Robot tool magazine capable of automatically exchanging multi-specification tool handles and control method of robot tool magazine

Abstract

The invention relates to the technical field of numerical control machine tool manufacturing, and discloses a robot tool magazine capable of automatically exchanging multi-specification tool handles and a control method of the robot tool magazine. According to the robot tool magazine, at least two specifications of tools are arranged in a tool magazine station; the number of the first tool changing temporary storage stations is at least two, and one first tool changing temporary storage station is used for temporarily storing tools of one specification. The tool changing robot is used for taking down the target tool from the tool magazine station according to the tool using requirement of the main shaft and placing the target tool on the first tool changing temporary storage station corresponding to the specification of the target tool, and is further used for storing the tool changed by the main shaft on the first tool changing temporary storage station into the tool magazine station. The tools of at least two specifications are arranged in the tool magazine station, tool changing operation can be conducted on different machine tool spindles through the tool changing robot, the occupied area of the shared tool magazine station is reduced, the utilization efficiency of the tools in the tool magazine station is improved, the tool changing efficiency is also improved through the tool changing robot, reliability is high, and practicability is high. The automation level and the machining efficiency of the machine tool are improved.

Description

Technical Field

[0001] The invention relates to the technical field of numerical control machine tool manufacturing, and in particular to a robot tool magazine for automatically exchanging tool handles of multiple specifications and a control method thereof. Background Art

[0002] Machine tools are machines used to process mechanical parts. At present, tool magazine stations and machine tools are usually set up in pairs. One tool magazine station only provides tools for one machine tool, which increases the floor space and reduces the utilization efficiency of the tools in the tool magazine station. And when the machine tool is equipped with multiple spindles with different tool holders, the tools on the spindles need to be replaced manually, which leads to a significant increase in machine tool costs, low tool replacement efficiency, poor reliability, low machine tool automation level, and low processing efficiency. Summary of the invention

[0003] In view of this, the present invention provides a robot tool magazine with automatic exchange of tool holders of multiple specifications and a control method thereof.

[0004] Specifically, the following technical solutions are included: In a first aspect, a robot tool magazine for automatically exchanging tool holders of multiple specifications is provided, comprising: Tool magazine station, first tool change buffer station and tool change robot; The tool magazine station is provided with tools of at least two specifications; At least two of the first tool-changing cache stations are provided, and one of the first tool-changing cache stations is used to cache a tool of one specification; The tool changing robot is used to remove the target tool from the tool magazine station according to the tool usage requirements of the spindle and place it on the first tool changing cache station corresponding to the specifications of the target tool, and is also used to store the tool replaced by the spindle at the first tool changing cache station in the tool magazine station.

[0005] Preferably, the tool magazine station comprises a plurality of tool modules, each tool module is provided with a tool of a certain specification, and two adjacent tool modules are fixedly connected; The tool module comprises a tool support, a tool wall and a first tool positioning member, wherein the tool wall is connected to the tool support, and the tool wall is provided with a plurality of tool installation positions, and the tools are placed in the tool installation positions; The tool positioning member is arranged at the tool installation position, and the first tool positioning member and the tool installation position are arranged in a one-to-one correspondence.

[0006] Preferably, the first tool changing cache station comprises a first bracket, a second bracket and a second tool positioning member which are arranged correspondingly, the first bracket is used to cache the tool changed by the spindle, and the second bracket is used to cache the target tool taken from the tool magazine station by the tool changing robot according to the tool demand; The second tool positioning member is respectively arranged on the first bracket and the second bracket.

[0007] Preferably, the tool-changing robot comprises a robot body and a tool-changing actuator, and the tool-changing actuator is mounted on the robot body; The tool changing actuator comprises a tool sleeve bracket and a grabbing tool sleeve, wherein the tool sleeve bracket is connected to the robot body, and the grabbing tool sleeve is connected to the tool sleeve bracket; At least two of the grabbing tool sleeves are provided, and an angle is formed between the axes of two adjacent grabbing tool sleeves.

[0008] Preferably, the tool changing robot further comprises a tool detecting component, wherein the tool detecting component is arranged on the tool changing actuator, and the tool detecting component is used to detect whether there is a tool on the tool installation position of the tool magazine station.

[0009] Preferably, the robot tool magazine further comprises a second tool changing cache station, and the second tool changing cache station is used to cache tools of at least one specification; The tool changing robot is used to remove the target tool from the tool magazine station and place it on the second tool changing cache station according to the user's tool changing requirements, and is also used to store the tool placed by the user on the second tool changing cache station into the tool magazine station.

[0010] Preferably, the second tool changing cache station comprises a correspondingly arranged cache bracket, a cache wall and a third tool positioning member, the cache wall is arranged on the cache bracket, and at least one tool cache installation position is arranged on the cache wall; The third tool positioning member is arranged at the tool cache installation position.

[0011] In a second aspect, a control method for a robot tool magazine with automatic exchange of tool holders of multiple specifications is provided, using a robot tool magazine with automatic exchange of tool holders of multiple specifications as described in the first aspect, the method comprising: Get the tool requirements of the spindle; According to the tool demand of the spindle, the tool changing robot is controlled to search for a target tool in the tool magazine station; When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to take the target tool from the tool magazine station and place it on the first tool changing cache station corresponding to the specification of the target tool; When it is determined that there is a tool replaced by the spindle at the first tool changing cache station, the tool changing robot is controlled to store the tool replaced by the spindle at the first tool changing cache station in the tool magazine station.

[0012] Preferably, the method further comprises: Get the door status of the robot tool magazine; When the door of the robot tool magazine is opened, the tool-changing robot is controlled to return to the zero position and remain in a silent state; When the door of the robot tool magazine is closed, it is determined whether there is a tool replaced by the spindle on the first tool changing cache station. When it is determined that there is a tool replaced by the spindle on the first tool changing cache station, the tool changing robot is controlled to store the tool replaced by the spindle on the first tool changing cache station in the tool magazine station.

[0013] Preferably, the method further comprises: Obtain the user's tool change requirements; According to the tool changing requirement of the user, controlling the tool changing robot to search for a target tool in the tool magazine station; When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to take the target tool from the tool magazine station and place it on the second tool changing buffer station; When it is determined that there is a tool placed by the user on the second tool changing cache station, the tool changing robot is controlled to store the tool placed by the user on the second tool changing cache station into the tool magazine station.

[0014] The beneficial effects of the technical solution provided by the present invention include at least: In the present invention, at least two specifications of tools are arranged in the tool magazine station, and tool changing operations can be performed for different machine tool spindles through the tool changing robot. The shared tool magazine station reduces the floor space and improves the utilization efficiency of the tools in the tool magazine station. The tool changing robot also improves the tool replacement efficiency, has high reliability, and improves the machine tool automation level and processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 work.

[0016] Figure 1 A schematic diagram of the structure of a robot tool magazine according to an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a tool magazine station according to an embodiment of the present invention; Figure 3 A schematic diagram of the side structure of a tool magazine station according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a first tool changing buffer station according to an embodiment of the present invention; Figure 5It is a schematic diagram of the side view structure of the first tool changing buffer station according to an embodiment of the present invention; Figure 6 A schematic diagram of the structure of a tool changing robot according to an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a tool changing actuator according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a second tool changing buffer station according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the side structure of a second tool changing buffer station according to an embodiment of the present invention; Fig.10 The figure is a schematic diagram of a tool changing process based on a first tool changing buffer station according to an embodiment of the present invention.

[0017] The reference numerals in the figures represent respectively: 1-tool magazine station; 11-tool support; 12-tool wall; 13-first tool positioning piece; 2-first tool change cache station; 21-first support; 22-second support; 23-second tool positioning piece; 31-mounting base; 32-robot body; 33-tool change actuator; 331-tool holder support; 332-first grab tool holder; 333-second grab tool holder; 334-protective device; 34-master controller; 4-second tool change cache station Position; 41-cache bracket; 42-cache wall; 43-third tool positioning piece; 5-pneumatic cabinet; 6-tool detection structure; 61-standard ball; 62-tool detection device; 63-detection bracket; 7-cleaning system; 71-pneumatic cleaning device; 72-solenoid valve; 73-nozzle; 74-steel pipe; 75-isolating joint; 76-first pneumatic joint; 77-second pneumatic joint; 8-anchor assembly; 9-tool detection piece; 91-support.

[0018] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper part", "lower part", "side part", etc., are Figure 1 The directions shown in the figure are for reference only and do not limit the protection scope of the present invention.

[0021] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, this embodiment provides a robot tool magazine for automatic exchange of tool holders of multiple specifications, including: a tool magazine station 1, a first tool change cache station 2 and a tool change robot; at least two specifications of tools are arranged in the tool magazine station 1; at least two first tool change cache stations 2 are arranged, and one first tool change cache station 2 is used to cache tools of one specification; the tool change robot is used to remove the target tool from the tool magazine station 1 according to the tool demand of the spindle and place it on the first tool change cache station 2 corresponding to the specification of the target tool, and is also used to store the tool replaced by the spindle on the first tool change cache station 2 in the tool magazine station 1. In the present application, at least two specifications of tools are arranged in the tool magazine station 1, and the tool change robot can perform tool change operations for different machine tool spindles. The shared tool magazine station 1 reduces the floor space and improves the utilization efficiency of the tools in the tool magazine station 1. The tool change robot also improves the tool replacement efficiency, has high reliability, and improves the automation level and processing efficiency of the machine tool.

[0023] Specifically, the tool changing robot determines the tool demand of the spindle according to the tool information required for the subsequent process of the machine tool, and the tool specification corresponding to the tool demand of the spindle is the target tool. The required target tool is removed from the tool magazine station 1 in advance and placed on the first tool changing cache station 2 corresponding to the specification of the target tool. The tool taking time overlaps with the machine tool processing time, reducing the tool changing auxiliary time and improving the machine tool processing efficiency.

[0024] like Figure 1 As shown, in this embodiment, two specifications of tools are arranged in the tool magazine station 1, and the tool handle specifications are HSK-A63 and HSK-A100 respectively. A first tool change cache station 2 is suitable for tools with a tool handle specification of HSK-A63, and a first tool change cache station 2 is suitable for tools with a tool handle specification of HSK-A100.

[0025] For example, when the tool changing robot determines that the tool requirement of the spindle is a tool with a shank specification of HSK-A63 based on the tool information required for the subsequent process of the machine tool, the tool changing robot takes out the tool with a shank specification of HSK-A63 from the tool magazine station 1 and places it on the first tool changing cache station 2 suitable for tools with a shank specification of HSK-A63, so as to facilitate the tool changing of the machine tool, reduce the auxiliary time of tool changing, and improve the processing efficiency of the machine tool.

[0026] Specifically, when the tool is placed in the first tool change buffer station 2, it is placed in a posture suitable for tool change of the machine tool to facilitate automatic installation of the tool by the machine tool spindle.

[0027] like Figure 1 , Figure 2 and Figure 3 As shown, the tool magazine station 1 includes a plurality of tool modules, each of which is provided with a tool of a certain specification, and two adjacent tool modules are fixedly connected. The tool module includes a tool support 11, a tool wall 12 and a first tool positioning member 13, the tool wall 12 is connected to the tool support 11, and a plurality of tool installation positions are provided on the tool wall 12, and the tools are placed in the tool installation positions; the first tool positioning member 13 is provided at the tool installation position, and the first tool positioning member 13 and the tool installation position are provided one by one.

[0028] Specifically, Figure 2 As shown, in this embodiment, the tool magazine station 1 includes six tool modules, wherein the two tool modules on the left are provided with tools with a handle specification of HSK-A63, and the other four tool modules are provided with tools with a handle specification of HSK-A100. The tool modules storing tools of the same specification are placed together, the two tool modules with tools with a handle specification of HSK-A63 are stacked together, and the four tool modules with tools with a handle specification of HSK-A100 are stacked together in pairs, and the two adjacent tool modules on the left and right are fixedly connected. The tool module at the bottom is fixed to the ground by the anchor assembly 8 and the chemical anchor bolt, and the tool module at the upper layer is connected to the lower layer tool module adjacent to it by bolts.

[0029] Specifically, Figure 2 and Figure 3 As shown, the tool support 11 is a rectangular frame structure, the tool wall 12 is a plate-like structure, and the tool installation position is a plurality of installation holes set on the tool wall 12, and the tool can be inserted into the tool installation position. The first tool positioning member 13 is set at the lower edge of the tool installation position, and is used to position the installation of the tool. The first tool positioning member 13 is electrically connected to the master controller 34. After the tool is installed in place, it sends an installation signal to the master controller 34, and can fix the installed tool. For example, two tool modules with a tool with a handle specification of HSK-A63 are set, and each tool model is provided with 20 tool installation positions and 20 first tool positioning members 13. The two tool modules have a total of 40 tool installation positions and 40 first tool positioning members 13. Four tool modules with a tool with a handle specification of HSK-A100 are set, and each tool module is provided with 15 tool installation positions and 15 first tool positioning members 13. The four tool modules have a total of 60 tool installation positions and 60 first tool positioning members 13.

[0030] In this embodiment, the tool magazine station 1 adopts a modular design and can be expanded according to actual needs.

[0031] Specifically, Figure 1 and Figure 4 As shown, the first tool changing cache station 2 includes a first bracket 21, a second bracket 22 and a second tool positioning member 23 which are arranged accordingly. The first bracket 21 is used to cache the tool replaced by the spindle, and the second bracket 22 is used to cache the target tool removed from the tool magazine station 1 by the tool changing robot according to tool usage requirements; the second tool positioning member 23 is respectively arranged on the first bracket 21 and the second bracket 22.

[0032] Specifically, Figure 1 and Figure 4 As shown, the first tool change cache station 2 is arranged on the pneumatic cabinet 5, and the bottom of the pneumatic cabinet 5 is fixed to the ground by the anchor assembly 8 and the chemical anchor bolt. Three first tool change cache stations 2 are arranged on the pneumatic cabinet 5, and each first tool change cache station 2 is suitable for a tool of a certain specification. For example, in this embodiment, Figure 4 As shown, the first tool change cache station 2 located on the far right is suitable for tools with a tool holder specification of HSK-A63, and the other two first tool change cache stations 2 are suitable for tools with a tool holder specification of HSK-A100.

[0033] Specifically, Figure 4 As shown, the first tool-changing buffer station 2 includes a first bracket 21 and a second bracket 22 that are correspondingly arranged. The first bracket 21 is used to cache the tool replaced by the spindle, and the second bracket 22 is used to cache the target tool removed by the tool-changing robot from the tool magazine station 1 according to the tool demand. For example, for a first tool-changing buffer station 2, from left to right, there are the first bracket 21 and the second bracket 22, and when the tool demand of the spindle is a tool with a handle specification of HSK-A63, the tool-changing robot removes the tool with a handle specification of HSK-A63 from the tool magazine station 1 and places it on the second bracket 22, and the tool with a handle specification of HSK-A63 replaced by the spindle is placed on the first bracket 21.

[0034] Specifically, in this embodiment, the first bracket 21 and the second bracket 22 have the same structure but different functions. The first bracket 21 is used for structural description below. The first bracket 21 includes a support plate connected to the top surface of the pneumatic cabinet 5, a placement plate connected to the support plate, and the placement plate is arranged parallel to the top surface of the pneumatic cabinet 5. A placement hole is provided on the placement plate for placing the tool. The second tool positioning member 23 is arranged on the placement plate for positioning the installation of the tool. The second tool positioning member 23 is electrically connected to the master controller 34. After the tool is installed in place, an installation position signal is sent to the master controller 34, and the installed tool can be fixed.

[0035] like Figure 1 , Figure 4 and Figure 5 As shown, the pneumatic cabinet 5 is also provided with a tool detection structure 6, which is arranged at one end of the pneumatic cabinet 5. The tool detection structure 6 includes a standard ball 61, a tool detection device 62, and a detection bracket 63. The lower part of the detection bracket 63 is installed on the pneumatic cabinet 5 by screws, the standard ball 61 is installed on the upper part of the detection bracket 63 by screws, and the tool detection device 62 is installed on the front side of the detection bracket 63 by screws. The tool detection structure 6 is electrically connected to the master controller 34. The tool detection structure 6 is used to detect the tool replaced by the spindle or the target tool removed from the tool magazine station 1 according to the instructions of the master controller 34. When a defect is detected, an alarm message is sent, and the defective tool can be placed on the second tool change buffer station 4 to prompt the staff to take it away, or the defective tool can be placed back in the tool magazine station 1 and the placement position is recorded for subsequent staff to take it away.

[0036] Further, if Figure 1 , Figure 6 and Figure 7 As shown, the tool changing robot includes a robot body and a tool changing actuator 33, which is installed on the robot body; the tool changing actuator 33 includes a tool sleeve bracket 331 and a grabbing tool sleeve, the tool sleeve bracket 331 is connected to the robot body, and the grabbing tool sleeve is connected to the tool sleeve bracket 331; at least two grabbing tool sleeves are provided, and there is an angle between the axes of two adjacent grabbing tool sleeves.

[0037] Further, if Figure 1 and Figure 6 As shown, the robot body includes a mounting base 31 and a robot body 32, and the robot body 32 and the mounting base 31 are connected. The robot body 32 is a six-axis articulated robot body. The mounting base 31 is a key part for fixing the robot body 32. A threaded hole is set at the bottom of the mounting base 31, and it is fixed to the ground through a ground anchor assembly 8 and a chemical anchor bolt. An interface flange is left on the upper part of the mounting base 31, which is connected to the robot body 32 by bolts to achieve fixed installation of the robot body 32. The end of the robot body 32 is connected to the tool changing actuator 33. The robot body 32 and the master controller 34 are electrically connected or wirelessly connected, and the master controller 34 controls the robot body 32 to drive the tool changing actuator 33 to move.

[0038] Further, if Figure 1 and Figure 7As shown, in this embodiment, the tool change actuator 33 is a key core component for realizing the tool exchange function of two tool holders with different specifications. The tool change actuator 33 includes a tool holder bracket 331 and two grab tool holders. The two grab tool holders are respectively a first grab tool holder 332 and a second grab tool holder 333. The first grab tool holder 332 is suitable for grabbing tools with tool holder specifications of HSK-A63, and the second grab tool holder 333 is suitable for grabbing tools with tool holder specifications of HSK-A100. The tool holder bracket 331 is provided with a first flange, a second flange and a third flange. The first flange is connected to the end flange of the robot body 32 by bolts, the second flange is connected to the first grab tool holder 332 by bolts, and the third flange is connected to the second grab tool holder 333 by bolts. The first grab tool holder 332 realizes the picking and placing of tools with tool holder specifications of HSK-A63, and the second grab tool holder 333 realizes the picking and placing of tools with tool holder specifications of HSK-A100.

[0039] Furthermore, a first in-position detection switch is provided in the first grabbing tool sleeve 332 for detecting whether the tool in the tool sleeve is loosened or clamped in place; a second in-position detection switch is provided in the second grabbing tool sleeve 333 for detecting whether the tool in the tool sleeve is loosened or clamped in place.

[0040] Further, if Figure 7 As shown, the angle between the axis of the first grabbing knife sleeve 332 and the axis of the second grabbing knife sleeve 333 is 90°.

[0041] Further, if Figure 7 As shown, the tool change actuator 33 also includes a protective device 334, which is connected to the tool sleeve bracket 331. The protective device 334 is provided with a first mounting hole and a second mounting hole. One end of the first grabbing tool sleeve 332 passes through the first mounting hole and is connected to the tool sleeve bracket 331, and one end of the second grabbing tool sleeve 333 passes through the second mounting hole and is connected to the tool sleeve bracket 331. The outer wall of the first grabbing tool sleeve 332 is sealed to the first mounting hole, and the outer wall of the second grabbing tool sleeve 333 is sealed to the second mounting hole to ensure the sealing of the protective device 334. The anti-slip device is used to provide protection for the tool sleeve bracket 331, the first grabbing tool sleeve 332, and the second grabbing tool sleeve 333, to ensure that the tool change actuator 33 has good sealing and improve the appearance quality.

[0042] Further, if Figure 7 As shown, the tool changing robot further includes a tool detection component 9 , which is disposed on the tool changing actuator 33 , and is used to detect whether there is a tool on the tool installation position of the tool magazine station 1 .

[0043] Specifically, the tool detection member 9 is a non-contact sensor, specifically a photoelectric sensor, which is arranged on the protective device 334. In this embodiment, the tool detection member 9 is located on the axis of the tool sleeve bracket 331. When detecting whether there is a tool on the tool installation position of the tool magazine station 1, the tool detection member 9 is arranged relative to the tool magazine station 1 to detect whether there is a tool on the tool installation position.

[0044] Furthermore, the tool detection member 9 is also arranged on the first tool changing buffer station 2, such as Figure 4 As shown, the first bracket 21 and the second bracket 22 are both provided with a tool detection member 9 for detecting whether there is a tool on the first bracket 21 and the second bracket 22. Specifically, a support 91 is provided on the placement plate of the first bracket 21 and the second bracket 22, and the tool detection member 9 is installed on the support 91.

[0045] Further, if Figure 1 , Figure 8 and Fig. 9 As shown, the robot tool magazine also includes a second tool change cache station 4; the tool change robot is used to remove the target tool from the tool magazine station 1 according to the user's tool change requirements and place it on the second tool change cache station 4 corresponding to the specifications of the target tool, and is also used to store the tool placed by the user on the second tool change cache station 4 into the tool magazine station 1.

[0046] Further, if Figure 1 As shown, the second tool-changing cache station 4 is arranged opposite to the first tool-changing cache station 2 , and the positional relationship between the second tool-changing cache station 4 and the first tool-changing cache station 2 can be determined according to requirements.

[0047] Furthermore, the second tool changing cache station 4 is an interactive station between the user and the tool changing robot. It provides a platform for the user to replace the machine tool tools according to the staged processing tasks of the machine tool, ensuring that the machine tool can be replaced without stopping the tool. At the same time, this station isolates the tool changing personnel outside through protection. The tool changing personnel need to change the tool through the tool changing window, ensuring the safety of manual operation.

[0048] Furthermore, the user's tool change demand may be to replace a defective tool in the tool magazine, or to increase the spindle demand in the tool magazine but not in the tool magazine station 1 .

[0049] Further, in one embodiment, the user's tool change demand is to add a tool required by the spindle in the tool magazine but not in the tool magazine station 1. The tool change robot determines the target tool according to the spindle tool demand, and when the target tool is not found in the tool magazine station 1, it can search for the target tool in the second tool change cache station 4. Alternatively, the tool change robot stores the tool placed by the user on the second tool change cache station 4 in the tool magazine station 1 according to the user's tool change demand, and then searches for the target tool in the tool magazine station 1 according to the spindle tool demand.

[0050] Furthermore, in another embodiment, the user's tool change requirement may be to replace a defective tool in the tool magazine. The tool changing robot removes the defective tool from the tool magazine station 1 and places it on the second tool change cache station 4 according to the user's tool change requirement. The tool changing robot is also used to store the intact tool placed by the user on the second tool change cache station 4 into the tool magazine station 1.

[0051] Specifically, Figure 8 As shown, the second tool changing cache station 4 is used to cache tools of at least one specification; the second tool changing cache station 4 includes a cache bracket 41, a cache wall 42 and a third tool positioning member 43, the cache wall 42 is arranged on the cache bracket 41, and at least one tool cache installation position is provided on the cache wall 42; the third tool positioning member 43 is arranged at the tool cache installation position.

[0052] Specifically, the cache bracket 41 is fixed to the ground by the anchor assembly 8 and the chemical anchor bolts, and the cache wall 42 is a vertical plate, and the cache wall 42 is fixed to the top surface of the cache bracket 41 by bolts. The tool cache installation position is a plurality of mounting holes set on the cache wall 42, and the tool can be inserted into the tool cache installation position. The third tool positioning member 43 is set at the lower edge of the tool cache installation position, and is used to position the installation of the tool. The third tool positioning member 43 is electrically connected to the master controller 34. After the tool is installed in place, it sends an installation signal to the master controller 34, and can fix the installed tool in place. The setting specifications of the tool cache installation position match the specifications of the tool handle to be installed. For example, in this embodiment, two specifications of tool cache installation positions are set, one is suitable for tools with a handle specification of HSK-A63, and the other is suitable for tools with a handle specification of HSK-A100.

[0053] Specifically, Figure 1 As shown, the tool is placed in a horizontal position on the second tool change buffer station 4 and in a vertical position on the first tool change buffer station 2.

[0054] Specifically, the tool detection member 9 is also arranged on the second tool changing buffer station 4, such as Figure 8 As shown, each tool cache installation position is provided with a tool detection member 9 for detecting whether there is a tool on the tool cache installation position. Specifically, a support 91 is provided on the cache bracket 41 , and the tool detection member 9 is installed on the support 91 .

[0055] Furthermore, in another embodiment, since tools of the same tool specifications also include sister tools of different tool models, when determining the target tool, the tool specifications and models are determined according to the tool usage requirements of the spindle, or the tool specifications and models are determined according to the user's tool change requirements.

[0056] Furthermore, in order to quickly determine the position of a target tool during tool exchange, multiple partitions may be set in a tool module with the same tool specification in the tool magazine station, and each partition may be set with a tool of a different tool model.

[0057] Furthermore, a tool identification module is provided at the second cache station 4, and a tool code is provided on the tool handle correspondingly, which may be a chip, a QR code or a bar code, and the tool identification module identifies the tool code by RFID recognition, scanning the QR code or the bar code. A mapping relationship between the tool code and the tool specification and model is pre-set, the tool code is obtained by scanning, and then a mapping relationship between the tool code and the tool installation position is pre-set.

[0058] The tool changing process between tool magazine station 1, the first tool change cache station 2 and the tool changing robot: determine the target tool according to the tool usage demand of the spindle, the tool specification and model corresponding to the tool usage demand of the spindle is the target tool, the tool code of the target tool is obtained based on the mapping relationship between the tool code and the tool specification and model, the tool installation position of the target tool in tool magazine station 1 is obtained based on the mapping relationship between the tool code and the tool installation position, and the tool changing robot is controlled to remove the target tool from the tool installation position in tool magazine station 1 and place it in the first tool change cache station 2; determine the specification and model of the tool replaced by the spindle at the first tool change cache station 2 according to the previous procedure, obtain the tool code of the target tool based on the mapping relationship between the tool code and the tool specification and model, obtain the tool installation position of the tool replaced by the spindle at the first tool change cache station 2 in tool magazine station 1 based on the mapping relationship between the tool code and the tool installation position, and control the tool changing robot to put the tool replaced by the spindle at the first tool change cache station 2 back to the tool installation position in tool magazine station 1.

[0059] The tool changing process between the tool magazine station 1, the second tool changing cache station 4 and the tool changing robot: ① When the user's tool changing demand is determined according to the staged processing task of the machine tool to replace the tool in the tool magazine station 1, the tool code on the new tool is obtained by scanning, and the mapping relationship between the tool code of the new tool and the tool specification and model of the new tool is pre-set, and then the mapping relationship between the tool code of the new tool and the tool installation position is pre-set. At this time, the tool code of the replaced old tool and its corresponding tool installation position can be determined. Based on the above information, the tool changing robot is controlled to remove the old tool from its corresponding tool installation position in the tool magazine station 1 and place it in the second tool changing cache station 4, and then the tool changing robot is controlled to place the new tool on the second tool changing cache station 4 on its corresponding tool installation position. ② When the user's tool change requirement is to replace the defective tool in the tool magazine station 1, the defective tool has been marked when the defect is detected. After obtaining the user's tool change requirement, the tool code and tool installation position of the defective tool can be obtained, and the tool change robot can be controlled to remove the defective tool from its corresponding tool installation position in the tool magazine station 1 and place it in the second tool change cache station 4. After that, the tool code on the new tool can be obtained by scanning, and the mapping relationship between the tool code of the new tool and the tool specification and model of the new tool is pre-set, and then the mapping relationship between the tool code of the new tool and the tool installation position is pre-set, and then the tool change robot is controlled to place the new tool on the second tool change cache station 4 on its corresponding tool installation position. The above operations complete the replacement, addition or removal of the tool in the tool magazine station 1.

[0060] Specifically, the robot tool magazine also includes a cleaning system 7, which is used to clean the tool handle on the first tool change cache station 2 and the tool handle in the tool magazine station 1, and is also used to provide power for the tool sleeve cylinders of the first grabbing tool sleeve 332 and the second grabbing tool sleeve 333 in the tool change actuator 33, thereby improving the reliability of tool exchange.

[0061] Specifically, the cleaning system 7 includes components such as a pneumatic joint, a pneumatic cleaning device 71, and a solenoid valve 72. Figure 4 As shown, the pneumatic cleaning device 71 and the solenoid valve 72 are installed in the pneumatic cabinet 5 and are arranged on the inner wall of the pneumatic cabinet 5. The nozzle 73 is connected to the isolation joint 75 through the steel pipe 74, and the isolation joint 75 is connected to the pneumatic cleaning device 71 and the solenoid valve 72 through the air pipe. The nozzle 73, the steel pipe 74, the isolation joint 75, and the air pipe are arranged in multiple groups, each group corresponding to a tool to be cleaned, so as to realize timely cleaning of the tool. Figure 1 As shown, a nozzle 73, a steel pipe 74 and an isolation joint 75 are arranged beside the first bracket 21 and the second bracket 22 of the first tool changing buffer station 2. Figure 7 As shown, a first pneumatic connector 76 is installed on the first grabbing tool sleeve 332 , and a second pneumatic connector 77 is installed on the second grabbing tool sleeve 333 .

[0062] The solenoid valve 72 is electrically connected to the master controller 34. The solenoid valve 72 controls the on-off of the air path between the pneumatic cleaning device 71 and the nozzle 73 according to the control command, so as to achieve the purpose of cleaning the tool handle on the first tool changing buffer station 2. The solenoid valve 72 also controls the reversal of the air path between the pneumatic cleaning device 71 and the first pneumatic connector 76 and the second pneumatic connector 77 according to the control command, so as to achieve the action of the first grabbing tool sleeve 332 or the second grabbing tool sleeve 333 to pick up and place the tool.

[0063] In this embodiment, according to the tool changing instruction of the machine tool, the tool changing demand of the spindle is determined, that is, the target tool (the specification of the tool handle or the specification and model of the tool handle) is determined, and the target tool is compared with the tool information stored in the tool magazine station 1. When it is determined that the target tool exists in the tool magazine station 1, the storage position of the target tool in the tool magazine station 1 and the detection signal of whether there is a tool at the tool installation position corresponding to the storage position fed back by the tool detection part 9 are obtained. When it is detected that there is a tool at the tool installation position corresponding to the storage position, the tool changing robot executes the corresponding tool changing program. In the tool changing program, the cleaning system 7 is controlled to blow air on the tool handle to ensure the reliability of the tool change.

[0064] This embodiment also provides a control method for a robot tool magazine with automatic exchange of tool holders of multiple specifications, using the above robot tool magazine with automatic exchange of tool holders of multiple specifications, the method comprising: S10: Obtain the tool demand of the spindle. The master controller 34 retrieves the machine tool tool handle interface information from the swing head information storage information according to the tool change demand of the machine tool spindle; retrieves the tool handle interface information of tool magazine station 1 from the tool magazine station 1 storage information, and when the machine tool tool handle interface information matches the tool handle interface information of tool magazine station 1, the tool demand of the spindle is determined, that is, the target tool (specification of the tool handle or specification and model of the tool handle) is determined to be a tool with a tool handle specification of HSK-A63 (model a) or a tool with a tool handle specification of HSK-A100 (model b).

[0065] S20: According to the tool demand of the spindle, the tool changing robot is controlled to search for the target tool in the tool magazine station 1. According to the tool demand of the spindle, the target tool (the specification of the tool handle or the specification and model of the tool handle) can be determined, the storage position of the target tool in the tool magazine station 1 is obtained, and the tool changing robot is controlled to move to the tool installation position corresponding to the target tool in the tool magazine station 1 according to the storage position. The tool installation position state detection is performed by the tool detection part 9 on the tool changing robot. It can be understood that the storage position is the specific position of the tool installation position where the target tool is stored in the tool magazine station 1, and one storage position stores one tool. The search for the target tool can be achieved through the mapping relationship between the pre-set tool code and the tool specification and model, and the mapping relationship between the pre-set tool code and the tool installation position. Further, when multiple target tools are stored in the tool magazine station 1, multiple storage positions may be obtained, and the tool changing robot is controlled to move to multiple tool installation positions corresponding to the target tool in the tool magazine station 1, and a tool installation position with a tool is selected to remove the target tool.

[0066] S30: When it is determined that there is a target tool in the tool magazine station 1, the tool change robot is controlled to remove the target tool from the tool magazine station 1 and place it on the first tool change cache station 2 corresponding to the specifications of the target tool. The tool change robot is controlled to move to the tool installation position of the target tool in the tool magazine station 1. When it is determined that there is a tool according to the detection signal fed back by the tool detection part 9, the first grabbing tool sleeve 332 (HSK-A63 grabbing tool sleeve) (or the second grabbing tool sleeve 333 (HSK-A100 grabbing tool sleeve)) of the tool change robot is controlled to perform an action, remove the target tool from the tool installation position in the tool magazine station 1, and perform a tool sleeve tool in-place status detection through the first in-place detection switch (second in-place detection switch). If the in-place status is normal, the tool change robot moves to the second bracket 22 of the first tool change cache station 2. The tool detection part 9 at the second bracket 22 of the first tool change cache station 2 performs a status detection of the second bracket 22. When there is no tool, the target tool is placed on the second bracket 22 of the first tool change cache station 2 corresponding to the specifications of the target tool.

[0067] S40: When it is determined that there is a tool replaced by the spindle on the first tool changing cache station 2, the tool changing robot is controlled to store the tool replaced by the spindle on the first tool changing cache station 2 into the tool magazine station 1.

[0068] Specifically, the tool detection part 9 at the first bracket 21 of the first tool change cache station 2 performs a status detection on the first bracket 21. When it is determined that there is a tool, the tool change robot is controlled to remove the tool replaced by the spindle from the first bracket 21, and the specification and model of the tool replaced by the spindle are determined according to the previous program. The corresponding tool installation position is determined through the mapping relationship between the pre-set tool code and the tool specification and model, and the mapping relationship between the pre-set tool code and the tool installation position. The tool change robot is controlled to move to the tool magazine station 1, and the tool installation position status detection is performed on the corresponding tool installation position through the tool detection part 9 on the tool change robot. When it is determined that there is no tool according to the detection signal fed back by the tool detection part 9 on the tool change robot, the tool change robot is controlled to store the tool replaced by the spindle in the tool magazine station 1 to the corresponding tool installation position, and the tool change robot returns to the zero position and remains silent, and the tool return program ends.

[0069] Further, after placing the target tool on the second bracket 22 corresponding to the specification of the target tool, the control method further includes controlling the machine tool spindle to change the tool, the method comprising: A: Get the door status of the robot tool magazine. The robot tool magazine is provided with the first tool change cache station 2, the tool detection structure 6, the cleaning system 7, the second tool change cache station 4, the tool change robot and the master controller 34. The door status includes an open or closed state. When the door status is open, the machine tool spindle performs the tool change procedure, and when the door status is closed, the tool change robot performs the tool change procedure.

[0070] B: When the door of the robot tool magazine is opened, the tool change robot is controlled to return to the zero position and remain silent. When the machine tool spindle is performing a tool change program, the tool change robot returns to the zero position and remains silent to avoid interference between the tool change robot and the machine tool spindle.

[0071] Furthermore, when the door of the robot tool magazine is opened, the machine tool spindle tool changing program is performed.

[0072] The tool detection part 9 at the first bracket 21 of the first tool change cache station 2 detects the state of the first bracket 21. When it is determined that there is no tool, the machine tool spindle is controlled to return the tool to the first bracket 21. The machine tool spindle is controlled to move to the second bracket 22. The tool detection part 9 at the second bracket 22 of the first tool change cache station 2 detects the state of the second bracket 22. When there is a tool, the machine tool spindle is controlled to take the tool from the second bracket 22 of the first tool change cache station 2. The machine tool spindle is controlled to exit the robot tool magazine, and the tool magazine door is closed.

[0073] C: When the door of the robot tool magazine is closed, determine whether there is a tool replaced by the spindle on the first tool changing cache station 2. When it is determined that there is a tool replaced by the spindle on the first tool changing cache station 2, control the tool changing robot to store the tool replaced by the spindle on the first tool changing cache station 2 in the tool magazine station 1.

[0074] Specifically, the process may refer to step S40, which will not be described in detail here.

[0075] Furthermore, the control method further includes: Obtain the user's tool change demand. The user's tool change demand can be manually input through the control interface set at the tool change window. The user's tool change demand can be determined according to the staged processing task of the machine tool to replace the tool in the tool magazine station 1, or it can be determined according to the information feedback from the tool detection structure 6 to replace the defective tool in the tool magazine station 1. When determining the target tool, the tool specification and model are determined according to the user's tool change demand. It is understandable that when a defective tool is detected, the tool is marked.

[0076] According to the user's tool change demand, the tool change robot is controlled to search for the target tool in the tool magazine station 1. The target tool here is the tool that needs to be replaced from the tool magazine station 1, which can be the tool that needs to be replaced according to the staged processing task of the machine tool, or it can be a defective tool.

[0077] When it is determined that there is a target tool in the tool magazine station 1, the tool changing robot is controlled to remove the target tool from the tool magazine station 1 and place it on the second tool changing cache station 4 corresponding to the specification of the target tool. Specifically, the second tool changing cache station 4 corresponding to the specification of the target tool is a tool cache station corresponding to the specification of the target tool. For example, in this embodiment, the second tool changing cache station 4 includes a tool cache installation position for a tool with a tool handle specification of HSK-A63 and a tool cache installation position for a tool with a tool handle specification of HSK-A100. According to the specification of the target tool, the target tool is placed on the tool cache installation position corresponding to its specification.

[0078] When it is determined that there is a tool placed by the user on the second tool change cache station 4, the tool change robot is controlled to store the tool placed by the user on the second tool change cache station 4 to the tool installation position corresponding to it in the tool magazine station 1. Specifically, it is determined whether there is a tool placed by the user on the second tool change cache station 4 by the feedback signal of the tool detection part 9 set on the second tool change cache station 4. When it is determined that there is a tool placed by the user on the second tool change cache station 4, the specification and model of the tool placed by the user are obtained according to the user instruction, and the tool change robot is controlled to remove the tool placed by the user on the second tool change cache station 4, and move it to the tool installation position matching the specification and model of the tool placed by the user, and determine whether there is a tool on the current tool installation position through the tool detection part 9 on the tool change robot. If there is no tool on the current tool installation position, the tool placed by the user is stored in the current tool installation position. If there is a tool on the current tool installation position, it is determined whether there is a tool on the next tool installation position matching the specification and model of the tool placed by the user, until the tool placed by the user is stored in the tool magazine station 1.

[0079] Specifically, in this embodiment, it can be determined whether there is a tool based on the feedback signal of the tool detection part 9, and if the existence of the tool does not meet the current tool change requirement, an alarm signal is sent. For example, in the spindle tool change program, it is necessary to cache the tool replaced by the spindle to the first bracket 21 of the first tool change cache station 2, and take away the tool cached on the second bracket 22 of the first tool change cache station 2 by the tool change robot; if the tool replaced by the spindle is cached on the first bracket 21 of the first tool change cache station 2, according to the tool detection part 9 on the first bracket 21, it is determined that there is a tool on the first bracket 21 at this time, and an alarm signal is sent; if it is necessary to take away the tool on the second bracket 22 of the first tool change cache station 2, according to the tool detection part 9 on the second bracket 22, it is determined that there is no tool on the second bracket 22 at this time, and an alarm signal is sent.

[0080] Specifically, the master controller 34 is provided with a pre-trained large language model, and the method further includes: Obtain the user's tool change requirements; Determine whether the spindle tool change program is completed. If the spindle tool change program is not completed, send a prompt message to the user based on the pre-trained large language model.

[0081] Specifically, the pre-trained large language model is an important progress in the field of natural language processing. It significantly improves the performance of the model on various natural language processing tasks by pre-training on a large-scale corpus and then fine-tuning on specific tasks. This model can capture the complex structure and characteristics of language, including syntax, semantics, and contextual information. In this embodiment, the pre-trained large language model can better understand the various intentions in the tool changing process in the machine tool processing field. The pre-trained model architecture usually uses a deep neural network, such as Transformer, CNN, or RNN.

[0082] Specifically, a prompt message is sent to the user according to a preset prompt template. For example, the prompt message includes prompting the remaining time of the current spindle tool change program, or prompting whether the current spindle tool change program needs to be terminated immediately. By pre-training a large language model, the interactive experience with the user during the tool change process is enhanced, which can improve the accuracy and efficiency of tool change.

[0083] Specifically, Fig.10 As shown in the figure, as a specific embodiment, the principle of the spindle tool change program is introduced: 1) According to the machine tool program instructions, the spindle tool demand for the next process is obtained. According to the machine tool spindle tool change demand, the machine tool handle interface information is retrieved from the swing head information storage information; the tool magazine station 1 tool handle interface information is retrieved from the tool magazine station 1 storage information. When the machine tool handle interface information and the tool magazine station 1 tool handle interface information match, the spindle tool demand is determined, that is, the target tool (tool handle specification and model) and its storage location are determined, for example, the target tool is a tool with a handle specification of HSK-A63 and model a and its storage location or a tool with a handle specification of HSK-A100 and model b and its storage location. Send an alarm message when it does not match.

[0084] 2) Control the tool changing robot to move to tool magazine station 1. Control the tool changing robot to move to the tool installation position corresponding to the target tool in tool magazine station 1 according to the storage position.

[0085] 3) The tool installation position status is detected by the tool detection part 9 on the tool change robot. When it is determined that there is a tool according to the detection signal fed back by the tool detection part 9, the first grabbing tool sleeve 332 (HSK-A63 grabbing tool sleeve) (or the second grabbing tool sleeve 333 (HSK-A100 grabbing tool sleeve)) of the tool change robot is controlled to perform an action, remove the target tool from the tool installation position in the tool magazine station 1, and perform the tool sleeve tool in-place status detection through the first in-place detection switch (second in-place detection switch). If the in-place status is normal, the tool change robot moves to the second bracket 22 of the first tool change cache station 2, and performs the status detection of the second bracket 22 through the tool detection part 9 at the second bracket 22 of the first tool change cache station 2. When there is no tool, the target tool is placed on the second bracket 22 of the first tool change cache station 2 corresponding to the specifications of the target tool. Wait for the machine tool spindle to pick up the tool, and the tool change robot returns to the zero point and remains silent.

[0086] If the position is abnormal, an alarm message is sent. If there is no knife according to the detection signal fed back by the tool detection member 9, an alarm message is sent. If there is no knife in the state detection of the second bracket 22, an alarm message is sent.

[0087] 4) When the machine tool spindle executes the tool removal program, the robot tool magazine door is controlled to open.

[0088] When the machine tool spindle takes a tool, the tool detection part 9 at the first bracket 21 of the first tool change buffer station 2 detects the state of the first bracket 21. When it is determined that there is no tool, the machine tool spindle is controlled to return the tool to the first bracket 21. The machine tool spindle is controlled to move to the second bracket 22, and the tool detection part 9 at the second bracket 22 of the first tool change buffer station 2 detects the state of the second bracket 22. When there is a tool, the machine tool spindle is controlled to take the tool from the second bracket 22 of the first tool change buffer station 2; if it is determined that there is a tool on the first bracket 21, an alarm message is sent.

[0089] 5) Control the machine tool spindle to exit the robot tool magazine, close the tool magazine door, and control the tool change robot to unmute. The tool change robot executes the tool return procedure.

[0090] The status of the first bracket 21 is detected by the tool detection part 9 at the first bracket 21 of the first tool changing cache station 2. When it is determined that there is a tool, the tool changing robot is controlled to remove the tool replaced by the spindle from the first bracket 21; when it is determined that there is no tool, an alarm message is sent. The tool changing robot is controlled to move to the tool magazine station 1, and the status of the tool installation position is detected by the tool detection part 9 on the tool changing robot. When it is determined that there is no tool based on the detection signal fed back by the tool detection part 9 on the tool changing robot, the tool changing robot is controlled to store the tool replaced by the spindle in the tool magazine station 1, and the tool changing robot returns to the zero position and remains silent, and the tool return program ends; when it is determined that there is a tool based on the detection signal fed back by the tool detection part 9 on the tool changing robot, an alarm message is sent.

[0091] 6) After returning the tool, control the tool changing robot to return to the zero position.

[0092] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0093] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only.

[0094] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot tool magazine with automatic exchange of tool handles of multiple specifications, characterized in that: include: Tool magazine station, first tool change buffer station and tool change robot; The tool magazine station is provided with tools of at least two specifications; At least two of the first tool-changing cache stations are provided, and one of the first tool-changing cache stations is used to cache a tool of one specification; The tool changing robot is used to remove the target tool from the tool magazine station according to the tool usage requirements of the spindle and place it on the first tool changing cache station corresponding to the specifications of the target tool, and is also used to store the tool replaced by the spindle at the first tool changing cache station in the tool magazine station.

2. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 1 is characterized in that: The tool magazine station includes a plurality of tool modules, each of which is provided with a tool of a certain specification, and two adjacent tool modules are fixedly connected; The tool module comprises a tool support, a tool wall and a first tool positioning member, wherein the tool wall is connected to the tool support, and the tool wall is provided with a plurality of tool installation positions, and the tools are placed in the tool installation positions; The tool positioning member is arranged at the tool installation position, and the first tool positioning member and the tool installation position are arranged in a one-to-one correspondence.

3. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 1 is characterized in that: The first tool changing cache station includes a first bracket, a second bracket and a second tool positioning member that are correspondingly arranged, the first bracket is used to cache the tool changed by the spindle, and the second bracket is used to cache the target tool taken from the tool magazine station by the tool changing robot according to tool usage requirements; The second tool positioning member is respectively arranged on the first bracket and the second bracket.

4. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 1 is characterized in that: The tool-changing robot comprises a robot body and a tool-changing actuator, wherein the tool-changing actuator is mounted on the robot body; The tool changing actuator comprises a tool sleeve bracket and a grabbing tool sleeve, wherein the tool sleeve bracket is connected to the robot body, and the grabbing tool sleeve is connected to the tool sleeve bracket; At least two of the grabbing tool sleeves are provided, and an angle is formed between the axes of two adjacent grabbing tool sleeves.

5. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 4 is characterized in that: The tool-changing robot further comprises a tool detection component, which is arranged on the tool-changing actuator and is used to detect whether there is a tool on the tool installation position of the tool magazine station.

6. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 1 is characterized in that: The robot tool magazine further includes a second tool change cache station, wherein the second tool change cache station is used to cache tools of at least one specification; The tool changing robot is used to remove the target tool from the tool magazine station and place it on the second tool changing cache station according to the user's tool changing requirements, and is also used to store the tool placed by the user on the second tool changing cache station in the tool magazine station.

7. The robot tool magazine with automatic exchange of tool handles of multiple specifications according to claim 6 is characterized in that: The second tool changing cache station comprises a correspondingly arranged cache bracket, a cache wall and a third tool positioning member, the cache wall is arranged on the cache bracket, and at least one tool cache installation position is arranged on the cache wall; The third tool positioning member is arranged at the tool cache installation position.

8. A control method for a robot tool magazine with automatic exchange of tool holders of multiple specifications, characterized in that: Using a robot tool magazine with automatic exchange of tool holders of multiple specifications as described in any one of claims 1 to 7, the method comprises: Get the tool requirements of the spindle; According to the tool demand of the spindle, the tool changing robot is controlled to search for a target tool in the tool magazine station; When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to take the target tool from the tool magazine station and place it on the first tool changing cache station corresponding to the specification of the target tool; When it is determined that there is a tool replaced by the spindle at the first tool changing cache station, the tool changing robot is controlled to store the tool replaced by the spindle at the first tool changing cache station in the tool magazine station.

9. The method according to claim 8, characterized in that The method further comprises: Get the door status of the robot tool magazine; When the door of the robot tool magazine is opened, the tool-changing robot is controlled to return to the zero position and remain in a silent state; When the door of the robot tool magazine is closed, it is determined whether there is a tool replaced by the spindle on the first tool changing cache station. When it is determined that there is a tool replaced by the spindle on the first tool changing cache station, the tool changing robot is controlled to store the tool replaced by the spindle on the first tool changing cache station in the tool magazine station.

10. The method according to claim 8, characterized in that The method further comprises: Obtain the user's tool change requirements; According to the tool changing requirement of the user, controlling the tool changing robot to search for a target tool in the tool magazine station; When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to take the target tool from the tool magazine station and place it on the second tool changing buffer station; When it is determined that there is a tool placed by the user on the second tool changing cache station, the tool changing robot is controlled to store the tool placed by the user on the second tool changing cache station into the tool magazine station.

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