A robot tool magazine with automatic exchange of tool holders of multiple specifications and its control method

Abstract

The present invention relates to the technical field of CNC machine tool manufacturing, and discloses a robot tool magazine with automatic exchange of tool holders of multiple specifications and a control method thereof. The robot tool magazine comprises: tools of at least two specifications are arranged in the tool magazine station; at least two first tool change cache stations are arranged, and one first tool change cache station is used to cache tools of one specification; the tool changing robot is used to remove the target tool from the tool magazine station according to the tool use demand of the spindle and place it on the first tool change cache station corresponding to the specification of the target tool, and is also used to store the tool replaced by the spindle at the first tool change cache station in the tool magazine station. In the present invention, at least two specifications of tools are arranged in the tool magazine station, and the tool changing robot can perform tool changing operations for different machine tool spindles. 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 efficiency of tool replacement, has high reliability, and improves the automation level and processing efficiency of the machine tool.

Description

Technical Field

[0001] The present 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. Currently, tool magazines are typically installed alongside machine tools, with each magazine providing tools for only one machine tool. This increases floor space and reduces tool utilization within the magazine. Furthermore, when a machine tool is equipped with multiple spindles with different toolholders, manual tool replacement is required, significantly increasing machine tool costs, resulting in inefficient and unreliable tool replacements, and ultimately, low levels of automation and machining 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:

[0005] In a first aspect, a robot tool magazine with automatic exchange of tool holders of multiple specifications is provided, comprising:

[0006] Tool magazine station, first tool change buffer station and tool change robot;

[0007] The tool magazine station is provided with tools of at least two specifications;

[0008] 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 tools of one specification;

[0009] 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. It is also used to store the tool replaced by the spindle at the first tool changing cache station in the tool magazine station.

[0010] Preferably, the tool magazine station includes 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;

[0011] The tool module includes a tool support, a tool wall and a first tool positioning member, wherein the tool wall is connected to the tool support, and a plurality of tool mounting positions are provided on the tool wall, and tools are placed in the tool mounting positions;

[0012] 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.

[0013] Preferably, the first tool changing buffer 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 replaced by the spindle, and the second bracket is used to cache the target tool removed from the tool magazine station by the tool changing robot according to tool usage requirements;

[0014] The second tool positioning member is respectively provided on the first bracket and the second bracket.

[0015] 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;

[0016] The tool changing actuator includes 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;

[0017] At least two of the grabbing tool sleeves are provided, and an angle is formed between the axes of two adjacent grabbing tool sleeves.

[0018] Preferably, 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.

[0019] Preferably, the robot tool magazine further comprises a second tool changing cache station, wherein the second tool changing cache station is used to cache tools of at least one specification;

[0020] 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.

[0021] Preferably, the second tool changing buffer station comprises a corresponding buffer bracket, a buffer wall and a third tool positioning member, the buffer wall is arranged on the buffer bracket, and at least one tool buffer installation position is provided on the buffer wall;

[0022] The third tool positioning member is arranged at the tool cache installation position.

[0023] In a second aspect, a control method for a robot tool magazine with automatic exchange of tool holders of multiple specifications is provided, wherein the robot tool magazine with automatic exchange of tool holders of multiple specifications as described in the first aspect is used, and the method comprises:

[0024] Get the tool requirements of the spindle;

[0025] 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;

[0026] When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to remove the target tool from the tool magazine station and place it on the first tool changing buffer station corresponding to the specifications of the target tool;

[0027] 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 into the tool magazine station.

[0028] Preferably, the method further comprises:

[0029] Get the door status of the robot tool magazine;

[0030] 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;

[0031] 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.

[0032] Preferably, the method further comprises:

[0033] Obtain the user's tool change requirements;

[0034] According to the user's tool changing requirement, controlling the tool changing robot to search for a target tool in the tool magazine station;

[0035] When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to remove the target tool from the tool magazine station and place it on the second tool changing buffer station;

[0036] 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.

[0037] The beneficial effects of the technical solution provided by the present invention include at least:

[0038] In the present invention, at least two specifications of tools are set in the tool magazine station, and the tool changing robot can perform tool changing operations for different machine tool spindles. The shared tool magazine station reduces the footprint 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

[0039] 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.

[0040] Figure 1 A schematic diagram of the structure of a robot tool magazine according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic structural diagram of a tool magazine station according to an embodiment of the present invention;

[0042] Figure 3 A schematic side view of the tool magazine station according to an embodiment of the present invention;

[0043] Figure 4 This is a schematic structural diagram of a first tool changing buffer station according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic side view of the structure of a first tool changing and buffering station according to an embodiment of the present invention;

[0045] Figure 6 This is a schematic structural diagram of a tool changing robot according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic structural diagram of a tool-changing actuator according to an embodiment of the present invention;

[0047] 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;

[0048] Figure 9 This is a schematic side view of the structure of a second tool changing and buffering station according to an embodiment of the present invention;

[0049] Figure 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.

[0050] The reference numerals in the figures represent respectively:

[0051] 1- tool magazine station; 11- tool holder; 12- tool wall; 13- first tool positioning piece; 2- first tool change buffer station; 21- first bracket; 22- second bracket; 23- second tool positioning piece; 31- mounting base; 32- robot body; 33- tool change actuator; 331- tool holder holder; 332- first grab tool holder; 333- second grab tool holder; 334- protective device; 34- master controller; 4- second tool change buffer station Position; 41-cache bracket; 42-cache wall; 43-third tool positioning part; 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 part; 91-support.

[0052] The above drawings illustrate specific embodiments of the present invention, which will be described in more detail below. These drawings and the accompanying description are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] 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", "lower", "side", etc., are used to represent the position of the subject matter. Figure 1 The directions shown in the figure are for reference only and do not limit the scope of protection of the present invention.

[0055] 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.

[0056] like Figure 1As shown, this embodiment provides a robot tool magazine with 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 set in the tool magazine station 1; at least two first tool change cache stations 2 are set, 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 use 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 into the tool magazine station 1. In this application, at least two specifications of tools are set 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.

[0057] Specifically, the tool-changing robot determines the spindle's tool requirements based on the tool information required for subsequent machine operations. The tool specifications corresponding to the spindle's tool requirements are designated as the target tool. The required target tool is pre-removed from tool magazine station 1 and placed in the first tool-changing buffer station 2, which corresponds to the target tool specifications. This overlaps the tool-removal time with the machine's processing time, reducing tool-changing auxiliary time and improving machining efficiency.

[0058] like Figure 1 As shown, in this embodiment, two specifications of tools are set in the tool magazine station 1, and the tool shank specifications are HSK-A63 and HSK-A100 respectively. A first tool change cache station 2 is suitable for tools with a shank specification of HSK-A63, and a first tool change cache station 2 is suitable for tools with a shank specification of HSK-A100.

[0059] For example, when the tool changing robot determines that the tool requirement for 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 removes 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 tool changing of the machine tool, reduce tool changing auxiliary time, and improve the processing efficiency of the machine tool.

[0060] Specifically, when the tool is placed in the first tool-changing buffer station 2, it is placed in a posture suitable for tool changing of the machine tool, so as to facilitate automatic installation of the tool by the machine tool spindle.

[0061] like Figure 1 、 Figure 2 and Figure 3As shown, the tool magazine station 1 includes multiple tool modules, each housing a tool of a specific specification. Adjacent tool modules are fixedly connected. The tool modules include a tool support 11, a tool wall 12, and a first tool locator 13. The tool wall 12 is connected to the tool support 11 and is provided with multiple tool mounting positions for placing tools. The first tool locator 13 is positioned at each tool mounting position, with each corresponding to one of the tool mounting positions.

[0062] Specifically, such as Figure 2 As shown, in this embodiment, the tool magazine station 1 includes six tool modules. The two tool modules on the left side are equipped with tools with HSK-A63 shanks, and the other four tool modules are equipped with tools with HSK-A100 shanks. Tool modules storing tools of the same specification are placed together. The two tool modules for tools with HSK-A63 shanks are stacked together, and the four tool modules for tools with HSK-A100 shanks are stacked two by two. The adjacent tool modules on the left and right are fixedly connected. The bottommost tool module is fixed to the ground via a foundation assembly 8 and chemical anchor bolts. The tool modules on the upper layer are connected to the adjacent tool modules on the lower layer via bolts.

[0063] Specifically, such as Figure 2 and Figure 3 As shown, the tool holder 11 is a rectangular frame structure, the tool wall 12 is a plate-like structure, and the tool mounting positions are multiple mounting holes provided on the tool wall 12, into which the tools can be inserted. A first tool locator 13 is provided at the bottom edge of the tool mounting position and is used to position the tool for installation. The first tool locator 13 is electrically connected to the master controller 34. Once the tool is installed, it sends a signal to the master controller 34 indicating that the tool is in place, and can also secure the installed tool. For example, two tool modules are provided for tools with a shank specification of HSK-A63. Each tool module has 20 tool mounting positions and 20 first tool locators 13, for a total of 40 tool mounting positions and 40 first tool locators 13 across the two tool modules. Four tool modules are provided for tools with a shank specification of HSK-A100. Each tool module has 15 tool mounting positions and 15 first tool locators 13, for a total of 60 tool mounting positions and 60 first tool locators 13 across the four tool modules.

[0064] In this embodiment, the tool magazine station 1 adopts a modular design and can be expanded according to actual needs of the tool magazine capacity.

[0065] Specifically, such as Figure 1 and Figure 4As shown, the first tool changing cache station 2 includes a first bracket 21, a second bracket 22 and a second tool positioning member 23 that are correspondingly arranged. The first bracket 21 is used to cache the tools replaced by the spindle, and the second bracket 22 is used to cache the target tools 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.

[0066] Specifically, such as Figure 1 and Figure 4 As shown, the first tool change cache station 2 is set on the pneumatic cabinet 5, and the bottom of the pneumatic cabinet 5 is fixed to the ground through the anchor assembly 8 and the chemical anchor bolt. Three first tool change cache stations 2 are set 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-changing buffer 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-changing buffer stations 2 are suitable for tools with a tool holder specification of HSK-A100.

[0067] Specifically, such as Figure 4 As shown, the first tool change buffer station 2 includes a first bracket 21 and a second bracket 22, which are correspondingly arranged. The first bracket 21 is used to buffer the tools replaced by the spindle, and the second bracket 22 is used to buffer the target tools removed from the tool magazine station 1 by the tool change robot according to tool use requirements. For example, for a first tool change buffer station 2, from left to right, the first bracket 21 and the second bracket 22 are arranged. If the tool required by the spindle is a tool with a shank specification of HSK-A63, the tool change robot removes the tool with a shank specification of HSK-A63 from the tool magazine station 1 and places it on the second bracket 22. The tool with a shank specification of HSK-A63 replaced by the spindle is placed on the first bracket 21.

[0068] Specifically, in this embodiment, the first bracket 21 and the second bracket 22 have the same structure but different functions. The structure of the first bracket 21 is described below. The first bracket 21 includes a support plate connected to the top surface of the pneumatic cabinet 5, and a placement plate connected to the support plate. The placement plate is arranged parallel to the top surface of the pneumatic cabinet 5. The placement plate is provided with a placement hole for placing a tool. The second tool positioning member 23 is provided on the placement plate and is used to position 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, the second tool positioning member 23 sends an installation position signal to the master controller 34, and can fix the installed tool.

[0069] like Figure 1 、 Figure 4 and Figure 5As 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 bottom of the detection bracket 63 is mounted on the pneumatic cabinet 5 by screws, the standard ball 61 is mounted on the top of the detection bracket 63 by screws, and the tool detection device 62 is mounted 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. 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 to facilitate subsequent staff to take it away.

[0070] 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.

[0071] 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 component for fixing the robot body 32. A threaded hole is provided at the bottom of the mounting base 31, which is fixed to the ground by a ground anchor assembly 8 and a chemical anchor bolt. An interface flange is left at the top 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 change actuator 33. The robot body 32 and the master controller 34 are electrically connected or wirelessly connected. The master controller 34 controls the robot body 32 to drive the tool change actuator 33 to operate.

[0072] Further, if Figure 1 and Figure 7As shown, in this embodiment, the tool change actuator 33 is a key core component that enables the exchange of tools with two tool holder specifications. The tool change actuator 33 includes a tool holder bracket 331 and two grabbing tool holders. The two grabbing tool holders are a first grabbing tool holder 332 and a second grabbing tool holder 333. The first grabbing tool holder 332 is suitable for grabbing tools with tool holder specifications of HSK-A63, while the second grabbing 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 bolted to the end flange of the robot body 32, the second flange is bolted to the first grabbing tool holder 332, and the third flange is bolted to the second grabbing tool holder 333. The first grabbing tool holder 332 is used to pick up and place tools with tool holder specifications of HSK-A63, while the second grabbing tool holder 333 is used to pick up and place tools with tool holder specifications of HSK-A100.

[0073] 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.

[0074] 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°.

[0075] Further, if Figure 7 As shown, the tool change actuator 33 also includes a protective device 334, which is connected to the tool holder 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 holder 332 passes through the first mounting hole and is connected to the tool holder bracket 331. One end of the second grabbing tool holder 333 passes through the second mounting hole and is connected to the tool holder bracket 331. The outer wall of the first grabbing tool holder 332 is sealed to the first mounting hole, and the outer wall of the second grabbing tool holder 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 holder bracket 331, the first grabbing tool holder 332, and the second grabbing tool holder 333, ensuring good sealing of the tool change actuator 333 and improving the appearance quality.

[0076] 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 . The tool detection component 9 is used to detect whether there is a tool on the tool installation position of the tool magazine station 1 .

[0077] Specifically, tool detection element 9 is a non-contact sensor, specifically a photoelectric sensor, mounted on guard 334. In this embodiment, tool detection element 9 is located on the axis of tool holder support 331. When detecting whether a tool is installed in the tool mounting position of tool magazine station 1, tool detection element 9 is positioned opposite tool magazine station 1 to detect whether a tool is installed in the tool mounting position.

[0078] Furthermore, the tool detection member 9 is also provided on the first tool changing buffer station 2, as shown in FIG. Figure 4 As shown, a tool detection member 9 is provided on each of the first bracket 21 and the second bracket 22 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 mounted on the support 91.

[0079] Further, if Figure 1 、 Figure 8 and Figure 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.

[0080] 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.

[0081] 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 change the machine tool tools according to the stage processing tasks of the machine tool, ensuring that the machine tool can be changed without stopping. 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.

[0082] Furthermore, the user's tool change requirement may be to replace a defective tool in the tool magazine, or to increase the spindle requirement in the tool magazine for a tool that is not available in the tool magazine station 1 .

[0083] Furthermore, in one embodiment, a user's tool change request involves adding a tool to the tool magazine that is required by the spindle but not in tool magazine station 1. The tool change robot determines the target tool based on the spindle's tool demand. If the target tool is not found in tool magazine station 1, it searches for the target tool in the second tool change buffer station 4. Alternatively, the tool change robot deposits the tool placed by the user in the second tool change buffer station 4 into tool magazine station 1 based on the user's tool change request, and then searches for the target tool in tool magazine station 1 based on the spindle's tool demand.

[0084] 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 according to the user's tool change requirement and places it on the second tool change cache station 4. It 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.

[0085] Specifically, such as 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 mounting position is provided on the cache wall 42; the third tool positioning member 43 is arranged at the tool cache mounting position.

[0086] 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 provided on the cache wall 42, and the tool can be inserted into the tool cache installation position. The third tool positioning member 43 is provided 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, an installation signal is sent to the master controller 34, and the installed tool can be fixed 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 provided, 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.

[0087] Specifically, such as Figure 1 As shown, the tool is placed in a horizontal position on the second tool-changing buffer station 4 and in a vertical position on the first tool-changing buffer station 2 .

[0088] 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 .

[0089] 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 model are determined according to the tool usage requirements of the spindle, or the tool specifications and model are determined according to the user's tool change requirements.

[0090] Furthermore, in order to quickly determine the position of a target tool during tool exchange, multiple partitions can be set in the tool module of the same tool specification in the tool magazine station, and each partition is set with a tool of a different tool model.

[0091] Furthermore, a tool identification module is provided at the second buffer station 4. A tool code, which can be a chip, QR code, or barcode, is provided on the tool handle. The tool identification module identifies the tool code through RFID recognition or scanning of the QR code or barcode. 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.

[0092] The tool changing process between the tool magazine station 1, the first tool changing cache station 2 and the tool changing robot: determine the target tool according to the tool usage requirements of the spindle, the tool specification and model corresponding to the tool usage requirements 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 the tool magazine station 1 is obtained based on the mapping relationship between the tool code and the tool installation position, and control the tool changing robot to remove the target tool from the tool installation position in the tool magazine station 1 and place it in the first tool changing cache station 2; determine the specifications and model of the tool replaced by the spindle on the first tool changing 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, and obtain the tool installation position of the tool replaced by the spindle on the first tool changing cache station 2 in the 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 on the first tool changing cache station 2 back to the tool installation position in the tool magazine station 1.

[0093] 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 on 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 on 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 can be pre-set. Then, the mapping relationship between the tool code of the new tool and the tool installation position can be pre-set, and then the tool change robot can be 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.

[0094] 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 to 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.

[0095] 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 set 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 set in multiple groups, each group corresponding to a tool to be cleaned, so as to achieve timely cleaning of the tool. Figure 1 As shown, a nozzle 73, a steel pipe 74 and an isolation joint 75 are provided 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 .

[0096] The solenoid valve 72 is electrically connected to the master controller 34. Based on control commands, the solenoid valve 72 controls the air flow between the pneumatic cleaning device 71 and the nozzle 73, thereby cleaning the tool handles at the first tool change buffer station 2. The solenoid valve 72 also controls the air flow between the pneumatic cleaning device 71 and the first and second pneumatic connectors 76 and 77, respectively, to facilitate tool placement and retrieval in the first or second tool grabbing pockets 332 and 333.

[0097] In this embodiment, the tool changing requirement of the spindle is determined according to the tool changing instruction of the machine tool, that is, the target tool (the specification of the tool holder or the specification and model of the tool holder) 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 holder to ensure the reliability of the tool change.

[0098] 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:

[0099] S10: Obtaining the spindle tool requirement. Based on the machine tool spindle tool change requirement, the master controller 34 retrieves the machine tool tool holder interface information from the swing head information storage; it also retrieves the tool holder interface information of tool magazine station 1 from the tool magazine station 1 storage information. If the machine tool tool holder interface information matches the tool holder interface information of tool magazine station 1, the master controller 34 determines the spindle tool requirement, i.e., determines that the target tool (tool holder specifications or tool holder specifications and model) is a tool with a tool holder specification of HSK-A63 (model a) or a tool with a tool holder specification of HSK-A100 (model b).

[0100] S20: Based on the spindle's tool usage requirements, the tool changer robot is controlled to search for a target tool in tool magazine station 1. Based on the spindle's tool usage requirements, the target tool (specifications of the tool shank or specifications and model of the tool shank) is determined, the storage location of the target tool in tool magazine station 1 is obtained, and the tool changer robot is controlled to move to the tool mounting position corresponding to the target tool in tool magazine station 1 based on the storage location. The tool mounting position status is detected by a tool detection component 9 on the tool changer robot. It is understood that the storage location is the specific location of the tool mounting position in tool magazine station 1 where the target tool is stored, with each storage location storing one tool. The target tool can be searched using a pre-set mapping relationship between tool codes and tool specifications and models, and between tool codes and tool mounting positions. Furthermore, if multiple target tools are stored in tool magazine station 1, multiple storage locations may be obtained. The tool changer robot is controlled to move to multiple tool mounting positions corresponding to the target tool in tool magazine station 1, select a tool mounting position with a tool, and remove the target tool.

[0101] S30: When it is determined that the target tool is present in tool magazine station 1, the tool changer robot is controlled to remove the target tool from tool magazine station 1 and place it on the first tool changer buffer station 2, which corresponds to the specifications of the target tool. The tool changer robot is controlled to move to the tool mounting position of the target tool in tool magazine station 1. When the detection signal fed back by the tool detection unit 9 determines that a tool is present, the tool changer robot's first grabbing tool holder 332 (HSK-A63 grabbing tool holder) (or second grabbing tool holder 333 (HSK-A100 grabbing tool holder)) is controlled to remove the target tool from the tool mounting position in tool magazine station 1. The tool holder is then checked for tool in-place status using the first in-place detection switch (second in-place detection switch). If the tool in-place status is normal, the tool changer robot moves to the second bracket 22 of the first tool changer buffer station 2. The tool detection unit 9 at the second bracket 22 of the first tool changer buffer station 2 checks the status of the second bracket 22. If the target tool is not present, the target tool is placed on the second bracket 22 of the first tool changer buffer station 2, which corresponds to the specifications of the target tool.

[0102] 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.

[0103] Specifically, the tool detection part 9 at the first bracket 21 of the first tool changing cache station 2 performs a status detection on the first bracket 21. 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, and the specifications 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 changing 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 changing 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 changing robot, the tool changing robot is controlled to store the tool replaced by the spindle in the corresponding tool installation position in the tool magazine station 1. The tool changing robot returns to the zero position and remains silent, and the tool return program ends.

[0104] Furthermore, after placing the target tool on the second bracket 22 corresponding to the specifications of the target tool, the control method further includes controlling the machine tool spindle to replace the tool, the method comprising:

[0105] A: Obtain the door status of the robotic tool magazine. The robotic tool magazine includes a first tool change buffer station 2, a tool detection mechanism 6, a cleaning system 7, a second tool change buffer station 4, a tool change robot, and a master controller 34. The door status can be open or closed. When the door is open, the machine tool spindle executes the tool change procedure. When the door is closed, the tool change robot executes the tool change procedure.

[0106] B: When the robot tool magazine door is open, 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.

[0107] Furthermore, when the door of the robot tool magazine is opened, the machine tool spindle tool changing program is performed.

[0108] The tool detection unit 9 at the first bracket 21 of the first tool change buffer station 2 detects the status of the first bracket 21. If 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 unit 9 at the second bracket 22 of the first tool change buffer station 2 detects the status of the second bracket 22. If a tool is present, the machine tool spindle is controlled to remove the tool from the second bracket 22 of the first tool change buffer station 2. The machine tool spindle is controlled to exit the robot tool magazine, and the magazine door closes.

[0109] 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.

[0110] Specifically, the process may refer to step S40 and will not be described in detail here.

[0111] Furthermore, the control method further includes:

[0112] Obtaining the user's tool change request. The user's tool change request can be manually entered through the control interface located in the tool change window. The user's tool change request can be to replace the tool in tool magazine station 1 based on the machine tool's staged processing task, or it can be to replace a defective tool in tool magazine station 1 based on information fed back by the tool detection mechanism 6. When determining the target tool, the tool specification and model are determined based on the user's tool change request. It is understood that when a defective tool is detected, the tool is marked.

[0113] According to the user's tool change request, the tool changing robot is controlled to search for the target tool in tool magazine station 1. The target tool here is the tool that needs to be replaced from tool magazine station 1. It can be a tool that needs to be replaced based on the staged processing task of the machine tool, or it can be a defective tool.

[0114] When it is determined that the target tool exists 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 specifications of the target tool. Specifically, the second tool changing cache station 4 corresponding to the specifications of the target tool is a tool cache station corresponding to the specifications 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 shank specification of HSK-A63 and a tool cache installation position for a tool with a shank specification of HSK-A100. According to the specifications of the target tool, the target tool is placed in the tool cache installation position corresponding to its specifications.

[0115] When it is determined that a tool placed by the user exists on the second tool changer buffer station 4, the tool changer robot is controlled to store the tool placed by the user on the second tool changer buffer station 4 in the corresponding tool installation position in the tool magazine station 1. Specifically, the feedback signal of the tool detection component 9 provided on the second tool changer buffer station 4 is used to determine whether a tool placed by the user exists on the second tool changer buffer station 4. When it is determined that a tool placed by the user exists on the second tool changer buffer station 4, the specifications and model of the tool placed by the user are obtained according to the user's instructions, and the tool changer robot is controlled to remove the tool placed by the user on the second tool changer buffer station 4 and move it to a tool installation position that matches the specifications and model of the tool placed by the user. The tool detection component 9 on the tool changer robot determines whether there is a tool in the current tool installation position. If there is no tool in the current tool installation position, the tool placed by the user is stored in the current tool installation position. If there is a tool in the current tool installation position, the next tool installation position that matches the specifications and model of the tool placed by the user is determined to be a tool, and so on until the tool placed by the user is stored in the tool magazine station 1.

[0116] Specifically, in this embodiment, the presence of a tool can be determined based on the feedback signal from the tool detection element 9. If the presence of the tool does not match 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 buffer station 2, and remove the tool cached by the tool change robot on the second bracket 22 of the first tool change buffer station 2; if the tool replaced by the spindle is cached on the first bracket 21 of the first tool change buffer station 2, according to the tool detection element 9 on the first bracket 21, it is determined that there is a tool on the first bracket 21, and an alarm signal is sent; if it is necessary to remove the tool on the second bracket 22 of the first tool change buffer station 2, according to the tool detection element 9 on the second bracket 22, it is determined that there is no tool on the second bracket 22, and an alarm signal is sent.

[0117] Specifically, the master controller 34 is provided with a pre-trained large language model, and the method further includes:

[0118] Obtain the user's tool change requirements;

[0119] 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.

[0120] Specifically, pre-training large language models is an important advancement 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 large-scale corpora 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 adopts deep neural networks such as Transformer, CNN or RNN.

[0121] Specifically, prompts are sent to users based on pre-set prompt templates. For example, these prompts might indicate the remaining time for the current spindle tool change program or indicate whether the program should be terminated immediately. By pre-training a large language model, the user experience during the tool change process is enhanced, improving both accuracy and efficiency.

[0122] Specifically, such as Figure 10 As shown in the figure, as a specific embodiment, the principle of the spindle tool change program is introduced:

[0123] 1) Based on the machine program instructions, the spindle tool requirement for the next process is obtained. Based on the spindle tool change requirements, the machine tool toolholder interface information is retrieved from the swing head information storage. The toolholder interface information for tool magazine station 1 is also retrieved from the tool magazine station 1 storage information. If the machine toolholder interface information matches the toolholder interface information for tool magazine station 1, the spindle tool requirement is determined, specifically the target tool (toolholder specifications and model) and its storage location. For example, the target tool is a tool with an HSK-A63 toolholder specification, model a, and its storage location, or a tool with an HSK-A100 toolholder specification, model b, and its storage location. If the information does not match, an alarm message is sent.

[0124] 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.

[0125] 3) The tool detection unit 9 on the tool changer robot detects the tool installation position. If the detection signal from the tool detection unit 9 indicates a tool is present, the robot's first grabbing tool holder 332 (HSK-A63 grabbing tool holder) (or second grabbing tool holder 333 (HSK-A100 grabbing tool holder)) is controlled to remove the target tool from the tool installation position in tool magazine station 1. The robot then checks the tool position using the first in-position detection switch (or second in-position detection switch). If the tool position is normal, the robot moves to the second bracket 22 of the first tool changer buffer station 2. The tool detection unit 9 at the second bracket 22 of the first tool changer buffer station 2 checks the position of the second bracket 22. If the tool is not present, the robot places the target tool on the second bracket 22 of the first tool changer buffer station 2, corresponding to the target tool's specifications. The robot then returns to zero and remains silent while waiting for the machine tool spindle to retrieve the tool.

[0126] 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 when the second bracket 22 status detection is performed, an alarm message is sent.

[0127] 4) When the machine tool spindle executes the tool removal program, the robot tool magazine door is controlled to open.

[0128] When the machine tool spindle takes a tool, the tool detection unit 9 at the first bracket 21 of the first tool change buffer station 2 detects the status of the first bracket 21. If 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 unit 9 at the second bracket 22 of the first tool change buffer station 2 detects the status of the second bracket 22. If 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.

[0129] 5) The machine tool spindle is controlled to exit the robot tool magazine, the magazine door is closed, and the tool change robot is controlled to be unmuted. The tool change robot executes the tool return procedure.

[0130] The status of the first bracket 21 is detected by the tool detection part 9 at the first bracket 21 of the first tool change cache station 2. 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; when it is determined that there is no tool, an alarm message is sent. The tool change 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 change 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 change robot, the tool change robot is controlled to store the tool replaced by the spindle in the tool magazine station 1, and the tool change 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 change robot, an alarm message is sent.

[0131] 6) After returning the tool, control the tool changing robot to return to the zero position.

[0132] 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.

[0133] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of 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 invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as illustrative only.

[0134] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a robot tool magazine with automatic exchange of tool holders of multiple specifications, applied to a robot tool magazine with automatic exchange of tool holders of multiple specifications, characterized in that: The robot tool magazine for automatic exchange of tool holders of multiple specifications includes a tool magazine station, a first tool change buffer station and a 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 tools of one specification; The tool changing robot is used to remove a target tool from the tool magazine station according to the tool usage demand of the spindle and place it on the first tool changing buffer 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 buffer station in the tool magazine station; 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 includes a tool support, a tool wall and a first tool positioning member, wherein the tool wall is connected to the tool support, and a plurality of tool mounting positions are provided on the tool wall, and tools are placed in the tool mounting 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; The first tool positioning member is provided at the lower edge of the tool installation position and is used to position the installation of the tool. The first tool positioning member is electrically connected to the master controller. After the tool is installed in place, the master controller sends a signal indicating that the tool is in place and fixes the installed tool. 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 includes 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 grabbing tool sleeves are provided, and an angle is formed between the axes of two adjacent grabbing tool sleeves; The two grabbing tool sleeves are respectively the first grabbing tool sleeve and the second grabbing tool sleeve, the tool sleeve bracket 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 by bolts, the second flange is connected to the first grabbing tool sleeve by bolts, and the third flange is connected to the second grabbing tool sleeve by bolts; a first in-position detection switch is provided in the first grabbing tool sleeve 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 for detecting whether the tool in the tool sleeve is loosened or clamped in place; the tool changing actuator also includes a protective device, which is connected to the tool sleeve bracket, and a first mounting hole and a second mounting hole are provided on the protective device, one end of the first grabbing tool sleeve passes through the first mounting hole and is connected to the tool sleeve bracket, and one end of the second grabbing tool sleeve passes through the second mounting hole and is connected to the tool sleeve bracket; The robot tool magazine further includes a second tool changing cache station, which 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 buffer 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 buffer station into the tool magazine station; The control method includes: Get the tool requirements of the spindle; 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; When it is determined that the target tool exists in the tool magazine station, controlling the tool changing robot to remove the target tool from the tool magazine station and place it on the first tool changing buffer station corresponding to the specifications of the target tool; When it is determined that there is a tool replaced by the spindle at the first tool changing buffer station, controlling the tool changing robot to store the tool replaced by the spindle at the first tool changing buffer station into the tool magazine station; The control method further includes: Obtain the user's tool change requirements; According to the user's tool changing requirement, 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 remove 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, controlling the tool changing robot to store the tool placed by the user on the second tool changing cache station into the tool magazine station; The control method further includes: Obtain the user's tool change requirements; Determine whether the spindle tool change program is completed. When the spindle tool change program is not completed, based on the pre-trained large language model and the preset prompt template, a prompt message is sent to the user. 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.

2. The control method of a robot tool magazine with automatic exchange of tool holders of multiple specifications according to claim 1 is characterized in that: The first tool changing buffer 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 replaced by the spindle, and the second bracket is used to cache the target tool removed from the tool magazine station by the tool changing robot according to tool use requirements; The second tool positioning member is respectively provided on the first bracket and the second bracket.

3. The control method of a robot tool magazine with automatic exchange of tool holders of multiple specifications according to claim 1 is characterized in that: The second tool changing cache station includes a corresponding 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 provided on the cache wall; The third tool positioning member is arranged at the tool cache installation position.

4. The control method according to claim 1, wherein: The control method further includes: 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.

Images