Tool magazine system, machine tool tool changing method and machine tool

Abstract

The invention relates to the technical field of parts, parts or accessories of machine tools, and discloses a tool magazine system, a machine tool tool changing method and a machine tool. The tool magazine system comprises a tool storage rack, a tool changing butt joint mechanism, a tool magazine butt joint mechanism and a carrying system; a tool arranged on the tool storage rack can be arranged on the tool changing butt-joint mechanism through the carrying system, then the tool changing butt-joint mechanism can convey the tool to a machine tool, the tool changed by the machine tool can be borne through the tool changing butt-joint mechanism, the tool of the machine tool is replaced, and then the tool changing butt-joint mechanism is reset. The handling system can reset the tools replaced by the machine tool at the tool storage rack. And through the arrangement of the tool magazine docking mechanism, the tools can be conveyed to the tool storage rack. Based on the tool magazine system provided by the embodiment of the invention, efficient tool changing can be carried out on the machine tool, and the machining efficiency can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of parts, components or accessories of machine tools, and in particular, to a tool magazine system, a tool changing method for a machine tool, and a machine tool. Background Art

[0002] In fields such as aerospace aero-engines, parts have complex structures, numerous machining features, strict manufacturing precision requirements, and high part value. Taking a typical part, the casing, as an example, the part belongs to a rotary part, and there are features such as end faces, inner and outer cylindrical surfaces, inner and outer annular grooves, inclined planes, curved surfaces, as well as a large number of bosses, eccentric holes, inclined holes, and threaded holes that need to be machined. In order to achieve high-precision machining of these features, the best machining method is to use a five-axis composite machine tool to complete all turning, milling, boring, drilling, tapping and other machining processes of the part in one clamping. To complete the machining of all processes, at least dozens of tools are required, and on-line measurement is equipped, and the measurement of machining features can be realized during the machining process to ensure machining accuracy; for some machining features inside the part cavity, a turning angle head, a milling angle head, and a measuring angle head also need to be equipped. Such parts are usually produced in small batches of multiple varieties, and the tools required for different parts are not exactly the same, and the tools in the tool magazine need to be frequently replaced. As a result, the machining efficiency of the machine tools in the traditional technology is low. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. This section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of the present invention provides a tool magazine system.

[0006] A second aspect of the present invention provides a tool changing method for a machine tool.

[0007] A third aspect of the present invention provides a machine tool.

[0008] In view of this, according to a first aspect of the embodiments of the present application, a tool magazine system is proposed, including: A tool storage rack for storing tools; A tool changing docking mechanism arranged on the periphery of the tool storage rack for delivering the tools to be replaced to the machine tool and conveying the tools replaced on the machine tool; Tool magazine docking mechanism, which is used to convey tools to the tool storage rack; Handling system, which is arranged between the tool storage rack, the tool changing docking mechanism and the tool magazine docking mechanism. The handling system is used to carry the tools on the tool storage rack to the tool changing docking mechanism, to carry the replaced tools on the tool changing docking mechanism to the tool storage rack, and is also used to set the tools conveyed by the tool magazine docking mechanism on the tool storage rack.

[0009] In a feasible implementation manner, the tool storage rack includes: First frame, on which a plurality of mounting positions are formed; Tool fixing plate, which is connected to the first frame. On the side of the tool fixing plate facing the handling system, a plurality of tool placement holes are formed; Radio frequency tag, which is arranged corresponding to the tool placement holes on the tool fixing plate and is used to calibrate the type or model of the tool arranged in the tool placement holes; Wherein, the handling system is used to grab the tool through the tool placement hole or set the replaced tool on the tool fixing plate.

[0010] In a feasible implementation manner, the tool changing docking mechanism includes: Second frame, which is arranged on one side of the handling system; Horizontal slide plate assembly, which is arranged on the second frame; Spindle axial slide plate assembly, which is slidably connected to the horizontal slide plate assembly; First tool gripper and second tool gripper, both of which are slidably connected to the spindle axial slide plate assembly, and the first tool gripper and the second tool gripper are arranged staggeredly; Water receiving tank, which is arranged on the second frame; Tool tray, which is arranged on the second frame and is used to hold the tools to be replaced and the replaced tools; Broken tool detection piece, which is arranged on the second frame and the detection direction faces the tool tray.

[0011] In a feasible implementation manner, both the first tool gripper and the second tool gripper include: First jaw and second jaw, which are used to grip the tool so that when the tool is in the gripped state, the length direction of the tool is perpendicular to the length direction of the first tool gripper or the second tool gripper; The tool changing and docking mechanism further includes: a cleaning member disposed on the second frame for cleaning the tool.

[0012] In a feasible implementation manner, the tool magazine docking mechanism includes: a third frame disposed on the other side of the handling system; a pallet transmission mechanism disposed on the third frame; a pallet having a plurality of tool mounting positions formed thereon, and the pallet is connected to the pallet transmission mechanism; A first limiting member, the tool mounting position includes an arc-shaped groove, the first limiting member is disposed between two adjacent tool mounting positions, and a partial area of the first limiting member extends towards the tool mounting position for clamping with the tool shank of the tool.

[0013] In a feasible implementation manner, the handling system includes: A ground rail; A seven-axis robot connected to the ground rail; A tool sleeve base connected to the seven-axis robot, and a first mounting position and a second mounting position are formed on the tool sleeve base; A first tool sleeve and a second tool sleeve, the first tool sleeve is disposed in the first mounting position, and the second tool sleeve is disposed in the second mounting position; Wherein, the arrangement direction of the first tool sleeve is perpendicular to the arrangement direction of the second tool sleeve. When the tool is sleeved by the first tool sleeve or the second tool sleeve, the axial direction of the tool is co-directional with the length direction of the tool sleeve.

[0014] In a feasible implementation manner, the tool magazine system further includes: a manual tool loading mechanism for conveying tools to the handling system, and the manual tool loading mechanism includes: A bracket; A guide rail disposed on the bracket; A manual tool loading pallet having a plurality of manual tool loading fixing positions formed thereon; A second limiting member disposed at the center of the bottom of the manual tool loading fixing position and extending towards the manual tool loading fixing position to position the tool disposed in the manual tool loading fixing position; A detection switch disposed on the side of the manual tool loading fixing position for knowing whether there is a tool in the manual tool loading fixing position; An RFID reader / writer connected to the manual tool loading pallet and disposed between the detection switch and the second limiting member for detecting the type of the tool in the manual tool loading fixing position; A driving component, which is used to drive the manual tool loading tray to move on the guide rail so as to approach or move away from the handling system.

[0015] Wherein, the bracket of the manual tool loading mechanism is connected to the first frame of the tool storage rack, and the manual tool loading mechanism, the tool storage rack, the tool magazine docking mechanism and the handling system are all arranged on the periphery of the tool magazine system.

[0016] According to the second aspect of the embodiments of the present application, a tool changing method for a machine tool is proposed, which is applied to the tool magazine system as described in any of the above technical solutions. The tool changing method for the machine tool includes: Responding to a tool changing instruction, which includes tool type and model information; Based on the tool changing instruction, controlling the handling system to clamp the tool to be replaced in the tool storage rack; Controlling the handling system to convey the tool to be replaced to the tool changing docking mechanism; Controlling the tool changing docking mechanism to convey the tool to be replaced to the machine tool. First, based on the tool changing docking mechanism to receive the tool replaced by the machine tool, and then assembling the tool to be replaced onto the spindle of the machine tool; Controlling the tool changing docking mechanism to reset, and conveying the replaced tool to the tool storage rack through the handling system.

[0017] In a feasible implementation manner, the tool changing method for the machine tool further includes: Counting the usage frequency of the tools in the tool storage rack; Sorting the radio frequency tags on the tool storage rack based on the usage frequency; Wherein, the radio frequency tag corresponding to the tool with a higher usage frequency is closer to the tool changing docking mechanism.

[0018] According to the third aspect of the embodiments of the present application, a machine tool is proposed, which includes: The tool magazine system as described in any of the above technical solutions; A machine tool body, and the tool changing docking mechanism is conducted to the machine tool body.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects: The tool magazine system provided by the embodiment of the present application includes a tool storage rack, a tool change docking mechanism, a tool magazine docking mechanism, and a handling system. Based on this, during the use of the tool magazine system, the tools required during the machining process can be set in the tool storage rack. During the machining process of the machine tool, when it is necessary to replace the tool on the machine tool, the tool set on the tool storage rack can be set on the tool change docking mechanism through the handling system. Then, the tool change docking mechanism can convey the tool to the machine tool. The tool change docking mechanism can receive the tool replaced by the machine tool and replace the tool on the machine tool. Then, the tool change docking mechanism resets, and the handling system can reset the tool replaced by the machine tool to the tool storage rack. Through the setting of the tool magazine docking mechanism, tools can be conveyed to the tool storage rack. Based on this, the tool magazine system provided by the embodiment of the present application can perform efficient tool change for the machine tool, especially when it is used in a five-axis compound machine tool, which is convenient for docking with the central tool magazine and can improve the machining efficiency.

[0020] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically described. Brief Description of the Drawings

[0021] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 It is a schematic structural diagram of a tool magazine system according to an embodiment provided by the present application; Figure 2 It is a schematic structural diagram of a tool storage rack of a tool magazine system according to an embodiment provided by the present application; Figure 3 It is a schematic structural diagram of a tool change docking mechanism of a tool magazine system according to an embodiment provided by the present application; Figure 4 It is a schematic structural diagram of a first tool holder of a tool change docking mechanism of a tool magazine system according to an embodiment provided by the present application; Figure 5 It is a schematic structural diagram of a tool magazine docking mechanism of a tool magazine system according to an embodiment provided by the present application; Figure 6 It is a partially enlarged schematic structural diagram of a tray of a tool magazine docking mechanism of a tool magazine system according to an embodiment provided by the present application; Figure 7Schematic structural diagram of the handling system of a tool magazine system provided by this application; Figure 8 Schematic structural diagram of the tool sleeve base of the handling system of a tool magazine system provided by this application; Figure 9 Schematic structural diagram of the manual tool loading mechanism of a tool magazine system provided by this application; Figure 10 Partial enlarged schematic structural diagram of the manual tool loading tray of the manual tool loading mechanism of a tool magazine system provided by this application; Figure 11 Schematic step flow chart of a tool changing method for a machine tool provided by this application.

[0022] Among them, Figures 1 to 10 The corresponding relationship between the reference numerals and the component names in the figures is as follows: 110 Tool storage rack, 120 Tool changing docking mechanism, 130 Tool magazine docking mechanism, 140 Handling system, 150 Manual tool loading mechanism; 111 First frame, 112 Tool fixing plate, 113 Tool placement hole; 121 Second frame, 122 Horizontal slide plate assembly, 123 Spindle axial slide plate assembly, 124 First tool gripper, 125 Second tool gripper, 126 Water receiving tank, 127 Tool disk, 128 Broken tool detection part, 129 Cleaning part, 1241 First jaw, 1242 Second jaw; 131 Third frame, 132 Tray drive mechanism, 133 Tray, 134 First limiting part; 141 Floor rail, 142 Seven-axis robot, 143 Tool sleeve base, 144 First tool sleeve, 145 Second tool sleeve; 151 Bracket, 152 Guide rail, 153 Manual tool loading tray, 154 Second limiting part, 155 Detection switch, 156 RFID reader / writer, 157 Drive assembly. Detailed implementation manners

[0023] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present invention. However, it is obvious to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0025] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0026] As Figures 1 to 10 As shown, according to the first aspect of the embodiments of the present application, a tool magazine system is proposed, including: a tool storage rack 110 for storing tools; a tool changing docking mechanism 120 disposed on the periphery of the tool storage rack 110 for conveying tools to be replaced to the machine tool and conveying the tools replaced on the machine tool; a tool magazine docking mechanism 130 for conveying tools to the tool storage rack 110; a handling system 140 arranged between the tool storage rack 110, the tool changing docking mechanism 120, and the tool magazine docking mechanism 130, and the handling system 140 is used to carry the tools on the tool storage rack 110 to the tool changing docking mechanism 120, to carry the tools replaced on the tool changing docking mechanism 120 to the tool storage rack 110, and is also used to place the tools conveyed by the tool magazine docking mechanism 130 on the tool storage rack 110.

[0027] The tool magazine system provided by the embodiment of the present application includes a tool storage rack 110, a tool change docking mechanism 120, a tool magazine docking mechanism 130, and a handling system 140. Based on this, during the use of the tool magazine system, the tools required during the machining process can be set in the tool storage rack 110. During the machining process of the machine tool, when the tool on the machine tool needs to be replaced, the handling system 140 can set the tool on the tool storage rack 110 on the tool change docking mechanism 120. Then, the tool change docking mechanism 120 can convey the tool to the machine tool. The tool change docking mechanism 120 can receive the tool replaced by the machine tool and replace the tool of the machine tool. Then, the tool change docking mechanism 120 resets, and the handling system 140 can reset the tool replaced by the machine tool at the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, tools can be conveyed to the tool storage rack 110. Based on this, the tool magazine system provided by the embodiment of the present application can perform efficient tool change for the machine tool, especially when used in five-axis composite machine tools, which is convenient for docking with the central tool magazine and can improve the machining efficiency.

[0028] It can be understood that the tools that need to be replaced by the machine tool include but are not limited to spindle tools, spindle probes, turning angle heads, milling angle heads, measuring angle heads, and the tools on the angle heads. The machine tool system can also include a workshop-level central tool magazine. The tool magazine system provided by the embodiment of the present application can be interconnected with the workshop-level central tool magazine to realize automatic tool distribution. Currently, the common method for machining such parts is to use multiple machine tools for sequential machining in processes such as turning and milling. The machine tool is configured with multiple tool magazines and angle head exchange devices, or the angle heads and the tools on the angle heads are manually replaced, which can only partially realize the interconnection with the central tool magazine. Once the machine tool is produced, the tool magazine cannot be expanded, and the degree of integration and automation is low, which seriously restricts the improvement of the manufacturing process and the enhancement of the manufacturing efficiency of such parts. Through the tool magazine system provided by the embodiment of the present application, the tool storage rack 110 can be used to store tools, the handling system 140 and the tool change docking mechanism 120 can perform tool change for the machine tool, and the tool magazine docking mechanism 130 can convey tools to the tool storage rack 110, realizing the docking with the workshop-level central tool magazine and improving the tool change efficiency.

[0029] Such as Figure 2As shown, in a feasible implementation, the tool storage rack 110 includes: a first frame 111, on which a plurality of mounting positions are formed; a tool fixing plate 112, connected to the first frame 111, and a plurality of tool placement holes 113 are formed on one side of the tool fixing plate 112 facing the handling system 140; a radio frequency tag, arranged corresponding to the tool placement holes 113 on the tool fixing plate 112, for calibrating the type or model of the tool set in the tool placement holes 113; wherein, the handling system 140 is used to grab the tool through the tool placement holes 113, or set the replaced tool on the tool fixing plate 112.

[0030] In this technical solution, the structural composition of the tool storage rack 110 is further provided. The tool storage rack 110 may include a first frame 111, a tool fixing plate 112 and a radio frequency tag. Based on this, the first frame 111 provides an installation position for the tool fixing plate 112. By forming the tool placement holes 113 on the tool fixing plate 112, the handling system 140 can grab the tool through the tool placement holes 113, so as to convey the tool to the tool changing docking mechanism 120. At the same time, the handling system 140 can also grab the tool disassembled from the machine tool via the tool changing docking mechanism 120 and store the tool on the tool storage rack 110.

[0031] In this technical solution, the tool storage rack 110 further includes a radio frequency tag. By setting the radio frequency tag, the handling system 140 can easily know the model and specification of the tool set in each tool placement hole 113, which is convenient for accurate tool changing of the machine tool.

[0032] In some examples, the tool storage rack 110 includes a first frame 111 and several tool fixing plates 112. The tool storage rack 110 can be increased in groups according to the number of tools to be stored. The tool placement holes 113 are divided into several areas according to the tool diameter, which can minimize the space occupied by the storage rack.

[0033] In some examples, the tool storage rack 110 is composed of six tool fixing plates 112. Each tool fixing plate 112 is arranged with 28 tool placement holes 113 in horizontal and vertical arrays, totaling 168 tool placement holes 113, which are used to store small tools with a diameter within 100 mm. Each tool position is arranged regularly, which is convenient for the handling system 140 to locate in space, accurately store and grab tools. At the bottom layer of the tool storage rack 110, two or more angle head storage positions can be arranged.

[0034] Such as Figure 3As shown, in a feasible implementation, the tool change docking mechanism 120 includes: a second frame 121 arranged on one side of the handling system 140; a horizontal slide plate assembly 122 provided on the second frame 121; a spindle axial slide plate assembly 123 slidably connected to the horizontal slide plate assembly 122; a first tool holder 124 and a second tool holder 125, both the first tool holder 124 and the second tool holder 125 are slidably connected to the spindle axial slide plate assembly 123, and the first tool holder 124 and the second tool holder 125 are arranged staggeredly.

[0035] In this technical solution, the structural composition of the tool change docking mechanism 120 is further provided. The tool change docking mechanism 120 may include a second frame 121, a horizontal slide plate assembly 122, a spindle axial slide plate assembly 123, a first tool holder 124, and a second tool holder 125. Based on this, during use, the tool or the angle head can be replaced through the tool magazine system. When the tool magazine receives the spindle tool change instruction, the handling system 140 grabs the tool from the tool storage rack 110 to the corresponding tool placement hole 113, places the tool on the first tool holder 124 of the tool change docking mechanism 120, the first tool holder 124 clamps the tool, the handling system 140 releases the tool, and moves to a safe position. The horizontal slide plate assembly 122 is pushed into the machine tool interior, the spindle axial slide plate assembly 123 drives the second tool holder 125 to move to the tool unloading position, the second tool holder 125 opens, the spindle swings to an axis along the horizontal direction, and moves along the horizontal direction to the tool unloading position, the second tool holder 125 clamps the tool on the spindle, the spindle releases the tool, the spindle axial slide plate assembly 123 retracts, unloads the tool on the spindle, the spindle moves to the tool loading position, the spindle axial slide plate assembly 123 extends, moves to the tool loading position, the first tool holder 124 inserts the tool into the spindle, the spindle pulls the tool, the first tool holder 124 releases the tool, the spindle moves horizontally out, the spindle axial slide plate assembly 123 retracts, the horizontal slide plate assembly 122 retracts from the machine tool interior, the handling system 140 removes the tool on the tool unloading holder, places the tool storage rack 110 to the corresponding tool storage position, and completes the spindle tool change operation. The operations of the machine tool spindle replacing the angle head and the probe are the same as the spindle tool change operation.

[0036] In this technical solution, the first tool holder 124 and the second tool holder 125 are arranged staggeredly so that when the spindle and the angle head are respectively changed with tools, the first tool holder 124 and the second tool holder 125 will not interfere with the swing head of the machine tool.

[0037] In a feasible implementation, the tool changing and docking mechanism 120 further includes: a water receiving tank 126 disposed on the second frame 121; a tool disk 127 disposed on the second frame 121 for holding the tools to be replaced and the replaced tools; and a broken tool detection member 128 disposed on the second frame 121 with a detection direction towards the tool disk 127.

[0038] In this technical solution, the structural composition of the tool changing and docking mechanism 120 is further provided. The tool changing and docking mechanism 120 may further include a tool disk 127. Based on this, the tools that need to be replaced or frequently used can be stored on the tool disk 127, facilitating the handling system 140 to transport the tools on the tool disk 127 to the first tool holder 124 and the second tool holder 125, which can make full use of the space of the tool magazine system and reduce the floor area of the tool magazine system.

[0039] In this technical solution, the provision of the water receiving tank 126 can prevent the cutting fluid on the tool from dripping onto the lower angle head or the ground.

[0040] In this technical solution, through the provision of the broken tool detection member 128, the state of the tool can be inspected, which can improve the reliability and safety of machining.

[0041] As Figure 4 shown, in a feasible implementation, both the first tool holder 124 and the second tool holder 125 include: a first jaw 1241 and a second jaw 1242 for clamping the tool, such that when the tool is in the clamped state, the length direction of the tool is perpendicular to the length direction of the first tool holder 124 or the second tool holder 125.

[0042] In this technical solution, the styles of the first tool holder 124 and the second tool holder 125 are further provided. The first tool holder 124 and the second tool holder 125 may adopt the same structure, except that the fixed angles of the first tool holder 124 and the second tool holder 125 are different. Both the first tool holder 124 and the second tool holder 125 may include a first jaw 1241 and a second jaw 1242. By moving the first jaw 1241 and the second jaw 1242 closer to each other, the tool can be clamped. When the tool is in the clamped state, the length direction of the tool is perpendicular to the length direction of the first tool holder 124 or the second tool holder 125. Such a setting can avoid interference between the first tool holder 124 and the second tool holder 125 and the handling system 140 and improve the reliability of tool changing.

[0043] As Figure 3As shown, in a feasible implementation, the tool change docking mechanism 120 further includes: a cleaning member 129, which is arranged on the second frame 121 and is used to clean the tool.

[0044] In this technical solution, it is further provided that the tool change docking mechanism 120 may further include a cleaning member 129. By arranging the cleaning member 129, the tool can be cleaned, such as cleaning the tool replaced by the machine tool, which is convenient for the subsequent recycling of the tool.

[0045] In some examples, the tool change docking mechanism 120 includes a second frame 121, a horizontal slide plate assembly 122, a spindle axial slide plate assembly 123, a first tool holder 124, and a second tool holder 125. The second frame 121 is connected to the bed of the machine tool to ensure the accurate positioning of the tool change docking mechanism 120. A certain number of tool storage positions can be arranged on the second frame 121 to further effectively utilize the tool magazine space and reduce the floor area of the tool magazine. The horizontal slide plate assembly 122 is installed on the second frame 121 through a guide rail 152 and moves horizontally along the guide rail 152 under the drive of a motor and a lead screw. The spindle axial slide plate assembly 123 is installed on the horizontal slide plate through a guide rail 152 and moves in the spindle direction relative to the horizontal slide plate under the drive of a motor and a lead screw. The first tool holder 124 and the second tool holder 125 are fixed on the spindle axial slide plate assembly 123 and clamp the tool to move together with the spindle axial slide plate. The spindle tool, the spindle probe, the angle head, and the tool on the angle head have a consistent clamping interface. A set of the first tool holder 124 and the second tool holder 125 can clamp the spindle tool, the turning angle head, the milling angle head, the measuring angle head, and the tool on the angle head. A broken tool detection member 128 and a cleaning member 129 are arranged on the tool magazine docking mechanism 130.

[0046] In some examples, the tool disk 127 on the second frame 121 is provided with 7 ∅250mm tool storage positions and 2 angle head storage positions, effectively utilizing the tool magazine space and reducing the floor area of the tool magazine. The first tool holder 124 and the second tool holder 125 are respectively the tool loading position and the tool unloading position. The first tool holder 124 and the second tool holder 125 are misaligned in both the horizontal and vertical directions so that when the spindle and the angle head change tools respectively, the first tool holder 124 and the second tool holder 125 will not interfere with the swing head of the machine tool, and the clamped tool moves together with the spindle axial slide plate. The spindle tool, the spindle probe, the angle head, and the tool on the angle head are all provided with a consistent clamping interface. The first tool holder 124 and the second tool holder 125 can clamp the spindle tool, the turning angle head, the milling angle head, the measuring angle head, and the tool on the angle head.

[0047] Such as Figure 5As shown, in a feasible implementation, the tool magazine docking mechanism 130 includes: a third frame 131 disposed on the other side of the handling system; a pallet 133 transmission mechanism 132 disposed on the third frame 131; and a pallet 133 having a plurality of tool mounting positions formed thereon, with the pallet 133 connected to the pallet 133 transmission mechanism 132.

[0048] In this technical solution, the structural composition of the tool magazine docking mechanism 130 is further provided. The tool magazine docking mechanism 130 is used to dock with the workshop-level tool magazine center. The tool magazine docking mechanism 130 includes a third frame 131, a pallet 133 transmission mechanism 132, and a pallet 133. The tool magazine docking mechanism 130 is used to realize the docking between the tool storage rack 110 and the workshop-level tool magazine center. The docking mainly includes two methods. One is to load tools onto the tool storage rack 110, and the other is to convey the tools on the tool storage rack 110 to the workshop-level tool magazine center. After receiving the tool delivery instruction from the workshop-level tool magazine center, the handling system 140 grabs the tools that need to be returned to the central tool magazine into the pallet 133 of the tool magazine docking mechanism 130 according to the tool change instruction. The tool magazine docking mechanism 130 moves the pallet 133 to the docking position with the workshop-level tool magazine center. The delivery system of the workshop-level tool magazine center takes away the pallet 133 and places the pallet 133 that needs to be delivered to the local tool magazine onto the tool magazine docking mechanism 130. The tool magazine docking mechanism 130 moves the new pallet 133 to the grabbing position of the handling system 140, and the handling system 140 places the new tool into the preset tool placement hole 113 corresponding to the tool storage rack 110, thus completing the action of delivering tools from the central tool magazine.

[0049] As Figure 6 As shown, in a feasible implementation, the tool magazine docking mechanism 130 further includes: a first limiting member 134. The tool mounting position includes an arc-shaped groove. The first limiting member 134 is disposed between two adjacent tool mounting positions, and a partial area of the first limiting member 134 extends towards the tool mounting position for clamping with the tool handle.

[0050] In this technical solution, the structural composition of the tool magazine docking structure is further provided. The tool magazine docking structure may further include a first limiting member 134. The first limiting member 134 is disposed between two adjacent tool mounting positions, and a partial area of the first limiting member 134 extends towards the tool mounting position for clamping with the tool handle. The first limiting member 134 can limit the tool handle, enabling the tool to be placed more accurately in the tool mounting position of the pallet 133, making the positioning of the tool more precise and facilitating the accurate grabbing of the tool by the handling system 140.

[0051] In some examples, 34 tool storage positions with a diameter not greater than ∅120 mm are arranged on the third frame 131, improving the utilization rate of the tool magazine space. Five tool storage positions are provided on the pallet 133. Driven by the transmission mechanism 132 of the pallet 133, it moves vertically up and down to achieve docking with the workshop-level central tool magazine. The workshop-level central tool magazine transports the tool pallet 133 as a whole, realizing the distribution of 5 tools to the machine tool magazine each time, and improving the efficiency of the workshop-level central tool magazine in distributing tools to the machine tool magazine.

[0052] As Figure 7 and Figure 8 shown, in a feasible implementation, the handling system 140 includes: a ground rail 141; a seven-axis robot 142, the seven-axis robot 142 is connected to the ground rail 141; a tool sleeve base 143, the tool sleeve base 143 is connected to the seven-axis robot 142, and a first mounting position and a second mounting position are formed on the tool sleeve base 143; a first tool sleeve 144 and a second tool sleeve 145, the first tool sleeve 144 is arranged in the first mounting position, and the second tool sleeve 145 is arranged in the second mounting position; wherein, the arrangement direction of the first tool sleeve 144 is perpendicular to the arrangement direction of the second tool sleeve 145, and when a tool is sleeved through the first tool sleeve 144 or the second tool sleeve 145, the axial direction of the tool is co-directional with the length direction of the tool sleeve.

[0053] In this technical solution, the structural composition of the handling system 140 is further provided. The handling system 140 may include a ground rail 141, a seven-axis robot 142, a tool sleeve base 143, a first tool sleeve 144 and a second tool sleeve 145. Based on this, the seven-axis robot 142 of the handling system 140 can move through the ground rail 141, and then clamp the tool through the first tool sleeve 144 and the second tool sleeve 145. Through the settings of the first tool sleeve 144 and the second tool sleeve 145, the models of the first tool sleeve 144 and the second tool sleeve 145 can be different. Based on this, tools of different specifications can be clamped. Through the setting of the tool sleeve base 143, it is convenient for the installation of the first tool sleeve 144 and the second tool sleeve 145, and it is convenient for the maintenance of the first tool sleeve 144 and the second tool sleeve 145.

[0054] In this technical solution, the arrangement direction of the first tool sleeve 144 is perpendicular to the arrangement direction of the second tool sleeve 145, ensuring that there is no interference when the first tool sleeve 144 and the second tool sleeve 145 are working, and ensuring the safety of the tool change operation.

[0055] In this technical solution, when a tool is sleeved through the first tool sleeve 144 or the second tool sleeve 145, the axial direction of the tool is co-directional with the length direction of the tool sleeve. Combining with the fact that when the tool is in the clamped state, the length direction of the tool is perpendicular to the length direction of the first tool holder 124 or the second tool holder 125. It is convenient for the handling system 140 to dock with the tool change docking mechanism 120 and convenient for loading the tool.

[0056] In some examples, in order to further improve the efficiency of tool change, more mounting positions may also be formed on the tool magazine base 143 to fix more tool magazines. In some examples, one of the first tool magazine 144 and the second tool magazine 145 may be an HSK-T100 tool magazine, and the other may be an HSK-T63 tool magazine.

[0057] As Figure 9 and Figure 10 shown, in a feasible implementation, the tool magazine system further includes: a manual tool loading mechanism 150, the manual tool loading mechanism 150 is used to convey tools to the handling system 140, and the manual tool loading mechanism 150 includes: a bracket 151; a guide rail 152, the guide rail 152 is arranged on the bracket 151; a manual tool loading tray 153, a plurality of manual tool loading fixing positions are formed on the manual tool loading tray 153; a second limiting member 154, the second limiting member 154 is arranged at the center of the bottom of the manual tool loading fixing position, and the second limiting member 154 extends towards the manual tool loading fixing position to position the tool arranged in the manual tool loading fixing position; a detection switch 155, the detection switch 155 is arranged on the side of the manual tool loading fixing position for knowing whether there is a tool in the manual tool loading fixing position; an RFID reader / writer 156, the RFID reader / writer 156 is connected to the manual tool loading tray 153 and is arranged between the detection switch 155 and the second limiting member 154 for detecting the type of the tool in the manual tool loading fixing position; a driving component 157, the driving component 157 is used to drive the manual tool loading tray 153 to move on the guide rail 152 to approach or move away from the handling system 140.

[0058] In this technical solution, the tool magazine system may further include a manual tool loading mechanism 150. In addition to loading tools for the tool storage rack 110 through the tool change docking mechanism 120 and the workshop-level central tool magazine, the tool storage rack 110 can also be loaded with tools through the manual tool loading mechanism 150, so that the tool magazine system can adapt to different usage scenarios.

[0059] In this technical solution, the structural composition of the manual tool loading mechanism 150 is provided at the same time. The manual tool loading mechanism 150 may include a bracket 151, a guide rail 152 and a manual tool loading tray 153. Based on this, after the tool magazine system receives a manual tool loading instruction, the manual tool loading tray 153 moves to the manual tool loading position, and the worker places the tool into the tool storage position in the manual tool loading tray 153. After the tool placement is completed, the manual tool loading instruction is input and executed. The manual tool loading tray 153 takes the tool into the tool magazine. An RFID reader / writer is arranged at the tool storage position to read the tool information. The handling system 140 places the tool into the corresponding tool placement hole 113 of the tool storage rack 110 according to the tool information, completing the manual tool loading operation of the tool magazine. The manual tool taking operation from the tool magazine is opposite to the tool loading operation.

[0060] In this technical solution, the manual tool loading mechanism 150 may further include a second limit member 154, a detection switch 155, and an RFID reader / writer 156. Such a setting is considered because when manually placing tools into the manual tool loading tray 153, there may be a possibility that the tool setting position is inaccurate. Based on this, during the process of setting the tool into the manual tool loading tray 153, the second limit member 154 can be used for guiding first, and then the tool magazine system can control the manual tool loading tray 153 to move in the direction of the handling system 140. During the movement, the detection switch 155 can be used to check whether the tool setting position is accurate. If it is inaccurate, the type of the tool can be obtained through the RFID reader / writer 156, so as to facilitate the precise grasping of the handling system 140. Such a setting can improve the efficiency of manual tool loading.

[0061] In some examples, the manual tool loading mechanism 150 includes a bracket 151, a manual tool loading tray 153, and a cylinder driving device. The manual tool loading tray 153 is installed on the bracket 151 through a guide rail 152 and makes a linear motion under the drive of the cylinder driving device, realizing the reciprocating motion of the manual tool loading tray 153 between the manual tool loading station and the robot grasping station. There are 5 tool storage positions provided on the manual tool loading tray 153, and 5 tools can be loaded and unloaded at one time. Each tool storage position is provided with an RFID reader / writer, which can read the tool information and automatically send the tool information to the numerical control system. Each tool storage position is provided with a photoelectric switch to detect whether there is a tool in the tool storage position, preventing the robot from grasping nothing or causing tool collision.

[0062] In a feasible implementation manner, the bracket 151 of the manual tool loading mechanism 150 is connected to the first frame 111 of the tool storage rack 110. The manual tool loading mechanism 150, the tool storage rack 110, the tool magazine docking mechanism 130, and the handling system 140 are all arranged on the periphery of the tool magazine system. Such a setting facilitates the handling system 140 to grasp and transfer the tools.

[0063] The tool magazine system provided by the embodiment of the present application includes a handling system 140, a tool storage rack 110, a tool change docking mechanism 120, a tool magazine docking mechanism 130, and a manual tool loading mechanism 150. Each part is relatively independent and is fixed on the ground of the tool magazine area respectively. The tool storage rack 110 is used to store tools and angle heads. The handling system 140 is used to handle tools and angle heads among the tool storage rack 110, the tool change docking mechanism 120, the tool magazine docking mechanism 130, and the manual tool loading mechanism 150. The tool change docking mechanism 120 is used to realize the automatic tool change, probe, and angle head replacement of the machine tool spindle, and to realize the automatic tool change on the angle head. The tool magazine docking mechanism 130 realizes the docking with the central tool magazine truss transportation system, and can replace 5 tools each time. The manual tool loading mechanism 150 can realize the manual access of tools to and from the tool magazine, and can replace up to 5 tools each time. The tool storage is divided into 5 areas. In the full tool state, 168 ∅100 tools, 34 ∅120 tools, 7 ∅250 tools, and 4 turning, milling, and measuring angle heads can be realized, with a total of 213 tool positions.

[0064] The electrical control logic of the tool magazine system: Establish tool magazine information in the numerical control system, including the position information of the tool storage area and the tool type information that can be stored in different storage areas; when storing tools in the tool magazine through the manual tool loading mechanism 150, read the tool information stored in the tool holder chip through the RFID reader / writer at the storage position, and according to the tool parameters, the system automatically judges the tool type, tool holder type, and tool diameter, and then automatically stores the tool in the corresponding tool storage area, and establishes a mapping relationship between the tool storage position and the tool information, and stores it in the numerical control system. The tool change action logic of the spindle and the angle head, as well as the tool loading and unloading postures and position information of the spindle and the angle head, are set in the numerical control system. When the machine tool receives a tool change instruction, the system will judge whether the tool to be changed is a spindle tool or an angle head tool, and automatically execute the spindle tool change action or the angle head tool change action according to the specific tool change type. At the same time, the spindle is equipped with an angle head detection switch to detect whether an angle head is installed on the current spindle, preventing incorrect input of the tool change instruction, resulting in executing the angle head tool change instruction on the spindle or the spindle tool change instruction on the angle head. When the central tool magazine system distributes tools to the local tool magazine, the central tool magazine system will send the distributed tool information and the position information of the tool corresponding to the tool tray 133 to the local numerical control system, and the numerical control system will judge according to the received tool information and automatically execute the tool loading program to store the tool in the corresponding tool storage position.

[0065] The tool magazine system provided by the embodiments of the present application can realize automatic replacement of different types of tools and accessories such as spindle tools, spindle probes, angle heads, and tools on angle heads. The tool magazine has a flexible layout and wide applicability, and can be widely used in various five-axis machining centers. The tool magazine capacity can be expanded arbitrarily, the functions can be adjusted according to actual needs, and it is very convenient to interconnect with the central tool magazine system, with high reliability, good compatibility, and low cost.

[0066] As Figure 11 shown, according to the second aspect of the embodiments of the present application, a tool changing method for a machine tool is proposed, which is applied to the tool magazine system of any of the above technical solutions. The tool changing method for a machine tool includes: Step 201: Respond to a tool change instruction, where the tool change instruction includes tool type and model information; Step 202: Based on the tool change instruction, control the handling system to clamp the tool to be replaced in the tool storage rack; Step 203: Control the handling system to convey the tool to be replaced to the tool change docking mechanism; Step 204: Control the tool change docking mechanism to convey the tool to be replaced to the machine tool. First, based on the tool change docking mechanism to receive the tool removed from the machine tool, and then assemble the tool to be replaced onto the spindle of the machine tool; Step 205: Control the tool change docking mechanism to reset, and convey the removed tool to the tool storage rack through the handling system.

[0067] The tool changing method for a machine tool provided by the embodiments of the present application, because it is applied to the tool magazine system of any of the above technical solutions, so this tool changing method for a machine tool has all the beneficial effects of the tool magazine system of the above technical solutions.

[0068] The tool changing method for a machine tool provided by the embodiments of the present application can set the tools required during the machining process in the tool storage rack 110. During the machining process of the machine tool, when the tool on the machine tool needs to be replaced, the handling system 140 can set the tool on the tool storage rack 110 on the tool change docking mechanism 120. Then the tool change docking mechanism 120 can convey the tool to the machine tool. Through the tool change docking mechanism 120, the tool removed from the machine tool can be received, and the tool of the machine tool can be replaced. Then the tool change docking mechanism 120 resets, and the handling system 140 can reset the tool removed from the machine tool at the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, tools can be conveyed to the tool storage rack 110. Based on this, the tool magazine system provided by the embodiments of the present application can perform efficient tool changing on the machine tool, especially when used in five-axis composite machine tools, which is convenient for docking with the central tool magazine and can improve the machining efficiency.

[0069] In a feasible implementation, the tool changing method of the machine tool further includes: counting the usage frequency of the tools in the tool storage rack 110; sorting the radio frequency tags on the tool storage rack 110 based on the usage frequency; wherein, the radio frequency tag corresponding to the tool with a higher usage frequency is closer to the tool changing docking mechanism 120.

[0070] In this technical solution, the tool changing method of the machine tool may further include sorting the radio frequency tags on the tool storage rack 110 based on the usage frequency of the tools, so as to shorten the movement path of the handling system 140 and further improve the tool changing efficiency.

[0071] According to the third aspect of the embodiments of the present application, a machine tool is provided, including: a tool magazine system as described in any of the above technical solutions; a machine tool body, and the tool changing docking mechanism 120 is conducted to the machine tool body.

[0072] The machine tool provided by the embodiments of the present application includes the tool magazine system as described in any of the above technical solutions, so the machine tool has all the beneficial effects of the tool magazine system of the above technical solutions.

[0073] The machine tool provided by the embodiments of the present application can set the tools required during the machining process in the tool storage rack 110. During the machining process of the machine tool, when the tool on the machine tool needs to be replaced, the handling system 140 can set the tool on the tool storage rack 110 on the tool changing docking mechanism 120. Then, the tool changing docking mechanism 120 can convey the tool to the machine tool. The tool changing docking mechanism 120 can receive the tool removed from the machine tool and replace the tool of the machine tool. Then, the tool changing docking mechanism 120 resets, and the handling system 140 can reset the tool removed from the machine tool at the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, tools can be conveyed to the tool storage rack 110. Based on this, the tool magazine system provided by the embodiments of the present application can perform efficient tool changing on the machine tool, especially when it is used in five-axis composite machine tools, which is convenient for docking with the central tool magazine and can improve the machining efficiency.

[0074] In some examples, the machine tool may further include a workshop-level central tool magazine. Through the tool magazine system provided by the embodiments of the present application, efficient docking between the machine tool and the workshop-level central tool magazine can be realized, and the tool changing efficiency can be improved.

[0075] In the present invention, the terms "first", "second", and "third" are used only for descriptive purposes and should not be construed as indicating or implying relative importance; the term "a plurality of" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention.

[0077] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0078] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tool magazine system, characterized in that, Comprising: A tool storage rack for storing tools; A tool changing docking mechanism disposed on the periphery of the tool storage rack for conveying tools to be replaced to the machine tool and conveying the replaced tools from the machine tool; A tool magazine docking mechanism for conveying tools to the tool storage rack; A handling system arranged between the tool storage rack, the tool changing docking mechanism and the tool magazine docking mechanism. The handling system is used for transporting the tools on the tool storage rack to the tool changing docking mechanism, for transporting the replaced tools on the tool changing docking mechanism to the tool storage rack, and for arranging the tools conveyed by the tool magazine docking mechanism on the tool storage rack.

2. The tool magazine system according to claim 1, wherein The tool storage rack includes: A first frame on which a plurality of mounting positions are formed; A tool fixing plate connected to the first frame. On the side of the tool fixing plate facing the handling system, a plurality of tool placement holes are formed; Radio frequency tags are provided corresponding to the tool placement holes on the tool fixing plate for calibrating the type or model of the tools arranged in the tool placement holes; Wherein, the handling system is used to grab the tools through the tool placement holes or to arrange the replaced tools on the tool fixing plate.

3. The tool magazine system according to claim 1, characterized in that, The tool changing docking mechanism includes: A second frame arranged on one side of the handling system; A horizontal slide plate assembly provided on the second frame; A main shaft axial slide plate assembly slidably connected to the horizontal slide plate assembly; A first tool gripper and a second tool gripper, both of which are slidably connected to the main shaft axial slide plate assembly, and the first tool gripper and the second tool gripper are arranged in an alternating manner; A water receiving tank provided on the second frame; A tool tray provided on the second frame for holding tools to be replaced and replaced tools; A broken tool detection member provided on the second frame, and the detection direction faces the tool tray.

4. The tool magazine system according to claim 3, characterized in that, Both the first tool gripper and the second tool gripper include: A first jaw and a second jaw for gripping the tool so that when the tool is in the gripped state, the length direction of the tool is perpendicular to the length direction of the first tool gripper or the second tool gripper; The tool changing docking mechanism further includes: a cleaning member provided on the second frame for cleaning the tool.

5. The tool magazine system according to claim 1, wherein The tool magazine docking mechanism includes: A third frame arranged on the other side of the handling system; A tray transmission mechanism arranged on the third frame; A tray on which a plurality of tool mounting positions are formed, and the tray is connected to the tray transmission mechanism; A first limiting member. The tool mounting position includes an arc-shaped groove. The first limiting member is provided between two adjacent tool mounting positions, and a partial area of the first limiting member extends towards the tool mounting position for clamping with the tool shank.

6. The tool magazine system according to claim 1, wherein, The handling system includes: A ground rail; A seven-axis robot, which is connected to the ground rail; A tool magazine base, which is connected to the seven-axis robot, and a first mounting position and a second mounting position are formed on the tool magazine base; A first tool magazine and a second tool magazine, the first tool magazine is arranged in the first mounting position, and the second tool magazine is arranged in the second mounting position; Wherein, the arrangement direction of the first tool magazine is perpendicular to the arrangement direction of the second tool magazine. When a tool is sleeved by the first tool magazine or the second tool magazine, the axial direction of the tool is co-directional with the length direction of the tool magazine.

7. The tool magazine system according to any one of claims 1 to 6, characterized in that, It further includes: A manual tool loading mechanism, which is used to convey tools to the handling system. The manual tool loading mechanism includes: A bracket; A guide rail, which is arranged on the bracket; A manual tool loading tray, and a plurality of manual tool loading fixing positions are formed on the manual tool loading tray; A second limiting member, which is arranged at the central position at the bottom of the manual tool loading fixing position, and the second limiting member extends towards the manual tool loading fixing position to position the tool arranged in the manual tool loading fixing position; A detection switch, which is arranged on the side of the manual tool loading fixing position to know whether there is a tool in the manual tool loading fixing position; An RFID reader / writer head, which is connected to the manual tool loading tray and is arranged between the detection switch and the second limiting member to detect the type of the tool in the manual tool loading fixing position; A driving assembly, which is used to drive the manual tool loading tray to move on the guide rail to approach or move away from the handling system; Wherein, the bracket of the manual tool loading mechanism is connected to the first frame of the tool storage rack, and the manual tool loading mechanism, the tool storage rack, the tool magazine docking mechanism and the handling system are all arranged on the periphery of the tool magazine system.

8. A tool changing method for a machine tool, characterized in that, Applied to the tool magazine system according to any one of claims 1 to 7, the method for changing tools of a machine tool includes: Responding to a tool change instruction, and the tool change instruction includes tool type and model information; Based on the tool change instruction, controlling the handling system to clamp the tool to be replaced in the tool storage rack; Controlling the handling system to convey the tool to be replaced to the tool change docking mechanism; Controlling the tool change docking mechanism to convey the tool to be replaced to the machine tool. First, based on the tool change docking mechanism to receive the tool removed by the machine tool, and then assembling the tool to be replaced to the main shaft of the machine tool; Controlling the tool change docking mechanism to reset, and conveying the removed tool to the tool storage rack through the handling system.

9. The tool changing method of the machine tool tool according to claim 8, characterized in that, It further includes: Counting the usage frequency of the tools in the tool storage rack; Sorting the radio frequency tags on the tool storage rack based on the usage frequency; Wherein, the radio frequency tag corresponding to the tool with a higher usage frequency is closer to the tool change docking mechanism.

10. A machine tool, characterized in that, It includes: The tool magazine system according to any one of claims 1 to 7; A machine tool body, and the tool change docking mechanism is conducted to the machine tool body.

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