Interactive cutter loading and unloading platform

Abstract

The invention relates to the technical field of turbine disc machining, and particularly discloses an interactive tool loading and unloading platform which comprises a machine tool main body, a tool magazine main body is arranged above the machine tool main body, a plurality of broach boxes are arranged above the tool magazine main body, a first guide rail is arranged on the side face of the tool magazine main body, and a second guide rail is arranged on the side face of the first guide rail. A second guide rail is slidably connected to the upper portion of the first guide rail, a first mechanical arm is slidably connected to the upper portion of the second guide rail, a transfer assembly is arranged below the first mechanical arm, a transfer assembly is arranged on the side face of the transfer assembly, and a butt joint assembly is arranged on the side face of the transfer assembly. A first loading and unloading cutter assembly is arranged below the transfer assembly, and a second loading and unloading cutter assembly is arranged below the butt joint assembly. Two broaching tools can be continuously replaced, the mechanical arm does not need to be repeatedly moved, workers do not need to wait for replacing the broaching tools, the working efficiency is further improved, and unnecessary energy consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of turbine disc processing, and in particular to an interactive tool loading and unloading platform. Background Art

[0002] In the broaching process of aircraft engine turbine disks, the machining accuracy of the tenon and groove is directly related to the overall performance of the engine. Among them, the broaching of the turbine disk tenon and groove is mainly achieved by the movement of the broach, so how to replace the broach is one of the core issues in the turbine disk machining process.

[0003] The patent document with the publication number of "CN108526967A" discloses an automatic tool changing device and control method for a broaching machine, comprising a bed, and a ram, the ram being fixed on one side of the bed for assembling a tool assembly; and a tool holder platform, the tool holder platform being close to the other side of the bed for placing the tool assembly to be replaced; and a truss, the truss being arranged above the tool holder platform, and at least one tool changing robot for grabbing the tool assembly being fixed on the truss, the tool changing robot being able to move between the tool holder platform and the ram, and being able to grab the tool assembly from the tool holder platform or the ram or place the tool assembly on the tool holder platform or the ram; and a zero-point positioning device, through which the tool assembly is assembled to the ram; and a control system that is in signal communication with the tool changing robot and the zero-point positioning device, the control system controlling the tool changing robot and the zero-point positioning device to act according to a preset program.

[0004] Tool changing in the prior art generally refers to replacing the entire broach box. However, in a double-station broaching machine, due to the high work efficiency, the broaches are consumed at a faster rate, and the broach box itself is not easy to be worn out. The reserve of the broach box in the tool magazine is limited. Replacing the entire broach box often cannot meet the actual production needs and will also generate unnecessary production costs. Therefore, workers need to remove the old broaches on the broach box, install new broaches, and put them back into the tool magazine to meet the demand for the number of broaches. However, in actual production, in order to reduce production costs, there is only one set of large-scale mechanical arms for moving the broach box, and at the same time, there may be two broaches on the broach box waiting to be replaced, which leads to a long waiting time in the work process, affecting work efficiency. In addition, the energy consumption of large-scale mechanical arms is high, and frequent movement is prone to unnecessary energy consumption. Summary of the invention

[0005] In order to solve the problem of low efficiency in simultaneously replacing two broaches in the prior art, the present invention provides an interactive tool loading and unloading platform, which can effectively meet the tool changing requirements of a double-station broaching machine and reduce unnecessary energy consumption.

[0006] The technical solution of the present invention: an interactive tool loading and unloading platform comprises a main bed of a machine tool, a tool magazine body is arranged above the main bed of the machine tool, a plurality of tool pull boxes are arranged above the tool magazine body, a first guide rail is arranged on the side of the tool magazine body, a second guide rail is slidably connected above the first guide rail, a first mechanical arm is slidably connected above the second guide rail, a transfer component is arranged below the first mechanical arm, a transfer component is arranged on the side of the transfer component, a docking component is arranged on the side of the transfer component, a first tool loading and unloading component is arranged below the transfer component, and a second tool loading and unloading component is arranged below the docking component; The main bed of the machine tool in the present invention is a double-station broaching machine, which is basically the same as the broaching machine in the prior art, except that the stroke of the broaching machine is longer, which can reach more than 16 meters, so two broaching tool boxes can be installed; the tool magazine body is used to store broaches; the broaching tool box is the carrier of the broaches; the second guide rail can move along the first guide rail, the first mechanical arm can move along the second guide rail, and the first mechanical arm itself can be telescopic in the vertical direction, so that the first mechanical arm can move freely above the tool magazine body; the transfer assembly is used to receive the broaching tool box removed from the main bed of the machine tool by the first mechanical arm, or to replace the broaching tool box with a good one. The knife box is docked with the first robotic arm; the transfer assembly is used to move the position of the transfer assembly to make room for the first robotic arm to move downward, so that the first robotic arm can move to the first loading and unloading knife assembly to dock with another knife box; the docking assembly is used to take out the knife box from the transfer assembly and move it to the second loading and unloading knife assembly below, or to take out the replaced knife box from the second loading and unloading knife assembly in reverse and return it to the transfer assembly; the first loading and unloading knife assembly and the second loading and unloading knife assembly have the same structure, and can rotate the direction of the knife box and temporarily store the broaches, making it convenient for workers to replace the broaches on the knife box.

[0007] The docking assembly includes a docking plate, which is arranged on the side of the main bed of the machine tool, a docking clamp is arranged at one end of the docking plate, a transmission plate is fixedly connected to the side of the docking plate away from the docking clamp, a turning plate is arranged on one side of the transmission plate, an auxiliary plate is arranged on the side of the transmission plate away from the turning plate, a first telescopic rod is arranged on the side of the auxiliary plate away from the transmission plate, and a docking base is arranged on the bottom end side of the first telescopic rod.

[0008] In the present invention, the docking clamp is used to connect with the lifting column on the broach box, so as to drive the broach box to move; when the first telescopic rod is retracted, it drives the transmission plate to slide along the changing plate and the auxiliary plate, so as to use the docking plate to drive the docking clamp and the broach box to move; the changing plate is used to change the moving direction of the transmission plate, and the auxiliary plate is used to assist the changing plate in changing direction.

[0009] Preferably, a docking plate is provided on one side of the docking clamp, a socket is provided at the center of the docking plate, a plurality of balls are provided on the inner side of the docking plate, a soft pad is provided on the side of the docking plate close to the docking clamp, a pneumatic claw is provided on the side of the soft pad, and the pneumatic claw is connected to the ball.

[0010] The docking clamp of the present invention is basically the same as the related clamp in the prior art in principle, and the ball is clamped or released by pneumatic claws, thereby clamping or releasing the lifting column. The pneumatic claws can be pneumatic claws produced by ZIMMER; the soft pad is used to provide space for the lifting column to move.

[0011] Preferably, a changing column is fixedly connected to one side of the transmission plate close to the changing plate, a changing groove is provided on the inner side of the changing plate, the changing column is slidably connected to the changing groove, and the changing groove includes a straight groove and a corner groove.

[0012] The direction-changing column in the present invention is used to change the direction of the transmission plate. When the direction-changing column slides inside the direction-changing groove, it first slides along the straight groove. At this time, the transmission plate moves in a straight line. When the direction-changing column slides to the corner groove, it stays inside the corner groove. At this time, the transmission plate is affected by the transmission column on the other side and changes direction until the direction-changing column leaves the corner groove and continues to slide along the straight groove, so that the transmission plate maintains the changed direction.

[0013] Preferably, one side of the bottom end of the deflection plate is fixedly connected to the docking base, and one side of the deflection plate away from the docking base is rotatably connected to the bottom end of the first telescopic rod; A transmission column is fixedly connected to one side of the transmission plate close to the first telescopic rod, and the transmission column is rotatably connected to the output end of the first telescopic rod. An auxiliary groove is provided on the inner side of the auxiliary plate, and the transmission column is slidably connected to the auxiliary groove. A side of the direction-changing plate close to the auxiliary plate is detachably connected with a plurality of connection columns, and an end of the connection column away from the direction-changing plate is detachably connected to the auxiliary plate.

[0014] The turning plate in the present invention is an integral frame, which supports the entire structure, and the first telescopic rod is used to provide a power source; when the transmission column slides along the auxiliary groove, a pulling force to change the direction is applied to the transmission plate, but the straight groove can maintain the moving direction of the transmission plate until the turning column enters the corner groove, and then it will be affected by the transmission column to change direction; the turning plate and the auxiliary plate are connected only at the top and sides by connecting columns to provide moving space for the transmission plate.

[0015] Preferably, a broach is detachably connected to the side of the broach box, and a lifting column is fixedly connected to the top of the broach box; The lifting column comprises a lifting base, the lifting base is fixedly connected to the upper surface of the broach box, a clamping column is fixedly connected above the lifting base, and a limit cover is fixedly connected above the clamping column; A second mechanical arm is provided on one side of the first mechanical arm, and the second mechanical arm is slidably connected to the second guide rail; A tool holder is arranged on the upper surface of the tool magazine body, a limiting plate is arranged on one side above the tool holder, and a plurality of limiting grooves are arranged on the top of the limiting plate; A slide is fixedly connected to the inner side of the second guide rail, and the bottom of the slide is slidably connected to the first guide rail; a first lifting column is slidably connected to the inner side of the first mechanical arm, and a second lifting column is slidably connected to the inner side of the second mechanical arm; a first mechanical claw is provided at the bottom end of the first lifting column, and a second mechanical claw is provided at the bottom end of the second lifting column.

[0016] In the present invention, the lifting column is used to dock with other components to move the broach box; the lifting base and the limit cover limit the movement of the clamping column to improve the stability of the mobile broach box; the slide is used to make the second guide rail move along the first guide rail; the first lifting column enables the first mechanical arm to have the ability to move vertically; the second mechanical arm is used to assist the first mechanical arm in moving the broach box to enhance stability.

[0017] Preferably, the transfer assembly includes a transfer box, the transfer box is arranged below the first mechanical arm, the side of the transfer box is detachably connected with a plug post, the side of the plug post away from the transfer box is fixedly connected with a rotating plate, the center of the rotating plate is fixedly connected with a transmission shaft, a first slider is arranged on the side of the rotating plate away from the plug post, an auxiliary frame is arranged on the side of the first slider, the bottom end of the first slider is rotatably connected to the transmission shaft, a first concave roller is arranged on the side of the first slider away from the rotating plate, the top of the first concave roller is fixedly connected to the transmission shaft, a first gear is arranged on the side of the first concave roller away from the first slider, the top of the first gear is fixedly connected to the transmission shaft, a second concave roller is arranged on the side of the first gear away from the first concave roller, the top of the second concave roller is fixedly connected to the transmission shaft, a second slider is arranged on the side of the second concave roller away from the first gear, and the bottom end of the second slider is rotatably connected to the transmission shaft; A first vertical groove is formed on one side of the auxiliary frame close to the first sliding block, and the first sliding block is slidably connected to the first vertical groove; A second vertical slot is formed on one side of the auxiliary frame close to the second slider, and the second slider is slidably connected to the second vertical slot; A second gear is meshedly connected below the first gear, a driving column is fixedly connected to the bottom end of the second gear, a first convex roller is provided on one side of the second gear, the bottom end of the first convex roller is fixedly connected to the driving column, the top end of the first convex roller is fitted with the first concave roller, a driving motor is provided on the side of the first convex roller away from the second gear, the output end of the driving motor is fixedly connected to the driving column, the driving column is rotatably connected to the auxiliary frame, a second convex roller is provided on the side of the second gear away from the first convex roller, the bottom end of the second convex roller is fixedly connected to the driving column, and the top end of the second convex roller is fitted with the second concave roller.

[0018] In the present invention, the transfer box is used to insert the broach box and can have a certain effect of limiting the movement of the broach box, so that the broach box is not easy to slide and fall off without the influence of external force; the insertion column and the rotating plate are used to drive the transfer box to rotate; the transmission shaft is the axis that drives the transfer box to rotate; the first slider, the second slider and the auxiliary frame are used to limit the moving direction of the transmission shaft, so that the transmission shaft can only move in the first vertical groove and the second vertical groove; the first concave roller, the first gear, the second concave roller cooperate with the first convex roller, the second gear, and the second convex roller to transmit the rotational force output by the drive motor to the drive column to the transmission shaft; the transfer assembly essentially rotates the broach box through the transfer box, and at the same time raises and lowers the height of the broach box, so that the transfer assembly can use the rotational force to cleverly push the broach box upward for a distance, making it easier to dock with the first mechanical arm, and reduce the movement of the first mechanical arm, saving energy consumption.

[0019] Preferably, the transfer assembly comprises a support column, the support column is arranged below the second guide rail, a fixed plate is detachably connected to the side of the support column, a transfer straight plate is rotatably connected to one side of the fixed plate, and an end of the transfer straight plate away from the fixed plate is rotatably connected to the auxiliary frame; A transfer folding plate is provided on one side of the transfer straight plate, the top end of the transfer folding plate is rotatably connected to the auxiliary frame, and the bending point of the transfer folding plate is rotatably connected to the fixed plate; A second telescopic rod is arranged on the side of the transfer folding plate away from the fixed plate, the output end of the second telescopic rod is rotatably connected to the bottom end of the transfer folding plate, and the top of the second telescopic rod is rotatably connected to the support column.

[0020] In the present invention, the second telescopic rod provides a power source for the transfer folding plate, drives the transfer folding plate to rotate, thereby driving the auxiliary frame to rotate, and at the same time the rotating straight plate follows the rotation, thereby enhancing the stability of the auxiliary frame; the rotating auxiliary frame can move the transfer box toward the direction close to the docking assembly, freeing up space under the first mechanical arm.

[0021] Preferably, the first loading and unloading knife assembly includes a mounting column, the mounting column is arranged below the second guide rail, the side surface of the mounting column is detachably connected to the first track plate, the end of the first track plate away from the mounting column is detachably connected to the support column, the side of the first track plate away from the mounting column is slidably connected to the first slide seat, a rotating box is provided on one side of the first slide seat, a second slide is provided on the end of the rotating box away from the first slide seat, the side surface of the second slide seat is slidably connected to the second track plate, a servo motor is provided on the inner side of the second slide seat, the second slide seat is rotatably connected to the rotating column on the side close to the rotating box, the output end of the servo motor is fixedly connected to the rotating column, and the rotating column is detachably connected to the rotating box.

[0022] The rotating box in the present invention is used to insert the broach box, which can limit the movement of the broach box to a certain extent, so that the broach box is not easy to slide and fall off without the influence of external force; at the same time, the rotating box can be replaced according to the specifications of the broach box, and the first slide seat and the second slide seat can slide along the first track plate and the second track plate to adapt to rotating boxes of different sizes; the rotating box is essentially to change the direction of the broach box, so that workers can more easily disassemble the broach on the broach box.

[0023] Preferably, a tool holder is provided below the rotating box, one side of the tool holder is detachably connected to the mounting column, a main sliding plate is slidably connected to the upper surface of the tool holder, a plurality of slave sliding plates are provided on the side of the main sliding plate, and the slave sliding plates are slidably connected to the tool holder.

[0024] The tool holder in the present invention is used for placing broaches, which is convenient for workers to operate when replacing broaches on the broach box; the main sliding plate and the slave sliding plate enable the tool holder to have a storage function, and the broaches can be temporarily stored inside the tool holder, thereby improving the work efficiency of replacing broaches.

[0025] Preferably, a diamond plate is rotatably connected to the middle of the main sliding plate, a plurality of sliding blocks are fixedly connected to the upper portion of the diamond plate, a driven groove is opened in the middle of the slave sliding plate, and the sliding block is slidably connected to the driven groove.

[0026] The diamond plate in the present invention transmits the force exerted on the main sliding plate to the slave sliding plate through the sliding block and the driven groove, so that the worker only needs to move the main sliding plate to open or close the storage space of the tool holder, so that the worker can quickly place the broach after taking it out, saving time and effort.

[0027] The present invention has the following beneficial effects: (1) The transfer assembly is connected to the robot arm of the broaching machine, which increases the number of operating positions for workers to replace broaches. Two broaches can be replaced continuously, improving work efficiency. The transfer assembly can also be used to change the steps of replacing a single broach, so that the robot arm can move directly downward to connect with the new broach box after putting down the old broach box, without the need to repeatedly move the robot arm and wait for workers to replace the broach, further improving work efficiency and reducing unnecessary energy consumption.

[0028] (2) The transfer assembly enables the robot arm to dock with the two broach boxes directly by lifting, thereby reducing the adjustment of the horizontal position of the robot arm and thus reducing unnecessary energy consumption.

[0029] (3) The broach box on the transfer assembly is removed through the docking assembly, and the worker replaces the new broach and then returns it to the transfer assembly. The structural design is simple and efficient, and there is no need to rely on a robotic arm to move the broach box. This not only reduces energy consumption, but also shortens the design length of the guide rail, saving production costs.

[0030] (4) The broaches on the broach box are loaded and unloaded through two loading and unloading knife assemblies, which can adapt to broach boxes of different sizes, and can adjust the angle of the broach box to a position suitable for loading and unloading. The broaches can also be temporarily stored, which is convenient for workers to operate and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the main bed of the machine tool of the present invention; Figure 2 is a schematic diagram of a knife holder of the present invention; Figure 3 is a schematic diagram of a broach box of the present invention; Figure 4 It is a schematic diagram of a lifting column of the present invention; Figure 5 is a schematic diagram of a first mechanical claw of the present invention; Figure 6 It is a schematic diagram of the overall structure of the loading and unloading knife of the present invention; Figure 7 is a schematic diagram of a docking assembly of the present invention; Figure 8 is a schematic diagram of a docking fixture of the present invention; Fig. 9 is a schematic diagram of a deflection plate of the present invention; Fig.10 is a schematic diagram of an auxiliary plate of the present invention; Fig.11 is a schematic diagram of a first mechanical arm of the present invention; Fig.12 is a schematic diagram of a transfer box of the present invention; Fig.13 is a schematic diagram of a plug post of the present invention; Fig.14 is a schematic diagram of a drive motor of the present invention; Fig.15 is a schematic diagram of a second slider of the present invention; Fig.16 is a schematic diagram of a first gear of the present invention; Fig.17 is a schematic diagram of a transport assembly of the present invention; Fig.18 is a schematic diagram of a first loading and unloading knife assembly of the present invention; Fig.19 is a schematic diagram of a rotating column of the present invention; Fig. 20 It is a schematic diagram of a tool rest of the present invention; Fig.21 It is a schematic diagram of an experimental example of the present invention.

[0032] The markings in the attached drawings are: 100, main bed of machine tool; 200, tool magazine body; 201, tool holder; 202, limit plate; 203, limit groove; 300, broach box; 301, broach; 302, lifting column; 3021, limit cover; 3022, clamping column; 3023, lifting base; 400, first guide rail; 500, second guide rail; 501, slide; 600, first mechanical arm; 601, first lifting column; 602, first mechanical claw; 700, second mechanical arm; 701, second lifting column; 702, second mechanical claw; 800, transfer assembly ;801, transfer box;802, rotating plate;8021, plug column;8022, transmission shaft;8023, first slider;8024, first concave roller;8025, first gear;8026, second concave roller;8027, second slider;803, auxiliary frame;8031, drive motor;8032, first vertical slot;8033, second vertical slot;8034, drive column;8035, first convex roller;8036, second gear;8037, second convex roller;900, transfer assembly;901, support column;902, fixed plate;9021 , transfer straight plate; 9022, transfer folding plate; 9023, second telescopic rod; 1000, docking assembly; 1001, docking plate; 1002, docking fixture; 10021, docking plate; 10022, jack; 10023, ball bearing; 10024, cushion; 10025, pneumatic claw; 1003, transmission plate; 10031, change column; 10032, transmission column; 1004, change plate; 10041, change slot; 100411, straight slot; 100412, corner slot; 10042, connecting column; 1005, auxiliary plate; 100 51. Auxiliary slot; 1006. First telescopic rod; 1007. Docking base; 1100. First loading and unloading knife assembly; 1101. Mounting column; 1102. First track plate; 1103. First slide seat; 1104. Rotating box; 1105. Second slide seat; 11051. Servo motor; 11052. Rotating column; 1106. Second track plate; 1107. Knife holder; 11071. Main sliding plate; 11072. Slave sliding plate; 11073. Diamond plate; 11074. Sliding block; 11075. Driven slot; 1200. Second loading and unloading knife assembly. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0034] Interactive loading and unloading platform, including Figure 1 The main bed 100 of the machine tool is shown in FIG. 1 , and a tool magazine body 200 is arranged above the main bed 100 of the machine tool. A plurality of tool magazine bodies 200 are arranged above the tool magazine body 200. Figure 3The side of the tool magazine body 200 of the tool broach box 300 is provided with a Figure 6 The first guide rail 400 shown in FIG. 1 is slidably connected to the upper portion of the first guide rail 400 with a second guide rail 500, and the upper portion of the second guide rail 500 is slidably connected to the upper portion of the second guide rail 500. Fig.11 The first mechanical arm 600 shown in FIG. 1 has a transfer assembly 800 disposed below the first mechanical arm 600 and a side of the transfer assembly 800 disposed as shown in FIG. Fig.17 The transfer assembly 900 shown in FIG. 1 has a side surface provided with a Figure 7 The docking assembly 1000 shown in the figure has a structure as follows below the transfer assembly 900: Fig.18 The first mounting and disassembling knife assembly 1100 is shown, and a second mounting and disassembling knife assembly 1200 is disposed below the docking assembly 1000; The docking assembly 1000 includes a docking plate 1001, which is arranged on the side of the main bed 100 of the machine tool, and one end of the docking plate 1001 is provided with a Figure 8 The docking fixture 1002 shown in the figure has a transmission plate 1003 fixedly connected to one side of the docking plate 1001 away from the docking fixture 1002. One side of the transmission plate 1003 is provided with a Fig. 9 The deflection plate 1004 shown in FIG. 1 is provided with a side of the transmission plate 1003 away from the deflection plate 1004 as shown in FIG. Fig.10 The auxiliary plate 1005 shown in the figure has a first telescopic rod 1006 disposed on one side of the auxiliary plate 1005 away from the transmission plate 1003 , and a docking base 1007 disposed on one side of the bottom end of the first telescopic rod 1006 .

[0035] A docking plate 10021 is provided on one side of the docking clamp 1002, a socket 10022 is provided at the center of the docking plate 10021, a plurality of balls 10023 are provided on the inner side of the docking plate 10021, a soft pad 10024 is provided on the side of the docking plate 10021 close to the docking clamp 1002, a pneumatic claw 10025 is provided on the side of the soft pad 10024, and the pneumatic claw 10025 is connected to the ball 10023.

[0036] A direction-changing column 10031 is fixedly connected to one side of the transmission plate 1003 close to the direction-changing plate 1004 . A direction-changing groove 10041 is provided on the inner side of the direction-changing plate 1004 . The direction-changing column 10031 is slidably connected to the direction-changing groove 10041 . The direction-changing groove 10041 includes a straight groove 100411 and a corner groove 100412 .

[0037] One side of the bottom end of the turning plate 1004 is fixedly connected to the docking base 1007, and one side of the turning plate 1004 away from the docking base 1007 is rotatably connected to the bottom end of the first telescopic rod 1006; A transmission column 10032 is fixedly connected to one side of the transmission plate 1003 close to the first telescopic rod 1006. The transmission column 10032 is rotatably connected to the output end of the first telescopic rod 1006. An auxiliary groove 10051 is provided on the inner side of the auxiliary plate 1005. The transmission column 10032 is slidably connected to the auxiliary groove 10051. A side of the direction-changing plate 1004 close to the auxiliary plate 1005 is detachably connected to a plurality of connecting posts 10042 , and an end of the connecting posts 10042 away from the direction-changing plate 1004 is detachably connected to the auxiliary plate 1005 .

[0038] The side of the broach box 300 is detachably connected to the broach 301, and the top of the broach box 300 is fixedly connected to the broach 301. Figure 4 The lifting post 302 is shown; The lifting column 302 includes a lifting base 3023, which is fixedly connected to the upper surface of the broach box 300, and a clamping column 3022 is fixedly connected above the lifting base 3023, and a limit cover 3021 is fixedly connected above the clamping column 3022; A second mechanical arm 700 is disposed on one side of the first mechanical arm 600, and the second mechanical arm 700 is slidably connected to the second guide rail 500; The upper surface of the tool magazine body 200 is provided with Figure 2 The knife seat 201 shown in the figure has a limit plate 202 disposed on one side above the knife seat 201, and a plurality of limit grooves 203 are formed on the top of the limit plate 202; The inner side of the second guide rail 500 is fixedly connected with a slide 501, and the bottom of the slide 501 is slidably connected to the first guide rail 400; the inner side of the first mechanical arm 600 is slidably connected with a first lifting column 601, and the inner side of the second mechanical arm 700 is slidably connected with a second lifting column 701; the bottom end of the first lifting column 601 is provided with Figure 5 As shown in the first mechanical claw 602 , a second mechanical claw 702 is disposed at the bottom end of the second lifting column 701 .

[0039] The transfer assembly 800 includes: Fig.12 The transfer box 801 shown in the figure is arranged below the first mechanical arm 600, and the side of the transfer box 801 is detachably connected to the transfer box 801. Fig.13The plug post 8021 shown in the figure has a rotating plate 802 fixedly connected to the side of the plug post 8021 away from the transfer box 801, a transmission shaft 8022 fixedly connected to the center of the rotating plate 802, a first slider 8023 is provided on the side of the rotating plate 802 away from the plug post 8021, an auxiliary frame 803 is provided on the side of the first slider 8023, the bottom end of the first slider 8023 is rotatably connected to the transmission shaft 8022, a first concave roller 8024 is provided on the side of the first slider 8023 away from the rotating plate 802, the top of the first concave roller 8024 is fixedly connected to the transmission shaft 8022, and the first concave roller 8024 is provided on the side away from the first slider 8023 as shown in the figure. Fig.16 The first gear 8025 shown in the figure, the top end of the first gear 8025 is fixedly connected to the transmission shaft 8022, the side of the first gear 8025 away from the first concave roller 8024 is provided with a second concave roller 8026, the top end of the second concave roller 8026 is fixedly connected to the transmission shaft 8022, and the side of the second concave roller 8026 away from the first gear 8025 is provided with a Fig.15 The second slider 8027 shown, the bottom end of the second slider 8027 is rotatably connected to the transmission shaft 8022; A first vertical slot 8032 is formed on one side of the auxiliary frame 803 close to the first sliding block 8023, and the first sliding block 8023 is slidably connected to the first vertical slot 8032; A second vertical groove 8033 is formed on one side of the auxiliary frame 803 close to the second sliding block 8027, and the second sliding block 8027 is slidably connected to the second vertical groove 8033; The second gear 8036 is meshedly connected below the first gear 8025, and the bottom end of the second gear 8036 is fixedly connected to the driving column 8034. A first convex roller 8035 is provided on one side of the second gear 8036, and the bottom end of the first convex roller 8035 is fixedly connected to the driving column 8034, and the top end of the first convex roller 8035 is in contact with the first concave roller 8024. A side of the first convex roller 8035 away from the second gear 8036 is provided with a Fig.14 The driving motor 8031 ​​shown in the figure has an output end fixedly connected to the driving column 8034, the driving column 8034 is rotatably connected to the auxiliary frame 803, a second convex roller 8037 is arranged on the side of the second gear 8036 away from the first convex roller 8035, the bottom end of the second convex roller 8037 is fixedly connected to the driving column 8034, and the top end of the second convex roller 8037 is in contact with the second concave roller 8026.

[0040] The transfer assembly 900 includes a support column 901, which is disposed below the second guide rail 500. A fixed plate 902 is detachably connected to the side of the support column 901. A transfer straight plate 9021 is rotatably connected to one side of the fixed plate 902. One end of the transfer straight plate 9021 away from the fixed plate 902 is rotatably connected to the auxiliary frame 803. A transfer folding plate 9022 is provided on one side of the transfer straight plate 9021, the top end of the transfer folding plate 9022 is rotatably connected to the auxiliary frame 803, and the bending point of the transfer folding plate 9022 is rotatably connected to the fixed plate 902; A second telescopic rod 9023 is provided on the side of the transfer folding plate 9022 away from the fixed plate 902 , the output end of the second telescopic rod 9023 is rotatably connected to the bottom end of the transfer folding plate 9022 , and the top of the second telescopic rod 9023 is rotatably connected to the support column 901 .

[0041] The first loading and unloading knife assembly 1100 includes a mounting column 1101, which is arranged below the second guide rail 500. The side of the mounting column 1101 is detachably connected with a first track plate 1102. The end of the first track plate 1102 away from the mounting column 1101 is detachably connected to the support column 901. The side of the first track plate 1102 away from the mounting column 1101 is slidably connected with a first slide 1103. A rotating box 1104 is provided on one side of the first slide 1103. A second slide 1105 is provided on the end of the rotating box 1104 away from the first slide 1103. The side of the second slide 1105 is slidably connected with a second track plate 1106. A servo motor 11051 is provided on the inner side of the second slide 1105. The second slide 1105 is rotatably connected to the side of the second slide 1105 close to the rotating box 1104. Fig.19 The rotating column 11052 shown, the output end of the servo motor 11051 is fixedly connected to the rotating column 11052, and the rotating column 11052 is detachably connected to the rotating box 1104.

[0042] The lower part of the rotating box 1104 is provided with Fig. 20 The tool holder 1107 shown in the figure has one side detachably connected to the mounting column 1101, a main sliding plate 11071 is slidably connected to the upper surface of the tool holder 1107, and a plurality of slave sliding plates 11072 are provided on the side of the main sliding plate 11071, and the slave sliding plates 11072 are slidably connected to the tool holder 1107.

[0043] The middle of the main sliding plate 11071 is rotatably connected to a diamond plate 11073, and a plurality of sliding blocks 11074 are fixedly connected to the upper part of the diamond plate 11073. A driven groove 11075 is opened in the middle of the sliding plate 11072, and the sliding block 11074 is slidably connected to the driven groove 11075.

[0044] Embodiment 1: Interactive tool loading and unloading platform, including Figure 1 The main bed 100 of the machine tool is shown in FIG. 1 , and a tool magazine body 200 is arranged above the main bed 100 of the machine tool. A plurality of tool magazine bodies 200 are arranged above the tool magazine body 200. Figure 3 The side of the tool magazine body 200 of the tool broach box 300 is provided with a Figure 6The first guide rail 400 shown in FIG. 1 is slidably connected to the upper portion of the first guide rail 400 with a second guide rail 500, and the upper portion of the second guide rail 500 is slidably connected to the upper portion of the second guide rail 500. Fig.11 The first mechanical arm 600 shown in FIG. 1 has a transfer assembly 800 disposed below the first mechanical arm 600 and a side of the transfer assembly 800 disposed as shown in FIG. Fig.17 The transfer assembly 900 shown in FIG. 1 has a side surface provided with a Figure 7 The docking assembly 1000 shown in the figure has a structure as follows below the transfer assembly 900: Fig.18 The first mounting and disassembling knife assembly 1100 is shown, and a second mounting and disassembling knife assembly 1200 is disposed below the docking assembly 1000; In this embodiment, the worker removes the broach box 300 installed on the main bed 100 of the machine tool through the first robot arm 600, and then inserts the broach box 300 into the transfer assembly 800 through the first guide rail 400 and the second guide rail 500. Then the first robot arm 600 releases the broach box 300, and the transfer assembly 800 lowers and rotates the broach box 300 to separate from the first robot arm 600. Then the transfer assembly 900 moves the transfer assembly 800 to the side of the docking assembly 1000, and the docking assembly 1000 takes out the broach box 300 in the transfer assembly 800 and sends it to the second loading and unloading knife assembly 1200 for loading and unloading the broach 301. At this time, the transfer assembly 800 gives way to the first In the space below a robot arm 600, a worker can directly lower the first robot arm 600 and move it to the top of the first loading and unloading tool assembly 1100. If at this time a worker in the first loading and unloading tool assembly 1100 has completed the replacement of the broaching tool 301 with a broach box 300, the worker can directly connect with the broach box 300, and then move the broach box 300 into the tool magazine body 200 for storage, or install it on the main bed 100 of the machine tool; this allows the first robot arm 600 to complete two operations at one time, putting down the old broach box 300 and picking up the new broach box 300, thereby improving work efficiency, reducing unnecessary energy consumption, and reducing the waiting time of workers, so that loading and unloading work can be carried out continuously.

[0045] If there is no broach box 300 in the first tool loading and unloading assembly 1100, the worker can use the first robot arm 600 to remove another broach box 300 from the machine tool main bed 100, and then send the broach box 300 into the first tool loading and unloading assembly 1100 to load and unload the broach 301, so that the worker can replace the broaches 301 on two broach boxes 300 at the same time, meeting the demand of using two broaches 301 for broaching on a double-station broaching machine.

[0046] Embodiment 2: Based on Embodiment 1, this embodiment optimizes the technical solution: the transfer component 800 includes: Fig.12 The transfer box 801 shown in the figure is arranged below the first mechanical arm 600, and the side of the transfer box 801 is detachably connected to the transfer box 801. Fig.13 The plug post 8021 shown in the figure has a rotating plate 802 fixedly connected to the side of the plug post 8021 away from the transfer box 801, a transmission shaft 8022 fixedly connected to the center of the rotating plate 802, a first slider 8023 is provided on the side of the rotating plate 802 away from the plug post 8021, an auxiliary frame 803 is provided on the side of the first slider 8023, the bottom end of the first slider 8023 is rotatably connected to the transmission shaft 8022, a first concave roller 8024 is provided on the side of the first slider 8023 away from the rotating plate 802, the top of the first concave roller 8024 is fixedly connected to the transmission shaft 8022, and the first concave roller 8024 is provided on the side away from the first slider 8023 as shown in the figure. Fig.16 The first gear 8025 shown in the figure, the top end of the first gear 8025 is fixedly connected to the transmission shaft 8022, the side of the first gear 8025 away from the first concave roller 8024 is provided with a second concave roller 8026, the top end of the second concave roller 8026 is fixedly connected to the transmission shaft 8022, and the side of the second concave roller 8026 away from the first gear 8025 is provided with a Fig.15 The second slider 8027 shown, the bottom end of the second slider 8027 is rotatably connected to the transmission shaft 8022; A first vertical slot 8032 is formed on one side of the auxiliary frame 803 close to the first sliding block 8023, and the first sliding block 8023 is slidably connected to the first vertical slot 8032; A second vertical groove 8033 is formed on one side of the auxiliary frame 803 close to the second sliding block 8027, and the second sliding block 8027 is slidably connected to the second vertical groove 8033; The second gear 8036 is meshedly connected below the first gear 8025, and the bottom end of the second gear 8036 is fixedly connected to the driving column 8034. A first convex roller 8035 is provided on one side of the second gear 8036, and the bottom end of the first convex roller 8035 is fixedly connected to the driving column 8034, and the top end of the first convex roller 8035 is in contact with the first concave roller 8024. A side of the first convex roller 8035 away from the second gear 8036 is provided with a Fig.14 The driving motor 8031 ​​shown in the figure has an output end fixedly connected to the driving column 8034, the driving column 8034 is rotatably connected to the auxiliary frame 803, a second convex roller 8037 is arranged on the side of the second gear 8036 away from the first convex roller 8035, the bottom end of the second convex roller 8037 is fixedly connected to the driving column 8034, and the top end of the second convex roller 8037 is in contact with the second concave roller 8026.

[0047] In this embodiment, the worker inserts the broach box 300 into the transfer box 801 through the first mechanical arm 600. The transfer box 801 is provided with a slot matching the size of the broach box 300, so that the broach box 300 is not easy to shake and fall off without external force. Then the worker causes the first mechanical arm 600 to release the broach box 300, and then starts the drive motor 8031 ​​to drive the drive column 8034 to rotate, so that the first convex roller 8035, the second gear 8036 and the second convex roller 8037 are rotated. The first concave roller 8024, the first gear 8025 and the second concave roller 8026 rotate, and the two sets of concave and convex rollers are used to enhance the stability of the structure. Since the driving column 8034 is restricted by the auxiliary frame 803 and can only rotate, the second gear 8036 also rotates around the driving column 8034. However, the first gear 8025 above not only rotates, but also applies a pulling force to the transmission shaft 8022. After the transmission shaft 8022 is subjected to the force, it drives the first slider 8023 and the second slider 8027. Slide along the first vertical groove 8032 and the second vertical groove 8033, thereby changing the height of the transfer box 801, and further separating the broach box 300 from the first robot arm 600; at the same time, because the transmission shaft 8022 is also driven by the first gear 8025 to rotate, the angle of the transfer box 801 is also deflected, so that the lifting column 302 on the top of the broach box 300 is facing the docking assembly 1000, which is convenient for the subsequent connection between the docking assembly 1000 and the broach box 300; After the broach 301 is replaced, the broach box 300 is brought close to the first robotic arm 600 in the opposite steps to facilitate the connection between the first robotic arm 600 and the broach box 300. The present embodiment utilizes the transfer assembly 800 to separate the broach box 300 from the first robotic arm 600 without repeatedly lifting and lowering the first robotic arm 600, and simultaneously completes the turning of the broach box 300, thereby facilitating subsequent loading and unloading work, improving work efficiency, and reducing unnecessary energy consumption.

[0048] Embodiment 3: Based on Embodiment 2, this embodiment optimizes the technical solution: the transfer assembly 900 includes a support column 901, the support column 901 is arranged below the second guide rail 500, the side of the support column 901 is detachably connected with a fixed plate 902, one side of the fixed plate 902 is rotatably connected with a transfer straight plate 9021, and the end of the transfer straight plate 9021 away from the fixed plate 902 is rotatably connected to the auxiliary frame 803; A transfer folding plate 9022 is provided on one side of the transfer straight plate 9021, the top end of the transfer folding plate 9022 is rotatably connected to the auxiliary frame 803, and the bending point of the transfer folding plate 9022 is rotatably connected to the fixed plate 902; A second telescopic rod 9023 is provided on the side of the transfer folding plate 9022 away from the fixed plate 902 , the output end of the second telescopic rod 9023 is rotatably connected to the bottom end of the transfer folding plate 9022 , and the top of the second telescopic rod 9023 is rotatably connected to the support column 901 .

[0049] In the present embodiment, the worker utilizes the second telescopic rod 9023 to drive the transfer folding plate 9022 to rotate, and utilizes the transfer straight plate 9021 to enhance the stability of the structure, thereby moving the auxiliary frame 803 toward the direction close to the docking assembly 1000, facilitating the connection between the docking assembly 1000 and the broach box 300, and also freeing up the space under the first robotic arm 600, so that the worker can directly lower the first robotic arm 600 and move it to the top of the first loading and unloading knife assembly 1100 to perform subsequent loading and unloading knife work; the present embodiment mainly utilizes the transfer assembly 900 to change the position of the transfer assembly 800, so that the overall device has more flexibility, thereby being able to perform more abundant operation steps.

[0050] Embodiment 4: Based on Embodiment 3, this embodiment optimizes the technical solution: the docking assembly 1000 includes a docking plate 1001, which is arranged on the side of the main bed 100 of the machine tool, and one end of the docking plate 1001 is provided with Figure 8 The docking fixture 1002 shown in the figure has a transmission plate 1003 fixedly connected to one side of the docking plate 1001 away from the docking fixture 1002. One side of the transmission plate 1003 is provided with a Fig. 9 The deflection plate 1004 shown in FIG. 1 is provided with a side of the transmission plate 1003 away from the deflection plate 1004 as shown in FIG. Fig.10 The auxiliary plate 1005 shown in the figure has a first telescopic rod 1006 disposed on one side of the auxiliary plate 1005 away from the transmission plate 1003 , and a docking base 1007 disposed on one side of the bottom end of the first telescopic rod 1006 .

[0051] A docking plate 10021 is provided on one side of the docking clamp 1002, a socket 10022 is provided at the center of the docking plate 10021, a plurality of balls 10023 are provided on the inner side of the docking plate 10021, a soft pad 10024 is provided on the side of the docking plate 10021 close to the docking clamp 1002, a pneumatic claw 10025 is provided on the side of the soft pad 10024, and the pneumatic claw 10025 is connected to the ball 10023.

[0052] A direction-changing column 10031 is fixedly connected to one side of the transmission plate 1003 close to the direction-changing plate 1004 . A direction-changing groove 10041 is provided on the inner side of the direction-changing plate 1004 . The direction-changing column 10031 is slidably connected to the direction-changing groove 10041 . The direction-changing groove 10041 includes a straight groove 100411 and a corner groove 100412 .

[0053] One side of the bottom end of the turning plate 1004 is fixedly connected to the docking base 1007, and one side of the turning plate 1004 away from the docking base 1007 is rotatably connected to the bottom end of the first telescopic rod 1006; A transmission column 10032 is fixedly connected to one side of the transmission plate 1003 close to the first telescopic rod 1006. The transmission column 10032 is rotatably connected to the output end of the first telescopic rod 1006. An auxiliary groove 10051 is provided on the inner side of the auxiliary plate 1005. The transmission column 10032 is slidably connected to the auxiliary groove 10051. A side of the direction-changing plate 1004 close to the auxiliary plate 1005 is detachably connected to a plurality of connecting posts 10042 , and an end of the connecting posts 10042 away from the direction-changing plate 1004 is detachably connected to the auxiliary plate 1005 .

[0054] In this embodiment, the docking fixture 1002 is connected to the lifting column 302 on the broach box 300. When the first telescopic rod 1006 is retracted, the transmission plate 1003 is driven to slide along the redirecting plate 1004 and the auxiliary plate 1005, and the broach box 300 is pulled out of the transfer assembly 800. Then, the broach box 300 is first driven to move a distance in the lateral direction until the redirecting column 10031 enters the corner groove 100412. At this time, the broach box 300 rotates downward until it is aligned with the second loading and unloading knife assembly 1200 below. At this time, the redirecting column 1003 1 just leaves the corner groove 100412, so that the broach box 300 moves vertically downward and is inserted into the second loading and unloading knife assembly 1200 to replace the broach 301 on the broach box 300; similarly, after completing the replacement, the worker can use the opposite steps to return the broach box 300 to the transfer assembly 800; this embodiment uses the docking assembly 1000 to carry the broach box 300, and does not need to rely on the first mechanical arm 600 to move the broach box 300, which not only reduces energy consumption, but also shortens the design length of the first guide rail 400, saving production costs.

[0055] Embodiment 5: This embodiment optimizes the technical solution based on Embodiment 4: the first loading and unloading knife assembly 1100 includes a mounting column 1101, and the mounting column 1101 is arranged below the second guide rail 500. The side of the mounting column 1101 is detachably connected with a first track plate 1102, and the end of the first track plate 1102 away from the mounting column 1101 is detachably connected to the support column 901, and the side of the first track plate 1102 away from the mounting column 1101 is slidably connected with a first slide 1103, and a rotating box 1104 is provided on one side of the first slide 1103, and a second slide 1105 is provided on the end of the rotating box 1104 away from the first slide 1103, and the side of the second slide 1105 is slidably connected with a second track plate 1106, and a servo motor 11051 is provided on the inner side of the second slide 1105, and the side of the second slide 1105 close to the rotating box 1104 is rotatably connected with Fig.19The rotating column 11052 shown, the output end of the servo motor 11051 is fixedly connected to the rotating column 11052, and the rotating column 11052 is detachably connected to the rotating box 1104.

[0056] The lower part of the rotating box 1104 is provided with Fig. 20 The tool holder 1107 shown in the figure has one side detachably connected to the mounting column 1101, a main sliding plate 11071 is slidably connected to the upper surface of the tool holder 1107, and a plurality of slave sliding plates 11072 are provided on the side of the main sliding plate 11071, and the slave sliding plates 11072 are slidably connected to the tool holder 1107.

[0057] The middle of the main sliding plate 11071 is rotatably connected to a diamond plate 11073, and a plurality of sliding blocks 11074 are fixedly connected to the upper part of the diamond plate 11073. A driven groove 11075 is opened in the middle of the sliding plate 11072, and the sliding block 11074 is slidably connected to the driven groove 11075.

[0058] In this embodiment, the broach box 300 is inserted into the rotating box 1104 by the first robot arm 600 or the docking assembly 1000. The worker changes the angle of the rotating box 1104 through the servo motor 11051, so that the broaches 301 on the broach box 300 face the direction convenient for the worker to operate, reducing obstructions and making it easier for the worker to load and unload the broaches 301. In addition, when the worker replaces the broach 301, the worker can place the spare broach 301 on the tool holder 1107, which is convenient for the worker to perform other operations. Further, the worker can pull the main sliding plate 11071 to fold the diamond plate 11073, and use the sliding block 11074 to move along the driven groove 11074. 1075 slides, generating pulling force on the sliding plate 11072, opening the top of the tool holder 1107, and temporarily storing the broach 301 in the tool holder 1107 for use when the broach 301 is replaced next time; in addition, in this embodiment, the worker can move the first slide 1103 and the second slide 1105 according to the size of the broach box 300, replace the rotating box 1104, and use the first robot arm 600 to directly move the broach box 300, while the second loading and unloading tool assembly 1200 still uses the original rotating box 1104, so that the device can perform loading and unloading work on broach boxes 300 of two sizes at the same time, thereby enhancing the scope of application of the device.

[0059] Experimental example: Fig.21 As shown, this experimental example takes a turbine disc processing plant as an example. In this experimental example, when the turbine disc processing plant is processing the turbine disc, it is found that the fifth broaching tool box 300 in the tool magazine needs to be assembled to the A station, recorded as tool No. 5, and the sixth broaching tool box 300 needs to be assembled to the B station, recorded as tool No. 6. This experimental example uses enumeration method to prove that the operation can be completed according to different pre-position states of the broach 301.

[0060] The T(N)A-UP command indicates that tool N is returned from station A to the tool box position N, and the T(N)B-DOWN command indicates that tool N is loaded from the tool box position N to station B. When N=0, it indicates that no assembly or return operation is performed: Both broach boxes 300 are not at the workstations: let the broach box 300 at workstation A be a, and the broach box 300 at workstation B be b, then the operations to be performed are T(a) A-UP, T(5) A-DOWN, T(b) B-UP, and T(6) B-DOWN.

[0061] There is a broach box 300 on the workstation: This situation needs to be further divided into four categories for discussion: (1) Tool No. 5 is at station A: Let the broach box 300 at station B be b. The operations to be performed are T(0) A-UP, T(0) A-DOWN, T(b) B-UP, and T(6) B-DOWN.

[0062] (2) Tool No. 5 is at station B: Assume that the broach box 300 at station A is a. The operations to be performed are T(0) A-UP, T(0) A-DOWN, T(5) B-UP, T(6) B-DOWN, T(a) A-UP, T(5) A-DOWN, T(0) B-UP, and T(0) B-DOWN.

[0063] (3) Tool No. 6 is at station A: Let the broach box 300 at station B be b. The operations to be performed are T(6) A-UP, T(5) A-DOWN, T(b) B-UP, and T(6) B-DOWN.

[0064] (4) Tool No. 6 is at station B: Let the broach box 300 at station A be a. The operations to be performed are T(a) A-UP, T(5) A-DOWN, T(0) B-UP, and T(0) B-DOWN.

[0065] Both broach boxes 300 are on the workstations: if the No. 5 broach is on the A workstation and the No. 6 broach is on the B workstation, then the requirements are obviously met.

[0066] When tool No. 5 is at station B and tool No. 6 is at station A, the operations that need to be performed are T(6) A-UP, T(0) A-DOWN, T(5) B-UP, T(6) B-DOWN, T(0) A-UP, T(5) A-DOWN, T(0) B-UP, T(0) B-DOWN.

[0067] In summary, it can be concluded that in any case, the function of assembling tool No. 5 to station A and tool No. 6 to station B can be realized. Due to the arbitrariness of the broaching tool box 300, it can be concluded that the broaching machine can realize the function of assembling any two broaching tool boxes 300 to stations A and B through a series of operations.

[0068] Furthermore, the state of the broach box 300 during the broaching operation can be divided into a start cycle, a working cycle, and an end cycle. The start cycle refers to placing the two broach boxes 300 into the A station and the B station in sequence, the working cycle refers to replacing the broaches 301 in the order of the A station and the B station assuming that the service life of each broach 301 is fixed, and the end cycle refers to taking the broach boxes 300 on the A station and the B station back into the tool magazine.

[0069] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. Interactive tool loading and unloading platform, its characteristics are: The invention comprises a machine tool main bed (100), a tool magazine body (200) is arranged above the machine tool main bed (100), a plurality of tool broaching boxes (300) are arranged above the tool magazine body (200), a first guide rail (400) is arranged on the side of the tool magazine body (200), a second guide rail (500) is slidably connected above the first guide rail (400), a first mechanical arm (600) is slidably connected above the second guide rail (500), a transfer assembly (800) is arranged below the first mechanical arm (600), a transfer assembly (900) is arranged on the side of the transfer assembly (800), a docking assembly (1000) is arranged on the side of the transfer assembly (900), a first tool loading and unloading assembly (1100) is arranged below the transfer assembly (900), and a second tool loading and unloading assembly (1200) is arranged below the docking assembly (1000); The docking assembly (1000) comprises a docking plate (1001), the docking plate (1001) being arranged on the side of the main bed (100) of the machine tool, a docking fixture (1002) being arranged at one end of the docking plate (1001), a transmission plate (1003) being fixedly connected to the side of the docking plate (1001) away from the docking fixture (1002), a direction-changing plate (1004) being arranged on one side of the transmission plate (1003), an auxiliary plate (1005) being arranged on the side of the transmission plate (1003) away from the direction-changing plate (1004), a first telescopic rod (1006) being arranged on the side of the auxiliary plate (1005) away from the transmission plate (1003), and a docking base (1007) being arranged on one side of the bottom end of the first telescopic rod (1006).

2. The interactive tool loading and unloading platform according to claim 1 is characterized by: A docking plate (10021) is provided on one side of the docking clamp (1002), a socket (10022) is provided at the center of the docking plate (10021), a plurality of balls (10023) are provided on the inner side of the docking plate (10021), a soft pad (10024) is provided on the side of the docking plate (10021) close to the docking clamp (1002), a pneumatic clamping claw (10025) is provided on the side of the soft pad (10024), and the pneumatic clamping claw (10025) is connected to the ball (10023).

3. The interactive tool loading and unloading platform according to claim 1 is characterized by: A direction-changing column (10031) is fixedly connected to one side of the transmission plate (1003) close to the direction-changing plate (1004); a direction-changing groove (10041) is provided on the inner side of the direction-changing plate (1004); the direction-changing column (10031) is slidably connected to the direction-changing groove (10041); and the direction-changing groove (10041) comprises a straight groove (100411) and a corner groove (100412).

4. The interactive tool loading and unloading platform according to claim 1, characterized in that: One side of the bottom end of the deflection plate (1004) is fixedly connected to the docking base (1007), and the side of the deflection plate (1004) away from the docking base (1007) is rotatably connected to the bottom end of the first telescopic rod (1006); A transmission column (10032) is fixedly connected to one side of the transmission plate (1003) close to the first telescopic rod (1006), the transmission column (10032) is rotatably connected to the output end of the first telescopic rod (1006), an auxiliary groove (10051) is provided on the inner side of the auxiliary plate (1005), and the transmission column (10032) is slidably connected to the auxiliary groove (10051); A side of the direction-changing plate (1004) close to the auxiliary plate (1005) is detachably connected to a plurality of connection columns (10042), and an end of the connection column (10042) away from the direction-changing plate (1004) is detachably connected to the auxiliary plate (1005).

5. The interactive tool loading and unloading platform according to claim 1, characterized in that: A broach (301) is detachably connected to the side of the broach box (300), and a lifting column (302) is fixedly connected to the top of the broach box (300); The lifting column (302) comprises a lifting base (3023), the lifting base (3023) is fixedly connected to the upper surface of the broach box (300), a clamping column (3022) is fixedly connected above the lifting base (3023), and a limiting cover (3021) is fixedly connected above the clamping column (3022); A second mechanical arm (700) is provided on one side of the first mechanical arm (600), and the second mechanical arm (700) is slidably connected to the second guide rail (500); A tool holder (201) is provided on the upper surface of the tool magazine body (200); a limiting plate (202) is provided on one side above the tool holder (201); and a plurality of limiting grooves (203) are provided on the top of the limiting plate (202); A slide table (501) is fixedly connected to the inner side of the second guide rail (500), and the bottom of the slide table (501) is slidably connected to the first guide rail (400); a first lifting column (601) is slidably connected to the inner side of the first mechanical arm (600), and a second lifting column (701) is slidably connected to the inner side of the second mechanical arm (700); a first mechanical claw (602) is provided at the bottom end of the first lifting column (601), and a second mechanical claw (702) is provided at the bottom end of the second lifting column (701).

6. The interactive tool loading and unloading platform according to claim 1, characterized in that: The transfer assembly (800) comprises a transfer box (801), wherein the transfer box (801) is arranged below the first mechanical arm (600), a side of the transfer box (801) is detachably connected with a plug post (8021), a side of the plug post (8021) away from the transfer box (801) is fixedly connected with a rotating plate (802), a center of the rotating plate (802) is fixedly connected with a transmission shaft (8022), a side of the rotating plate (802) away from the plug post (8021) is provided with a first slider (8023), a side of the first slider (8023) is provided with an auxiliary frame (803), a bottom end of the first slider (8023) is rotatably connected to the transmission shaft (8022), and a side of the first slider (8023) away from the rotating plate (802) is provided with a A first concave roller (8024) is provided, the top end of the first concave roller (8024) is fixedly connected to the transmission shaft (8022), a first gear (8025) is provided on the side of the first concave roller (8024) away from the first slider (8023), the top end of the first gear (8025) is fixedly connected to the transmission shaft (8022), a second concave roller (8026) is provided on the side of the first gear (8025) away from the first concave roller (8024), the top end of the second concave roller (8026) is fixedly connected to the transmission shaft (8022), a second slider (8027) is provided on the side of the second concave roller (8026) away from the first gear (8025), and the bottom end of the second slider (8027) is rotatably connected to the transmission shaft (8022).

7. The interactive tool loading and unloading platform according to claim 6, characterized in that: A first vertical groove (8032) is provided on one side of the auxiliary frame (803) close to the first sliding block (8023), and the first sliding block (8023) is slidably connected to the first vertical groove (8032); A second vertical groove (8033) is provided on one side of the auxiliary frame (803) close to the second sliding block (8027), and the second sliding block (8027) is slidably connected to the second vertical groove (8033); A second gear (8036) is meshedly connected below the first gear (8025), a driving column (8034) is fixedly connected to the bottom end of the second gear (8036), a first convex roller (8035) is provided on one side of the second gear (8036), the bottom end of the first convex roller (8035) is fixedly connected to the driving column (8034), the top end of the first convex roller (8035) is in contact with the first concave roller (8024), and the first convex roller (8035) is away from the second gear (8036). A driving motor (8031) is provided on one side of the second gear (8036), an output end of the driving motor (8031) is fixedly connected to a driving column (8034), the driving column (8034) is rotationally connected to the auxiliary frame (803), a second convex roller (8037) is provided on a side of the second gear (8036) away from the first convex roller (8035), the bottom end of the second convex roller (8037) is fixedly connected to the driving column (8034), and the top end of the second convex roller (8037) is in contact with the second concave roller (8026).

8. The interactive tool loading and unloading platform according to claim 6, characterized in that: The transfer assembly (900) comprises a support column (901), wherein the support column (901) is arranged below the second guide rail (500), and a fixed plate (902) is detachably connected to a side surface of the support column (901), and a transfer straight plate (9021) is rotatably connected to one side of the fixed plate (902), and an end of the transfer straight plate (9021) away from the fixed plate (902) is rotatably connected to an auxiliary frame (803); a transfer folding plate (9022) is arranged on one side of the transfer straight plate (9021), and the top end of the transfer folding plate (9022) is rotatably connected to the auxiliary frame (803), and the bending point of the transfer folding plate (9022) is rotatably connected to the fixed plate (902); A second telescopic rod (9023) is provided on a side of the transfer folding plate (9022) away from the fixed plate (902), the output end of the second telescopic rod (9023) is rotatably connected to the bottom end of the transfer folding plate (9022), and the top of the second telescopic rod (9023) is rotatably connected to the support column (901).

9. The interactive tool loading and unloading platform according to claim 8, characterized in that: The first loading and unloading knife assembly (1100) comprises a mounting column (1101), wherein the mounting column (1101) is arranged below the second guide rail (500), and a first track plate (1102) is detachably connected to a side of the mounting column (1101), and an end of the first track plate (1102) away from the mounting column (1101) is detachably connected to a support column (901), and a side of the first track plate (1102) away from the mounting column (1101) is slidably connected to a first slide seat (1103), and a rotating box (1104) is arranged on one side of the first slide seat (1103), and the rotating box (1104) is arranged on the side of the first slide seat (1103). A second slide (1105) is provided at one end of the rotating box (1104) away from the first slide (1103); a second track plate (1106) is slidably connected to the side of the second slide (1105); a servo motor (11051) is provided on the inner side of the second slide (1105); a rotating column (11052) is rotatably connected to the side of the second slide (1105) close to the rotating box (1104); an output end of the servo motor (11051) is fixedly connected to the rotating column (11052); and the rotating column (11052) is detachably connected to the rotating box (1104).

10. The interactive tool loading and unloading platform according to claim 9, characterized in that: A tool holder (1107) is arranged below the rotating box (1104), one side of the tool holder (1107) is detachably connected to the mounting column (1101), a main sliding plate (11071) is slidably connected to the upper surface of the tool holder (1107), a plurality of slave sliding plates (11072) are arranged on the side of the main sliding plate (11071), and the slave sliding plates (11072) are slidably connected to the tool holder (1107); a diamond plate (11073) is rotatably connected to the middle of the main sliding plate (11071), a plurality of sliding blocks (11074) are fixedly connected to the upper side of the diamond plate (11073), a driven groove (11075) is provided in the middle of the slave sliding plate (11072), and the sliding block (11074) is slidably connected to the driven groove (11075).

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