Gantry machine tool with quick tool magazine tool changing structure

Abstract

The invention relates to the field of machine tools, and discloses a gantry machine tool with a rapid tool magazine tool changing structure, the gantry machine tool comprises a tool magazine and a tool changing assembly which are arranged on a machine tool frame, and the tool magazine comprises a stand column support slidably arranged on the machine tool frame in the length direction of the machine tool frame and a first linear module driving the stand column support to move; a mounting support is arranged between the upper ends of the stand column supports, a circular track is arranged on the mounting support, and a plurality of cutter storage units are arranged on the circular track in the extending direction. According to the scheme, during tool changing, the tool can be taken down from the tool magazine through the tool changing assembly in advance and pulled to move to the position near the machine tool machining center, after the tool of the machine tool machining center completes machining, tool changing can be started without moving, the gantry machine tool can achieve quick tool changing in the machining process, the machining efficiency is remarkably improved, and the machining speed is remarkably increased. Machining interruption caused by time-consuming tool replacement is reduced, meanwhile, the manual operation burden is reduced, and the automation degree of the system is increased.

Description

Technical Field

[0001] The invention relates to the field of machine tools, in particular to the field of machine tool tool magazines, and in particular to a gantry machine tool with a fast tool magazine tool changing structure. Background Art

[0002] With the continuous development of science and technology, machine tools have gradually developed into CNC automation. Existing CNC machine tools generally have a tool magazine system that can realize automatic tool change. The CNC machine tool tool magazine system generally includes a tool magazine, a tool changing mechanism and a control system. The tool magazine mainly provides a tool storage position, and can correctly select the tool and position it according to the control system for tool exchange. The tool changing mechanism is also called a manipulator, which performs the tool exchange action.

[0003] Based on the search of machine tool magazine systems, a Chinese invention patent was found, with the authorization announcement number CN113319630B, which discloses a CNC machine tool magazine. Although it realizes the expansion of the tool magazine through two tool discs, it still has some shortcomings, for example: its specification

[0043] paragraph elaborates in detail the clamping and fixing of the tool by the tool sleeve. When taking the tool, the manipulator applies force to the tool along the axial direction of the plug-in tube, and pressure is generated between the groove of the tool shank and the ball. The ball squeezes the conical surface of the squeezing ring, so that the squeezing ring overcomes the elastic force of the first elastic unit and moves, so that the tool can be taken out of the plug-in tube. The tool holder is taken out of the tube. In this clamping and fixing method, the first elastic unit starts to release elastic force at the moment the tool is detached from the plug-in tube, causing the sphere to move and hit the wall of the first annular groove, which can easily cause the tool holder to vibrate. The number of uses is abnormal, and the vibration can easily cause position deviations in the components that make up the tool magazine, thereby affecting the subsequent tool changing actions. In addition, this clamping and fixing method requires the arrangement of components such as the sphere, the first elastic unit and the extrusion ring on the tool holder. The structure is relatively complicated and requires a certain amount of space. It is necessary to improve it to reduce the size of the space occupied, thereby increasing the capacity of the tool magazine.

[0004] Based on the above, the present invention proposes a gantry machine tool with a rapid tool magazine tool changing structure. Summary of the invention

[0005] In order to solve the problems mentioned in the above background, the present invention provides a gantry machine tool with a rapid tool magazine tool changing structure.

[0006] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows.

[0007] A gantry machine tool with a fast tool magazine tool changing structure comprises a tool magazine and a tool changing assembly arranged on a machine tool frame, wherein the tool magazine comprises a column bracket slidably arranged on the machine tool frame along the length direction of the machine tool frame and a first linear module driving the column bracket to move, a mounting bracket is arranged between the upper ends of the column bracket, a ring rail is arranged on the mounting bracket, and a plurality of groups of tool storage units are arranged on the ring rail along the extension direction; The knife storage unit includes a knife storage seat that cooperates with the ring rail to form a sliding guide. The knife storage seat is located at one end outside the ring rail and is provided with a vertically arranged knife sleeve. The interior of the knife sleeve is hollow and the inner cavity is divided into a coaxial lower conical section, a middle cylindrical section and an upper cylindrical section with unequal diameters along the axial centerline. The diameter of the lower conical section decreases from bottom to top, and the diameter of the upper cylindrical section is larger than the diameter of the middle cylindrical section. A fixed shaft is coaxially arranged in the upper cylindrical section. The interior of the fixed shaft is hollow. A built-in step is coaxially arranged at the upper opening of the fixed shaft. An elastic claw extends downward from the bottom of the built-in step. A plurality of elastic claws are arranged in an array along the circumferential direction of the fixed shaft. The elastic claw is made of elastic material. An arc surface is provided on the side of the elastic claw facing the axial centerline of the fixed shaft. The area formed by the arc surfaces of the plurality of elastic claws matches the convex ball a of the tool handle.

[0008] Furthermore, a synchronous belt group is provided on the mounting bracket, the pulleys of the synchronous belt group are arranged vertically and the two pulleys are respectively close to the two column brackets, the shape of the ring rail is consistent with the shape of the synchronous belt of the synchronous belt group and the sizes of the two are scaled proportionally, and the center line of the ring rail coincides with the center line of the synchronous belt.

[0009] Furthermore, a linkage groove is provided on one side of the knife storage seat facing the inner side of the ring rail, and a linkage convex pin is provided on the synchronous belt surface of the synchronous belt group. The linkage convex pin and the linkage groove form a sliding connection perpendicular to the sliding direction of the knife storage seat.

[0010] Furthermore, the lower end of the elastic claw is rounded on one side facing the axis of the fixed shaft, and the shape of the lower frustum section matches the frustum section b of the tool handle.

[0011] Furthermore, a positioning component is provided on the mounting bracket, and the positioning component is located inside the synchronous belt group.

[0012] Furthermore, the positioning assembly includes a slide seat slidably arranged on the mounting bracket along the width direction of the machine tool frame, and a driving component for driving the slide seat to move is arranged between the slide seat and the mounting bracket; A positioning seat is provided on the slide seat for sliding along the length direction of the machine tool frame. The positioning seat is driven to move by a second linear module provided on the slide seat. Two inclined planes 1 are provided on the side of the positioning seat facing the machine tool machining center. The distance between the two inclined planes 1 increases along the sliding direction of the positioning seat and in the direction from the tool magazine to the machine tool machining center. Two inclined planes 2 are arranged on the side of the tool storage seat facing the inner side of the ring rail. When the tool storage seat is located on the side of the positioning assembly facing the machine tool processing center, the inclined plane 2 is parallel to the corresponding inclined plane 1.

[0013] Furthermore, the driving component includes a rack arranged on the mounting bracket and a first motor arranged on the slide, a gear is arranged at the output end of the first motor, the gear is meshed with the rack, and an extension direction of the rack is parallel to the width direction of the machine tool frame.

[0014] Furthermore, the tool changing assembly includes a transverse bracket slidably arranged between two column brackets in a vertical direction and a third linear module arranged on the column bracket and used for driving the transverse bracket to move; A first movable bracket is slidably arranged on the transverse bracket along the width direction of the machine tool frame, and the first movable bracket is driven to move by a fourth linear module arranged on the transverse bracket; A second movable bracket is slidably arranged on the first movable bracket along the length direction of the machine tool frame, and the second movable bracket is driven to move by a fifth linear module arranged on the first movable bracket.

[0015] Furthermore, the suspended end of the second movable bracket is equipped with a vertically arranged rotating shaft and a second motor for driving the rotating shaft to rotate. The upper end of the rotating shaft is provided with a horizontally arranged tool changing seat. A tool changing claw is respectively provided at both ends of the tool changing seat, and the tool changing claw can be inserted into the annular groove c of the tool handle.

[0016] Furthermore, an electromagnet is arranged on the rotating shaft, and the tool changing seat and the tool changing claw are both made of magnetic materials.

[0017] Compared with the prior art, the present invention has the following beneficial effects: When changing tools in this solution, the tool can be removed from the tool magazine in advance through the tool changing assembly, and the tool can be moved to the vicinity of the machine tool processing center. When the tool of the machine tool processing center needs to be changed after completing the processing, the tool change can be started immediately without moving the machine tool processing center. Therefore, the gantry machine tool can realize the rapid replacement of tools during the processing, which significantly improves the processing efficiency and speed, reduces the processing interruption caused by the time-consuming tool replacement, and reduces the burden of manual operation, and increases the degree of automation of the system. On this basis: 1. In this solution, the tool changing assembly applies a vertical downward force to the tool to remove the tool, and the tool can be inserted back into the tool magazine by pointing it vertically upward, which makes it convenient and quick to take out and store the tool. In addition, the elastic claw replaces the sphere, the first elastic unit, the extrusion ring and other components mentioned in the patent document in the background technology, thereby achieving the effect of simplifying the structure, and more tools can be stored in the same volume; 2. In this solution, the setting of the positioning component can not only position the tool storage unit where the tool to be taken is located before tool changing to prevent position deviation that affects tool changing, but also solve the vibration impact caused by the elastic claw restoring its elastic deformation during the subsequent tool changing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of existing gantry machine tools Figure 1 ; Figure 2 Schematic diagram of existing gantry machine tools Figure 2 ; Figure 3 is a schematic diagram of a tool; Figure 4 The structure of the present invention is schematically shown Figure 1 ; Figure 5 The structure of the present invention is schematically shown Figure 2 ; Figure 6 It is a schematic diagram of the tool magazine and tool changing assembly; Figure 7 It is a schematic diagram of a synchronous belt assembly, a ring rail, a tool storage unit, a positioning assembly, and a tool changing assembly; Figure 8 It is a schematic diagram of the knife storage unit and the synchronous belt; Fig. 9 is a partial cross-sectional view of the knife storage unit; Fig.10 is a schematic diagram of a positioning component; Fig.11 is a schematic diagram of a tool changing assembly; Fig.12 It is a schematic diagram of the rotating axis and the tool changer.

[0019] The reference numerals in the accompanying drawings are: 100, tool magazine; 101, first linear module; 102, column bracket; 103, ring rail; 104, synchronous belt group; 1041, linkage convex pin; 105, tool storage unit; 1051, tool storage seat; 1052, linkage groove; 1053, tool sleeve; 1054, fixed shaft; 1055, elastic claw; 106, positioning assembly; 1061, slide seat; 1062, second linear module; 1063, positioning seat; 1064, rack; 1065, first motor; 200, tool change assembly; 201, third linear module; 202, horizontal bracket; 203, fourth linear module; 204, first movable bracket; 205, fifth linear module; 206, second movable bracket; 207, second motor; 208, rotating shaft; 209, tool change seat; 210, tool change claw; 211, electromagnet. DETAILED DESCRIPTION

[0020] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0021] This plan is attached Figure 3 It is a schematic diagram of a tool, which is a prior art. For the convenience of the following description, the tool handle includes a handle body, which includes a frustum segment b and a cylindrical segment d. A convex ball a is provided at the end of the frustum segment b, and an annular groove c is provided on the outer circumference of the cylindrical segment d. e refers to the tool head. This naming method is for the convenience of the following description.

[0022] Reference Figure 1-Figure 12 A gantry machine tool with a rapid tool magazine tool changing structure includes a tool magazine 100 and a tool changing assembly 200 arranged on a machine tool frame.

[0023] Tool magazine 100: Reference Figure 6-Figure 10 The tool magazine 100 includes a column bracket 102 slidably set on the machine tool frame along the length direction of the machine tool frame and a first linear module 101 for driving the column bracket 102 to move. Furthermore, two column brackets 102 are provided and are respectively located on both sides of the machine tool frame along the length direction, and two first linear modules 101 are correspondingly provided.

[0024] A mounting bracket is provided between the upper ends of the two column brackets 102 .

[0025] A ring rail 103 and a synchronous belt group 104 are provided on the mounting bracket, wherein the pulleys of the synchronous belt group 104 are arranged vertically and the two pulleys are respectively close to the two column brackets 102, the shape of the ring rail 103 is consistent with the shape of the synchronous belt of the synchronous belt group 104, and the sizes of the two are scaled proportionally, and the center line of the ring rail 103 coincides with the center line of the synchronous belt. It should be noted that the synchronous belt group 104 can be replaced by the existing sprocket chain technology to form a chain tool magazine.

[0026] A plurality of knife storage units 105 are arranged on the ring rail 103 along the extending direction.

[0027] The knife storage unit 105 includes a knife storage seat 1051 that forms a sliding guide with the ring rail 103. Furthermore, a linkage groove 1052 is provided on the side of the knife storage seat 1051 facing the inner side of the ring rail 103, and a linkage pin 1041 is provided on the synchronous belt surface of the synchronous belt group 104. The linkage pin 1041 and the linkage groove 1052 form a sliding connection perpendicular to the sliding direction of the knife storage seat 1051. Therefore, when the synchronous belt group 104 is running, it can pull the knife storage seat 1051 to move on the ring rail 103 through the cooperation between the linkage pin 1041 and the linkage groove 1052.

[0028] A vertically arranged tool sleeve 1053 is provided at one end of the tool storage seat 1051 located outside the ring rail 103. The interior of the tool sleeve 1053 is hollow and the inner cavity is divided into a coaxial lower conical section, a middle cylindrical section and an upper cylindrical section with unequal diameters along the axial direction. The diameter of the lower conical section decreases from bottom to top, and the diameter of the upper cylindrical section is larger than the diameter of the middle cylindrical section.

[0029] A fixed shaft 1054 is coaxially arranged in the upper cylindrical section. The interior of the fixed shaft 1054 is hollow. A built-in step is coaxially arranged at the upper opening of the fixed shaft 1054. An elastic claw 1055 extends downward from the bottom of the built-in step. A plurality of elastic claws 1055 are arranged in an array along the circumferential direction of the fixed shaft 1054.

[0030] The elastic claw 1055 is made of elastic material, and the lower end of the elastic claw 1055 is rounded on the side facing the axis of the fixed shaft 1054. The elastic claw 1055 is provided with an arc surface on the side facing the axis of the fixed shaft 1054. The area formed by the arc surfaces of multiple elastic claws 1055 matches the convex ball a of the tool handle, that is, the convex ball a can be located in the area formed by multiple arc surfaces and the arc surface fits with the outer spherical surface of the convex ball a.

[0031] The shape of the lower frustoconical section matches the frustoconical section b of the tool handle, that is, when the frustoconical section b is located inside the lower frustoconical section, the two fit each other.

[0032] The process of taking out and storing the knife in the knife storage unit 105 is specifically as follows: Reference Fig. 9 , the tool is clamped in the tool storage unit 105, and a vertical downward force is applied to the tool. Then, under the cooperation of the convex ball a and the arc surface, the elastic claw 1055 will deflect away from the axis of the fixed shaft 1054, and the tool can leave the tool sleeve 1053, that is, the tool can be taken away by applying downward force; Similarly, the tool is coaxially placed under the tool sleeve 1053, and then a vertical upward force is applied to the tool. Then, under the cooperation of the arc surface formed by the rounded corner and the convex ball a, the elastic claw 1055 will deflect away from the axis of the fixed shaft 1054. When the convex ball a is located in the middle of the arc surface of the elastic claw 1055, the elastic deformation of the elastic claw 1055 is restored, thereby clamping the convex ball a, and the truncated cone section b of the tool handle is also fitted with the lower truncated cone section of the inner cavity of the tool sleeve 1053, and the tool is placed. In summary, the tool can be taken out by pointing vertically downward and inserted back by pointing vertically upward, which makes it convenient and quick to take out and store the tool. In addition, the elastic claw 1055 replaces the sphere, the first elastic unit, the extrusion ring and other components in the patent literature mentioned in the background technology, thereby achieving an effect of simplifying the structure, and more tools can be stored in the same volume.

[0033] Positioning component 106: It can be seen from the above process that when changing the tool, after the tool is taken away, the elastic deformation of the elastic claw 1055 will recover, which will cause vibration. The vibration can easily cause the position of the tool storage unit 105 on the ring rail 103 to deviate slightly. As the number of times increases, the position accuracy of the tool storage unit 105 becomes poor, which can easily affect the tool changing process. In addition, the tool magazine 100 of this scheme is equivalent to the existing chain tool magazine technology. After the synchronous belt group 104 or the chain technology has been used for a long time, there will be some errors in the synchronous belt or chain itself, which will affect the position accuracy of the tool storage unit 105 and affect the tool changing. In order to solve this problem, refer to Figure 7 A positioning assembly 106 is disposed on the mounting bracket, and the positioning assembly 106 is located in the inner space of the synchronous belt set 104 .

[0034] Reference Fig.10 The positioning assembly 106 includes a slide 1061 that is slidably arranged on a mounting bracket along the width direction of the machine tool frame. A driving component for driving the slide 1061 to move is arranged between the slide 1061 and the mounting bracket. Furthermore, the driving component includes a rack 1064 arranged on the mounting bracket and a first motor 1065 arranged on the slide 1061. A gear is arranged at the output end of the first motor 1065, and the gear is meshed with the rack 1064. The extension direction of the rack 1064 is parallel to the width direction of the machine tool frame. Through the cooperation of the first motor 1065, the gear and the rack 1064, the slide 1061 can be driven to move.

[0035] A positioning seat 1063 is slidably disposed on the slide 1061 along the length direction of the machine tool frame. The positioning seat 1063 is driven to move by the second linear module 1062 , and the second linear module 1062 is disposed on the slide 1061 .

[0036] Two inclined surfaces 1 are arranged on the side of the positioning seat 1063 facing the machine tool machining center, and the distance between the two inclined surfaces 1 increases along the sliding direction of the positioning seat 1063 and in the direction from the tool magazine 100 to the machine tool machining center.

[0037] Reference Figure 8 The tool storage seat 1051 is provided with two inclined planes 2 on the side facing the inner side of the ring rail 103. When the tool storage seat 1051 is located on the side of the positioning assembly 106 facing the machine tool machining center, the inclined plane 2 is parallel to the corresponding inclined plane 1.

[0038] The working process of the positioning component 106 is specifically as follows: Before taking the tool, the slide 1061 is driven to move by the driving component, so that the positioning seat 1063 is aligned with the tool storage seat 1051 of the tool storage unit 105 where the tool to be taken is located, and then the positioning seat 1063 is driven to approach the tool storage seat 1051 by the second linear module 1062. If the position of the tool storage seat 1051 has no deviation, then the second bevel will eventually fit with the first bevel. If there is a deviation in the position of the tool storage seat 1051, the position of the tool storage seat 1051 can be corrected by the cooperation of the first bevel and the second bevel. It should be noted that compared with the synchronous belt group 104 or the sprocket chain technology, the driving component only needs to move in a linear motion, and its motion accuracy is relatively more accurate. Preferably, compared with the gear rack drive method, the driving component preferably uses the existing screw linear motion technology, which has higher motion accuracy. When taking the knife, since the knife storage seat 1051 is slidably set on the ring rail 103, the vibration caused by the elastic claw 1055 recovering the elastic deformation will only affect the position accuracy of the knife storage seat 1051 on the ring rail 103. When the inclined surface 1 of the positioning seat 1063 cooperates with the inclined surface 2 of the knife storage seat 1051, the movement of the slide seat 1061 on the ring rail 103 is limited. Therefore, the influence of the position accuracy caused by the vibration can be solved. Similarly, when storing the knife, the positioning component 106 also operates, so the vibration during storage can also be solved.

[0039] In summary, the positioning component of the present solution can not only perform positioning processing on the tool storage unit 105 where the tool to be taken is located before tool changing to prevent affecting tool changing, but also solve the vibration impact caused by the elastic claw 1055 restoring elastic deformation during the subsequent tool changing process.

[0040] Tool changer assembly 200: Reference Figure 7 , Fig.11 and Fig.12 The tool changing assembly 200 includes a horizontal bracket 202 slidably arranged between two column brackets 102 along the vertical direction. The horizontal bracket 202 is driven to move by the third linear module 201, and the third linear module 201 is arranged on the column bracket 102.

[0041] A first movable bracket 204 is slidably disposed on the transverse bracket 202 along the width direction of the machine tool frame. The first movable bracket 204 is driven to move by the fourth linear module 203 . The fourth linear module 203 is disposed on the transverse bracket 202 .

[0042] A second movable bracket 206 is slidably disposed on the first movable bracket 204 along the length direction of the machine tool frame. The second movable bracket 206 is driven to move by the fifth linear module 205 . The fifth linear module 205 is disposed on the first movable bracket 204 .

[0043] A vertically arranged rotating shaft 208 and a second motor 207 for driving the rotating shaft 208 to rotate are mounted on the suspended end of the second movable bracket 206 .

[0044] A horizontally arranged tool changing seat 209 is provided at the upper end of the rotating shaft 208, and a tool changing claw 210 is provided at each end of the tool changing seat 209. An electromagnet 211 is also provided on the rotating shaft 208. The tool changing seat 209 and the tool changing claw 210 are both made of magnetic materials, such as iron. When the electromagnet 211 is energized to generate magnetic force, the tool changing claw 210 can be made magnetic, exerting a magnetic adsorption effect on the tool.

[0045] The working process of the tool changing assembly 200 is specifically as follows: Through the cooperation of the first linear module 101, the third linear module 201, the fourth linear module 203, and the fifth linear module 205, a tool changing claw 210 can be inserted into the ring groove c of the tool handle of the tool corresponding to the tool storage unit 105, and then the third linear module 201 drives the cross support 202 to move downward and brings the tool changing seat 209 to move downward, exerting a vertical downward force on the tool to remove the tool, and at the same time, the electromagnet 211 is energized to achieve magnetic adsorption of the tool to prevent the tool from shaking during the subsequent movement; Similarly, through the cooperation of the first linear module 101, the third linear module 201, the fourth linear module 203, the fifth linear module 205, and the second motor 207, another tool change claw 210 is inserted into the ring groove c of the tool of the machine tool machining center, and the machine tool machining center releases the tool, and the tool is magnetically adsorbed on the tool change seat 209, and then the second motor 207 drives the rotating shaft 208 to rotate, and cooperates with the fifth linear module 205 and the third linear module 201, so that the tool previously taken out of the tool magazine 100 is inserted into the machine tool machining center, and the machine tool machining center clamps the tool; Then, the replaced tool is inserted back into the corresponding tool storage unit 105 through the cooperation of the first linear module 101 , the third linear module 201 , the fourth linear module 203 , the fifth linear module 205 , and the second motor 207 .

[0046] It should be noted that the clamping or loosening of the tool by the machine tool machining center is achievable by existing technology and will not be described in detail.

[0047] The linear module mentioned in this solution can adopt the existing electric telescopic rod technology or the existing screw linear motion technology, etc., which will not be described in detail.

[0048] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A gantry machine tool with a rapid tool magazine tool change structure, comprising a tool magazine (100) and a tool change assembly (200) arranged on a machine tool frame, characterized in that: The tool magazine (100) comprises a column bracket (102) slidably arranged on the machine tool frame along the length direction of the machine tool frame and a first linear module (101) driving the column bracket (102) to move, a mounting bracket is arranged between the upper ends of the column bracket (102), a ring rail (103) is arranged on the mounting bracket, and a plurality of groups of tool storage units (105) are arranged on the ring rail (103) along the extension direction; The knife storage unit (105) comprises a knife storage seat (1051) which cooperates with the ring rail (103) to form a sliding guide. A knife sleeve (1053) arranged vertically is arranged at one end of the knife storage seat (1051) located outside the ring rail (103). The interior of the knife sleeve (1053) is hollow and the inner cavity is divided into a coaxial lower truncated cone section, a middle cylindrical section and an upper cylindrical section with unequal diameters along the axis direction. The diameter of the lower truncated cone section decreases from bottom to top, and the diameter of the upper cylindrical section is larger than the diameter of the middle cylindrical section. A fixed shaft (1054) is coaxially arranged in the upper cylindrical section. The interior of the fixed shaft (1054) is hollow, and a built-in step is coaxially arranged at the upper opening of the fixed shaft (1054). An elastic claw (1055) extends downward from the bottom of the built-in step. A plurality of elastic claws (1055) are arranged in an array along the circumferential direction of the fixed shaft (1054). The elastic claws (1055) are made of elastic material. A curved surface is arranged on one side of the elastic claw (1055) facing the axis of the fixed shaft (1054). The area formed by the coordinated curved surfaces of the plurality of elastic claws (1055) matches the convex ball a of the tool handle.

2. A gantry machine tool with a fast tool magazine tool changing structure according to claim 1, characterized in that: A synchronous belt group (104) is arranged on the mounting bracket, the pulleys of the synchronous belt group (104) are arranged vertically and the two pulleys are respectively close to the two column brackets (102), the shape of the ring rail (103) is consistent with the shape of the synchronous belt of the synchronous belt group (104), and the sizes of the two are proportionally scaled, and the center line of the ring rail (103) coincides with the center line of the synchronous belt.

3. A gantry machine tool with a fast tool magazine tool changing structure according to claim 2, characterized in that: A linkage groove (1052) is provided on one side of the knife storage seat (1051) facing the inner side of the ring rail (103), and a linkage convex pin (1041) is provided on the synchronous belt surface of the synchronous belt group (104). The linkage convex pin (1041) and the linkage groove (1052) form a sliding connection perpendicular to the sliding direction of the knife storage seat (1051).

4. The gantry machine tool with a fast tool magazine tool changing structure according to claim 1, characterized in that: The lower end of the elastic claw (1055) is rounded on one side facing the axis of the fixed shaft (1054), and the shape of the lower frustum section matches the frustum section b of the tool handle.

5. The gantry machine tool with a fast tool magazine tool changing structure according to claim 3, characterized in that: A positioning assembly (106) is provided on the mounting bracket, and the positioning assembly (106) is located inside the synchronous belt assembly (104).

6. A gantry machine tool with a fast tool magazine tool changing structure according to claim 5, characterized in that: The positioning assembly (106) comprises a slide seat (1061) slidably arranged on the mounting bracket along the width direction of the machine tool frame, and a driving component for driving the slide seat (1061) to move is arranged between the slide seat (1061) and the mounting bracket; A positioning seat (1063) is slidably arranged on the slide (1061) along the length direction of the machine tool frame, and the positioning seat (1063) is driven to move by a second linear module (1062) arranged on the slide (1061). Two inclined surfaces 1 are arranged on the side of the positioning seat (1063) facing the machine tool processing center, and the distance between the two inclined surfaces 1 increases along the sliding direction of the positioning seat (1063) and in the direction from the tool magazine (100) to the machine tool processing center. Two inclined planes 2 are arranged on a side of the tool storage seat (1051) facing the inner side of the ring rail (103); when the tool storage seat (1051) is located on a side of the positioning assembly (106) facing the machine tool processing center, the inclined planes 2 and the corresponding inclined planes 1 are parallel to each other.

7. A gantry machine tool with a fast tool magazine tool changing structure according to claim 6, characterized in that: The driving component comprises a rack (1064) arranged on the mounting bracket and a first motor (1065) arranged on the slide seat (1061); a gear is arranged at the output end of the first motor (1065); the gear is meshed with the rack (1064); and the extension direction of the rack (1064) is parallel to the width direction of the machine tool frame.

8. The gantry machine tool with a fast tool magazine tool changing structure according to claim 6, characterized in that: The tool changing assembly (200) comprises a transverse bracket (202) slidably arranged between two column brackets (102) in a vertical direction, and a third linear module (201) arranged on the column bracket (102) and used for driving the transverse bracket (202) to move; A first movable bracket (204) is slidably arranged on the transverse bracket (202) along the width direction of the machine tool frame, and the first movable bracket (204) is driven to move by a fourth linear module (203) arranged on the transverse bracket (202); A second movable bracket (206) is slidably arranged on the first movable bracket (204) along the length direction of the machine tool frame, and the second movable bracket (206) is driven to move by a fifth linear module (205) arranged on the first movable bracket (204).

9. A gantry machine tool with a fast tool magazine tool changing structure according to claim 8, characterized in that: A vertically arranged rotating shaft (208) and a second motor (207) for driving the rotating shaft (208) to rotate are mounted on the suspended end of the second movable bracket (206); a horizontally arranged tool change seat (209) is arranged on the upper end of the rotating shaft (208); a tool change claw (210) is respectively arranged at both ends of the tool change seat (209); and the tool change claw (210) can be inserted into the annular groove c of the tool handle.

10. A gantry machine tool with a fast tool magazine tool changing structure according to claim 9, characterized in that: An electromagnet (211) is arranged on the rotating shaft (208), and the tool changing seat (209) and the tool changing claw (210) are both made of magnetic materials.

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