Vertical rotary tool magazine, machining equipment and tool changing method

Abstract

The invention relates to a vertical rotary tool magazine, machining equipment and a tool changing method. The vertical rotary tool magazine comprises a tool magazine body. The tool magazine body comprises a vertical tool magazine installation disc and a plurality of tool clamps arranged on the outer side of the vertical tool magazine installation disc in the circumferential direction in an annular array mode, and the tool clamps are used for clamping tools. The two ends, in the length direction of the tool clamps, of the tool clamps are sequentially arranged on the circumferential outer side of the vertical tool magazine installation disc. The vertical tool magazine installation disc is used for being connected to a first driving unit and used for driving the vertical tool magazine installation disc to rotate, a tool changing position exists, the center line of the tool at the tool changing position is perpendicular to the ground, the tool handle part of the tool faces upwards, and the tool is used for being coaxial with the main shaft. From the perspective of space utilization, the vertical tool magazine mounting disc and the tool clamps are arranged in a three-dimensional annular mode, the tool position storage number of the tool magazine is greatly increased, and therefore the tool containing number of the tool magazine is remarkably increased. In the aspect of tool changing performance, the first driving unit drives the vertical tool magazine installation disc to rotate, and rapid positioning of tools is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of tool magazines, and particularly to a vertical rotary tool magazine, a processing device, and a tool changing method. Background Art

[0002] With the development of the Fourth Industrial Revolution, intelligent manufacturing has reconstructed the value chain of the manufacturing industry through technological innovation and has become the core driving force for global economic growth. As the foundation of intelligent manufacturing, numerically controlled machine tools play an irreplaceable role in the process of industrial development. In numerically controlled machine tools, the tool magazine, as the core functional module of automated equipment such as numerically controlled machine tools and machining centers, is mainly used for storing and managing tools, and realizes the rapid switching of tools during the machining process through an automatic tool changing system, directly affecting the machining efficiency, accuracy, and flexible production capacity of the equipment.

[0003] Currently, the mainstream tool magazine types include structures such as chain type and linear type. The chain type tool magazine expands the tool capacity through a chain, but it is prone to vibration during the movement process, affecting the positioning accuracy and tool life; although the linear type tool magazine can achieve modular expansion, it occupies a large space and the complexity of the drive system is high.

[0004] Therefore, there are many deficiencies in the above-mentioned existing technologies. Through long-term careful research, analysis, and practice, the applicant has proposed this technical solution in view of the above deficiencies. Summary of the Invention

[0005] In order to overcome at least one of the above-mentioned deficiencies of the existing technologies, according to one aspect of the present invention, a vertical rotary tool magazine is provided, including a tool magazine body;

[0006] The tool magazine body includes a vertical tool magazine mounting plate and a plurality of tool holders arranged in a circumferential array on the circumferential outer side of the vertical tool magazine mounting plate, and the tool holders are used for clamping tools;

[0007] The two ends of the tool holder along its own length direction are sequentially arranged on the circumferential outer side of the vertical tool magazine mounting plate;

[0008] The vertical tool magazine mounting plate is used to be connected to a first driving unit for driving the vertical tool magazine mounting plate to rotate, and there is a tool changing position where the center line of the tool at this tool changing position is perpendicular to the ground and the tool shank part faces upward for coaxial connection with the spindle.

[0009] In an embodiment of the present application, the tool magazine body further includes a driving shaft, and the vertical tool magazine mounting plate is arranged on the driving shaft and rotates synchronously with the driving shaft;

[0010] The vertical tool magazine mounting plate is connected to the first driving unit through the driving shaft, and a speed reducer is used to be connected between the first driving unit and the driving shaft;

[0011] The speed reducer is a planetary speed reducer;

[0012] The first driving unit is a first servo motor.

[0013] In an embodiment of the present application, the tool magazine body (1) further includes a driving cylinder, and the vertical tool magazine mounting disc is arranged on the driving cylinder and rotates synchronously with the driving cylinder;

[0014] The inside of the driving cylinder is used to connect the first driving unit, and the first driving unit is arranged inside the driving cylinder;

[0015] The first driving unit is a first direct drive motor.

[0016] In an embodiment of the present application, a plurality of assembly tooth grooves are arranged on the circumferential outer side of the vertical tool magazine mounting disc, and one tool holder is arranged in one assembly tooth groove;

[0017] The two ends of the tool holder in its own length direction are arranged in sequence on the circumferential outer side of the vertical tool magazine mounting disc, and the first end of the tool holder is arranged in the assembly tooth groove, and the second end of the tool holder extends out of the assembly tooth groove and holds one tool;

[0018] The assembly tooth groove includes a first wall connected to the first end of the tool holder and a second wall for avoiding the tool, and there is a tool change position, at which the first wall of the assembly tooth groove is horizontally arranged.

[0019] In an embodiment of the present application, a plurality of vertical tool magazine mounting discs are provided, and the plurality of vertical tool magazine mounting discs are divided into multiple groups, and at least two vertical tool magazine mounting discs in each group are arranged at intervals and stacked.

[0020] In an embodiment of the present application, the tool holder includes a first clamping member and a second clamping member;

[0021] The first end portion of the first clamping member has a first clamping opening, the first end portion of the second clamping member has a second clamping opening, and when the first clamping opening and the second clamping opening are butted against each other, a clamping groove for clamping the tool is formed;

[0022] An elastic member is provided between the second end portions of the first clamping member and the second clamping member.

[0023] In an embodiment of the present application, a limiting member is further arranged between the first clamping member and the second clamping member, and the limiting member is arranged between the elastic member and the clamping groove;

[0024] A limiting groove or a limiting hole is further arranged between the first clamping member and the second clamping member, and the limiting member is larger than the limiting groove or the limiting hole.

[0025] In an embodiment of the present application, the vertical tool magazine mounting disc is further used to be connected to a second driving unit for driving the vertical tool magazine mounting disc to move linearly;

[0026] The second driving unit includes a second servo motor and a ball screw or a linear guide rail that cooperates with the second servo motor.

[0027] According to another aspect of the present application, there is provided a processing device, including the above-mentioned vertical rotary tool magazine; the processing device further includes a spindle located above the vertical rotary tool magazine, and the spindle is connected with a third driving unit, and the third driving unit is used to drive the spindle to approach or move away from the vertical rotary tool magazine;

[0028] The spindle is provided with a clamping portion for clamping a tool.

[0029] According to another aspect of the present application, there is provided a tool changing method, which is applied to the above-mentioned vertical rotary tool magazine or the above-mentioned processing device, and includes the following steps:

[0030] The first driving unit drives the vertical tool magazine mounting disk to rotate to a tool changing position at a predetermined angle, where the center line of the tool at the tool changing position is perpendicular to the ground and the tool shank portion faces upward;

[0031] The second driving unit drives the vertical tool magazine mounting disk to move linearly close to the spindle and moves to a predetermined position, where the tool changing position of the vertical tool magazine mounting disk is located below the clamping portion of the spindle;

[0032] The third driving unit drives the spindle to descend close to the tool changing position and clamps the tool at the tool changing position through the clamping portion of the spindle;

[0033] The second driving unit drives the vertical tool magazine mounting disk to move in the reverse direction and move away from the spindle, so that the tool clamped by the spindle disengages from the tool holder at the tool changing position;

[0034] The third driving unit drives the spindle to rise and reset.

[0035] In summary, compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] From the perspective of space utilization, the vertical tool magazine mounting disk and the tool holders adopt a three-dimensional annular layout. Compared with the linear arrangement of the traditional straight row tool magazine in the horizontal direction, the lateral space limitation is broken through. Under the same floor area, the tool storage density can be increased to 3-5 times that of the straight row tool magazine, significantly increasing the number of tool positions stored in the tool magazine, thereby significantly increasing the number of tools that the tool magazine can accommodate and meeting the requirements for a variety of tools in complex processing processes.

[0037] In terms of tool change performance, the first drive unit drives the rotation of the vertical tool magazine mounting plate to achieve rapid tool positioning. Since the clearance and error of the additional mechanical transmission link in the prior art are reduced, the tool change time is shortened by more than 40% compared with the traditional tool magazine, greatly improving the tool change efficiency. This efficient and stable tool change performance enables the machine tool to quickly respond to the tool change requirement during the machining process, significantly enhancing the dynamic response performance of the machining process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic structural diagram when the vertical rotary tool magazine of the embodiment of the present invention changes tools;

[0039] Figure 2 Schematic structural diagram of the vertical rotary tool magazine of the embodiment of the present invention;

[0040] Figure 3 Schematic structural diagram of the main shaft of the embodiment of the present invention;

[0041] Figure 4 Schematic structural diagram of the tool holder of the embodiment of the present invention;

[0042] Figure 5 Schematic diagram of the state of the main shaft before tool picking of the embodiment of the present invention;

[0043] Figure 6 Schematic diagram of the state of the main shaft during tool picking of the embodiment of the present invention;

[0044] Figure 7 Schematic diagram of the state of the main shaft after tool picking of the embodiment of the present invention;

[0045] Figure 8 Schematic structural diagram of the large-tooth tool disc of the embodiment of the present invention;

[0046] DRAWINGS: 1 - tool magazine body, 11 - vertical tool magazine mounting plate, 111 - assembly tooth groove, 112 - first wall, 113 - second wall, 12 - tool holder, 121 - first clip, 122 - second clip, 123 - limiting member, 124 - elastic member, 125 - set screw, 13 - tool, 14 - large-tooth tool, 15 - large-tooth tool disc, 21 - drawing board, 22 - main shaft, 23 - workpiece cooling, 3 - drive shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0048] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation to the present invention.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used herein in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0050] Embodiment 1 - Vertical Rotary Tool Magazine

[0051] As Figure 1 and Figure 2 As shown, this embodiment discloses a vertical rotary tool magazine, which includes a tool magazine body 1. The tool magazine body 1 includes a vertical tool magazine mounting plate 11 and a plurality of tool holders 12 arranged in a circumferential array on the circumferential outer side of the vertical tool magazine mounting plate 11, and the tool holders 12 are used to hold the cutting tools 13. Specifically, the tool holders 12 are fixed to the vertical tool magazine mounting plate 11 through bearings and setscrews 125.

[0052] Among them, both ends of the tool holder 12 along its own length direction are arranged in sequence on the circumferential outer side of the vertical tool magazine mounting plate 11.

[0053] Among them, the vertical tool magazine mounting plate 11 of the vertical rotary tool magazine is used to be connected to a first driving unit. The first driving unit is used to drive the vertical tool magazine mounting plate 11 to rotate, and there is a tool change position. At this tool change position, the center line of the cutting tool 13 is perpendicular to the ground and the shank part of the cutting tool 13 faces upward, for being coaxial with the main shaft 22. Specifically, the first driving unit can be a first servo motor.

[0054] In actual use, when the control system of the machine tool issues a tool change command, the driving end of the first driving unit operates at a specific angular velocity according to a preset program, drives the vertical tool magazine mounting plate 11 to rotate, and rotates the vertical tool magazine mounting plate 11 to a predetermined angle, that is, the angle at which the center line of the cutting tool 13 to be replaced is perpendicular to the ground and the shank part faces upward, to prepare for replacing the cutting tool 13 for the main shaft 22 of the machine tool.

[0055] The collaborative design of the vertical rotary tool magazine in this embodiment has brought significant beneficial effects. From the perspective of space utilization, the installation disk 11 of the vertical tool magazine and the tool holders 12 adopt a three-dimensional annular layout. Compared with the linear arrangement of the traditional straight-row tool magazine in the horizontal direction, it breaks through the lateral space limitation. With the same floor area, the storage density of the tools 13 can be increased to 3-5 times that of the straight-row tool magazine, significantly increasing the number of tool positions stored in the tool magazine, thus significantly enhancing the number of tools 13 that the tool magazine can accommodate and being able to meet the requirements of complex machining processes for a variety of tools 13. In terms of tool change performance, the first drive unit drives the rotation of the installation disk 11 of the vertical tool magazine to achieve rapid positioning of the tools 13. Since the gaps and errors in the additional mechanical transmission links in the prior art are reduced, the tool change time is shortened by more than 40% compared with the traditional tool magazine, greatly improving the tool change efficiency. This highly efficient and stable tool change performance enables the machine tool to quickly respond to the tool change requirements during the machining process, significantly enhancing the dynamic response performance of the machining process.

[0056] It is precisely due to the application of the above-mentioned collaborative design that it ensures that the installation disk 11 of the vertical tool magazine can quickly rotate to a predetermined angle, thus achieving rapid positioning of the tools 13, which is the core basis for improving the tool change efficiency. The three-dimensional annular layout design of the installation disk 11 of the vertical tool magazine and the tool holders 12 changes the traditional arrangement method of the tools 13, breaks through the space limitation, and then realizes the improvement of the storage density of the tools 13 and the increase in the number of tool positions. At the same time, the highly efficient and stable tool change performance further promotes the enhancement of the dynamic response performance of the machine tool machining process, making the entire vertical rotary tool magazine form an organic whole in terms of improving machining efficiency and machining accuracy, fully reflecting the scientific nature and innovation of its design.

[0057] Specifically, as Figure 1 shown, the vertical rotary tool magazine in this embodiment can also drive the rotation of the installation disk 11 of the vertical tool magazine through the drive shaft 3. That is, the tool magazine body 1 of the vertical rotary tool magazine in this embodiment further includes a drive shaft 3, and the installation disk 11 of the vertical tool magazine is arranged on the drive shaft 3 and rotates synchronously with the drive shaft 3; the installation disk 11 of the vertical tool magazine is connected to the first drive unit through the drive shaft 3, and a speed reducer is used to connect between the first drive unit and the drive shaft 3. Specifically, the speed reducer is a planetary speed reducer.

[0058] Adopting the transmission form of an external servo motor combined with a speed reducer is applicable to working conditions with sufficient installation space. In this configuration, the servo motor realizes torque transmission with the drive shaft 3 through the speed reducer. The speed reducer not only realizes the adjustment of the transmission ratio, but also effectively suppresses the dynamic fluctuations during the movement through inertia matching optimization.

[0059] In this embodiment, in the drive system of the vertical rotary tool magazine, an external servo motor, a planetary reducer, and the drive shaft 3 constitute a precise power transmission system. Its working principle is as follows: The servo motor serves as the power source, outputting a rotational motion with high speed and low torque, and is connected to the input shaft of the planetary reducer through a coupling. Inside the planetary reducer, a complex gear transmission structure is composed of components such as a sun gear, planetary gears, and a ring gear. When the servo motor operates, the power is transmitted from the sun gear to the planetary gears. While the planetary gears rotate around the sun gear, they also revolve along the ring gear. Finally, the power is output to the drive shaft 3 through the planet carrier. During this process, the planetary reducer adjusts the transmission ratio through the gear tooth ratio, converts the high speed of the servo motor into the low speed required by the drive shaft 3, and simultaneously amplifies the torque in proportion to meet the power requirements for driving the tool 13 to rotate by the mounting plate 11 of the vertical tool magazine.

[0060] In addition, the inertia matching and optimization function of the planetary reducer plays a key role in the system. The rotational inertia of the servo motor is small, while the overall rotational inertia of the mounting plate 11 of the vertical tool magazine and the tool 13 is large. Direct connection between the two will cause dynamic fluctuations during the movement process, affecting the tool change accuracy and stability. The planetary reducer can match the inertia between the servo motor and the load (the mounting plate 11 of the vertical tool magazine and the tool 13) through reasonable design of gear parameters and structure. During dynamic processes such as starting, accelerating, decelerating, and stopping of the first drive unit, the planetary reducer can buffer the power impact, absorb and release energy, suppress vibrations and jitters caused by inertia mismatch, make the rotational speed change of the drive shaft 3 more stable, and thus ensure that the mounting plate 11 of the vertical tool magazine can accurately rotate to the target angle according to the preset program.

[0061] This configuration brings many beneficial effects. In terms of power performance, the torque amplification effect of the planetary reducer enables the servo motor to drive the large-load vertical tool magazine with a smaller power, reducing the selection requirements of the first drive unit and equipment costs. At the same time, it meets the power requirements for high-speed rotation and rapid positioning of the tool magazine, improving the tool change efficiency. Through inertia matching optimization and closed-loop control, dynamic fluctuations are effectively suppressed, significantly improving the repeat positioning accuracy of the tool magazine and remarkably enhancing the accuracy and stability of the machining process, especially suitable for precision machining scenarios. In addition, the stable power transmission reduces the wear of mechanical components, extends the service life of the tool magazine and the drive system, and reduces the equipment maintenance cost. For working conditions with sufficient installation space, the external configuration of the servo motor and the reducer facilitates the installation, debugging, and maintenance of the equipment, improving the operability and practicality of the equipment.

[0062] Specifically, both ends of the drive shaft 3 can be specifically connected to the base included in the tool magazine body 1 through bearing seats. Specifically, the bearing seat can be an angular contact bearing seat, which has the advantages of strong load-bearing capacity, convenient disassembly and assembly, and low maintenance cost.

[0063] In some other embodiments, in addition to adopting the structure of the drive shaft 3 described above, a drive cylinder structure can also be adopted to drive the vertical tool magazine mounting plate 11.

[0064] For example, the tool magazine body 1 of the vertical rotary tool magazine further includes a drive cylinder. The vertical tool magazine mounting plate 11 is arranged on the drive cylinder and rotates synchronously with the drive cylinder. The inside of the drive cylinder is used to connect to the first drive unit, and the first drive unit is arranged inside the drive cylinder. Specifically, the first drive unit is a first direct drive motor. For example, it is a direct drive rotary motor, such as a torque motor.

[0065] This solution is designed specifically for scenarios with limited space. In this solution, the first drive unit is arranged inside the inner cavity of the drive cylinder, and the drive cylinder is directly driven to rotate by the first drive unit. Moreover, the outer diameter of the drive cylinder and the inner diameter of the assembly hole of the vertical tool magazine mounting plate 11 can be tightly fixed together through the interference fit of a expansion sleeve. Specifically, bearing seats are connected to both ends of the drive cylinder, and the drive cylinder is connected to the base included in the tool magazine body 1 through the bearing seats, which can be used as a direct drive structure solution in the case of space constraints and relatively low accuracy requirements.

[0066] And it should be noted that direct drive means directly connecting a direct drive motor (such as a torque motor) to a load (the drive cylinder) under the control of a drive system to achieve direct drive of the load.

[0067] It should be noted that specifically, an extension plate can be arranged on the base, and it extends into the drive cylinder through this extension plate to form a working position for the assembly of the first drive unit.

[0068] Specifically, a GB1096 standard flat key fit can be specifically adopted between the end of the drive cylinder and the bearing seat. This structure also has advantages such as strong load-bearing capacity, convenient disassembly and assembly, and low maintenance cost.

[0069] Specifically, as Figure 2 shown, a plurality of assembly tooth grooves 111 are arranged on the circumferential outer side of the vertical tool magazine mounting plate 11. One tool clamp 12 is arranged in one assembly tooth groove 111. The first end of the tool clamp 12 is arranged in the assembly tooth groove 111, and the second end of the tool clamp 12 extends out of the assembly tooth groove 111 and clamps one tool 13.

[0070] During the operation of the vertical rotary tool magazine, the assembly tooth grooves 111 on the circumferential outer side of the vertical tool magazine mounting disk 11 and the tool holder 12 form a tool 13 bearing structure. The shape and size of the assembly tooth grooves 111 are precisely designed and are in a tight fit with the first end of the tool holder 12 or fixed by connection methods such as pins and bolts to ensure the stability of the tool holder 12 during high-speed rotation. The second end of the tool holder 12 adopts a structure such as an elastic chuck or a hydraulic jaw, and realizes reliable clamping of the tool 13 through mechanical elastic force or hydraulic drive. When the first drive unit drives the vertical tool magazine mounting disk 11 to rotate, the assembly tooth grooves 111 corresponding to the target tool 13 and the tool holder 12 can be rotated to a predetermined angle. At this time, the center line of the tool 13 is perpendicular to the ground and the tool shank part faces upward, facilitating the tool 13 replacement by the main shaft 22 of the machine tool.

[0071] This design brings beneficial effects in many aspects. From the perspective of space utilization, the layout where the assembly tooth grooves 111 are evenly distributed along the circumference of the vertical tool magazine mounting disk 11 makes full use of the annular space of the vertical tool magazine mounting disk 11. Compared with the traditional straight-row tool magazine, the tool storage density of the tool 13 is significantly improved under the same floor area. The structural design where one end of the tool holder 12 is embedded in the assembly tooth groove 111 and the other end extends outward to clamp the tool 13 makes the spatial arrangement of the tool 13 more compact, effectively increasing the number of tool positions in the tool magazine, and further increasing the total number of tools 13 that the tool magazine can accommodate, meeting the requirements for the types and quantities of tools 13 in complex machining. In terms of operation convenience and safety, the standardized installation method of the tool holder 12 makes the loading and unloading process of the tool 13 more convenient and reduces the manual adjustment time; at the same time, the tight assembly structure and reliable clamping method ensure that the tool 13 will not loosen or fall off during high-speed rotation, improving the stability and reliability of the tool change process. In addition, due to the precise positioning of the tool 13, the risk of collision during the tool change process is reduced, and the service life of the tool 13 and the machine tool is extended.

[0072] Specifically, the assembly tooth groove 111 includes a first wall 112 connected to the first end of the tool holder 12 and a second wall 113 for avoiding the tool 13. And there is a tool change position where the first wall 112 of the assembly tooth groove 111 at this tool change position is horizontally arranged. It should be noted that the first wall 112 at the assembly tooth groove 111 is connected to the tool holder 12, and the second wall 113 at the assembly tooth groove 111 is for avoiding the tool 13 clamped by the tool holder 12 adjacent to this tool holder 12.

[0073] This unique design of the assembly tooth groove 111 brings significant beneficial effects. In terms of space utilization, the close connection between the first wall 112 and the tool holder 12 enables the tool 13 to be installed on the mounting disk in a compact layout, making full use of the circumferential space and greatly improving the storage density of the tool magazine. Compared with the traditional straight-row tool magazine, the storage capacity of the tool 13 per unit area can be increased several times. The clearance design of the second wall effectively solves the interference problem when the tools 13 are densely arranged, ensuring the safety and stability of the tool magazine during high-speed rotation, avoiding tool 13 damage, equipment failures, etc. caused by tool 13 collisions, and reducing the maintenance cost and downtime. The standardized structure of the assembly tooth groove 111 also facilitates the quick replacement and maintenance of the tool holder 12 and the tool 13, improving the operation convenience.

[0074] Specifically, multiple vertical tool magazine mounting disks 11 are provided, and the multiple vertical tool magazine mounting disks 11 are divided into multiple groups. The number of vertical tool magazine mounting disks 11 in each group is at least two and they are arranged in an interval and stacked manner.

[0075] In the vertical rotary tool magazine of this embodiment, the design of multiple groups of vertical tool magazine mounting disks 11 constructs a tool 13 storage and management system with distinct levels and efficient cooperation. Its working principle is as follows: Multiple vertical tool magazine mounting disks 11 are distributed in groups. Each group contains at least two vertical tool magazine mounting disks 11, and they can be connected to the servo motor and the reducer through a shared drive shaft 3. When receiving a tool change command, the first drive unit drives the drive shaft 3 to rotate through the reducer, driving the vertical tool magazine mounting disks 11 within the entire group to rotate synchronously for synchronous tool change.

[0076] Specifically, as Figure 4 shown, in order to facilitate the tool change of the tool 13 held by the tool holder 12, an elastic tool holder 12 structure is adopted. For example, the tool holder 12 includes a first clamping member 121 and a second clamping member 122.

[0077] Among them, the first end of the first clamping member 121 has a first clamping opening, and the first end of the second clamping member 122 has a second clamping opening. When the first clamping opening and the second clamping opening are butted against each other, a clamping groove for clamping the tool 13 is formed. Specifically, the shape of the clamping groove for clamping the tool 13 at the first ends of both the first clamping member 121 and the second clamping member 122 can be circular or different profiling surfaces can be designed according to different tools 13 to clamp different tools 13.

[0078] Among them, an elastic member 124 is provided between the second ends of both the first clamping member 121 and the second clamping member 122. Specifically, the elastic member 124 can be a spring.

[0079] Among them, both the first clamping member 121 and the second clamping member 122 are rotatably arranged at the vertical tool magazine mounting plate 11 or the assembly tooth groove 111 of the vertical tool magazine mounting plate 11, and the rotation centers of both the first clamping member 121 and the second clamping member 122 are located between the elastic member 124 and the clamping groove. Specifically, both the first clamping member 121 and the second clamping member 122 are installed at the vertical tool magazine mounting plate 11 or the assembly tooth groove 111 of the vertical tool magazine mounting plate 11 through rolling bearings and setscrews 125.

[0080] In the vertical tool magazine assembly, the unique tool 13 clamping structure composed of the first clamping member 121, the second clamping member 122, and the elastic member 124 realizes the stable fixation and convenient loading and unloading of the tool 13 through mechanical linkage. Its working principle is as follows: The first clamping member 121 and the second clamping member 122 are rotatably installed at the vertical tool magazine mounting plate 11 or the assembly tooth groove 111 through rolling bearings and setscrews 125, and the rotation center is located between the elastic member 124 and the clamping groove to form an opening and closing structure. When loading the tool 13, an external force overcomes the elastic force of the elastic member 124 (such as a spring), pushes the first clamping member 121 and the second clamping member 122 outward around the rotation center, separates the first clamping port and the second clamping port, and at this time, the tool 13 is placed between the two; after removing the external force, the elastic member 124 resumes deformation, and the generated elastic force drives the first clamping member 121 and the second clamping member 122 to rotate inward around the rotation center, so that the first clamping port and the second clamping port are butted to form a clamping groove, and the tool 13 is firmly clamped by the close fit between the inner wall of the clamping groove and the surface of the tool 13. When replacing the tool 13, apply an external force again to push the first clamping member 121 and the second clamping member 122 apart, and the tool 13 can be easily taken out to complete the tool change operation.

[0081] This double-clamping member structure design brings significant beneficial effects. In terms of tool 13 fixation, the continuous clamping force provided by the elastic member 124 can ensure that the tool 13 remains stable under complex working conditions such as high-speed rotation of the tool magazine and vibration during machine tool processing, avoid loosening or falling off of the tool 13, effectively improve the safety and stability of the processing process, and reduce processing errors and equipment failures caused by insufficient clamping of the tool 13. In terms of operation convenience, the opening and closing design enables the loading and unloading process of the tool 13 to only require simple external force operations, without complex tools or cumbersome steps, greatly shortening the tool 13 replacement time and improving the tool change efficiency. In addition, the installation method of the rolling bearing and the setscrew 125 not only ensures the reliability of the tool clamp 12 installation, but also facilitates the disassembly and maintenance of the tool clamp 12, reducing the maintenance difficulty and cost of the equipment. At the same time, the structure design is compact, making full use of the space of the vertical tool magazine mounting plate 11, which helps to improve the tool 13 storage density of the tool magazine and adapt to the installation requirements of various specifications of tools 13.

[0082] It should be noted that the size of the assembly tooth groove 111 can be adaptively adjusted according to the type and size of the cutting tool 13 on the tool holder 12. For example, refer to Figure 2 to adapt to small-sized cutting tools.

[0083] Or, refer to Figure 8 to adapt to large-sized cutting tools. Specifically, the vertical tool magazine mounting disc 11 is specifically a large-tooth cutter disc 15. The tooth groove shape, size, and distribution density of the large-tooth cutter disc 15 are redesigned according to the outer contour and installation requirements of the large cutting tool 13. Its tooth groove depth is increased and the width is expanded. The tool holder 12 is installed in the tooth groove of the large-tooth cutter disc 15. Similarly, through structural optimization, the clamping end of the tool holder 12 adopts an elastic adjustable design, which can adapt to the diameters and shapes of large-tooth cutting tools 14 of different specifications. After the large-tooth cutting tool 14 is inserted into the clamping end of the tool holder 12, a reliable clamping force is generated through elastic deformation to ensure that the large-tooth cutting tool 14 will not loosen or fall off during the rotation of the cutter disc.

[0084] This design of the large-tooth cutter disc 15 brings significant beneficial effects. In terms of accommodating large-sized cutting tools, through shape adjustment, the large-tooth cutter disc 15 greatly improves the adaptability of the tool magazine to large-tooth cutting tools 14, effectively meeting the centralized storage requirements of various large-tooth cutting tools 14 in complex machining processes. In terms of expanding machining applications, it can adapt to large-tooth cutting tools 14 of different specifications and types, enabling the machine tool to be applied to more diversified machining scenarios, such as rough machining of large molds and milling of heavy workpieces, expanding the machining capabilities and application scope of the machine tool.

[0085] Specifically, a limiting member 123 is also provided between the first clamping member 121 and the second clamping member 122, and the limiting member 123 is arranged between the elastic member 124 and the clamping groove. Specifically, the limiting member 123 can be a limiting pin. With this setting, during the period when the tool holder 12 does not hold the tool, it can limit the first ends of the first clamping member 121 and the second clamping member 122 from colliding and wearing due to non-working states under the action of the spring.

[0086] Specifically, as Figure 4 shown, a limiting groove or a limiting hole is also provided between the first clamping member 121 and the second clamping member 122, and the limiting member 123 is larger than the limiting groove or the limiting hole.

[0087] In the tool 13 clamping system composed of the first clamping member 121 and the second clamping member 122, the setting of the limit pin further optimizes the working performance and service life of the tool holder 12. The working principle is as follows: When the tool holder 12 is in the non-working state of not gripping the tool, the elastic member 124 (spring) is in a natural extension or slightly compressed state, continuously applying an inward elastic force to the first clamping member 121 and the second clamping member 122. At this time, the limit pin located between the elastic member 124 and the clamping groove plays a key role. Through precise dimensional design and installation position layout, when the first clamping member 121 and the second clamping member 122 rotate inward, it forms a mechanical fit with the preset limit groove or limit hole on the tool holder 12, restricting the rotation angle of the tool holder 12, keeping the first clamping opening and the second clamping opening at a safe separation distance, and preventing direct collision between the two.

[0088] This limit structure design brings many beneficial effects. The most significant one is that it effectively reduces the wear of the tool holder 12 in the non-working state. By restricting the excessive closing of the first clamping member 121 and the second clamping member 122, it avoids the direct impact and friction between the first clamping opening and the second clamping opening, extends the service life of the tool holder 12, and reduces the replacement frequency and maintenance cost of the tool holder 12. In addition, the stable limit mechanism ensures the consistency of each opening and closing of the tool holder 12, improves the repeated accuracy of the clamping of the tool 13. Even after long-term use, the tool holder 12 can still maintain good clamping performance, ensuring the accuracy of the positioning of the tool 13 during the machining process. At the same time, the presence of the limit pin enhances the stability of the tool holder 12 system, reduces the noise generated by abnormal shaking or collision of the tool holder 12, and optimizes the working environment of the equipment. This structure is simple and reliable, convenient for installation and disassembly, facilitating later inspection and maintenance, and further improving the operability of the equipment.

[0089] Specifically, the vertical tool magazine mounting plate 11 is also used to connect to the second drive unit for driving the vertical tool magazine mounting plate 11 to move linearly. Specifically, the second drive unit includes a second servo motor and a ball screw or a linear guide rail that cooperates with the second servo motor. With this setting, it can be ensured that during machining, the tool magazine can be driven to the rear position of the machine tool by the second drive unit, and then the tool magazine door can isolate the tool magazine and the workbench to prevent the residues generated during machine tool machining from splashing into the tool magazine area and contaminating the tool magazine.

[0090] It should be noted that the second drive unit usually adopts a transmission combination of a second servo motor with a ball screw or a linear guide. The second servo motor is connected to the ball screw through a coupling, and the vertical tool magazine mounting plate 11 is fixed on the screw nut or the slider of the linear guide. When the machine tool enters the machining stage, the control system sends an instruction to the second drive unit, and the second servo motor starts to operate. The rotational motion is converted into a linear motion through the ball screw, driving the vertical tool magazine mounting plate 11 to move smoothly along the guide rail towards the rear of the machine tool. During the movement, the linear guide, relying on its high-precision guiding property and low-friction characteristic, ensures the linear motion accuracy of the tool magazine mounting plate. Moreover, a displacement sensor can be installed on the second drive unit or the tool magazine mounting plate to monitor the moving distance in real time and feed the data back to the control system to form a closed-loop control, ensuring that the tool magazine mounting plate can be accurately positioned at the predetermined position. After the tool magazine mounting plate moves into place, the tool magazine door closes under the action of the corresponding drive mechanism (such as a cylinder or an electric push rod), completely isolating the tool magazine from the machine tool worktable and forming a physical protection barrier.

[0091] This design brings remarkable beneficial effects. First, in terms of protection performance, by moving the tool magazine to the rear of the machine tool through the second drive unit and using the tool magazine door for isolation, it can effectively prevent chips, cutting fluid and other residues generated during the machining process of the machine tool from splashing into the tool magazine area, avoiding contamination and erosion of the tool 13, tool holder 12 and other tool magazine components, and reducing the risk of mechanical failures caused by impurities entering, such as the tool holder 12 getting stuck and the tool 13 rusting, thereby improving the stability and reliability of the tool magazine operation. Second, from the perspective of equipment maintenance, reducing the contamination of the tool magazine means reducing the cleaning and maintenance frequency, extending the service life of each component of the tool magazine, reducing the maintenance cost and downtime, and improving the overall production efficiency of the machine tool. In addition, good protection measures can also improve the cleanliness and safety of the workshop, reduce the workload of the operator for cleaning residues, and optimize the working environment. This movable tool magazine design also enhances the flexibility of the machine tool layout, facilitating the adjustment of the tool magazine position according to different machining requirements and improving the versatility and adaptability of the equipment.

[0092] Embodiment 2 - Machining Equipment

[0093] As Figures 1-8As shown in the figure, Embodiment 2 of the present disclosure discloses a processing device, which includes the vertical rotary tool magazine in Embodiment 1 above. The difference from Embodiment 1 above is that the processing device further includes a spindle 22 located above the vertical rotary tool magazine. The spindle 22 is connected to a third driving unit, and the third driving unit is used to drive the spindle 22 to approach or move away from the vertical rotary tool magazine; the spindle 22 is provided with a clamping portion for clamping a tool 13. Specifically, the third driving unit includes a third servo motor and a linear guide rail and a ball screw cooperating with the third servo motor; alternatively, the third driving unit includes a hydraulic or pneumatic cylinder. Specifically, the processing device can be a numerical control machine tool. With such a setting, the third driving unit can drive the spindle 22 to approach the vertical rotary tool magazine, use the clamping portion on the spindle 22 to clamp the tool 13 at the tool change position on the vertical rotary tool magazine, and then move away from the vertical rotary tool magazine to complete the tool change of the spindle 22.

[0094] It should be noted that in the tool change system of the processing device, the coordinated operation of the third driving unit and the spindle 22 constitutes an efficient and precise tool change core mechanism. Its working principle is as follows: The third driving unit usually adopts a transmission structure of a third servo motor cooperating with a linear guide rail and a ball screw, or a driving method of a hydraulic / pneumatic cylinder. The third servo motor is connected to the ball screw through a coupling, and the spindle 22 is fixed on the slider of the linear guide rail. When the control system issues a tool change command, the third driving unit starts, and the third servo motor drives the ball screw to rotate, converting the rotational motion into a linear motion, driving the spindle 22 to move smoothly along the linear guide rail towards the vertical rotary tool magazine. During the movement, the linear guide rail provides a high-precision guiding function to ensure the straightness and stability of the movement of the spindle 22; and a displacement sensor can be installed on the spindle 22 or the third driving unit to monitor the position of the spindle 22 in real time and feed the data back to the control system to form a closed-loop control to ensure that the spindle 22 can be accurately positioned at the tool change position.

[0095] When the spindle 22 moves to the tool change position, the clamping portion (such as a hydraulic chuck, an elastic collet or a mechanical chuck, etc.) on the spindle 22 starts to work. Taking the hydraulic chuck as an example, the control system controls the hydraulic system to inject high-pressure oil into the chuck interior, pushing the jaws to contract, thereby tightly clamping the tool 13 at the tool change position of the vertical rotary tool magazine. After the clamping is completed, the third driving unit acts again, driving the spindle 22 to move in the reverse direction along the linear guide rail, away from the vertical rotary tool magazine, and taking out the tool 13 from the tool magazine. Subsequently, the spindle 22 can carry the tool 13 to move to the machining position for cutting machining; when it is necessary to replace the tool 13, repeat the above process, send the used tool 13 back to the tool change position of the tool magazine, and then take out the new tool 13 to achieve a complete tool change cycle.

[0096] This design brings significant beneficial effects. In terms of tool changing efficiency, the rapid response and precise control of the third drive unit greatly shorten the movement time of the spindle 22 during the tool changing process. Combined with the rapid positioning function of the vertical rotary tool magazine, the overall tool changing time can be shortened to a few seconds, significantly improving the production efficiency of the processing equipment. In terms of processing accuracy, the closed-loop control system ensures that the spindle 22 can accurately locate the tool changing position every time, and the stable and reliable clamping force of the clamping part avoids the slight deviation or shaking of the tool 13 during the tool changing process, ensuring the repeated positioning accuracy of the tool 13 installation, thereby improving the processing accuracy and surface quality of the parts. In addition, the tool changing system has a high degree of automation, reduces manual intervention, reduces the risk of tool changing failures caused by human operating errors, and improves the stability and reliability of equipment operation. At the same time, the modular design makes the maintenance and replacement of the third drive unit and the spindle 22 more convenient, reducing the maintenance cost and downtime of the equipment.

[0097] Specifically, for the structure in which the third drive unit drives the spindle 22 to move, a third servo motor can be used in conjunction with a linear guide and a ball screw. For example, the third servo motor is connected to the ball screw through a coupling. When the motor receives a command from the control system, it starts to operate and converts the rotary motion into linear motion. A slide plate can be fixed to the nut seat of the ball screw. Driven by the ball screw, the slide plate can move up and down accurately in the height direction along the linear guide.

[0098] In addition, the main shaft 22 and the workpiece cooling device 23 are fixed on the slide plate by fastening screws or fastening bolts, so as to form a whole with the slide plate. In the process of the slide plate moving up and down, the main shaft 22 and the workpiece cooling device 23 follow the movement synchronously. When the main shaft 22 needs to be loaded with the tool 13, the third servo motor drives the slide plate to move downward, driving the main shaft 22 to approach the tool changing position of the vertical rotary tool magazine. When it reaches the predetermined position, the clamping part on the main shaft 22 moves to clamp the tool 13. In the process of moving with the slide plate, the workpiece cooling device 23 can always maintain a constant relative position with the main shaft 22, and provide cooling and lubrication for the tool 13 and the workpiece in time during the processing process to ensure the smooth progress of the processing. At the same time, the displacement sensor installed on the third servo motor or the slide plate monitors the position of the slide plate in real time, and feeds back the data to the control system to form a closed-loop control to ensure that the slide plate can be accurately positioned to the position required for picking up the tool, placing the tool and processing every time.

[0099] This structural design has brought about significant beneficial effects in many aspects. In the tool changing operation, the efficient transmission combination of the third servo motor, ball screw and linear guide enables the slide to respond quickly to instructions and achieve high-speed and stable up and down movement, which greatly shortens the tool changing time and improves the tool changing efficiency, thereby improving the overall production efficiency of the machine tool.

[0100] In terms of ensuring machining quality, the closed-loop control system, in cooperation with the high-precision displacement sensor, realizes precise control of the tool change position, ensuring the positioning accuracy of the spindle 22 during tool change and machining, effectively avoiding machining errors caused by position deviation, and improving the machining accuracy and surface quality of the parts. The synchronous movement of the workpiece cooling 23 device and the spindle 22 can cool and lubricate the tool 13 and the workpiece in a timely manner during the machining process, prevent the tool 13 from overheating and wearing, extend the service life of the tool 13, and at the same time reduce the machining errors caused by the thermal deformation of the workpiece, further improving the machining quality. In addition, this structural design is simple and compact, facilitating installation, debugging, and maintenance, reducing the equipment maintenance cost and downtime.

[0101] Specifically, there are multiple vertical tool magazine mounting plates 11, and the multiple vertical tool magazine mounting plates 11 are divided into multiple groups. The number of vertical tool magazine mounting plates 11 in each group is at least two and they are stacked at intervals; moreover, there are multiple spindles 22, and the multiple spindles 22 are arranged side by side at intervals. The grouped vertical tool magazine mounting plates 11 can be used for one spindle 22 to change tools. With this setting, multiple spindles 22 can perform tool change operations simultaneously.

[0102] It should be noted that multiple spindles 22 can perform tool change operations simultaneously. Compared with the single spindle 22 changing tools in sequence, the overall tool change time is significantly shortened. Taking the equipment equipped with three spindles 22 as an example, theoretically, the tool change efficiency can be increased to three times the original, greatly reducing the non-machining time of the machine tool and significantly improving the production efficiency, especially suitable for scenarios with extremely high requirements for production efficiency such as batch machining and multi-process continuous machining.

[0103] Moreover, multiple groups of vertical tool magazine mounting plates 11 provide a larger tool storage capacity, can accommodate more types and quantities of tools 13, and meet the requirements for tool 13 diversity in complex machining processes. Different spindles 22 can flexibly select tools 13 according to the machining tasks, realizing parallel processing of multiple machining processes, enhancing the equipment's ability to handle diverse machining requirements, and improving the flexibility and adaptability of machining.

[0104] At the same time, the stacked setting of the vertical tool magazine mounting plates 11 and the side-by-side layout of the spindles 22 make full use of the vertical and horizontal spaces of the equipment, maximizing the integration of tool 13 storage and machining functions within a limited floor area. This design effectively reduces the space occupied by the equipment, optimizes the workshop layout, and improves the space utilization rate.

[0105] Embodiment 3 - Tool Change Method

[0106] This embodiment 3 discloses a tool change method, which can be specifically applied to the vertical rotary tool magazine in the above-mentioned embodiment or the machining equipment in the above-mentioned embodiment 2.

[0107] The tool change method includes the following steps:

[0108] The first driving unit drives the vertical tool magazine mounting plate 11 to rotate to the tool change position at a predetermined angle. At this tool change position, the center line of the tool 13 is perpendicular to the ground and the shank portion of the tool 13 faces upward;

[0109] The second driving unit drives the vertical tool magazine mounting plate 11 to move linearly closer to the main shaft 22 and moves to a predetermined position. At this position, the tool change position of the vertical tool magazine mounting plate 11 is located below the clamping portion of the main shaft 22;

[0110] The third driving unit drives the main shaft 22 to descend close to the tool change position and clamps the tool 13 at the tool change position through the clamping portion of the main shaft 22;

[0111] The second driving unit drives the vertical tool magazine mounting plate 11 to move in the reverse direction and away from the main shaft 22 so that the tool 13 clamped by the main shaft 22 disengages from the tool holder 12 at the tool change position;

[0112] The third driving unit drives the main shaft 22 to rise and reset to complete the tool change step.

[0113] In this embodiment, the tool change method realizes the efficient and precise replacement of the tool 13 through the orderly cooperation and precise control of the first driving unit, the second driving unit, and the third driving unit.

[0114] After the tool change process is started, the first driving unit (usually a first servo motor combined with a reducer) drives the vertical tool magazine mounting plate 11 to rotate according to the tool 13 coding and position information preset by the control system. Moreover, a high-precision angle encoder can be assembled on the vertical tool magazine mounting plate 11 to real-time monitor the rotation angle and feedback the data to the control system to form a closed-loop control. When the vertical tool magazine mounting plate 11 rotates to the tool change position at a predetermined angle, that is, the center line of the tool 13 is perpendicular to the ground and the shank portion faces upward, it ensures that the tool 13 is in an ideal posture for easy grasping.

[0115] Subsequently, the second driving unit (such as a combination of a second servo motor, a ball screw, and a linear guide rail) receives the control system instruction and drives the vertical tool magazine mounting plate 11 to move linearly along the linear guide rail and approach the main shaft 22. The displacement sensor real-time monitors the moving distance of the mounting plate to ensure that it can accurately move to the predetermined position, making the tool change position accurately located directly below the clamping portion of the main shaft 22, creating accurate spatial conditions for grasping the tool 13.

[0116] Next, the third driving unit (based on the combination of the third servo motor, ball screw, and linear guide, or a hydraulic or pneumatic driving structure) drives the spindle 22 to descend. When the spindle 22 approaches the tool change position, the clamping part (such as a hydraulic chuck or elastic collet) on the spindle 22 is activated under the control of the control system and contracts through hydraulic pressure or mechanical elastic force to tightly clamp the tool 13 at the tool change position.

[0117] After the clamping is completed, the second driving unit acts again to drive the vertical tool magazine mounting plate 11 to move in the reverse direction and gradually move away from the spindle 22. During this process, the connection between the tool 13 and the tool holder 12 is separated, and the tool 13 successfully disengages from the tool holder 12. Finally, the third driving unit drives the spindle 22 to rise and reset, transports the tool 13 to the machining position, and completes the entire tool change step. During the entire tool change process, the action sequence, movement speed, and position control of each driving unit are coordinated and monitored by the control system to ensure the safe, stable, and efficient execution of the tool change process.

[0118] This tool change method brings many significant beneficial effects. In terms of tool change efficiency, the rapid response and collaborative operation of each driving unit significantly shorten the tool change time. Compared with the traditional tool change method, the overall tool change efficiency is increased by 30%-50%, effectively reducing the non-machining time of the machine tool and improving the production efficiency. In terms of tool change accuracy, the application of the closed-loop control system and high-precision sensors ensures the precise positioning of the vertical tool magazine mounting plate 11 and the spindle 22, avoiding the decrease in machining accuracy caused by tool change errors and improving the consistency and qualification rate of part machining. In terms of safety and stability, the precise control logic and orderly action process reduce the risks of tool 13 collision and dropping during the tool change process, while reducing the wear of mechanical components, extending the service life of key components such as the tool magazine and the spindle 22, and reducing the equipment maintenance cost. In addition, this tool change method has a high degree of automation, reduces manual intervention, improves the intelligent level of the machining process, and meets the requirements of modern intelligent manufacturing.

[0119] It should also be noted that, in summary, during the tool change process of the vertical rotary tool magazine, through the coordinated operation of precise control logic and mechanical transmission, the tool change process is ensured to be completed efficiently, stably, and safely, which can specifically include the following tool change steps:

[0120] I. Tool magazine preparation

[0121] When the tool needs to be changed, the control system will issue a tool change command, and the first servo motor is connected to the drive shaft 3 of the tool magazine body 1 through a high-precision transmission mechanism (such as a harmonic reducer or a precision gear set), converting the high-speed rotation of the first servo motor into a precise low-speed rotation of the drive shaft 3. The encoder installed on the drive shaft 3 of the tool magazine body 1 can monitor the rotation angle of the vertical tool magazine mounting plate 11 of the tool magazine body 1 in real time, and feed the data back to the control system to form a closed-loop control. When the target tool 13 rotates to a predetermined angle, that is, the center line of the tool 13 is perpendicular to the ground and the handle is facing upward, as shown in FIG. Figure 5 As shown, the first servo motor stops running.

[0122] At the same time, the cylinder can also drive the tool magazine door to slide open along the guide rail to prepare for the subsequent tool change operation. In this process, the angle positioning of the tool magazine's tool change position and the opening action of the tool magazine door are synchronized and precisely coordinated through the timing logic of the control system to ensure the efficiency of the tool change preparation stage.

[0123] 2. Tool magazine launch

[0124] After receiving the command, the second servo motor starter drives the second servo motor to rotate. The rotational motion of the second servo motor is converted into linear motion through the combination of ball screw and linear guide (the lower part is a screw nut mechanism), driving the vertical rotary tool magazine to move toward the bottom of the spindle 22. The screw nut mechanism has the characteristics of high precision and low friction, ensuring the smoothness and positioning accuracy of the tool magazine movement. At the same time, the servo motor of the machine tool is also started under the command of the control system, and the spindle 22 is also moved to a position coaxial with the target tool 13 through the screw nut mechanism, that is, the spindle 22 and the target tool 13 at the tool change position of the vertical tool magazine mounting plate 11 are coaxially arranged.

[0125] During the movement of the tool magazine body 1 and the spindle 22, the displacement sensors installed on each workpiece monitor their positions in real time and feed the data back to the control system. Based on the feedback information, the control system can adjust the motor speed in real time to ensure that the tool magazine body 1 and the spindle 22 can accurately reach the predetermined position, complete the precise alignment of the tool magazine body 1 and the spindle 22, and create conditions for the handover of the tool 13.

[0126] 3. Spindle 22 lowered to take out the knife

[0127] After the first two steps are completed, the third servo motor drives the spindle 22 to move downward along the Z-axis direction (i.e., the height direction). The movement of the spindle 22 can also be based on the screw nut transmission structure, and the linear guide rail provides a stable guide. When the spindle 22 descends to a predetermined position, the clamping part on the spindle 22, such as the pneumatic clamp, tightly clamps the handle of the tool 13 under the action of air pressure, completing the grabbing action of the tool 13. Figure 6 shown.

[0128] During this process, the precise control of the descending position of the main shaft 22 and the timing of the jaw clamping action rely on the real-time processing and logical judgment of the control system on the feedback data of each sensor to ensure that the tool 13 can be safely and reliably clamped by the main shaft 22.

[0129] IV. Tool magazine retraction

[0130] After the main shaft 22 successfully grasps the tool 13, the tool magazine body 1 moves backward in reverse. When the tool 13 completely disengages from the tool holder 12, the third servo motor drives the main shaft 22 to lift, as Figure 7 shown. The tool magazine body 1 continues to move backward until it reaches a safe position behind the machine tool. At this time, the air cylinder drives the tool magazine door to close, completely isolating the vertical rotary tool magazine from the machining area of the machine tool to prevent pollutants such as flying chips and cutting fluid generated during the machining process from entering the tool magazine and protecting the tool 13 and tool magazine components.

[0131] It should be noted that the above steps are the tool change process when there is no tool 13 on the main shaft 22.

[0132] When there is already a tool 13 on the main shaft 22 itself, a tool placing step needs to be added to the tool change process. For example, the main shaft 22 first transports the tool 13 to the designated tool change position on the tool magazine body 1. After the tool 13 accurately falls into the tool holder 12, the tool magazine body 1 will retreat to a safe position to avoid interference with the main shaft 22. Subsequently, the main shaft 22 lifts, and the tool magazine body 1 rotates to change the tool and enters the next tool taking process, that is, the above tool change process. During the entire tool change process, the information and position of the tool 13 are stored in the database of the numerical control system in real time and updated in real time according to the tool change operation to ensure that the control system can accurately grasp the state of the tool 13 in the tool magazine and the main shaft 22 and realize intelligent management of the tool 13.

[0133] It should also be noted that the unique structural design and precise tool change process of the vertical rotary tool magazine have brought significant improvements in many aspects to the tool 13 system of the machine tool.

[0134] I. Efficient space utilization

[0135] The collaborative design of the vertical rotary layout of the tool magazine body 1 and the spring tool holder 12 completely breaks through the horizontal space limitation of the traditional straight row tool magazine. By arranging the tools 13 in a circular array on the vertical tool magazine mounting plate 11, the storage density of the tools 13 in the unit space is greatly improved, and the tool storage capacity can reach 3 - 5 times that of the straight row tool magazine. This high-density storage design not only meets the requirements of complex machining processes for a large number of tools 13, but also reduces the floor area of the tool magazine, optimizes the overall layout of the machine tool, and improves the space utilization rate of the workshop.

[0136] II. Compatibility with large-sized tools

[0137] The elastic adaptive characteristic of the spring collet 12 enables it to be compatible with the installation and clamping of large-sized cutting tools (such as the large-tooth cutting tool 14). Compared with the limitations of traditional linear tool magazines in the configuration of large cutting tools, the vertical rotary tool magazine can easily handle cutting tools of different specifications and shapes, expanding the machining application range of the machine tool. It is particularly suitable for machining scenarios with high requirements for cutting tool size and type, such as large mold machining and heavy part milling.

[0138] III. Excellent tool change performance

[0139] The high-precision rotary axis control system driven by a servo motor, combined with the real-time feedback of the encoder and displacement sensor, realizes the rapid positioning and stable tool change of the cutting tool 13. During the tool change process, the tool magazine body 1 can accurately rotate to the position of the target cutting tool 13 within a short time, and the alignment between the main spindle 22 and the tool magazine body 1 and the tool transfer action of the cutting tool 13 are all completed under high-precision control. The tool change efficiency is significantly improved, and the tool change time can be shortened to several seconds.

[0140] IV. Optimized machine tool structure and adaptability

[0141] The vertical structure shortens the travel of the tool magazine, and combined with the compact space layout design, it reduces the need for the tool magazine to avoid interference with the workbench during the tool change process. This simplifies and reduces the overall structure of the machine tool, eliminating the need to add complex mechanical structures to avoid the tool magazine. This design has strong adaptability and can be widely applied to most mainstream CNC machine tool models, reducing the cost of machine tool design and transformation, and improving the versatility and market competitiveness of the equipment.

[0142] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A vertical rotary tool magazine, characterized in that, including a tool magazine body (1); The tool magazine body (1) includes a vertical tool magazine mounting plate (11) and a plurality of tool holders (12) arranged in a circumferential array on the circumferential outer side of the vertical tool magazine mounting plate (11), and the tool holders (12) are used for clamping tools (13); The two ends of the tool holder (12) in its own length direction are sequentially arranged on the circumferential outer side of the vertical tool magazine mounting plate (11); The vertical tool magazine mounting plate (11) is used to be connected to a first driving unit for driving the vertical tool magazine mounting plate (11) to rotate, and there is a tool change position where the center line of the tool (13) is perpendicular to the ground and the shank part of the tool (13) faces upward for coaxial connection with the upper spindle (22).

2. The vertical rotary tool magazine according to claim 1, characterized in that, The tool magazine body (1) further includes a driving shaft (3), and the vertical tool magazine mounting plate (11) is arranged on the driving shaft (3) and rotates synchronously with the driving shaft (3); The vertical tool magazine mounting plate (11) is connected to the first driving unit through the driving shaft (3), and a speed reducer is used to be connected between the first driving unit and the driving shaft (3); The speed reducer is a planetary speed reducer; The first driving unit is a first servo motor.

3. A vertical rotary tool magazine according to claim 1, characterized in that, The tool magazine body (1) further includes a driving cylinder, and the vertical tool magazine mounting plate (11) is arranged on the driving cylinder and rotates synchronously with the driving cylinder; The inside of the driving cylinder is used to be connected to the first driving unit and the first driving unit is arranged inside the driving cylinder; The first driving unit is a first direct drive motor.

4. A vertical rotary tool magazine according to any one of claims 1 to 3, characterized in that A plurality of assembly tooth grooves (111) are provided on the circumferential outer side of the vertical tool magazine mounting plate (11), and one tool holder (12) is arranged in one assembly tooth groove (111); The two ends of the tool holder (12) in its own length direction are sequentially arranged on the circumferential outer side of the vertical tool magazine mounting plate (11), and the first end of the tool holder (12) is arranged in the assembly tooth groove (111), and the second end of the tool holder (12) extends out of the assembly tooth groove (111) and clamps one tool (13); The assembly tooth groove (111) includes a first wall (112) connected to the first end of the tool holder (12) and a second wall (113) for avoiding the tool (13), and there is a tool change position where the first wall (112) of the assembly tooth groove (111) is horizontally arranged at this tool change position.

5. A vertical rotary tool magazine according to any one of claims 1 to 3, characterized in that, A plurality of vertical tool magazine mounting plates (11) are provided, and the plurality of vertical tool magazine mounting plates (11) are divided into multiple groups, and at least two vertical tool magazine mounting plates (11) in each group are arranged at intervals and stacked; 6. A vertical rotary tool magazine according to any one of claims 1-3, characterized in that The tool holder (12) includes a first clamping member (121) and a second clamping member (122); The first end of the first clamping member (121) has a first clamping opening, the first end of the second clamping member (122) has a second clamping opening, and when the first clamping opening and the second clamping opening are butted against each other, a clamping groove for clamping the tool (13) is formed; An elastic member (124) is provided between the second ends of the first clamping member (121) and the second clamping member (122).

7. The vertical rotary tool magazine according to claim 6, wherein A limiting member (123) is further provided between the first clamping member (121) and the second clamping member (122), and the limiting member (123) is arranged between the elastic member (124) and the clamping groove; A limiting groove or a limiting hole is also provided between the first clamping member (121) and the second clamping member (122), and the limiting member (123) is larger than the limiting groove or the limiting hole.

8. A vertical rotary tool magazine according to any one of claims 1 to 3, characterized in that, The vertical tool magazine mounting plate (11) is also used to be connected to the second driving unit for driving the vertical tool magazine mounting plate (11) to move linearly; The second driving unit includes a second servo motor and a ball screw or a linear guide rail that cooperates with the second servo motor.

9. A processing device, characterized in that, It includes a vertical rotary tool magazine according to any one of claims 1-8; the processing equipment further includes a main shaft (22) located above the vertical rotary tool magazine, and the main shaft (22) is connected with a third driving unit for driving the main shaft (22) to approach or move away from the vertical rotary tool magazine; The main shaft (22) is provided with a clamping portion for clamping the tool (13).

10. A tool change method, applied to a vertical rotary tool magazine according to any one of claims 1-8 or applied to a machining device according to claim 9, characterized in that, It includes the following steps: The first driving unit drives the vertical tool magazine mounting plate (11) to rotate to a tool changing position at a predetermined angle, where the center line of the tool (13) at the tool changing position is perpendicular to the ground and the shank portion of the tool (13) faces upward; The second driving unit drives the vertical tool magazine mounting plate (11) to move linearly towards the main shaft (22) and move to a predetermined position, where the tool changing position of the vertical tool magazine mounting plate (11) is located below the clamping portion of the main shaft (22); The third driving unit drives the main shaft (22) to descend towards the tool changing position and clamps the tool (13) at the tool changing position through the clamping portion of the main shaft (22); The second driving unit drives the vertical tool magazine mounting plate (11) to move in the reverse direction and away from the main shaft (22) so that the tool (13) clamped by the main shaft (22) disengages from the tool holder (12) at the tool changing position; The third driving unit drives the main shaft (22) to rise and reset.

Images