Chain replacing device for chain type tool magazine maintenance

Abstract

The invention belongs to the technical field of chain type tool magazines, and particularly relates to a chain replacement device for chain type tool magazine maintenance, which comprises a shell cover and a space movement mechanism, the shell cover is mounted at the free end of the space movement mechanism, and two symmetrically distributed shaft columns are rotatably connected in the shell cover; chain wheels matched with the chain type tool magazines are installed at the bottom ends of the shaft columns respectively, the shaft columns are connected with angle adjusting mechanisms, push-out mechanisms are further arranged in the shaft columns, and the device further comprises a displacement collecting module, a phase difference collecting module, a thrust collecting module and a control module. According to the device, the position of the device is fed back in real time through the displacement collecting module, the PID controller accurately controls the space movement mechanism to adjust the rotating speed of the servo motor, and the device can rapidly and accurately move to the position near the chain tool magazine and keep parallel. And in the precise alignment stage, the angle adjusting mechanism can finely adjust the angle of the device, a series of automatic positioning and alignment operations are achieved, and the chain replacement efficiency and precision are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of chain type tool magazines, and in particular to a chain replacement device for maintaining a chain type tool magazine. Background Art

[0002] In the field of modern mechanical processing, chain-type tool magazines are widely used in various types of machining centers. They undertake the key task of quickly and accurately replacing tools, and play an indispensable role in improving machining efficiency and quality. However, with the long-term and frequent use of the tool magazine, the chain, as a core transmission component, will inevitably suffer from problems such as wear and fatigue, which will affect the normal operation of the tool magazine. Once the chain fails, it needs to be replaced and maintained in time.

[0003] The traditional chain replacement process usually relies on manual operation, requiring maintenance personnel to manually install and debug the new chain and the sprocket of the tool magazine with rich experience and professional skills. This process is not only cumbersome, time-consuming and labor-intensive, but also has extremely high technical requirements for maintenance personnel. During the installation process, it is difficult to accurately ensure the phase matching of the chain and the sprocket and the uniformity of the chain tension, which can easily cause the chain to jam and skip teeth in subsequent operation, further affecting the service life and processing accuracy of the tool magazine. Therefore, it is urgent to develop a device that can efficiently, accurately and intelligently replace the chain. Summary of the invention

[0004] Based on the technical problems existing in the prior art, the present invention proposes a chain replacement device for maintaining a chain-type tool magazine.

[0005] The present invention proposes a chain replacement device for chain tool magazine maintenance, comprising a shell cover and a space motion mechanism, wherein the shell cover is mounted on the free end of the space motion mechanism, and two symmetrically distributed shaft columns are rotatably connected inside the shell cover, and sprockets matching the chain tool magazine are respectively mounted at the bottom ends of the shaft columns, and the shaft columns are connected to an angle adjustment mechanism, and a push-out mechanism is also arranged inside the shaft column, and further comprising: a displacement acquisition module, which is used to detect device displacement and is mounted at the end of the output shaft of the angle adjustment mechanism; a phase difference acquisition module, which is used to detect the sprocket phase difference and is mounted on the side of the shaft column; a thrust acquisition module, which is used to detect thrust distribution and is mounted on the contact surface between the push-out mechanism and the chain; a control module, which is mounted on the shell cover, receives information collected by each module and performs system control; Move the device to a position near the chain tool magazine and keep the device and the chain tool magazine parallel. Then, install the chain to be replaced on the two sprockets on the device in advance, and then start the device. The displacement acquisition module feeds back the device position in real time. Then the PLC calculates the deviation from the target coordinates. Then the PID controller controls the spatial motion mechanism and adjusts the servo motor speed at the same time. Then the phase difference acquisition module captures the phase of the tool magazine sprocket and calculates the phase difference Δθ. Then the angle adjustment mechanism fine-tunes the device angle until the position of the two sets of sprockets on the device and the chain tool magazine match. Then the push-out mechanism pushes the chain downward. The thrust acquisition module monitors the thrust in real time. The fuzzy controller dynamically adjusts the push-out pressure, thereby loading the chain onto the two sprockets of the chain tool magazine.

[0006] Preferably, the angle adjustment mechanism includes a servo motor fixed to the inner wall of the top of the shell cover, and gears are respectively installed on the output shaft of the servo motor and a shaft column adjacent to the servo motor, and the two gears are meshingly connected; after receiving the corresponding instructions from the control module, the servo motor will drive one of the gears to rotate through the output shaft, and then drive one of the shaft columns to rotate through the meshing transmission of the two gears, and then drive the chain to rotate through two sprockets to achieve angle adjustment.

[0007] Preferably, the pushing mechanism includes a plurality of electric push rods distributed around the path of the chain, the output shaft of the electric push rod can contact the links of the chain, and the top of the electric push rod is fixedly connected to the inner wall of the top of the shell cover; after receiving the corresponding instructions from the control module, the electric push rod will push the links of the chain through the output shaft, thereby pushing the entire chain downward.

[0008] Preferably, the spatial motion mechanism is composed of a transverse slide, a longitudinal slide and a front-to-rear slide, which respectively control left-right, up-down and front-to-rear motion, the longitudinal slide is installed on the free end of the transverse slide, the front-to-rear slide is installed on the free end of the longitudinal slide, and the shell is installed on the free end of the front-to-rear slide; the transverse slide, the longitudinal slide and the front-to-rear slide can be respectively moved in the left-right, up-down and front-to-rear motion directions according to the instructions of the control module, thereby realizing spatial movement so that the device and the chain guide frame can be aligned.

[0009] Preferably, the displacement acquisition module is installed at the end of the output shaft of the servo motor, and the phase difference acquisition module is fixedly connected to the top inner wall of the shell cover through a fixing frame; in this way, the displacement of the device can be better detected through the displacement acquisition module, and the sprocket phase difference can be better detected through the phase difference acquisition module.

[0010] Preferably, the fixing sleeve on the shaft column is provided with a positioning plate located above the sprocket, and the edge of the positioning plate can partially cover the tooth gap of the sprocket; when the chain is installed on the two sprockets of the device, it is only necessary to make the chain links and the positioning plate contact, thereby ensuring the accurate installation position of the chain.

[0011] Preferably, it also includes a tension uniformity acquisition module and no less than two damage identification modules, the tension uniformity acquisition module is used to detect the chain tension uniformity in real time, and the damage identification module is used to identify damage to the chain links.

[0012] Preferably, the tension uniformity acquisition module is fixed to the top of the shell cover through a support rod, and the damage identification module is fixed to the top inner wall of the shell cover through a T-shaped frame; in this way, the chain tension uniformity can be better detected through the tension uniformity acquisition module, and the damage of the chain link can be better identified through the damage identification module.

[0013] Preferably, the control logic flow of the control module when replacing the chain is as follows:

[0014] Positioning control stage: the displacement acquisition module provides real-time feedback of the device position → the PLC calculates the deviation from the target coordinates → the PID controller controls the spatial motion mechanism and adjusts the servo motor speed at the same time;

[0015] Precision alignment stage: the phase difference acquisition module captures the phase of the tool magazine sprocket → the image processor calculates the phase difference Δθ → the angle adjustment mechanism fine-tunes the device angle;

[0016] Push execution stage: the thrust acquisition module monitors the thrust in real time → the fuzzy controller dynamically adjusts the electric push rod pressure.

[0017] Preferably, the control module has the following fault diagnosis logic:

[0018] Stuck detection:

[0019] When the thrust F ≥ 250N and the displacement ΔL ≤ 1mm for 200ms, perform a reverse retreat of 5mm and try again;

[0020] Dislocation warning:

[0021] When the phase difference Δθ≥0.5°, three levels of alarms are triggered: Level 1: sound and light prompt; Level 2: speed reduction to 0.2m / s; Level 3: emergency stop;

[0022] Wear monitoring:

[0023] Calculate the chain wear coefficient according to the formula: maintenance is prompted when λ≥1.2%.

[0024] Compared with the prior art, the present invention provides a chain replacement device for chain tool magazine maintenance, which has the following beneficial effects:

[0025] 1. A chain replacement device for chain tool magazine maintenance. This device uses a displacement acquisition module to provide real-time feedback on the device position, cooperates with PLC to calculate the deviation from the target coordinates, and uses a PID controller to accurately control the spatial motion mechanism to adjust the servo motor speed, so that the device can quickly and accurately move to the vicinity of the chain tool magazine and remain parallel. In the precision alignment stage, the phase difference acquisition module captures the phase of the tool magazine sprocket, the image processor calculates the phase difference Δθ, and the angle adjustment mechanism can fine-tune the device angle to ensure that the two sets of sprocket positions on the device and the chain tool magazine are accurately matched. This series of automated positioning and alignment operations greatly improves the efficiency and accuracy of chain replacement, greatly shortens the replacement time compared to traditional manual operations, and can effectively avoid subsequent operation problems caused by installation errors.

[0026] 2. A chain replacement device for chain-type tool magazine maintenance. The push-out mechanism uses multiple electric push rods distributed around the chain path. Under the command of the control module, the output shaft of the electric push rod pushes the chain link to push the entire chain downward smoothly. At the same time, the thrust acquisition module monitors the thrust in real time, and the fuzzy controller dynamically adjusts the pressure of the electric push rod according to the monitoring data to ensure that the chain is evenly stressed during the process of loading into the sprocket, avoiding damage to the chain and sprocket due to excessive or insufficient thrust, thereby improving the reliability and stability of chain installation.

[0027] 3. A chain replacement device for chain-type tool magazine maintenance, the control module has a complete fault diagnosis logic. In terms of jam detection, when the thrust F ≥ 250N and the displacement ΔL ≤ 1mm for 200ms, it automatically performs a reverse retreat of 5mm and tries again, effectively preventing equipment damage caused by jamming. For misalignment warning, when the phase difference Δθ ≥ 0.5°, three levels of alarms will be triggered in sequence, from sound and light prompts to speed reduction and then to emergency stop, to promptly remind the operator to take corresponding measures to avoid serious failures caused by misalignment of the chain and sprocket. In wear monitoring, the chain wear coefficient is calculated according to the formula, and maintenance is prompted when λ ≥ 1.2%, which is convenient for operators to grasp the wear condition of the chain in time, arrange maintenance work in advance, extend the service life of the chain, and ensure the stable operation of the tool magazine.

[0028] 4. A chain replacement device for chain-type tool magazine maintenance, a positioning plate fixedly mounted on the shaft column, the edge of which covers the sprocket tooth gap. When the chain is installed into the device sprocket, it is only necessary to make the chain links contact the positioning plate to ensure the accurate installation position of the chain, which greatly simplifies the chain pre-installation process and reduces the technical difficulty and work intensity of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a chain replacement device for chain-type tool magazine maintenance proposed by the present invention;

[0030] Figure 2 This is a schematic diagram of the overall structure of a chain replacement device for chain-type tool magazine maintenance proposed by the present invention;

[0031] Figure 3 A schematic diagram of the internal structure of a chain replacement device for chain-type tool magazine maintenance proposed by the present invention;

[0032] Figure 4 A schematic diagram of the installation structure of a thrust collection module of a chain replacement device for chain-type tool magazine maintenance proposed by the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the chain-type tool magazine proposed by the present invention after the upper chain is replaced;

[0034] Figure 6 A schematic diagram of the structure of a spatial motion mechanism of a chain replacement device for chain-type tool magazine maintenance proposed by the present invention;

[0035] Figure 7 A schematic diagram of the partial structure inside a shell cover of a chain replacement device for maintaining a chain-type tool magazine proposed by the present invention.

[0036] In the figure: 1. Shell; 2. Shaft column; 3. Sprocket; 4. Phase difference acquisition module; 5. Thrust acquisition module; 6. Control module; 7. Servo motor; 8. Gear; 9. Electric push rod; 10. Horizontal slide; 11. Longitudinal slide; 12. Front and rear slide; 13. Fixed frame; 14. Tension uniformity acquisition module; 15. Support rod; 16. Damage identification module; 17. T-shaped frame; 18. Positioning plate. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] Reference Figure 1-Figure 7 A chain replacement device for chain tool magazine maintenance includes a housing 1 and a space motion mechanism. The housing 1 is mounted on the free end of the space motion mechanism. Two symmetrically distributed shaft columns 2 are rotatably connected inside the housing 1. Sprocket wheels 3 matching the chain tool magazine are respectively mounted at the bottom ends of the shaft columns 2. The shaft columns 2 are connected to an angle adjustment mechanism. A push-out mechanism is also arranged inside the shaft columns 2. The invention also includes:

[0040] The displacement acquisition module is used to detect the displacement of the device and is installed at the end of the output shaft of the angle adjustment mechanism; the phase difference acquisition module 4 is used to detect the sprocket phase difference and is installed on the side of the shaft column 2; the thrust acquisition module 5 is used to detect the thrust distribution and is installed on the contact surface between the ejection mechanism and the chain; the control module 6 is installed on the shell 1 to receive the information collected by each module and perform system control;

[0041] When in use, the device is moved to a position near the chain tool magazine and the device and the chain tool magazine are kept parallel. Then, the chain to be replaced is pre-installed on the two sprockets 3 on the device, and then the device is started. The displacement acquisition module feeds back the device position in real time, and then the PLC calculates the deviation from the target coordinates. Then the PID controller controls the spatial motion mechanism and adjusts the speed of the servo motor 7 at the same time. Then the phase difference acquisition module 4 captures the phase of the tool magazine sprocket and calculates the phase difference Δθ. Then the angle adjustment mechanism fine-tunes the device angle until the positions of the two sets of sprockets 3 on the device and the chain tool magazine match. Then the push-out mechanism pushes the chain downward, the thrust acquisition module 5 monitors the thrust in real time, and the fuzzy controller dynamically adjusts the push-out pressure, thereby loading the chain onto the two sprockets of the chain tool magazine.

[0042] Furthermore, it also includes a tension uniformity acquisition module 14 and no less than two damage identification modules 16. The tension uniformity acquisition module 14 is used to detect the chain tension uniformity in real time, and the damage identification module 16 is used to identify damage to the chain links.

[0043] The tension uniformity acquisition module 14 is fixed to the top of the housing 1 through a support rod 15, and the damage identification module 16 is fixed to the top inner wall of the housing 1 through a T-shaped frame 17;

[0044] When in use, the tension uniformity of the chain can be better detected by the tension uniformity acquisition module 14 , and the damage of the chain link can be better identified by the damage identification module 16 .

[0045] It should be noted that the displacement acquisition module can be a high-resolution encoder (17-bit absolute value type) or other equipment that can detect the displacement of the device, the phase difference acquisition module 4 can be a laser phase sensor or other equipment that can detect the phase difference of the sprocket, the thrust acquisition module 5 can be a matrix pressure sensor array or other equipment that can detect the thrust distribution, the tension uniformity acquisition module 14 can be an infrared thermal imaging module (installed 1.2m from the top of the device) or other equipment that can detect the uniformity of chain tension, and the damage identification module 16 can be a multi-spectral vision system (20 million pixels, defect recognition rate ≥ 99.7%) or other equipment that can identify damage to chain links. Therefore, the displacement acquisition module, the phase difference acquisition module 4, the thrust acquisition module 5, the tension uniformity acquisition module 14 and the damage identification module 16 are not specifically limited here and can be selected according to actual needs. The control module 6 is a collaborative application of PLC, PID controller and fuzzy controller, etc.;

[0046] The angle adjustment mechanism includes a servo motor 7 fixed to the inner wall of the top of the housing 1, and a gear 8 is installed on the output shaft of the servo motor 7 and a shaft column 2 adjacent to the servo motor 7, and the two gears 8 are meshed and connected;

[0047] When in use, after receiving the corresponding instructions from the control module 6, the servo motor 7 will drive one of the gears 8 to rotate through the output shaft, and then drive one of the shaft columns 2 to rotate through the meshing transmission of the two gears 8, and then drive the chain to rotate through the two sprockets 3 to achieve angle adjustment.

[0048] The push mechanism includes a plurality of electric push rods 9 distributed around the path of the chain, the output shaft of the electric push rod 9 can contact the chain link of the chain, and the top of the electric push rod 9 is fixedly connected to the top inner wall of the shell cover 1;

[0049] When in use, after receiving the corresponding instruction from the control module 6, the electric push rod 9 will push the chain links through the output shaft, thereby pushing the entire chain downward.

[0050] The spatial motion mechanism is composed of a transverse slide 10, a longitudinal slide 11 and a front-rear slide 12. The transverse slide 10, the longitudinal slide 11 and the front-rear slide 12 respectively control left-right, up-down and front-rear motions. The longitudinal slide 11 is mounted on the free end of the transverse slide 10, the front-rear slide 12 is mounted on the free end of the longitudinal slide 11, and the housing 1 is mounted on the free end of the front-rear slide 12.

[0051] When in use, the transverse slide 10, the longitudinal slide 11 and the front and rear slides 12 can be moved in the left and right, up and down and front and back directions according to the instructions of the control module 6, thereby realizing spatial movement so that the device and the chain guide frame are aligned.

[0052] The displacement acquisition module is installed at the end of the output shaft of the servo motor 7, and the phase difference acquisition module 4 is fixedly connected to the top inner wall of the housing 1 through a fixing frame 13;

[0053] When in use, the displacement of the device can be better detected through the displacement acquisition module, and the sprocket phase difference can be better detected through the phase difference acquisition module 4.

[0054] The fixed sleeve on the shaft column 2 is provided with a positioning plate 18 located above the sprocket 3, and the edge of the positioning plate 18 can partially cover the tooth gap of the sprocket 3;

[0055] When the chain is installed on the two sprocket wheels 3 of the device during use, it is only necessary to make the chain links of the chain contact with the positioning disk 18, thereby ensuring that the position of the chain is accurately installed.

[0056] In another embodiment, the control logic for automatically completing the replacement of the chain is as follows through the coordination between the displacement acquisition module, the phase difference acquisition module 4, the thrust acquisition module 5, the tension uniformity acquisition module 14, the damage identification module 16, the control module 6 and the spatial motion mechanism, the angle adjustment mechanism and the ejection mechanism:

[0057] Positioning control stage: encoder real-time feedback device position → PLC calculates the deviation from the target coordinates → PID controller controls the spatial motion mechanism and adjusts the servo motor 7 speed at the same time:

[0058] ( : Motor angular velocity; : Position deviation; , , :PID coefficient).

[0059] Precision alignment stage: The visual system captures the phase of the tool magazine sprocket → The image processor calculates the phase difference Δθ → The angle adjustment mechanism fine-tunes the device angle:

[0060] ( : Device adjustment angle; : Number of teeth on the magazine sprocket; : Number of sprocket teeth installed).

[0061] Push execution stage: the pressure sensor monitors the thrust in real time → the fuzzy controller dynamically adjusts the pressure of the electric push rod 9:

[0062] ( : Output pressure; : friction coefficient; : Chain quality; : stiffness coefficient; : piston area; : Safety factor).

[0063] 2. Core Calculation Formula System

[0064] Synchronous positioning accuracy calculation:

[0065]

[0066] ( : Positioning error; : sprocket pitch; : Encoder pulse error; : Sprocket pitch circle radius; : pressure angle).

[0067] Pushing into the process kinetic equation:

[0068]

[0069] ( : Required thrust; : Push speed; : Advance the journey; : engagement angle).

[0070] Vibration suppression algorithm:

[0071]

[0072] ( : Optimal damping ratio; Allowable overshoot).

[0073] 3. Key Control Parameters

[0074] Positioning phase:

[0075] Maximum moving speed: 0.8m / s; Acceleration limit: 2.5m / s²; Repeat positioning accuracy: ±0.02mm;

[0076] Alignment phase:

[0077] Angle compensation range: ±5°; Phase matching accuracy: ±0.1°; Compensation response time: ≤120ms;

[0078] Push phase:

[0079] Initial contact pressure: 50N±5N; Maximum allowable thrust: 300N; Speed-pressure coupling coefficient: Kvp=0.85N・s / m.

[0080] 4. Fault Diagnosis Logic

[0081] Stuck detection:

[0082] When the thrust F ≥ 250N and the displacement ΔL ≤ 1mm for 200ms, perform a reverse retreat of 5mm and try again;

[0083] Dislocation warning:

[0084] When the phase difference Δθ≥0.5°, three levels of alarms are triggered: Level 1: sound and light prompt; Level 2: speed reduction to 0.2m / s; Level 3: emergency stop;

[0085] Wear monitoring:

[0086] Calculate the chain wear coefficient according to the formula:

[0087]

[0088] (Maintenance prompt when λ≥1.2%).

[0089] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A chain replacement device for maintaining a chain tool magazine, comprising a housing (1) and a spatial motion mechanism, characterized in that: The shell cover (1) is mounted on the free end of the spatial motion mechanism. Two symmetrically distributed shaft columns (2) are rotatably connected inside the shell cover (1). Sprocket wheels (3) matching the chain-type tool magazine are respectively mounted at the bottom ends of the shaft columns (2). The shaft columns (2) are connected to an angle adjustment mechanism. A push-out mechanism is also arranged inside the shaft columns (2). The shaft columns (2) also include: A displacement acquisition module is used to detect the displacement of the device and is installed at the end of the output shaft of the angle adjustment mechanism; a phase difference acquisition module (4) is used to detect the sprocket phase difference and is installed on the side of the shaft column (2); a thrust acquisition module (5) is used to detect the thrust distribution and is installed on the contact surface between the ejection mechanism and the chain; and a control module (6) is installed on the housing (1) to receive the information collected by each module and perform system control.

2. A chain replacement device for chain tool magazine maintenance according to claim 1, characterized in that: The angle adjustment mechanism comprises a servo motor (7) fixed to the inner wall of the top of the housing (1), and gears (8) are respectively mounted on the output shaft of the servo motor (7) and a shaft column (2) adjacent to the servo motor (7), and the two gears (8) are meshingly connected.

3. A chain replacement device for chain tool magazine maintenance according to claim 1, characterized in that: The ejection mechanism comprises a plurality of electric push rods (9) distributed around the path of the chain, the output shafts of the electric push rods (9) being capable of contacting the links of the chain, and the tops of the electric push rods (9) being fixedly connected to the top inner wall of the housing (1).

4. A chain replacement device for chain tool magazine maintenance according to claim 1, characterized in that: The spatial motion mechanism is composed of a transverse slide (10), a longitudinal slide (11) and a front-rear slide (12). The transverse slide (10), the longitudinal slide (11) and the front-rear slide (12) respectively control left-right, up-down and front-rear motions. The longitudinal slide (11) is mounted on the free end of the transverse slide (10), the front-rear slide (12) is mounted on the free end of the longitudinal slide (11), and the housing (1) is mounted on the free ends of the front-rear slides (12).

5. A chain replacement device for chain tool magazine maintenance according to claim 2, characterized in that: The displacement acquisition module is mounted on the end of the output shaft of the servo motor (7), and the phase difference acquisition module (4) is fixedly connected to the top inner wall of the housing (1) via a fixing frame (13).

6. A chain replacement device for chain tool magazine maintenance according to claim 1, characterized in that: The fixing sleeve on the shaft column (2) is provided with a positioning plate (18) located above the sprocket (3), and the edge of the positioning plate (18) can partially cover the tooth gap of the sprocket (3).

7. A chain replacement device for chain tool magazine maintenance according to claim 1, characterized in that: It also includes a tension uniformity acquisition module (14) and at least two damage identification modules (16), wherein the tension uniformity acquisition module (14) is used to detect the tension uniformity of the chain in real time, and the damage identification module (16) is used to identify damage to the chain links.

8. A chain replacement device for chain tool magazine maintenance according to claim 7, characterized in that: The tension uniformity acquisition module (14) is fixed to the top of the shell (1) via a support rod (15), and the damage identification module (16) is fixed to the top inner wall of the shell (1) via a T-shaped frame (17).

9. A chain replacement device for chain tool magazine maintenance according to claim 7, characterized in that: The control logic flow of the control module (6) when replacing the chain is as follows: Positioning control stage: the displacement acquisition module provides real-time feedback of the device position → the PLC calculates the deviation from the target coordinates → the PID controller controls the spatial motion mechanism and adjusts the speed of the servo motor (7); Precision alignment stage: the phase difference acquisition module (4) captures the phase of the tool magazine sprocket → the image processor calculates the phase difference Δθ → the angle adjustment mechanism fine-tunes the device angle; Push execution stage: The thrust acquisition module (5) monitors the thrust in real time → the fuzzy controller dynamically adjusts the pressure of the electric push rod (9).

10. A chain replacement device for chain tool magazine maintenance according to claim 9, characterized in that: The control module (6) has the following fault diagnosis logic: Stuck detection: When the thrust F ≥ 250N and the displacement ΔL ≤ 1mm for 200ms, perform a reverse retreat of 5mm and try again; Dislocation warning: When the phase difference Δθ ≥ 0.5°, three levels of alarm are triggered: Level 1: sound and light prompt; Level 2: speed reduction to 0.2m / s; Level 3: Emergency stop; Wear monitoring: Calculate the chain wear coefficient according to the formula: maintenance is prompted when λ≥1.2%.

Images