 60', and the knife disc is closed.

[0113] Specifically, the knife disc opening and closing mechanism 30' includes a touch part 31', which corresponds to a locking block 62' on the knife disc 60'. The locking block 62' is slidably arranged on the knife disc and is used to lock the knife box 61'. One end of the locking block 62' is locked in the groove of the knife box 61', and the other end is provided with an elastic member 63', which is preferably a spring. The elastic member 63' provides elastic force to make the locking block 62' press the knife box 61'. When the touch part 31' moves downward, the locking block 62' is pushed away from the knife box 61', so that it releases the knife box 61'. The touch part 31' is provided with an inclined surface 311'. When the touch part 31' moves downward, it can be inserted into the guide hole 64' on the knife disc 60', and then enter the insertion hole 621' of the locking block 62', and the locking block 62' is pushed to move horizontally by the inclined surface 311', so as to release the knife box 61'. In this embodiment, there are two actuating parts 31', or more than two actuating parts 31', so as to drive the locking block 62' to move smoothly. The actuating part 31' can be a columnar part with a certain length to facilitate insertion and extraction of the guide hole 64' and the plug hole 621'.

[0114] As an improvement, a power unit 65' is provided above the touch unit 31', and the power unit 65' is used to make the touch unit 31' retract and retract, and the power unit can adopt a power source such as a cylinder. The power unit drives the touch unit 31' to retract and retract, so that the knife disc opening and closing mechanism 30' can be retracted when it is not in use, and the lower end of the touch unit 31' does not exceed the lower end of the clamping claw, so as not to affect the movement of the pick-and-place mechanism 10 and the clamping of the knife box. When the knife disc needs to be opened by the touch unit 31', the touch unit 31' is extended and inserted into the knife disc to open the knife box.

[0115] <Example 4>

[0116] In this embodiment, the same parts as those in Embodiments 1 to 3 are given the same figure marks, and the same text descriptions are omitted.

[0117] like Figure 15 to Figure 16As shown, compared with the above embodiment, this embodiment provides a tool changing device and has such a different structural design:

[0118] The pick-and-place mechanism 10 of the tool changing device of this embodiment includes a plurality of clamps 11, the number of the clamps 11 is two or more, and the plurality of clamps 11 change positions through a switching mechanism 13, so that the new knife box and the old knife box can be clamped by a plurality of clamps to replace the knife box, thereby improving the efficiency of knife box replacement. The tool changing device of this embodiment includes two clamps 11, and a switching mechanism 13 connected to the clamps 11, the switching mechanism 13 includes a driving motor 131, and a connecting arm 132 connected to the driving motor 131, the two clamps 11 are respectively arranged on the connecting arm 132, and the driving motor 131 drives the connecting arm 132 to rotate, so as to realize the position conversion between different clamps 11. If more than three clamps are provided, a plurality of connecting arms 132 can be provided so that the clamps are arranged radially.

[0119] Specifically, when the pick-and-place mechanism of this embodiment is used, one clamping claw can be used to clamp the old knife box, and the other clamping claw can be used to clamp the new knife box, and the replacement of the new and old knife boxes can be completed by switching the positions of the two clamping claws. For example, the pick-and-place mechanism 10 first moves to the knife tray position, and clamps the old knife box with one clamping claw 11, and then the pick-and-place mechanism 10 moves to the new knife box position of the tray, and the other clamping claw clamps the new knife box, and then the two clamping claws are exchanged, so that the old knife box is put back to the tray; the pick-and-place mechanism 10 moves to the knife tray position again, and puts the new knife box into the knife tray. In the above example, the pick-and-place mechanism 10 can also first move to the new knife box position of the tray, and then go to the knife tray position to take the old knife box for replacement, and finally put the old knife box back to the tray. Through the above technical solution, after grabbing the old knife box, the old knife box can be directly grabbed without placing it in the knife box position on the machine body, and the old knife box can be put back to its original place after grabbing, saving time and improving efficiency.

[0120] As another application example, two knife disc positions 20 are provided on the machine body, and the positions of the two knife disc positions 20 are arranged to correspond to the two clamping claws 11, so that the two clamping claws 11 can clamp the old knife boxes of the two knife disc positions 20 at the same time. At this time, the two clamping claws first clamp the old knife boxes in the knife discs on the two knife disc positions 20 at the same time, and then put them in the knife box position of the machine body, and then take two new knife boxes from the tray at the same time, move them to the two knife disc positions 20 and put them in the knife discs. It can be understood that the position layout of the two knife disc positions 20 may not correspond to the two clamping claws 11, and one clamping claw 11 of the pick-and-place mechanism 10 first clamps the old knife box of one knife disc position, and then moves to another knife disc position to clamp the old knife box through another clamping claw, that is, clamp them in sequence, and then place the old knife box in the knife box position of the machine body, and then go to the tray to clamp the new knife box, and put the new knife box into the knife discs of the two knife disc positions in sequence.

[0121] The following is a further description of the knife box replacement method of the knife changing device of this embodiment.

[0122] The knife box replacement method of the knife changing device of this embodiment comprises the following steps:

[0123] S1: The pick-and-place mechanism 10 is used to obtain the blade disc 60 containing the old blade box and placed in the blade disc position 20. A blade disc is obtained by a clamping claw 11. One blade disc can be obtained at a time, or two clamping claws can clamp one blade disc each.

[0124] S2: Open the cutter disc 60 through the cutter disc opening and closing mechanism 30 so that the old cutter box in the cutter disc 60 can be taken out and replaced.

[0125] S3: The pick-and-place mechanism 10 first takes out the old knife box through a clamp 11, and then obtains the new knife box in the tray 50 through another empty clamp 11 at the working position 80, and then switches the two clamps, and puts the old knife box back into the empty space of the tray 50 with the clamp holding the old knife box. This method further improves the efficiency of knife box replacement by taking the new knife box and putting it back into the old knife box at the working position 80, without the need to temporarily store the old knife box in the knife box position 40 on the machine body.

[0126] In addition, the picking and placing mechanism 10 can also first move to the working position 80 to obtain the new knife box through a clamp, and then move to the knife disc position 40, take out the old knife box through another empty clamp, and install the new knife box into the knife disc. In this way, the clamp replacement and placement of the new knife box are completed at the knife disc position.

[0127] Repeat step S3 so that the pick-and-place mechanism 10 continuously picks and places the knife box until the knife disc is filled with new knife boxes and the knife disc opening and closing mechanism closes the knife disc.

[0128] <Example 5>

[0129] In this embodiment, the same parts as those in Embodiments 1 to 4 are given the same figure marks, and the same text descriptions are omitted.

[0130] like Figure 1 , Figure 17 to Figure 18 As shown, relative to the above embodiment, this embodiment provides a processing system, including a processing device 200 and a tool changing device 100 of the above embodiment. The processing device uses a tool to process the workpiece. The processing device can be a circuit board drilling machine. A tool disc 60 is provided on the processing device for carrying a tool box 61. When the tool box is full of old tools, the tool box is an old tool box, and the tool disc 60 carrying the old tool box is replaced by the tool changing device.

[0131] Furthermore, the processing system further includes a tool room 300 for configuring the tools in the tool box 61, and the tool changing device 100 moves between the processing device 200 and the tool room 300 to replace the tool box. The tool changing device 100 places the new tool box configured by the tool room 300 on the tool changing device 100, then moves to the processing device 200 to take down the tool disk filled with the old tool box, opens the tool disk on the tool changing device, and replaces the tool box.

[0132] Furthermore, the processing system further includes a temporary storage rack 400, which is used to place the material storage part 90. A plurality of knife boxes 6 are arranged in the material storage part 90. The material storage part 90 is divided into multiple layers, and each layer stores a plurality of knife boxes 6 through a tray 50. New knife boxes can be stored in the material storage part 90. The tool changing device 100 moves between the processing device 200, the tool matching room 300 and the temporary storage rack 400. The tool changing device 100 moves to the temporary storage rack 400 position, and the lifting mechanism 120 extends into the temporary storage rack 400. The lifting mechanism 120 rises, lifts up the material storage part 90 on the temporary storage rack 400 and moves, so that the material storage part 90 is separated from the temporary storage rack 400, and the tool changing device moves with the material storage part to the processing device for tool changing.

[0133] The tool changing method of the tool changing system of this embodiment is further described below.

[0134] A tool changing method for a machining system comprises the following steps:

[0135] S10: The knife room 300 puts knives into the knife box, specifically, a whole box of small knives and a single medium-large knife;

[0136] S20: The tool changing device 100 moves to the tool changing position of the processing device 200, and the pick-and-place mechanism 10 places the tool disc from the processing device 200 to the tool disc position 20 of the tool changing device 100; the pick-and-place mechanism 10 can obtain the tool disc from the workbench 210 of the processing device 200 and / or the tool disc cache 220 of the processing device 200.

[0137] S30: The knife disc 60 is opened by the knife disc opening and closing mechanism 30, and the pick-and-place mechanism 10 takes out the old knife box from the knife disc and places it in the knife box position 40;

[0138] S40: The pick-and-place mechanism grabs the new tool box on the tray and places it on the tool disc, and the tool disc opening and closing mechanism is actuated to close the tool disc; the pick-and-place mechanism 10 grabs the replaced tool disc and places it on the processing device, which can be placed on the workbench of the processing device or in the tool disc cache for use by the processing device.

[0139] Through the above-mentioned tool changing method, the tool room can output the tool box. The tool box does not need to be placed on the tool disc. The tool box in the tool disc can be directly replaced on the tool changing device. The processing device receives the tool disc replaced by the tool changing device, thereby realizing efficient tool circulation. No extra equipment is required to transport the tool disc, saving costs.

[0140] Further, in step S10, after the knives in the knife room 300 are arranged in the knife box 61, the knife box 61 is placed on the tray 50, the tray 50 is placed in the material storage part 90, the material storage part 90 is placed on the temporary storage rack 400, and the tool changing device 100 lifts the material storage part onto the tool changing device 100 through the lifting mechanism 120. The tray 50 in the material storage part 90 on the tool changing device 100 is transported to the working position through the lifting mechanism 110, and this process can be performed after the material storage part 90 is placed in place by the lifting mechanism, or it can be performed in parallel with the movement process of the tool changing device 100 or other action processes.

[0141] In the above-mentioned embodiments 1 to 5, during the working process, as the working environment changes, some technical implementation methods of embodiments 1 to 5 can be combined or replaced.

[0142] The technical principle of the present invention is described above in combination with specific embodiments, but it should be noted that the above descriptions are only for explaining the principle of the present invention and cannot be interpreted as a specific limitation on the protection scope of the present invention in any way. Based on the explanation here, technicians in this field can think of other specific embodiments or equivalent replacements of the present invention without paying creative work, which will fall within the protection scope of the present invention.

Claims

1. A tool changing device, characterized in that: include: A pick-and-place mechanism, which is used to pick up and place the knife disc or knife box; The cutter disc position, the cutter disc obtained by the pick-and-place mechanism is placed in the cutter disc position, and the new cutter box and the old cutter box are exchanged in the cutter disc position; The knife disc opening and closing mechanism is used to open or close the knife disc at the knife disc position. When the knife disc is opened, the knife box can be taken out or put into the knife disc. When the knife disc is closed, the knife box in the knife disc is fixed; The knife box position is used to store the knife box.

2. The tool changing device according to claim 1, characterized in that: It also includes a working position and a storage part. The working position is used for storing and taking out old knife boxes and new knife boxes. The picking and placing mechanism enables the knife boxes to move between the working position, the knife disc position and the knife box position. The storage part is used for storing the knife boxes. The working position is located above the storage part.

3. The tool changing device according to claim 2, characterized in that: It also includes a machine body, a pick-and-place mechanism is arranged on the top of the machine body, a lifting mechanism is arranged below the pick-and-place mechanism, and the knife box of the material storage part is transported to the working position through the lifting mechanism.

4. The tool changing device according to claim 2, characterized in that: The knife box position is arranged on the machine body and / or the tray of the working position.

5. The tool changing device according to claim 2, characterized in that: The material storage part is provided with a plurality of trays, the trays are used to directly carry the knife boxes, and the trays are transported between the working position and the material storage part by a lifting mechanism; and / or, a moving module is provided at the bottom of the machine body.

6. The tool changing device according to claim 2, characterized in that: The material storage part and the machine body can be separated, and a lifting mechanism is arranged under the material storage part, and the lifting mechanism pushes the material storage part to rise and fall.

7. The tool changing device according to claim 1, characterized in that: The pick-and-place mechanism comprises a plurality of clamping jaws and a switching mechanism connected to the clamping jaws. The plurality of clamping jaws switch positions through the switching mechanism, and the plurality of clamping jaws respectively grab the new knife box and / or the old knife box.

8. The tool changing device according to any one of claims 1 to 7, characterized in that: The cutter disc position is arranged on the cutter disc opening and closing mechanism, and the pick-and-place mechanism places the cutter disc on the cutter disc opening and closing mechanism after obtaining the cutter disc.

9. The tool changing device according to claim 8, characterized in that: The cutter disc opening and closing mechanism includes a support plate, a drive assembly, and a connector connected to the drive assembly. The support plate is used to support the cutter disc. The connector corresponds to the moving part of the cutter disc. The drive assembly drives the connector to move to open or close the cutter disc.

10. The tool changing device according to claim 9, characterized in that: The support plate and the tray are positioned by means of positioning pieces and matching holes, and the support plate and the tray are fixed by magnetic attraction.

11. The tool changing device according to any one of claims 1 to 7, characterized in that: The cutter disc opening and closing mechanism is arranged on the pick-and-place mechanism. The cutter disc opening and closing mechanism is moved toward the cutter disc position by the pick-and-place mechanism downward, and the cutter disc is opened. The cutter disc opening and closing mechanism is moved away from the cutter disc position by the pick-and-place mechanism upward, and the cutter disc is closed.

12. The tool changing device according to claim 11, characterized in that: The cutter disc opening and closing mechanism comprises a triggering part, which corresponds to the locking block of the cutter disc, and the triggering part pushes the locking block to move downward.

13. A method for replacing a knife box of a knife changing device, characterized in that: The following steps are involved: The knife disc containing the old knife box is obtained by a pick-and-place mechanism and placed in the knife disc position; Open the cutter disc through the cutter disc opening and closing mechanism; The old knife box in the knife tray is taken out by the pick-and-place mechanism and placed in the knife box position; Get a new knife box through a pick-and-place mechanism and place it on the knife tray; The pick-and-place mechanism fills the knife disc with new knife boxes, and the knife disc opening and closing mechanism closes the knife disc.

14. The method for replacing a tool box of a tool changing device according to claim 13, characterized in that: The following steps are involved: Several grippers of the pick-and-place mechanism simultaneously obtain multiple old knife boxes in the knife tray and place them in the knife box position; Several clamping claws of the pick-and-place mechanism simultaneously obtain multiple new knife boxes at the working position and put them into the knife disc.

15. The method for replacing a tool box of a tool changing device according to claim 13, characterized in that: The picking and placing mechanism obtains a new knife box from the tray of the working position, and the tray is transported between the storage part and the working position by the lifting mechanism; after the picking and placing mechanism obtains the old knife box, if there is an empty space in the tray, the picking and placing mechanism directly puts the old knife box back into the empty space of the tray of the working position; if there is no empty space in the tray, the picking and placing mechanism places the old knife box in the knife box position of the machine body.

16. The method for replacing a knife box of a knife changing device according to claim 14 or 15, characterized in that: After the tray at the working position is filled with old knife boxes, it is sent back to the material storage part through the lifting mechanism, and then another tray is transported to the working position.

17. A method for replacing a knife box of a knife changing device, characterized in that: The following steps are involved: The knife disc containing the old knife box is obtained by a plurality of clamping claws of the pick-and-place mechanism and placed in the knife disc position; Open the cutter disc through the cutter disc opening and closing mechanism; The pick-and-place mechanism first takes out the old knife box through at least one clamping claw, and then the vacant clamping claw of the pick-and-place mechanism obtains the new knife box at the working position and puts the old knife box back; Or, the pick-and-place mechanism first obtains the new knife box at the working position through at least one clamping claw, and then the vacant clamping claw of the pick-and-place mechanism takes out the old knife box at the knife disc position and puts in the new knife box; The pick-and-place mechanism fills the knife disc with new knife boxes, and the knife disc opening and closing mechanism closes the knife disc.

18. A processing system, characterized in that include: A processing device, which processes the workpiece using a tool; A tool matching room is used to configure the tools in the tool box, and the tool changing device moves between the processing device and the tool matching room to change the tool box; The tool changing device adopts the tool changing device described in any one of claims 1 to 12.

19. The processing system according to claim 18, characterized in that: It also includes a temporary storage rack, which is used to place the material storage part. Several knife boxes are arranged in the material storage part. The tool changing device moves between the processing device, the knife matching room and the temporary storage rack.

20. A tool changing method for a machining system, characterized in that: The following steps are involved: The knife room equips knives into knife boxes; The tool changing device moves to the tool changing position of the processing device, and the pick-and-place mechanism places the tool disc from the processing device to the tool disc position of the tool changing device; The knife disc is opened by the knife disc opening and closing mechanism, and the pick-and-place mechanism takes out the old knife box from the knife disc and places it in the knife box position; The pick-and-place mechanism grabs the new tool box on the tray and places it on the tool disc, and the tool disc opening and closing mechanism operates to close the tool disc; the pick-and-place mechanism grabs the replaced tool disc and places it on the processing device.

21. The tool changing method according to claim 20, characterized in that: After the knives in the knife room are arranged in the knife box, the knife box is placed on the pallet, the pallet is placed in the material storage part, the material storage part is placed on the temporary storage rack, and the tool changing device lifts the material storage part onto the tool changing device through the lifting mechanism.

22. The tool changing method according to claim 21, characterized in that: The tray in the material storage part on the tool changing device is transported to the working position through the lifting mechanism.

Images