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

Abstract

The present application relates to the technical field of parts, components or accessories of machine tools, and discloses a tool magazine system, a tool changing method for machine tools and a machine tool. The tool magazine system includes a tool storage rack, a tool changing docking mechanism, a tool magazine docking mechanism and a transport system. 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 changing docking mechanism through the transport system, and then the tool changing docking mechanism can transport the tool to the machine tool. The tool changing docking mechanism can receive the tool replaced by the machine tool and replace the tool of the machine tool. Then the tool changing docking mechanism is reset, and the transport system can reset the tool replaced by the machine tool to the tool storage rack. Through the setting of the tool magazine docking mechanism, the tool can be transported to the tool storage rack. Based on this, the tool magazine system provided by the embodiment of the present application can efficiently change the tool of the machine tool, which can improve the machining efficiency.

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 machine tools, and a machine tool. Background Art

[0002] In fields such as aerospace and aeroengines, parts are complex in structure, feature numerous machining features, and demand stringent manufacturing precision. These parts are also highly valuable. For example, a typical case is a rotary part with features such as end faces, internal and external cylindrical surfaces, internal and external annular grooves, inclined planes, curved surfaces, and numerous bosses, eccentric holes, oblique holes, and threaded holes. To achieve high-precision machining of these features, the optimal method is to use a five-axis multi-process machine tool, capable of performing all turning, milling, boring, drilling, and tapping operations in a single setup. This requires at least dozens of different tool types, along with in-process measurement capabilities to measure machined features during machining and ensure accuracy. Some machined features are located within the part cavity, necessitating the use of turning, milling, and measuring heads. These parts are typically produced in small batches with varying varieties, requiring varying tooling requirements for different parts and requiring frequent tool changes in the tool magazine. This results in low machining efficiency using traditional machine tools. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. This section of the invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection 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 art.

[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 an embodiment of the present application, a tool magazine system is proposed, comprising:

[0009] A tool storage rack, wherein the tool storage rack is used to store tools;

[0010] A tool change docking mechanism, which is arranged on the peripheral side of the tool storage rack and is used to transport tools to be replaced for the machine tool and transport tools that have been replaced on the machine tool;

[0011] A tool magazine docking mechanism, the tool magazine docking mechanism is used to transport tools to the tool storage rack;

[0012] A transport system is arranged between the tool storage rack, the tool change docking mechanism and the tool magazine docking mechanism. The transport system is used to transport the tools on the tool storage rack to the tool change docking mechanism, to transport the replaced tools on the tool change docking mechanism to the tool storage rack, and to set the tools transported by the tool magazine docking mechanism on the tool storage rack.

[0013] In a feasible embodiment, the tool storage rack includes:

[0014] a first frame having a plurality of mounting positions formed thereon;

[0015] a tool fixing plate, the tool fixing plate being connected to the first frame and having a plurality of tool placement holes formed on a side of the tool fixing plate facing the transport system;

[0016] A radio frequency tag is provided on the tool fixing plate corresponding to the tool placement hole, and is used to calibrate the type or model of the tool set in the tool placement hole;

[0017] The transport system is used to grab the tool through the tool placement hole, or to place the replaced tool on the tool fixing plate.

[0018] In a feasible embodiment, the tool changing and docking mechanism includes:

[0019] a second frame arranged on one side of the transport system;

[0020] a horizontal slide assembly, the horizontal slide assembly being disposed on the second frame;

[0021] A main shaft axial slide assembly, wherein the main shaft axial slide assembly is slidably connected to the horizontal slide assembly;

[0022] A first tool holder and a second tool holder, wherein the first tool holder and the second tool holder are both slidably connected to the spindle axial slide assembly, and the first tool holder and the second tool holder are staggered;

[0023] a water receiving trough, the water receiving trough being arranged on the second frame;

[0024] A tool tray, the tool tray being arranged on the second frame and being used for accommodating tools to be replaced and tools to be replaced;

[0025] The broken tool detection component is arranged on the second frame, and its detection direction is toward the tool disc.

[0026] In a feasible embodiment, the first tool holder and the second tool holder both include:

[0027] a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are used to clamp a tool so that when the tool is in a clamped state, a length direction of the tool is perpendicular to a length direction of the first tool holder or the second tool holder;

[0028] The tool changing and docking mechanism further includes a cleaning member, which is arranged on the second frame and is used to clean the tool.

[0029] In a feasible embodiment, the tool magazine docking mechanism includes: a third frame, the third frame is arranged on the other side of the transport system; a pallet transmission mechanism, the pallet transmission mechanism is arranged on the third frame; a pallet, a plurality of tool mounting positions are formed on the pallet, and the pallet is connected to the pallet transmission mechanism;

[0030] The first limiting member, the tool mounting position includes an arc-shaped groove, the first limiting member is arranged between two adjacent tool mounting positions, and a partial area of ​​the first limiting member extends toward the tool mounting position for engaging with the tool handle.

[0031] In a feasible embodiment, the transport system includes:

[0032] Ground rail;

[0033] a seven-axis robot connected to the ground rail;

[0034] A tool sheath base, the tool sheath base being connected to the seven-axis robot, and having a first mounting position and a second mounting position formed thereon;

[0035] a first knife housing and a second knife housing, wherein the first knife housing is arranged in the first installation position and the second knife housing is arranged in the second installation position;

[0036] The arrangement direction of the first tool sleeve is perpendicular to the arrangement direction of the second tool sleeve. When a tool is installed through the first tool sleeve or the second tool sleeve, the axial direction of the tool is in the same direction as the length direction of the tool sleeve.

[0037] In a feasible embodiment, the tool magazine system further includes: a manual tool loading mechanism, which is used to transport tools to the transport system, and the manual tool loading mechanism includes:

[0038] Bracket;

[0039] a guide rail, the guide rail being arranged on the bracket;

[0040] A manual knife loading tray, wherein a plurality of manual knife loading fixing positions are formed on the manual knife loading tray;

[0041] a second limiting member, the second limiting member being arranged at a central position at the bottom of the manual upper knife fixing position and extending toward the manual upper knife fixing position to position the knife disposed in the manual upper knife fixing position;

[0042] A detection switch is arranged on the side of the manual upper knife fixing position and is used to detect whether a knife is in the manual upper knife fixing position;

[0043] An RFID read / write head, connected to the manual upper knife tray and arranged between the detection switch and the second limit member, for detecting the type of the tool in the manual upper knife fixed position;

[0044] A drive assembly is used to drive the manual upper knife tray to move on the guide rail to move closer to or away from the transport system.

[0045] The bracket of the manual knife loading mechanism is connected to the first frame of the tool storage rack, and the manual knife loading mechanism, the tool storage rack, the tool magazine docking mechanism and the transport system are all arranged on the peripheral side of the tool magazine system.

[0046] According to a second aspect of an embodiment of the present application, a tool changing method for a machine tool is proposed, which is applied to a tool magazine system as described in any of the above technical solutions. The tool changing method for a machine tool comprises:

[0047] Responding to a tool change instruction, wherein the tool change instruction includes tool type and model information;

[0048] Based on the tool change instruction, controlling the transport system to clamp the tool to be replaced in the tool storage rack;

[0049] Control the transport system to transport the tool to be replaced to the tool changing docking mechanism;

[0050] Controlling the tool change docking mechanism to transport the tool to be replaced to the machine tool, firstly using the tool change docking mechanism to receive the tool replaced by the machine tool, and then assembling the tool to be replaced to the spindle of the machine tool;

[0051] Control the tool change docking mechanism to reset, and transport the replaced tool to the tool storage rack through the handling system.

[0052] In a feasible implementation manner, the machine tool tool changing method further includes:

[0053] Counting the usage frequency of the knives in the knife storage rack;

[0054] sorting the radio frequency tags on the tool storage rack based on the frequency of use;

[0055] The radio frequency tag corresponding to the tool with higher usage frequency is closer to the tool changing and docking mechanism.

[0056] According to a third aspect of an embodiment of the present application, a machine tool is provided, comprising:

[0057] A tool magazine system as described in any of the above technical solutions;

[0058] The tool changing and docking mechanism is connected to the machine tool body.

[0059] Compared with the prior art, the present invention has at least the following beneficial effects:

[0060] The tool magazine system provided in the embodiment of the present application includes a tool storage rack, a tool change docking mechanism, a tool magazine docking mechanism and a transport system. Based on this, during the use of the tool magazine system, the tools needed in the processing process can be placed in the tool storage rack. During the processing of the machine tool, when the tool on the machine tool needs to be replaced, the tool set on the tool storage rack can be placed on the tool change docking mechanism through the transport system, and then the tool change docking mechanism can transport 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 is reset, and the transport system can reset the tool replaced by the machine tool to the tool storage rack. Through the setting of the tool magazine docking mechanism, the tool can be transported to the tool storage rack. Based on this, the tool magazine system provided in the embodiment of the present application can efficiently change tools for machine tools, especially when used in five-axis compound machine tools, which is convenient for docking with the central tool magazine and can improve processing efficiency.

[0061] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0063] Figure 1 A schematic structural diagram of a tool magazine system according to an embodiment of the present application;

[0064] Figure 2A schematic structural diagram of a tool storage rack of a tool magazine system according to an embodiment of the present application;

[0065] Figure 3 A schematic structural diagram of a tool change docking mechanism of a tool magazine system according to an embodiment of the present application;

[0066] Figure 4 A schematic structural diagram of a first tool holder of a tool change docking mechanism of a tool magazine system according to an embodiment of the present application;

[0067] Figure 5 A schematic structural diagram of a tool magazine docking mechanism of a tool magazine system according to an embodiment of the present application;

[0068] Figure 6 A partially enlarged schematic structural diagram of a tray of a tool magazine docking mechanism of a tool magazine system according to an embodiment of the present application;

[0069] Figure 7 A schematic structural diagram of a transport system of a tool magazine system according to an embodiment of the present application;

[0070] Figure 8 A schematic structural diagram of a tool sleeve base of a tool magazine system transport system according to an embodiment of the present application;

[0071] Figure 9 A schematic structural diagram of a manual knife loading mechanism of a tool magazine system according to an embodiment of the present application;

[0072] Figure 10 A partially enlarged schematic structural diagram of a manual knife loading tray of a manual knife loading mechanism of a tool magazine system according to an embodiment of the present application;

[0073] Figure 11 This is a schematic flowchart of the steps of a machine tool tool changing method provided in an embodiment of the present application.

[0074] in, Figures 1 to 10 The corresponding relationship between the reference numerals and component names is as follows:

[0075] 110 tool storage rack, 120 tool change docking mechanism, 130 tool magazine docking mechanism, 140 handling system, 150 manual tool loading mechanism;

[0076] 111 first frame, 112 tool fixing plate, 113 tool placement hole;

[0077] 121 second frame, 122 horizontal slide assembly, 123 spindle axial slide assembly, 124 first tool holder, 125 second tool holder, 126 water trough, 127 tool tray, 128 tool breakage detection component, 129 cleaning component, 1241 first clamping jaw, 1242 second clamping jaw;

[0078] 131 third frame, 132 tray transmission mechanism, 133 tray, 134 first position limiting member;

[0079] 141 ground rail, 142 seven-axis robot, 143 tool holder base, 144 first tool holder, 145 second tool holder;

[0080] 151 bracket, 152 guide rail, 153 manual knife tray, 154 second limiter, 155 detection switch, 156 RFID read / write head, 157 drive assembly. DETAILED DESCRIPTION

[0081] In the following description, a number of specific details are provided 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.

[0082] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit 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 "comprise" and / or "include" are used in this specification, they indicate the presence of the 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.

[0083] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0084] like Figures 1 to 10As shown, according to the first aspect of an embodiment of the present application, a tool magazine system is proposed, including: a tool storage rack 110, the tool storage rack 110 is used to store tools; a tool changing docking mechanism 120, the tool changing docking mechanism 120 is arranged on the peripheral side of the tool storage rack 110, and is used to transport tools to be replaced for the machine tool and to transport tools replaced on the machine tool; a tool magazine docking mechanism 130, the tool magazine docking mechanism 130 is used to transport tools to the tool storage rack 110; a conveying system 140, the conveying system 140 is arranged between the tool storage rack 110, the tool changing docking mechanism 120 and the tool magazine docking mechanism 130, the conveying system 140 is used to transport tools on the tool storage rack 110 to the tool changing docking mechanism 120, to transport tools replaced on the tool changing docking mechanism 120 to the tool storage rack 110, and to set tools conveyed by the tool magazine docking mechanism 130 on the tool storage rack 110.

[0085] The tool magazine system provided in 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 transport system 140. Based on this, during the use of the tool magazine system, the tools needed in the processing process can be placed in the tool storage rack 110. During the machining process of the machine tool, when the tools on the machine tool need to be replaced, the tools set on the tool storage rack 110 can be placed on the tool change docking mechanism 120 through the transport system 140. The tool change docking mechanism 120 can then transport the tools to the machine tool. The tool change docking mechanism 120 can receive the tools replaced by the machine tool and replace the tools on the machine tool. After that, the tool change docking mechanism 120 is reset, and the transport system 140 can reset the tools replaced by the machine tool to the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, tools can be transported to the tool storage rack 110. Based on this, the tool magazine system provided by the embodiment of the present application can efficiently change tools for machine tools, especially when used in five-axis compound machine tools, which is convenient for docking with the central tool magazine and can improve processing efficiency.

[0086] It is understandable that the tools that need to be replaced on a machine tool include, but are not limited to, spindle tools, spindle probes, turning angle heads, milling angle heads, measuring angle heads, and tools on angle heads. The machine tool system may also include a workshop-level central tool magazine. The tool magazine system provided in the embodiment of the present application can be interconnected with the workshop-level central tool magazine to achieve automatic distribution of tools. At present, the usual way to process such parts is to use multiple machine tools for sequential processing of turning, milling and other processes. The machine tool is equipped with multiple tool magazines and angle head exchange devices, or the angle head and the tools on the angle head are manually replaced. This can only partially achieve 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 of such parts and the improvement of manufacturing efficiency. Through the tool magazine system provided in the embodiment of the present application, the tool storage rack 110 can be used to store the tools, the machine tool can be changed by the transport system 140 and the tool change docking mechanism 120, and the tool storage rack 110 can be transported by the tool magazine docking mechanism 130, thereby achieving docking with the workshop-level central tool magazine and improving tool change efficiency.

[0087] like Figure 2 As shown, in a feasible embodiment, the tool storage rack 110 includes: a first frame 111, a plurality of mounting positions are formed on the first frame 111; a tool fixing plate 112, the tool fixing plate 112 is connected to the first frame 111, and a plurality of tool placement holes 113 are formed on the side of the tool fixing plate 112 facing the conveying system 140; a radio frequency tag is arranged on the tool fixing plate 112 corresponding to the tool placement hole 113, and is used to calibrate the type or model of the tool set in the tool placement hole 113; wherein, the conveying system 140 is used to grab the tool through the tool placement hole 113, or to set the replaced tool on the tool fixing plate 112.

[0088] 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 setting of the first frame 111 provides an installation position for the tool fixing plate 112, and a tool placement hole 113 is formed on the tool fixing plate 112. The transport system 140 can grab the tool through the tool placement hole 113 to facilitate the transport of the tool to the tool changing docking mechanism 120. At the same time, the transport system 140 can also grab the tool disassembled by the machine tool through the tool changing docking mechanism 120 and store the tool on the tool storage rack 110.

[0089] In this technical solution, the tool storage rack 110 also includes a radio frequency tag. Through the setting of the radio frequency tag, the handling system 140 can easily know the model and specifications of the tool set in each tool placement hole 113, which is convenient for accurate tool change of the machine tool.

[0090] 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 required to be stored. The tool placement holes 113 are divided into several areas according to the diameter of the tools, which can minimize the space occupied by the storage rack.

[0091] In some examples, tool storage rack 110 comprises six tool mounting plates 112. Each plate 112 has 28 tool placement holes 113 arranged in a horizontal and vertical array, for a total of 168 tool placement holes 113. These are used to store small tools with a diameter of less than 100 mm. The tool placement holes are arranged in a regular pattern to facilitate spatial positioning by handling system 140, allowing for precise storage and retrieval of tools. The bottom layer of tool storage rack 110 can be equipped with two or more storage spaces for angled tools.

[0092] like Figure 3 As shown, in a feasible embodiment, the tool changing docking mechanism 120 includes: a second frame 121, arranged on one side of the transport system 140; a horizontal slide assembly 122, the horizontal slide assembly 122 is set on the second frame 121; a spindle axial slide assembly 123, the spindle axial slide assembly 123 is slidingly connected to the horizontal slide assembly 122; a first tool holder 124 and a second tool holder 125, the first tool holder 124 and the second tool holder 125 are both slidingly connected to the spindle axial slide assembly 123, and the first tool holder 124 and the second tool holder 125 are staggered.

[0093] In this technical solution, the structural composition of a tool changing docking mechanism 120 is further provided. The tool changing docking mechanism 120 may include a second frame 121, a horizontal slide assembly 122, a spindle axial slide assembly 123, a first tool holder 124 and a second tool holder 125. Based on this, during use, the tool or angle head can be replaced through the tool magazine system. When the tool magazine receives the spindle tool changing instruction, the transport system 140 grabs the tool from the tool storage rack 110 to the corresponding tool placement hole 113, and places the tool on the first tool holder 124 of the tool changing docking mechanism 120. The first tool holder 124 clamps the tool, and the transport system 140 releases the tool and moves it to a safe position. The horizontal slide assembly 122 is pushed into the interior of the machine tool, and the spindle axial slide 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 the horizontal direction along the axis, and moves horizontally 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 assembly 123 retracts, and the tool on the spindle is unloaded. The spindle moves to the tool loading position, the spindle axial slide assembly 123 extends and 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 out horizontally, the spindle axial slide assembly 123 retracts, the horizontal slide assembly 122 retracts from the interior of the machine tool, the handling system 140 removes the tool on the tool unloading holder, and places the tool storage rack 110 to the corresponding tool storage position to complete the spindle tool changing action. The action of replacing the angle head and probe on the machine tool spindle is the same as the action of changing the tool on the spindle.

[0094] In this technical solution, the first tool holder 124 and the second tool holder 125 are staggered to ensure 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.

[0095] In a feasible embodiment, the tool changing docking mechanism 120 also includes: a water receiving trough 126, which is arranged on the second frame 121; a tool disc 127, which is arranged on the second frame 121, and the tool disc 127 is used to hold the tools to be replaced and the tools to be replaced; a broken tool detection part 128, which is arranged on the second frame 121, and the detection direction is toward the tool disc 127.

[0096] In this technical solution, the structural composition of the tool changing docking mechanism 120 is further provided. The tool changing docking mechanism 120 can also include a tool disk 127, based on which the tools that need to be replaced or used frequently can be stored on the tool disk 127, so that the transport system 140 can transport the tools on the tool disk 127 to the first tool clamp 124 and the second tool clamp 125, which can make full use of the space of the tool magazine system and reduce the footprint of the tool magazine system.

[0097] In this technical solution, the provision of the water receiving trough 126 can prevent the cutting fluid on the tool from dripping onto the angle head below or the ground.

[0098] In this technical solution, by providing the broken tool detection member 128, the status of the tool can be checked, which can improve the reliability and safety of the processing.

[0099] like Figure 4 As shown, in a feasible embodiment, the first tool holder 124 and the second tool holder 125 both include: a first clamping jaw 1241 and a second clamping jaw 1242, and the first clamping jaw 1241 and the second clamping jaw 1242 are used to clamp the tool so 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.

[0100] This technical solution further provides a first tool holder 124 and a second tool holder 125. The first tool holder 124 and the second tool holder 125 can have the same structure, differing in that they are fixed at different angles. Both the first tool holder 124 and the second tool holder 125 can include a first clamping jaw 1241 and a second clamping jaw 1242. The first clamping jaw 1241 and the second clamping jaw 1242 are brought into close proximity to each other to clamp the tool. When the tool is clamped, the length of the tool is perpendicular to the length of the first tool holder 124 or the second tool holder 125. This arrangement prevents interference between the first tool holder 124 and the second tool holder 125 and the transport system 140, thereby improving the reliability of tool changes.

[0101] like Figure 3 As shown, in a feasible embodiment, the tool changing docking mechanism 120 further includes: a cleaning member 129 , which is disposed on the second frame 121 and is used to clean the tool.

[0102] In this technical solution, it is further provided that the tool changing docking mechanism 120 may also include a cleaning member 129. The setting of the cleaning member 129 can clean the tool, for example, the tool replaced by the machine tool can be cleaned to facilitate the subsequent recycling of the tool.

[0103] In some examples, the tool changer docking mechanism 120 includes a second frame 121, a horizontal slide assembly 122, a spindle axial slide assembly 123, a first tool holder 124, and a second tool holder 125. The second frame 121 is connected to the machine tool bed to ensure accurate positioning of the tool changer docking mechanism 120. A certain number of tool storage spaces can be arranged on the second frame 121, further effectively utilizing the tool magazine space and reducing the magazine's footprint. The horizontal slide assembly 122 is mounted on the second frame 121 via guide rails 152 and moves horizontally along the guide rails 152, driven by a motor and a lead screw. The spindle axial slide assembly 123 is mounted on the horizontal slide via guide rails 152 and moves relative to the horizontal slide in the spindle direction, driven by a motor and a lead screw. The first tool holder 124 and the second tool holder 125 are fixed to the spindle axial slide assembly 123, holding the tools and moving with the spindle axial slide. The spindle tool, spindle probe, angle head, and tools attached to the angle head have consistent clamping interfaces. A set of first tool holders 124 and second tool holders 125 can clamp the spindle tool, turning angle head, milling angle head, measuring angle head, and tools attached to the angle head. A tool breakage detector 128 and a cleaning unit 129 are provided on the tool magazine docking mechanism 130.

[0104] In some examples, the tool disk 127 on the second frame 121 is arranged with 7 ∅250mm tool storage positions and 2 angle head storage positions, which effectively utilizes the tool magazine space and reduces the area occupied by 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 staggered in the horizontal and vertical directions to ensure that when the spindle and the angle head are changed 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. 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.

[0105] like Figure 5 As shown, in a feasible embodiment, the tool magazine docking mechanism 130 includes: a third frame 131, the third frame 131 is arranged on the other side of the transport system; a pallet 133 transmission mechanism 132, the pallet 133 transmission mechanism 132 is arranged on the third frame 131; a pallet 133, a plurality of tool mounting positions are formed on the pallet 133, and the pallet 133 is connected to the pallet 133 transmission mechanism 132.

[0106] In this technical solution, the structure 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 tray 133, a transmission mechanism 132 and a tray 133. The tool magazine docking mechanism 130 is used to realize the docking of the tool storage rack 110 with the workshop-level tool magazine center. The docking mainly includes two ways. One is to load the tool storage rack 110 with the tool, and the other is to transport the tool on the tool storage rack 110 to the workshop-level tool magazine center. After obtaining the tool distribution instruction from the workshop-level tool magazine center, the handling system 14 According to the tool change command, the tool that needs to be returned to the central tool magazine is grabbed onto the tray 133 of the tool magazine docking mechanism 130. The tool magazine docking mechanism 130 moves the tray 133 to the docking position with the workshop-level tool magazine center. The workshop-level tool magazine center delivery system takes the tray 133 away and places the tray 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 tray 133 to the grabbing position of the transport system 140. The transport system 140 places the new tool into the corresponding preset tool placement hole 113 of the tool storage rack 110, thereby completing the tool delivery action of the central tool magazine.

[0107] like Figure 6 As shown, in a feasible embodiment, the tool magazine docking mechanism 130 also includes: a first limit member 134, the tool mounting position includes an arc-shaped groove, the first limit member 134 is arranged between two adjacent tool mounting positions, and a partial area of ​​the first limit member 134 extends toward the tool mounting position for engaging with the tool handle.

[0108] In this technical solution, the structural composition of the tool magazine docking structure is further provided. The tool magazine docking structure can also include a first limiter 134. The first limiter 134 is arranged between two adjacent tool mounting positions, and a partial area of ​​the first limiter 134 extends toward the tool mounting position for engaging with the tool handle. The first limiter 134 can limit the tool handle so that the tool can be placed more accurately in the tool mounting position of the tray 133, which can make the positioning of the tool more accurate and facilitate the precise grasping of the tool by the transport system 140.

[0109] In some examples, the third frame 131 is equipped with 34 tool storage slots with a diameter no greater than ∅120 mm, improving tool magazine space utilization. Five tool storage slots are located on the tray 133. Driven by the tray's transmission mechanism 132, the tray 133 moves vertically up and down, docking with the workshop-level central tool magazine. The workshop-level central tool magazine transports the tool tray 133 as a whole, delivering five tools to the machine tool magazine at a time, improving the efficiency of tool delivery from the workshop-level central tool magazine to the machine tool magazine.

[0110] like Figure 7 and Figure 8 As shown, in a feasible embodiment, the transport system 140 includes: a ground rail 141; a seven-axis robot 142, which is connected to the ground rail 141; a tool holder base 143, which is connected to the seven-axis robot 142, and a first mounting position and a second mounting position are formed on the tool holder base 143; a first tool holder 144 and a second tool holder 145, wherein the first tool holder 144 is arranged in the first mounting position and the second tool holder 145 is arranged in the second mounting position; wherein the arrangement direction of the first tool holder 144 is perpendicular to the arrangement direction of the second tool holder 145, and when the tool is mounted through the first tool holder 144 or the second tool holder 145, the axial direction of the tool is co-directional with the length direction of the tool holder.

[0111] In this technical solution, the structural composition of a transport system 140 is further provided. The transport system 140 may include a ground rail 141, a seven-axis robot 142, a tool holder base 143, a first tool holder 144 and a second tool holder 145. Based on this transport system 140, the seven-axis robot 142 can be moved through the ground rail 141, and then the tool is clamped through the first tool holder 144 and the second tool holder 145. Through the setting of the first tool holder 144 and the second tool holder 145, the models of the first tool holder 144 and the second tool holder 145 can be different, based on which tools of different specifications can be clamped. Through the setting of the tool holder base 143, the installation of the first tool holder 144 and the second tool holder 145 is facilitated, and the maintenance of the first tool holder 144 and the second tool holder 145 is facilitated.

[0112] In this technical solution, the arrangement direction of the first knife sleeve 144 is perpendicular to the arrangement direction of the second knife sleeve 145, ensuring that the first knife sleeve 144 and the second knife sleeve 145 will not interfere with each other during operation, thereby ensuring the safety of the knife changing action.

[0113] In this technical solution, when a tool is mounted in the first tool housing 144 or the second tool housing 145, the tool's axial direction is aligned with the tool housing's longitudinal direction. When the tool is clamped, the tool's longitudinal direction is perpendicular to the longitudinal direction of the first tool holder 124 or the second tool holder 125. This facilitates docking of the transport system 140 and the tool change docking mechanism 120, making it easier to load the tool.

[0114] In some examples, to further improve the efficiency of tool replacement, more mounting positions can be formed on the tool holder base 143 to secure more tool holders. In some examples, one of the first tool holder 144 and the second tool holder 145 can be an HSK-T100 tool holder, and the other can be an HSK-T63 tool holder.

[0115] like Figure 9 and Figure 10As shown, in a feasible embodiment, the tool magazine system further includes: a manual knife loading mechanism 150, the manual knife loading mechanism 150 is used to transport the tool to the transport system 140, and the manual knife loading mechanism 150 includes: a bracket 151; a guide rail 152, the guide rail 152 is arranged on the bracket 151; a manual knife loading tray 153, and a plurality of manual knife loading fixing positions are formed on the manual knife loading tray 153; a second limiting member 154, the second limiting member 154 is arranged at the bottom center position of the manual knife loading fixing position, and the second limiting member 154 extends toward the manual knife loading fixing position to The tool in the manual knife fixing position is positioned; the detection switch 155, the detection switch 155 is arranged on the side of the manual knife fixing position, and is used to know whether there is a tool in the manual knife fixing position; the RFID read-write head 156, the RFID read-write head 156 is connected to the manual knife tray 153, and is arranged between the detection switch 155 and the second limit member 154, and is used to detect the type of tool in the manual knife fixing position; the drive component 157, the drive component 157 is used to drive the manual knife tray 153 to move on the guide rail 152 to approach or move away from the transport system 140.

[0116] In this technical solution, the tool magazine system can also include a manual tool loading mechanism 150. In addition to loading tools on the tool storage rack 110 through the tool changing docking mechanism 120, the tool storage rack 110 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 be adapted to different usage scenarios.

[0117] This technical solution also provides the structural components of a manual tool loading mechanism 150, which can include a bracket 151, a guide rail 152, and a manual tool loading tray 153. Based on this, when the tool magazine system receives a manual tool loading command, the manual tool loading tray 153 moves to the manual tool loading position. The worker places the tool into the tool storage position within the manual tool loading tray 153. After the tool is placed, the manual tool loading command is input. The manual tool loading tray 153 carries the tool into the tool magazine. The tool storage position is equipped with an RFID read / write head 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 based on the tool information, completing the manual tool loading operation of the tool magazine. Manually removing a tool from the tool magazine is the opposite of the tool loading operation.

[0118] In this technical solution, the manual knife loading mechanism 150 may further include a second limiter 154, a detection switch 155, and an RFID read / write head 156. This configuration is based on the consideration that when manually placing a knife into the manual knife loading tray 153, there may be a possibility that the knife setting position is inaccurate. Based on this, during the process of placing the knife into the manual knife loading tray 153, the second limiter 154 can be used to guide the knife. Then, the tool magazine system can control the manual knife loading tray 153 to move toward the direction of the transport system 140. During the movement, the detection switch 155 can be used to check whether the knife setting position is accurate. If it is inaccurate, the RFID read / write head 156 can be used to determine the type of knife, so that the transport system 140 can accurately grasp the knife. This configuration can improve the efficiency of manual knife loading.

[0119] In some examples, the manual tool loading mechanism 150 includes a bracket 151, a manual tool loading tray 153, and a cylinder drive device. The manual tool loading tray 153 is mounted on the bracket 151 via a guide rail 152. Driven by the cylinder drive device, the manual tool loading tray 153 performs linear motion, enabling the manual tool loading tray 153 to move back and forth between the manual tool loading station and the robot grasping station. The manual tool loading tray 153 is provided with five tool storage positions, which can load and unload five tools at a time. Each tool storage position is provided with an RFID read / write head that can read tool information and automatically send the tool information to the CNC system. Each tool storage position is provided with a photoelectric switch to detect whether there is a tool in the tool storage position to prevent the robot from grabbing empty tools or tool collisions.

[0120] In one feasible embodiment, the bracket 151 of the manual knife loading mechanism 150 is connected to the first frame 111 of the tool storage rack 110. The manual knife loading mechanism 150, the tool storage rack 110, the tool magazine docking mechanism 130, and the transport system 140 are all arranged around the tool magazine system. This arrangement facilitates the transport system 140 to grasp and transport tools.

[0121] The tool magazine system provided in the embodiment of the present application includes a transport 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 fixed to the ground in the tool magazine area. The tool storage rack 110 is used to store tools and angle heads. The transport system 140 is used to transport tools and angle heads between 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 automatic replacement of tools, probes, and angle heads on the machine tool spindle, as well as automatic replacement of tools on the angle head. The tool magazine docking mechanism 130 is connected to the central tool magazine truss transport system and can replace 5 tools at a time. The manual tool loading mechanism 150 can realize manual access to tools in the tool magazine and can replace up to 5 tools at a time. The tool storage is divided into 5 areas. When fully loaded with tools, it can accommodate 168 ∅100 tools, 34 ∅120 tools, 7 ∅250 tools, and 4 turning, milling and angle measuring heads, for a total of 213 tool positions.

[0122] The electrical control logic of this tool magazine system establishes tool magazine information within the CNC system, including tool storage area location information and information on the tool types that can be stored in different storage areas. When a tool is loaded into the tool magazine via the manual tool loading mechanism 150, the RFID reader / writer at the storage location reads the tool information stored in the tool holder chip. Based on the tool parameters, the system automatically determines the tool type, tool holder type, and tool diameter. The tool is then automatically stored in the corresponding tool storage area. A mapping relationship is established between the tool storage location and the tool information, which is then stored in the CNC system. The CNC system also sets the spindle and angle head tool change logic, as well as the spindle and angle head loading and unloading posture and position information. When the machine tool receives a tool change command, the system determines whether the tool being changed is a spindle tool or an angle head tool, and automatically executes the spindle tool change or angle head tool change based on the specific tool change type. Furthermore, the spindle is equipped with an angle head detection switch to detect whether an angle head is currently installed on the spindle, preventing incorrect tool change command input from executing the angle head tool change command on the spindle or the spindle tool change command on the angle head. When the central tool magazine system delivers tools to the local tool magazine, the central tool magazine system will send the delivered tool information and the corresponding position information of the tool in the tool tray 133 to the local CNC system. The CNC system will make a judgment based on the received tool information, automatically execute the tool loading program, and store the tool in the corresponding tool storage position.

[0123] The tool magazine system provided by the embodiment 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 layout is flexible and has wide applicability. It can be widely used in various five-axis machining centers. The tool magazine capacity can be expanded at will, and the functions can be adjusted according to actual needs. It is also very convenient to interconnect with the central tool magazine system, with high reliability, good compatibility and low cost.

[0124] like Figure 11 As shown, according to the second aspect of the embodiment of the present application, a machine tool tool changing method is proposed, which is applied to the tool magazine system of any of the above technical solutions. The machine tool tool changing method includes:

[0125] Step 201: responding to a tool change instruction, wherein the tool change instruction includes tool type and model information;

[0126] Step 202: Based on the tool change instruction, control the transport system to clamp the tool to be replaced in the tool storage rack;

[0127] Step 203: Control the transport system to transport the tool to be replaced to the tool changing docking mechanism;

[0128] Step 204: Control the tool change docking mechanism to transport the tool to be replaced to the machine tool. First, the tool change docking mechanism receives the tool replaced by the machine tool, and then assembles the tool to be replaced to the spindle of the machine tool.

[0129] Step 205: Control the tool change docking mechanism to reset, and transport the replaced tool to the tool storage rack through the transport system.

[0130] The tool changing method for machine tools provided in the embodiment of the present application is applied to a tool magazine system such as any of the above technical solutions, so the tool changing method for machine tools has all the beneficial effects of the tool magazine system of the above technical solutions.

[0131] The tool changing method for machine tools provided in the embodiment of the present application can place the tools needed during the machining process in the tool storage rack 110. During the machining process, when the tools on the machine tool need to be replaced, the tools set on the tool storage rack 110 can be placed on the tool change docking mechanism 120 through the transport system 140. The tool change docking mechanism 120 can then transport the tools to the machine tool. The tool change docking mechanism 120 can receive the tools replaced by the machine tool and replace the tools on the machine tool. The tool change docking mechanism 120 can then be reset, and the transport system 140 can reset the tools replaced by the machine tool to the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, the tools can be transported to the tool storage rack 110. Based on this, the tool magazine system provided in the embodiment of the present application can efficiently change tools for machine tools, especially when used in five-axis compound machine tools, which is convenient for docking with the central tool magazine and can improve machining efficiency.

[0132] In a feasible embodiment, the machine tool tool changing method also 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 higher usage frequency is closer to the tool changing docking mechanism 120.

[0133] In this technical solution, the machine tool tool changing method may further include sorting the radio frequency tags on the tool storage rack 110 based on the frequency of use of the tools, so as to shorten the movement path of the transport system 140 and further improve the tool changing efficiency.

[0134] According to a third aspect of an embodiment of the present application, a machine tool is proposed, comprising: a tool magazine system as described in any of the above technical solutions; a machine tool body, and a tool change docking mechanism 120 connected to the machine tool body.

[0135] The machine tool provided in the embodiment of the present application includes a 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.

[0136] The machine tool provided in the embodiment of the present application can place the tools needed during the processing in the tool storage rack 110. During the processing of the machine tool, when the tools on the machine tool need to be replaced, the tools set on the tool storage rack 110 can be placed on the tool change docking mechanism 120 through the transport system 140. The tool change docking mechanism 120 can then transport the tools to the machine tool. The tool change docking mechanism 120 can receive the tools replaced by the machine tool and replace the tools on the machine tool. After that, the tool change docking mechanism 120 is reset, and the transport system 140 can reset the tools replaced by the machine tool to the tool storage rack 110. Through the setting of the tool magazine docking mechanism 130, the tools can be transported to the tool storage rack 110. Based on this, the tool magazine system provided in the embodiment of the present application can efficiently change tools for machine tools, especially when used in five-axis compound machine tools, which is convenient for docking with the central tool magazine and can improve processing efficiency.

[0137] In some examples, the machine tool may also include a workshop-level central tool magazine. The tool magazine system provided by the embodiment of the present application can achieve efficient docking between the machine tool and the workshop-level central tool magazine, thereby improving tool changing efficiency.

[0138] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0139] In the description of the present invention, it should be understood that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0140] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0141] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A tool magazine system, characterized in that: include: A tool storage rack, wherein the tool storage rack is used to store tools; A tool change docking mechanism, which is arranged on the peripheral side of the tool storage rack and is used to transport tools to be replaced for the machine tool and transport tools that have been replaced on the machine tool; A tool magazine docking mechanism, the tool magazine docking mechanism is used to transport tools to the tool storage rack; a transport system, the transport system being arranged between the tool storage rack, the tool change docking mechanism and the tool magazine docking mechanism, the transport system being used to transport the tools on the tool storage rack to the tool change docking mechanism, to transport the tools replaced on the tool change docking mechanism to the tool storage rack, and to place the tools transported by the tool magazine docking mechanism on the tool storage rack; The tool changing and docking mechanism comprises: a second frame arranged on one side of the transport system; a horizontal slide assembly, the horizontal slide assembly being disposed on the second frame; A main shaft axial slide assembly, wherein the main shaft axial slide assembly is slidably connected to the horizontal slide assembly; A first tool holder and a second tool holder, wherein the first tool holder and the second tool holder are both slidably connected to the spindle axial slide assembly, and the first tool holder and the second tool holder are staggered; a water receiving trough, the water receiving trough being arranged on the second frame; A tool tray, the tool tray being arranged on the second frame and being used for accommodating tools to be replaced and tools to be replaced; A broken tool detection member is provided on the second frame, with a detection direction facing the tool disc; A manual knife feeding mechanism is used to feed the knife to the handling system. The manual knife feeding mechanism includes: Bracket; a guide rail, the guide rail being arranged on the bracket; A manual knife loading tray, wherein a plurality of manual knife loading fixing positions are formed on the manual knife loading tray; a second limiting member, the second limiting member being arranged at a central position at the bottom of the manual upper knife fixing position and extending toward the manual upper knife fixing position to position the knife disposed in the manual upper knife fixing position; A detection switch is arranged on the side of the manual upper knife fixing position and is used to detect whether a knife is in the manual upper knife fixing position; The bracket of the manual knife loading mechanism is connected to the first frame of the tool storage rack, and the manual knife loading mechanism, the tool storage rack, the tool magazine docking mechanism and the transport system are all arranged on the peripheral side of the tool magazine system.

2. The tool magazine system according to claim 1, characterized in that: The tool storage rack comprises: a first frame having a plurality of mounting positions formed thereon; a tool fixing plate, the tool fixing plate being connected to the first frame and having a plurality of tool placement holes formed on a side of the tool fixing plate facing the transport system; A radio frequency tag is provided on the tool fixing plate corresponding to the tool placement hole, and is used to calibrate the type or model of the tool set in the tool placement hole; The transport system is used to grab the tool through the tool placement hole, or to place the replaced tool on the tool fixing plate.

3. The tool magazine system according to claim 1, characterized in that: The first tool holder and the second tool holder each include: a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are used to clamp a tool so that when the tool is in a clamped state, a length direction of the tool is perpendicular to a length direction of the first tool holder or the second tool holder; The tool changing and docking mechanism further includes a cleaning member, which is arranged on the second frame and is used to clean the tool.

4. The tool magazine system according to claim 1, characterized in that: The tool magazine docking mechanism includes: a third frame, the third frame being arranged on the other side of the transport system; a tray transmission mechanism, wherein the tray transmission mechanism is arranged on the third frame; a tray, wherein a plurality of tool mounting positions are formed on the tray, and the tray is connected to the tray transmission mechanism; The first limiting member, the tool mounting position includes an arc-shaped groove, the first limiting member is arranged between two adjacent tool mounting positions, and a partial area of ​​the first limiting member extends toward the tool mounting position for engaging with the tool handle.

5. The tool magazine system according to claim 1, characterized in that: The transport system comprises: Ground rail; a seven-axis robot connected to the ground rail; A tool sheath base, the tool sheath base being connected to the seven-axis robot, and having a first mounting position and a second mounting position formed thereon; a first knife housing and a second knife housing, wherein the first knife housing is arranged in the first installation position and the second knife housing is arranged in the second installation position; The arrangement direction of the first tool sleeve is perpendicular to the arrangement direction of the second tool sleeve. When a tool is installed through the first tool sleeve or the second tool sleeve, the axial direction of the tool is in the same direction as the length direction of the tool sleeve.

6. The tool magazine system according to any one of claims 1 to 5, characterized in that: The manual knife-loading mechanism also includes: An RFID read / write head connected to the manual knife tray and arranged between the detection switch and the second limit member, for detecting the type of the knife in the manual knife fixed position; A drive assembly is used to drive the manual upper knife tray to move on the guide rail to move closer to or away from the transport system.

7. A machine tool tool changing method, characterized in that: Applied to the tool magazine system according to any one of claims 1 to 6, the machine tool tool changing method comprises: Responding to a tool change instruction, wherein the tool change instruction includes tool type and model information; Based on the tool change instruction, controlling the transport system to clamp the tool to be replaced in the tool storage rack; Control the transport system to transport the tool to be replaced to the tool changing docking mechanism; Controlling the tool change docking mechanism to transport the tool to be replaced to the machine tool, firstly using the tool change docking mechanism to receive the tool replaced by the machine tool, and then assembling the tool to be replaced to the spindle of the machine tool; Control the tool change docking mechanism to reset, and transport the replaced tool to the tool storage rack through the handling system.

8. The machine tool tool changing method according to claim 7, characterized in that: Also includes: Counting the usage frequency of the knives in the knife storage rack; sorting the radio frequency tags on the tool storage rack based on the frequency of use; The radio frequency tag corresponding to the tool with higher usage frequency is closer to the tool changing and docking mechanism.

9. A machine tool, characterized in that: include: The tool magazine system according to any one of claims 1 to 6; The tool changing and docking mechanism is connected to the machine tool body.

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