Numerical control machine tool tool changing system based on robot cooperation and operation method

Abstract

The invention discloses a numerical control machine tool tool changing system based on robot collaboration and an operation method, the machine tool tool changing system is designed based on machine vision recognition and AI management collaboration, the invention further provides an operation logic method of the machine tool tool changing system, and the production efficiency and the product quality can be effectively improved. Cutting edge real-time monitoring and cutter service life management are provided, an automatic cutter changing function is formed, the production line shutdown time caused by manual detection can be greatly shortened, and the equipment utilization rate is increased; and meanwhile, the service life of the cutting edge is managed by accurately recognizing the tool abrasion state, machining defects caused by tool failure are avoided, and the product percent of pass is remarkably increased. Due to the automatic tool changing function, the labor cost and the safety risk can be reduced, dependence on manual detection is reduced, and the labor cost and manual operation errors are reduced; and meanwhile, potential safety hazards in the manual tool changing process are avoided, and the industrial automation development trend of few persons and unmanned persons is met.

Description

Technical Field

[0001] The present invention relates to the technical field of CNC machine tools, and in particular to a tool changing system and an operating method for a CNC machine tool based on robot collaboration. Background Art

[0002] During machining, especially with CNC machines, it's easy for a tool to break or tilt while the machine continues to follow its predetermined path. This can cause the tool's actual position to mismatch the position programmed in the machine control system, potentially leading to a collision between the tool and the workpiece or the machine itself. This can cause damage to the machine tool and compromise machining accuracy, leading to production interruptions, equipment damage, and reduced productivity.

[0003] By integrating robot collaboration technology, visual recognition and CNC system integration, a fully automated tool status recognition and tool changing system has been developed, which can effectively solve the lag problem of manual intervention and provide reliable technical support for unmanned processing in intelligent manufacturing scenarios. Summary of the Invention

[0004] In view of the prior art, the object of the present invention is to provide a tool changing system for CNC machine tools that cooperates with machine vision recognition and AI management collaboration, and a logical method for its operation.

[0005] In order to achieve the above objectives, the technical solution adopted by the present invention is: a CNC machine tool tool changing system based on robot collaboration, including a tool magazine, a tool changer, a detection unit and a CNC robot arm, the tool magazine includes a base, a tool disc provided with a rotating tool unit that rotates relative to the base, a tool holder evenly distributed on the circumference and hinged on the tool disc, a first tool pushing unit and a second tool pushing unit fixed to the base for pushing the tool holder to flip downward, the tool changer includes a tool changing arm and a tool inspection arm, the tool changing arm rotates between the tool disc and the CNC robot arm stop position to change the tool, the tool inspection arm is located between the detection unit and the tool disc to rotate and change the tool, the extension direction of the first tool pushing unit corresponds to the rotation stroke of the tool changing arm and the tool inspection arm, and also includes a tool replenishment system, the tool replenishment system is provided with a tool return arm, and the tool return arm is set corresponding to the extension direction position of the second tool pushing unit provided above the tool magazine.

[0006] As a further configuration of the above scheme, a visual recognition module is also provided on the CNC robot arm, and the visual recognition module is connected to the tool changing system for collecting images of workpieces processed by the tool currently installed on the CNC robot arm for comparison with samples or standard images.

[0007] As a further configuration of the above scheme, the detection unit is provided with a moving unit, and a laser detection tube is provided on one side of the detection unit. Driven by the moving unit, the detection unit carries the tool into the laser detection tube, and compares the blade image collected by the laser detection tube with the standard image. The comparison result is fed back to the tool changing system and the tool replenishing system. A scrap box is also provided on one side of the detection unit.

[0008] As a further setting of the above scheme, the blade image collected by the laser detection tube is also uploaded to the blade life management system of the tool changing system. The blade life management system is used to track and monitor the service life of the tool and predict tool breakage detection. The blade life management system predicts the life breakage result and feeds back to the tool changing system, triggering the tool changing arm of the tool changing system to select the tool holder to be pushed out by the first tool pushing unit before executing the tool change.

[0009] As a further arrangement of the above scheme, the ends of the first and second blade pushing units are fixedly mounted on the base, a C-shaped rod is provided at the front end, and a roller matching the C-shaped rod is provided on the tool holder. When the C-shaped rod is extended, the C-shaped rod buckles the roller, pushing it to drive the tool holder to perform hinged swing.

[0010] As a further configuration of the above scheme, the tool holder, CNC robot arm and detection unit are all provided with a ball limit tool assembly, which includes a sleeve larger than the ball head rod set at the end of the tool, a ball that moves relative to the sleeve and a spring that pushes the ball.

[0011] As a further arrangement of the above scheme, there are at least two of each type of tools provided on the tool disc. When any type of tool is identified as scrapped or damaged or missing by the detection unit, and the missing tool is inconsistent with the one on the CNC machine arm, the tool replenishment system is triggered to prompt to replenish the corresponding model of tool. The replenished tool is rotated from the tool holder of the missing tool on the tool disc to the tool return arm, and is pushed into the tool holder through the tool return arm.

[0012] As a further arrangement of the above scheme, the tool changer is further provided with a cam plate with a cam groove and a slider located in the cam groove, the slider being arranged on a connecting rod arm which is fixed on the tool changing arm and the tool checking arm at one end, the slider being arranged in the middle area of ​​the connecting rod arm, and the other end being hinged to the tool changer body, the cam plate is also provided with a rotating guide groove, and the rotating shafts of the tool changing arm and the tool checking arm are provided with matching rollers, the cam plate is rotated by the driving unit, and the slider is moved along the cam groove by rotation, driving the tool changing arm and the tool checking arm to rise and fall relative to the tool changer, and the tool changing arm and the tool checking arm are driven to rotate by cooperation with the roller and the rotating guide groove, and the inner wall corresponding to the stroke of the cam groove after the relative driving tool changing arm and the tool checking arm are separated from the ball limit is provided for a stable buffer zone.

[0013] One of the characteristics of the CNC tool changing system of the present invention is that it sets up multiple detections, takes the measured service life of new tools as the basis, and generates the life management system data of the tools on the tool disc by recording their working time, collecting blade images, and calculating wear curves. Therefore, when the CNC equipment is running, when the tool path processing parameters of the workpiece are imported, the numerical values ​​in the processing parameters are extracted and calculated with the life management system data. First, the tool usage time required for the target processing tool quantity is counted, second, the storage time of the corresponding model tool in the life management system is retrieved, and third, after comparison, it is determined whether the existing tools on the tool disc can meet the usage requirements of the current target processing workpiece.

[0014] The present invention is based on the above-mentioned tool life management system. Through AI intelligent calculation management, it uses the remaining expected life value of a tool (including several spare tools of the same model on the tool disc) to optimize the tool changing strategy. Based on the construction of a tool full life cycle management platform, the tool life management system realizes remote monitoring and intelligent decision-making, and can provide prompts for staff to replenish tools in time, reducing the downtime of CNC due to insufficient tool shortage. The tool changing mechanism of the present invention is based on the deep collaboration of industrial robots and CNC machine tools. It can not only predict the service life of tools, inspect and scrap in advance, and reduce the occurrence of damage to the blade during use, but also multiple spare tools of the same model can be set up without manual production and the CNC equipment will not stop, thereby improving processing efficiency.

[0015] It is worth noting that in the method of the present invention, the tools are divided into two categories on the tool disk, one category is the tools that are at the first priority when the CNC robot arm picks up the tool, and the other category is the spare tools that are ranked after the tools and are ranked as the same type of tool change targets. Furthermore, the ranking order of the spare tools will be based on the triggered command, including but not limited to inserting the spare tools with the first priority, and the original ranking will be moved back one place in sequence. In order to ensure the continuous and sustained operation of the CNC machine tool, the tool changing system will trigger the tool replenishment system to replenish the tools when the spare tools are consumed and the last one is used on the CNC robot arm.

[0016] The technical solution of the present invention also provides an operating method of a CNC machine tool tool changing system based on robot collaboration, comprising:

[0017] S1. The CNC machine tool of the present invention is based on robot collaboration. During the working process, the tool changing system extracts the specifications and models of the tool, the processing dimensions required on each workpiece, and the number of workpieces required based on the input processing parameters based on the processing instructions input by the CNC programming. After obtaining the tool requirements, the tool changing system compares it with the corresponding blade life management data on the tool disk pre-stored or recorded in the database. The data is composed of the blade life data calculated by the inspection unit after the new tool 9 is added, changed, and returned. The comparison result generates a blade damage prediction analysis report and a tool change plan. The tool change plan built into the blade life management system includes how many times the current tool can process workpieces and the processing time. The calculation result of the plan needs to deduct a safety amount, and the result must be less than the calculated limit amount as the processing amount. During the processing process of the CNC robot arm carrying the tool, when the number of workpieces processed reaches the calculated processing amount value, and the visual recognition module is not triggered to change the tool in advance and the tool change plan is not updated, the CNC machine tool will trigger the tool changing system after the processing amount is reached, pause the equipment to change the tool, and inspect the replaced tool;

[0018] S11. After obtaining the machining blade requirements by the above-mentioned method, the tool changing system calculates the remaining life and wear of the tool currently loaded on the cutter head recorded in the database and forms a preliminary tool changing plan. The calculation result includes whether the tool on the cutter head meets the machining requirements:

[0019] S111: If the processing requirements are not met, the life data of the spare tool on the tool disc is added after deducting the total time of the first tool in the sequence, and a secondary calculation is performed. If the total processing time requirement is still not met, the spare tools are continuously selected until the tools of the same specification are exhausted. The remaining tool usage time is recorded, and the staff is prompted. Furthermore, in the tool changing system, when the spare tool is used, before the last spare tool on the existing tool disc is used up, that is, after the tool changing arm sends the last spare tool of the same model on the tool disc to the CNC robot arm, the staff is required to immediately replace the tool. For the specific tool replenishment steps, see the working principle of the tool replenishment system;

[0020] S112. When the calculated total remaining service life of the tool on the cutter head meets the duration and requirements of the processing needs, the CNC robot arm performs normal tool removal, tool change, and then uses the tool for processing. It is worth noting that the CNC robot arm of the present invention is also provided with a visual recognition module. The visual recognition module is used to collect the blade image of the tool and the image of the workpiece formed after processing in real time, so as to comprehensively judge and warn the use of the tool. The visual recognition module of the present invention has two functions. One is to assist in inspecting the workpiece processing image. In addition, the other uses, for example, a CMOS camera based on IP67 protection level, with a CS interface short-focus lens (object distance 50-100mm), giving priority to the global shutter model to eliminate motion blur, and collecting images of the blade of the tool. The image is then compared with the standard image in the database to determine the wear ratio to determine whether the tool needs to be changed. To assist in workpiece image collection, the industrial camera is used to collect the holes, grooves, etc. formed by the current tool after processing, and compare them with the first piece or sample to ensure processing uniformity. It can also reflect whether the tool is broken or worn too much.

[0021] S2. During the tool's use, the visual recognition module of the industrial camera installed on the CNC robot arm collects images of the blade and the processed image, which are then compared with the sample standard image. If the warning threshold is triggered, the tool change step needs to be initiated in advance, and the tool change plan is updated based on the tool inspection results of the inspection unit.

[0022] S3. According to the tool change plan calculated based on the calculation results, after the tool on the CNC robot arm reaches the calculated processing volume, the CNC processing is temporarily stopped, the CNC robot arm controls the tool to stop rotating, and moves the tool to the tool change position through the CNC robot arm. When the tool arrives at the tool change position, the CNC robot arm is replaced by the tool changer, and the tool currently on the CNC robot arm is replaced with the first-priority spare tool on the cutter head, so that the CNC machine tool can continue to work normally. After the tool change is completed, the tool holder is not retracted, but the tool inspection arm sends the replaced tool to the detection unit to determine whether it is scrapped;

[0023] S31. Specifically, based on the tool change plan, when the processing volume trigger threshold of the current tool reaches the target processing volume in the plan during the processing (the threshold refers to: the warning value of the service life of the current tool, and the total processing volume of the tool of the previous specification and model has not been completed), the tool change system issues a command, and the CNC robot arm moves with the tool to the tool change position. At the same time, the tool disc rotates and sends a spare tool of the same specification as the current tool to the first tool pushing unit. The tool change arm rotates to replace the spare tool with the tool on the CNC robot arm. The new tool is replaced and the CNC machine tool continues normal processing.

[0024] S32: After the tool is changed, the tool changing arm rotates away from the tool holder. After the CNC robot arm resumes normal processing according to the CNC system instruction, the tool inspection arm starts, removes the newly changed tool from the tool holder, and rotates it into the inspection unit. Then, the moving unit of the inspection unit starts, which drives the tool on the inspection unit to move into the laser inspection tube for inspection.

[0025] S4. The inspection results are uploaded to the tool changing system to record the data. After the scrapping instruction is triggered, the tool model and replenishment requirements are sent to the tool replenishment system. The tool replenishment system generates a tool replenishment list. The staff needs to place the tools in the tool replenishment slot in sequence according to the list. Furthermore, a machine vision blade identification module can be developed and designed to identify the tools when the staff puts them in to determine whether they correspond to the required tools. Alternatively, the required tools in the list can be placed in a random order. The tool replenishment system rotates the tool disc according to the identified tool model and extends the corresponding tool holder.

[0026] S41. After the inspection is completed, for tools that have not reached the scrapping condition, after the mobile unit drives the tool to reset, the tool inspection arm starts to send the inspected tool from the inspection unit back to the cutter head, and continues to use it as a spare first-priority tool for the tool currently in use, and updates the service life information in the database and corrects the tool change plan based on the inspection data prediction. It is worth noting that the inspection unit sets an interval value. The tool life value within the range will trigger early scrapping, avoiding the problem that the tool close to scrapping is returned to the cutter head, which will cause the tool to be scrapped after a short period of processing, and further need to change the tool, affecting the processing efficiency;

[0027] S42, for the tool that triggers the scrapping condition, the mobile unit directly places it into the scrap box. In this embodiment, an ejection mechanism is provided in the detection unit, and the ejection mechanism is opposite to the end of the detection unit. After the mobile unit moves the tool to the scrap box, the ejection mechanism is started to eject the tool, so that it falls into the scrap box. Then the mobile unit, the detection unit, and the tool inspection arm are all reset. The scrapped tool information generates a tool replenishment demand and sends it to the tool replenishment system. The tool replenishment system that receives the replenishment demand generates a tool replenishment demand list to the terminal. The staff puts the corresponding tool into the tool replenishment slot set in the CNC machine tool according to the demand and sequence. After receiving the feedback signal from the tool replenishment slot, the tool replenishment system starts the tool return arm to rotate the tool in the tool replenishment slot to the tool replenishment position above the cutter disc, and places it in the corresponding tool holder pushed out by the second tool pushing unit on the cutter disc. In addition, it is also necessary to update the tool change plan and record the data and spare ranking of the tool in the database;

[0028] S5. If the tool processing is completed normally, the tool return or tool change command to another specification tool is triggered;

[0029] S51, wherein the tool change instruction steps are as follows: the CNC robot arm moves to the tool change position, and the tool disc rotates at the same time, so that the tool holder of the corresponding tool faces the first tool pusher unit, the first tool pusher unit is started, and the tool holder is swung to a predetermined position, then the tool changer is started, the tool changer arm rotates forward to clamp the CNC robot arm and the tool on the tool holder, and then moves downward to disengage the tool from the ball tool limit assembly, and continues to start forward rotation to relatively switch the tools removed from the two, then the tool changer arm moves upward to engage the end of the tool with the ball tool limit assembly, and after the engagement is completed, the tool changer arm rotates in the opposite direction to disengage the tool, and the tool change is completed;

[0030] S52, wherein the tool return instruction steps are as follows: the CNC robot arm moves to the tool change position, and the tool disc rotates at the same time, and the empty tool holder corresponding to the tool is facing the first tool pusher unit. The first tool pusher unit is started and the tool holder is swung to the predetermined position. Subsequently, the tool changer is started, and the tool changer arm rotates forward to clamp the tool on the CNC robot arm, and then moves downward to disengage the tool from the ball tool limit assembly. After disengagement, the tool changer arm continues to rotate forward to rotate the tool removed from the CNC robot arm to the bottom of the empty tool holder. Subsequently, the tool changer arm moves upward to engage the end of the tool with the ball tool limit assembly. After the engagement is completed, the tool changer arm rotates in the opposite direction to disengage the tool. The tool return is completed, and the empty CNC robot arm takes the tool, which is the same as the tool return action.

[0031] S6. After the tool return or tool change instruction of step S5 is completed, the tool inspection of step S32 is required, and feedback and completion of steps S41 and S42 are required.

[0032] Furthermore, the tools of the present invention are divided into current tools and several spare tools arranged in sequence according to their usage priority, wherein the tool obtained by the tool changing arm from the tool disc must be the first priority tool in the database, and the first priority tool will change with the program progress and various data changes. The position of the changed tool on the tool disc will exist in the database of the tool changing system in real time, and only after the tool on the CNC robot arm triggers the same model tool change instruction, the tool changing arm will obtain the spare tool from the tool disc based on the instruction, and return the unloaded tool of the same specification model to the tool disc, and the returned tool needs to pass through the inspection unit to determine whether it has been completely returned to the tool disc or scrapped.

[0033] Furthermore, the tool of the present invention is currently managed as the first priority tool required by the CNC robot arm, and the order of spare tools is arranged based on the supply order of the tool replenishment system. The tools returned to the tool disc after inspection by the inspection unit are queued to the first priority or directly rearranged as spare tools of the first priority.

[0034] Beneficial Effects: The tool-changing system and method provided by the present invention can effectively improve production efficiency and product quality. Based on machine vision and detection units, the real-time monitoring of blades and tool life management provided by the automatic tool-changing function can significantly reduce production line downtime caused by manual inspection and improve equipment utilization. At the same time, by accurately identifying the wear state of the tool, blade life management is established, avoiding processing defects caused by tool failure and significantly improving product qualification rates. The automatic tool-changing function can reduce labor costs and safety risks, not only reducing reliance on manual inspection, reducing labor costs and human operational errors, but also avoiding safety hazards during manual tool changing, which is in line with the development trend of industrial automation towards "less manpower, less manpower". BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is the logical framework of the numerical control tool changing system of the present invention.

[0036] Figure 2 This is a structural diagram of the CNC tool changing system of the present invention.

[0037] Figure 3 It is a side schematic diagram of the structure of the CNC tool changing system of the present invention.

[0038] Figure 4 It is a schematic diagram of the tool changer cam structure of the present invention.

[0039] Figure 5 It is a schematic diagram of the rotary drive structure of the tool changer of the present invention.

[0040] Figure numerals: 1. Tool magazine; 10. Base; 11. Tool disc; 12. Tool holder; 13. First tool pushing unit; 131. C-shaped rod; 132. Roller; 14. Tool rotating unit; 18. Second tool pushing unit; 2. Tool changer; 21. Tool changing arm; 22. Tool inspection arm; 23. Cam groove; 24. Cam plate; 25. Slider; 26. Connecting rod wall; 27. Rotating guide groove; 28. Roller; 29. ​​Buffer zone; 3. Detection unit; 31. Moving unit; 32. Laser detection tube; 4. CNC machine arm; 40. Ball knife limit assembly; 401. Sleeve; 402. Ball; 403. Spring part; 41. Visual recognition module; 5. Tool replenishment system; 51. Tool return arm; 9. Tool. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0042] like Figure 1-5The tool changing system of a CNC machine tool based on robot collaboration is shown, including a tool magazine 1, a tool changer 2, a detection unit 3 and a CNC robot arm 4, wherein the tool magazine 1 includes a base 10, a tool disc 11 provided with a rotating tool unit 14 that rotates relative to the base 10, a tool holder 12 that is evenly distributed on the circumference and hinged on the tool disc 11, a first tool pushing unit 13 and a second tool pushing unit 18 fixed to the base 10 for pushing the tool holder 12 to flip downward, the tool changer 2 includes a tool changing arm 21 and a tool checking arm 22, the tool changing arm 21 rotates between the tool disc 11 and the stop position of the CNC robot arm 4 to change the tool, and the tool checking arm 22 is located between the detection unit 3 and the tool disc 11 to rotate and change the tool, the extension direction of the first tool pushing unit 13 corresponds to the rotation stroke of the tool changing arm 21 and the tool checking arm 22, and also includes a tool replenishing system 5, the tool replenishing system 5 is provided with a tool return arm 51, and the tool return arm 51 is arranged corresponding to the extension direction position of the second tool pushing unit 18 provided above the tool magazine 1.

[0043] As a further configuration of the above scheme, a visual recognition module 41 is further provided on the CNC robot arm 4. The visual recognition module 41 is connected to the tool changing system and is used to collect images of workpieces processed by the tool 9 currently installed on the CNC robot arm 4 for comparison with samples or standard images.

[0044] As a further arrangement of the above scheme, the detection unit 3 is provided with a moving unit 31, and a laser detection tube 32 is provided on one side of the detection unit 3. Driven by the moving unit 31, the detection unit 3 carries the tool 9 into the laser detection tube 32, and compares the blade image collected by the laser detection tube 32 with the standard image. The comparison result is fed back to the tool changing system and the tool replenishing system 5. A scrap box is also provided on one side of the detection unit 3.

[0045] As a further setting of the above scheme, the blade image collected by the laser detection tube 32 is also uploaded to the blade life management system of the tool changing system. The blade life management system is used to track and monitor the service life of the tool 9 and predict the damage detection of the tool 9. The blade life management system predicts the life damage result and feeds it back to the tool changing system, triggering the tool changing arm 21 of the tool changing system to select the tool holder 12 to be pushed out by the first tool pushing unit 13 before executing the tool change.

[0046] As a further arrangement of the above scheme, the ends of the first and second blade pushing units 13 and 18 are fixedly mounted on the base 10, and a C-shaped rod 131 is provided at the front end. The tool holder 12 is provided with a roller 132 that matches the C-shaped rod 131. When the C-shaped rod 131 is extended, the C-shaped rod 131 buckles the roller 132, pushing it to drive the tool holder 12 to perform hinged swing.

[0047] As a further arrangement of the above scheme, the tool holder 12, the CNC robot arm 4 and the detection unit 3 are all provided with a ball tool limit assembly 40, and the ball tool limit assembly 40 includes a sleeve 401 that is larger than the ball head rod 91 provided at the end of the tool 9, a ball 402 that moves relative to the sleeve 401, and a spring member 403 that pushes the ball 402.

[0048] As a further arrangement of the above scheme, there are at least two of each type of tools 9 provided on the tool disc 11. When any type of tool 9 is identified as scrapped, damaged, or missing by the detection unit 3, and the missing tool 9 is inconsistent with the one on the CNC machine arm 4, the tool replenishment system 5 is triggered to prompt to replenish the corresponding model of tool 9. The replenished tool 9 is rotated from the tool holder 12 of the missing tool 9 on the tool disc 11 to the tool return arm 51, and is pushed into the tool holder 12 by the tool return arm 51.

[0049] As a further arrangement of the above scheme, the tool changer 2 is further provided with a cam disc 24 with a cam groove 23 and a slider 25 located in the cam groove 23. The slider 25 is arranged on a connecting arm 26 which is fixed on the tool change arm 21 and the tool inspection arm 22 at one end. The slider 25 is arranged in the middle area of ​​the connecting arm 26, and the other end is hinged to the tool changer 2 body. The cam disc 24 is also provided with a rotating guide groove 27, and a matching roller 28 is provided on the rotating shaft of the tool change arm 21 and the tool inspection arm 22. The cam disc 24 is driven by the driving unit to rotate, and the slider 25 is moved along the cam groove 23 by rotation, driving the tool change arm 21 and the tool inspection arm 22 to rise and fall relative to the tool changer 2. The tool change arm 21 and the tool inspection arm 22 are driven to rotate by the cooperation of the roller 28 and the rotating guide groove 27. The inner wall of the cam groove 23 corresponding to the stroke after the relative driving tool change arm 21 and the tool inspection arm 22 are separated from the limit of the ball 402 is provided with a buffer zone 29 for stability.

[0050] One of the characteristics of the CNC tool changing system of the present invention is that multiple detections are set up, based on the measured service life of the new tool 9, by recording its working time, collecting the blade image, and calculating the wear curve, the life management system data of the tool 9 on the tool disc 11 is generated. Therefore, when the CNC equipment is running, when the tool feeding processing parameters of the workpiece are imported, the numerical values ​​in the processing parameters are extracted and calculated with the life management system data. First, the usage time of the tool 9 required for the target processing tool quantity is counted, second, the storage time of the corresponding model tool 9 in the life management system is retrieved, and third, after comparison, it is determined whether the existing tool 9 on the tool disc 11 can meet the usage requirements of the current target processing workpiece.

[0051] The present invention is based on the above-mentioned tool 9 life management system. Through AI intelligent calculation management, the remaining expected life value of a tool 9 (including several spare tools 9 of the same model on the tool disc 11) is used to optimize the tool changing strategy. Based on the construction of a full life cycle management platform for tool 9, the tool 9 life management system realizes remote monitoring and intelligent decision-making, and can provide prompts for staff to replenish tools 9 in time, reducing the downtime caused by the lack of tools 9 in CNC. The tool changing mechanism of the present invention is based on the deep collaboration of industrial robots and CNC machine tools. It can not only predict the service life of tool 9, inspect and scrap it in advance, and reduce the occurrence of damage to the blade during use, but also multiple spare tools 9 of the same model are set up without manual production and the CNC equipment does not stop, thereby improving processing efficiency.

[0052] It is worth noting that in the method of the present invention, the tools 9 are divided into two categories on the tool disk 11, one category is the tool 9 that is at the first priority when the CNC robot arm 4 takes the tool, and the other category is the spare tool 9 that is ranked after the tool 9 and is ranked as the same type of tool change target. Furthermore, the ranking order of the spare tool 9 will be based on the triggered command, including but not limited to inserting the spare tool 9 with the first priority, and the original ranking will be moved back one place in sequence. In order to ensure the continuous and sustained operation of the CNC machine tool, after the spare tool 9 is consumed, the tool changing system will trigger the tool replenishment system 5 to replenish the tool 9 when the last one is used on the CNC robot arm 4.

[0053] The technical solution of the present invention also provides an operating method of a CNC machine tool tool changing system based on robot collaboration, comprising:

[0054] S1. The CNC machine tool of the present invention is based on robot collaboration. During the working process, the tool changing system extracts the specifications and models of the tool 9, the processing dimensions required on each workpiece, and the number of workpieces based on the input processing parameters based on the processing instructions input by the CNC programming. After obtaining the tool 9 requirements, the tool changing system compares it with the corresponding blade life management data on the tool disk 11 pre-stored or recorded in the database. The data is composed of the blade life data calculated by the inspection unit 3 after the new tool 9 is added, changed, and returned. The comparison result generates a blade damage prediction analysis Report and tool change plan. The tool change plan built into the blade life management system includes how many times the current tool 9 can process workpieces and the processing time. The calculation result of the plan needs to deduct the safety amount, and the result must be less than the calculated limit amount as the processing amount. During the processing of the CNC robot arm 4 carrying the tool 9, when the number of workpieces processed reaches the calculated processing amount value and the visual recognition module 41 is not triggered to change the tool in advance, the tool change plan is updated. After the processing amount is reached, the CNC machine tool will trigger the tool change system, pause the equipment to change the tool, and detect the replaced tool 9;

[0055] S11. After obtaining the machining blade requirements by the above-mentioned method, the tool changing system calculates the remaining life and wear of the tool 9 currently loaded on the cutter head 11 in the database and the existing usage time and wear conditions recorded in the database, and forms a preliminary tool changing plan. The calculation result includes whether the tool 9 on the cutter head 11 meets the machining requirements:

[0056] S111, if the processing requirement is not met, the life data of the spare tool 9 on the tool disc 11 is added after deducting the total time of the first tool 9 in the order, and a secondary calculation is performed. If the total processing time requirement is still not met, the spare tool 9 is continuously selected in order until the tools 9 of the same specification are exhausted, and the required usage time of the tools 9 is recorded, and the staff is prompted. Furthermore, in the tool changing system, when the spare tool 9 is used, before the last spare tool 9 on the existing tool disc 11 is used up, that is, after the tool changing arm 21 sends the last spare tool 9 of the same model on the tool disc 11 to the CNC robot arm 4, the staff is required to immediately replace the tool 9. For the specific tool replenishment steps, see the working principle of the tool replenishment system 5;

[0057] S112. When the calculated total remaining service life of the tool 9 on the tool disk 11 meets the duration and requirements of the processing requirements, the CNC robot arm 4 performs normal tool removal, tool change, and then uses the tool 9 for processing. It is worth noting that the CNC robot arm 4 of the present invention is also provided with a visual recognition module 41. The visual recognition module 41 is used to collect the blade image of the tool 9 and the image of the workpiece formed after processing in real time, so as to comprehensively judge and warn the use of the tool 9. The visual recognition module 41 of the present invention has two functions. One is to assist in inspecting the workpiece processing image. In addition, a CMOS camera with an IP67 protection grade is used, for example, with a CS interface short-focus lens (object distance 50-100mm), and a global shutter model is given priority to eliminate motion blur. The image of the blade of the tool 9 is collected, and then compared with the standard image in the database to determine the wear ratio and determine whether the tool needs to be changed. To assist in workpiece image collection, the industrial camera is used to collect the holes, grooves, etc. formed by the current tool 9 after processing, and compare them with the first piece or sample to ensure processing uniformity. It can also reflect whether the tool 9 is broken or worn too much.

[0058] S2. When the tool 9 is in use, the blade image and the processed image captured by the visual recognition module 41 of the industrial camera installed on the CNC robot arm 4 are compared with the sample standard image. If the warning threshold is triggered, it is necessary to enter the tool change step in advance and update the tool change plan according to the tool inspection result of the inspection unit 3;

[0059] S3. According to the tool changing plan of the calculation results, after the tool 9 on the CNC robot arm 4 reaches the calculated processing volume, the CNC processing is temporarily stopped, the CNC robot arm 4 controls the tool 9 to stop rotating, and moves the tool 9 to the tool changing position through the CNC robot arm 4. When the tool 9 reaches the tool changing position, the CNC robot arm 4 is changed by the tool changer 2, and the tool 9 on the current CNC robot arm 4 is replaced with the first-priority spare tool 9 on the tool disk 11, so that the CNC machine tool can continue to work normally. After the tool change is completed, the tool holder 12 is not retracted after the tool change is completed, but the tool inspection arm 22 sends the replaced tool 9 to the detection unit 3 to determine whether it is scrapped. S31. Specifically, based on the tool-changing plan, when the current tool 9 is processing, the processing amount trigger threshold reaches the target processing amount in the plan (the threshold refers to the warning value of the service life of the current tool 9, and the total processing amount of the tool 9 of the previous specification and model has not been completed), the tool-changing system issues a command, and the CNC machine arm 4 moves with the tool 9 to the tool-changing position. At the same time, the tool disc 11 rotates to send a spare tool 9 of the same specification as the current tool 9 to the first tool-pushing unit 13. The tool-changing arm 21 rotates to replace the spare tool 9 with the tool 9 on the CNC machine arm 4. The new tool 9 allows the CNC machine tool to continue normal processing.

[0060] S32: After the tool is changed, the tool changing arm 21 rotates away from the tool holder 12. After the CNC robot arm 4 resumes normal processing according to the instruction of the CNC system, the tool inspection arm 22 starts, removes the newly changed tool 9 from the tool holder 12, and rotates it into the inspection unit 3. Then, the moving unit 31 of the inspection unit 3 starts, which drives the tool 9 on the inspection unit 3 to move into the laser detection tube 32 for inspection.

[0061] S4. The detection results are uploaded to the tool changing system to record the data. After the scrapping instruction is triggered, the tool 9 model and the replenishment requirement are sent to the tool replenishment system 5. The tool replenishment system 5 generates a tool replenishment list. The staff needs to place the tools in the tool replenishment slot in sequence according to the list. Furthermore, a machine vision blade identification module can be developed and designed to identify the tool 9 when the staff puts it in to determine whether it corresponds to the required tool 9, or to put the required tools 9 in the list in a random order. The tool replenishment system 5 rotates the tool disc 11 according to the identified tool 9 model and extends the corresponding tool holder 12.

[0062] S41, after the inspection is completed, for the tool 9 that has not reached the scrapping condition, after the moving unit 31 drives the tool 9 to reset, the tool inspection arm 22 starts to send the inspected tool 9 from the inspection unit 3 back to the cutter head 11, and continues to be used as the first priority tool 9 for the tool 9 currently in use, and updates the service life information in the database and predicts and modifies the tool change plan based on the inspection data. It is worth noting that the inspection unit 3 sets an interval range value, and the tool 9 life value within the range value will trigger early scrapping, so as to avoid the tool 9 that is about to be scrapped from being returned to the cutter head 11, thereby causing the tool to be scrapped not long after processing, and further needing to change the tool, which affects the processing efficiency;

[0063] S42, the tool 9 that triggers the scrap condition is directly placed into the scrap box by the mobile unit 31. In this embodiment, an ejection mechanism is set in the detection unit 3. The ejection mechanism is directly opposite to the tool 9 at the end of the detection unit 3. After the mobile unit 31 moves the tool 9 to the scrap box, the ejection mechanism starts to eject the tool 9 and make it fall into the scrap box. Then the mobile unit 31, the detection unit 3, and the tool inspection arm 22 are all reset. The scrapped tool 9 information generates a tool replenishment demand and sends it to the tool replenishment system 5. The tool replenishment system 5 that receives the replenishment demand generates a tool replenishment demand list At the terminal, the staff puts the corresponding tool 9 into the tool-filling slot set in the CNC machine tool according to the needs and sequence. After receiving the feedback signal from the tool-filling slot, the tool-filling system 5 starts the tool-returning arm 51 to rotate the tool 9 in the tool-filling slot to the tool-filling position above the cutter head 11 and places it into the corresponding tool holder 11 pushed out by the second tool-pushing unit 18 on the cutter head 11. It is also necessary to update the tool-changing plan and record the data and spare ranking of the tool 9 in the database; S5, if the tool 9 completes the processing normally, trigger the tool-returning or tool-changing command of another tool 9 of another specification;

[0064] S51, wherein the tool changing instruction steps are as follows: the CNC robot arm 4 moves to the tool changing position, and the tool disc 11 rotates at the same time, and the tool holder 11 corresponding to the tool 9 is facing the first tool pusher unit 13. The first tool pusher 13 unit is started, and the tool holder 12 is swung to a predetermined position. Subsequently, the tool changer 2 is started, and the tool changing arm 21 rotates forward to clamp the CNC robot arm 4 and the tool 9 on the tool holder 12, and then moves downward to disengage the tool 9 from the ball tool limit assembly 40. Continuing to start forward rotation will relatively switch the tool 9 removed from the two. Subsequently, the tool changing arm 21 moves upward to allow the end of the tool 9 to engage with the ball tool limit assembly 40. After the engagement is completed, the tool changing arm 21 rotates in the opposite direction to disengage the tool 9, and the tool change is completed.

[0065] S52, wherein, the tool return instruction step is as follows: the CNC robot arm 4 moves to the tool changing position, and the tool disc 11 rotates at the same time, and the empty tool holder 11 corresponding to the tool 9 is facing the first tool pusher unit 13. The first tool pusher 13 unit is started, and the tool holder 12 is swung to the predetermined position. Subsequently, the tool changer 2 is started, and the tool changing arm 21 rotates forward to clamp the tool 9 on the CNC robot arm 4, and then moves downward to disengage the tool 9 from the ball tool limit assembly 40. After disengagement, the tool changing arm 21 continues to rotate forward to rotate the tool 9 removed from the CNC robot arm 4 to the bottom of the empty tool holder 11. Subsequently, the tool changing arm 21 moves upward to allow the end of the tool 9 to engage with the ball tool limit assembly 40. After the engagement is completed, the tool changing arm 21 rotates in the opposite direction to disengage the tool 9. The tool return is completed, and the empty CNC robot arm 4 takes the tool, which is the same as the tool return action;

[0066] S6. After the tool return or tool change instruction of step S5 is completed, the tool inspection of step S32 is required, and feedback and completion of steps S41 and S42 are required.

[0067] Furthermore, the tool 9 of the present invention is divided into a current tool 9 and several spare tools 9 arranged in sequence according to the priority of use, wherein the tool 9 obtained by the tool changing arm 21 from the tool disc 11 must be the first priority tool 9 in the database, and the first priority tool 9 will change with the program progress and various data changes. The position of the changed tool 9 on the tool disc 11 will exist in real time in the database of the tool changing system, and only after the tool 9 on the CNC robot arm 4 triggers the same model tool change instruction, the tool changing arm 21 will obtain the spare tool 9 from the tool disc 11 based on the instruction, and return the unloaded tool 9 of the same specification model to the tool disc 11, and the returned tool 9 needs to pass through the inspection unit 3 to determine whether it has completely returned to the tool disc 11 or is scrapped. Processing, the tool 9 of the present invention, the current tool 9 in management is the first priority of the demand of the CNC robot arm 4, and the sequence of the spare tools 9 is arranged based on the supply of the tool-replenishing system 5. The tool 9 sent back to the tool disc 11 after inspection by the inspection unit 3 is queued to the first priority or directly rearranged as the spare tool 9 of the first priority. Through the above-mentioned tool 9 sorting logic, the old tools 9 and the tools 9 that can still be used after inspection can be consumed first. Furthermore, the basis of the tool-replenishing design of the present invention is that there are enough tool holders 12 on the tool disc 11 to meet the installation of at least two tools 9 of each specification, thereby meeting the design scheme of automatic tool inspection and tool changing and CNC non-stop switching of new tools of the present invention.

[0068] The core features of the CNC tool management system of this invention include automatic tool inspection based on a machine vision unit to accurately identify tool wear status, automatic tool change, and a rapid tool replenishment system. This allows for the replacement and replenishment of new tools without stopping the machine. Furthermore, based on tool inspection results (remaining life) and original tool data (new tool life), blade life management can be generated. This can predict blade failure and lead to premature tool replacement and scrapping, reducing the problem of workpiece defects caused by tool stretching, avoiding machining defects caused by tool failure, and significantly improving product qualification rates. This system solution effectively reduces labor costs and safety risks, in line with the development trend of "fewer people, less people" in industrial automation.

[0069] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A CNC machine tool tool changing system based on robot collaboration, characterized in that: The invention comprises a tool magazine (1), a tool changer (2), a detection unit (3) and a numerical control robot arm (4), wherein the tool magazine (1) comprises a base (10), a tool disc (11) provided with a tool rotating unit (14) and rotating relative to the base (10), a tool holder (12) evenly distributed on the circumference and hinged on the tool disc (11), a first tool pushing unit (13) and a second tool pushing unit (18) fixed to the base (10) for pushing the tool holder (12) to flip downward, and the tool changer (2) comprises a tool changing arm (21) and a tool detection arm (22). The tool changing arm (21) rotates between the tool disc (11) and the parking position of the numerical control machine arm (4) to change the tool. The tool checking arm (22) is located between the detection unit (3) and the tool disc (11) and rotates to change the tool. The extension direction of the first tool pushing unit (13) corresponds to the rotation stroke of the tool changing arm (21) and the tool checking arm (22). The tool replenishing system (5) is also included. The tool replenishing system (5) is provided with a tool return arm (51). The tool return arm (51) is provided corresponding to the extension direction position of the second tool pushing unit (18) provided above the tool magazine (1).

2. The tool changing system for CNC machine tools based on robot collaboration according to claim 1, characterized in that: The numerical control robot arm (4) is also provided with a visual recognition module (41), which is connected to a tool changing system and is used to collect images of workpieces processed by a tool (9) currently installed on the numerical control robot arm (4) for comparison with a sample or standard image.

3. The tool changing system for CNC machine tools based on robot collaboration according to claim 1, characterized in that: The detection unit (3) is provided with a moving unit (31), and a laser detection tube (32) is provided on one side of the detection unit (3). The detection unit (3) carries the tool (9) into the laser detection tube (32) under the drive of the moving unit (31), and compares the blade image collected by the laser detection tube (32) with the standard image, and the comparison result is fed back to the tool changing system and the tool replenishing system (5). A scrap box is also provided on one side of the detection unit (3).

4. The tool changing system for CNC machine tools based on robot collaboration according to claim 3, characterized in that: The blade image collected by the laser detection tube (32) is also uploaded to the blade life management system of the tool changing system. The blade life management system is used to track and monitor the service life of the tool (9), predict the tool (9) breakage detection, and the blade life management system predicts the life breakage result and feeds it back to the tool changing system, triggering the tool changing arm (21) of the tool changing system to select the first tool pushing unit (13) to push out the tool holder (12) before executing the tool change.

5. The tool changing system for CNC machine tools based on robot collaboration according to claim 1, characterized in that: The ends of the first blade pushing unit (13) and the second blade pushing unit (18) are fixedly mounted on the base (10), and a C-shaped rod (131) is provided at the front end. A roller (132) matching the C-shaped rod (131) is provided on the blade holder (12). When the C-shaped rod (131) is extended, the C-shaped rod (131) buckles the roller (132) and pushes it to drive the blade holder (12) to perform hinged swing.

6. The tool changing system for CNC machine tools based on robot collaboration according to claim 1, characterized in that: The tool holder (12), the numerical control robot arm (4) and the detection unit (3) are all provided with a ball-type limiting assembly (40), the ball-type limiting assembly (40) comprising a sleeve (401) larger than a ball head rod (91) provided at the end of the tool (9), a ball (402) movable relative to the sleeve (401) and a spring member (403) for pushing the ball (402).

7. The tool changing system for CNC machine tools based on robot collaboration according to claim 6, characterized in that: The tool changer (2) is further provided with a cam disc (24) with a cam groove (23) and a slider (25) located in the cam groove (23). The slider (25) is arranged on a connecting rod arm (26) fixed on the tool change arm (21) and the tool inspection arm (22) at one end. The slider (25) is arranged in the middle area of ​​the connecting rod arm (26) and its other end is hinged to the tool changer (2) body. The cam disc (24) is further provided with a rotation guide groove (27). The rotating shafts of the tool change arm (21) and the tool inspection arm (22) are provided with a matching roller (28). The cam disc (24) is driven by the driving unit to rotate, and the slider (25) is moved along the cam groove (23) by the rotation, driving the tool changing arm (21) and the tool checking arm (22) to move up and down relative to the tool changer (2), and the tool changing arm (21) and the tool checking arm (22) are driven to rotate by the cooperation of the roller (28) and the rotating guide groove (27). The inner wall of the cam groove (23) is provided with a buffer zone (29) for stability in the travel corresponding to the relative driving tool changing arm (21) and the tool checking arm (22) after the tool changing arm (21) and the tool checking arm (22) are separated from the limit of the ball (402).

8. The tool changing system for CNC machine tools based on robot collaboration according to claim 1, characterized in that: There are at least two of each type of cutting tools (9) provided on the cutting disc (11). When any type of cutting tool (9) is identified as scrapped, damaged or missing by the detection unit (3), and the missing cutting tool (9) is inconsistent with the one on the CNC machine arm (4), the tool replenishment system (5) is triggered to prompt the replenishment of the corresponding type of cutting tool (9). The replenished cutting tool (9) is rotated from the tool holder (12) of the missing cutting tool (9) on the cutting disc (11) to the tool return arm (51), and is pushed into the cutting tool holder (12) by the tool return arm (51).

9. The method for operating a tool changing system for a CNC machine tool based on robot collaboration according to any one of claims 1 to 8, characterized in that: include: S1. Based on the processing instructions input by numerical control programming, the specifications and models of the tool (9), the processing dimensions required on each workpiece, and the number of workpieces required are extracted, and the corresponding blade life management data on the tool disk (11) pre-stored or recorded in the tool change system database are compared to generate a blade damage prediction analysis report and a tool change plan. The tool change plan built into the blade life management system includes how many times the current tool (9) can process the workpiece and the processing time. The calculation result of the plan needs to deduct the safety amount, and the result must be less than the calculation limit amount as the processing amount; S11. After obtaining the processing blade requirement, the tool change system calculates the current use time and wear condition of the tool (9) loaded on the current tool disk (11) in the database and the database, and forms a tool change plan. The calculation result includes whether the tool (9) on the tool disk (11) meets the processing requirement: S111, if the processing requirement is not met, the first tool (9) in the order is deducted from the damage time, and the life data of the tool (9) set as a spare on the tool disc (11) is added to perform a secondary calculation. If the requirement is still not met, the order is continued until the tools (9) of the same specification are exhausted. Then, the staff is prompted to use the spare tool (9) in the tool changing system, and before the last spare tool (9) is used up, the tool (9) is supplemented and replaced; S112, to meet the processing requirements, the CNC robot arm (4) normally changes the tool and uses the tool, and based on the visual recognition module (41) provided on the CNC robot arm (4), the image of the blade of the tool (9) and the image of the workpiece after processing are collected in real time to comprehensively judge the use of the tool (9) and issue a warning; S2. When the tool (9) is in use, the blade image and the processed image collected by the visual recognition module (41) of the industrial camera installed on the CNC robot arm (4) are compared with the sample standard image. If the warning threshold is triggered, it is necessary to enter the tool change step in advance and update the tool change plan according to the tool inspection result of the inspection unit (3); S3, according to the tool change plan of the calculation result, after the tool (9) on the CNC robot arm (4) reaches the calculated processing amount, the use of the tool (9) is suspended, the CNC robot arm (4) moves to the tool change position, and the CNC robot arm (4) is changed by the tool changer (2), and the tool (9) on the current CNC robot arm (4) is replaced with the first priority tool (9) on the tool disk (11) for the CNC machine tool to continue normal processing, and after the tool change is completed, the tool holder (12) after the tool change is completed is not retracted, but the tool inspection arm (22) sends the replaced tool (9) to the detection unit (3) to determine whether it is scrapped; S31, based on the tool change plan, when the current tool (9) reaches the target value of the machinable amount in the plan during processing, the CNC machine arm (4) moves to the tool change position, the tool disc (11) rotates, and a spare tool (9) of the same specification as the current tool (9) is sent to the first tool pusher unit (13), and the tool change arm (21) rotates to replace the spare tool (9) with the tool (9) on the CNC machine arm (4), and the new tool (9) is replaced to allow the CNC machine tool to continue normal processing; S32, after the tool is changed, the tool changing arm (21) rotates away from the tool holder (12), and the CNC machine arm (4) resumes normal processing according to the instruction of the CNC system, and the tool inspection arm (22) starts, removes the tool (9) just changed from the tool holder (12), and sends it into the inspection unit (3) by rotating, and then the moving unit (31) of the inspection unit (3) starts, which drives the tool (9) on the inspection unit (3) to move to the laser detection tube (32) for inspection; S4, the detection result is uploaded to the tool changing system to record the data, and after the scrapping instruction is triggered, the tool (9) model and replenishment requirements are sent to the tool replenishment system (5); S41, after the inspection is completed, for the tool (9) that has not reached the scrap condition, after the moving unit (31) drives the tool (9) to reset, the tool inspection arm (22) starts to send the inspected tool (9) from the inspection unit (3) back to the tool disc (11), and continues to use it as a spare first priority tool (9) for the tool (9) currently in use, and updates the service life information in the database and predicts and modifies the tool change plan based on the inspection data; S42, the tool (9) that triggers the scrapping condition is directly placed in the scrap box by the mobile unit (31), and the demand is sent to the tool-replenishing system (5). The tool-replenishing system (5) that receives the supplementary demand generates a tool-replenishing demand list to the terminal. The staff puts the corresponding tool (9) into the tool-replenishing slot set in the CNC machine tool according to the demand and sequence. After receiving the feedback signal of the tool-replenishing slot, the tool-replenishing system (5) starts the tool-returning arm (51) to rotate the tool (9) in the tool-replenishing slot to the tool-replenishing position above the tool disc (11), and places it into the corresponding tool holder (11) pushed out by the second tool-pushing unit (18) on the tool disc (11). It is also necessary to update the tool-changing plan and record the data and spare ranking of the tool (9) in the database; S5. If the tool (9) completes the machining normally, a tool return instruction or a tool change instruction to another tool (9) of another specification is triggered; S51, wherein the tool change instruction steps are as follows: the CNC robot arm (4) moves to the tool change position, and the tool disc (11) rotates at the same time, and the tool holder (11) corresponding to the tool (9) is facing the first tool pusher unit (13), and the first tool pusher (13) unit is started, and the tool holder (12) is swung to a predetermined position, and then the tool changer (2) is started, and the tool change arm (21) rotates forward to clamp the CNC robot arm (4) and the tool (9) on the tool holder (12), and then moves downward to disengage the tool (9) from the ball tool limit assembly (40), and continues to start forward rotation to relatively switch the tools (9) removed from the two, and then the tool change arm (21) moves upward to engage the end of the tool (9) with the ball tool limit assembly (40), and after the engagement is completed, the tool change arm (21) rotates in the opposite direction to disengage the tool (9), and the tool change is completed; S52, wherein the tool return instruction steps are as follows: the CNC robot arm (4) moves to the tool change position, and the tool disc (11) rotates at the same time, and the vacant tool holder (11) corresponding to the tool (9) is facing the first tool pusher unit (13), and the first tool pusher (13) unit is started to swing the tool holder (12) to a predetermined position, and then the tool changer (2) is started, and the tool changer arm (21) rotates forward to clamp the tool (9) on the CNC robot arm (4), and then moves downward to move the tool (9) and The ball knife limit assembly (40) is disengaged. After disengagement, the tool changing arm (21) continues to rotate forward to rotate the tool (9) removed from the CNC robot arm (4) to the bottom of the empty tool holder (11). Subsequently, the tool changing arm (21) moves upward to allow the end of the tool (9) to engage with the ball knife limit assembly (40). After the engagement is completed, the tool changing arm (21) rotates in the opposite direction to disengage from the tool (9). The tool return is completed, and the empty CNC robot arm (4) takes the tool, which is the same as the tool return action. S6. After the tool return or tool change instruction of step S5 is completed, the tool inspection of step S32 is required, and feedback and completion of steps S41 and S42 are required.

10. The method for operating a tool changing system for a CNC machine tool based on robot collaboration according to claim 9, characterized in that: The tool (9) is divided into a current tool (9) and a number of spare tools (9) arranged in sequence according to the priority of use, wherein the tool (9) obtained by the tool changing arm (21) from the tool disc (11) must be the first priority tool (9) in the database, and only after the tool (9) on the CNC robot arm (4) triggers the tool changing instruction of the same model, the tool changing arm (21) will obtain the spare tool (9) from the tool disc (11) based on the instruction, and return the unloaded tool (9) of the same specification model to the tool disc (11), and the returned tool (9) needs to pass through the inspection unit (3) to determine whether it is completely returned to the tool disc (11) or scrapped. In the tool (9) management, the current tool (9) is the first priority of the CNC robot arm (4) demand, and the sequence of the spare tools (9) is based on the supply order of the tool replenishment system (5), and the tool (9) sent back to the tool disc (11) after inspection by the inspection unit (3) is directly listed as the first priority spare tool (9).

Images