Automatic cutter taking device and method and cutting machine

Abstract

The invention discloses an automatic tool taking device and method and a cutting machine. The device comprises a tool magazine assembly, a tool taking mechanism, a tool lifting assembly and a driving assembly. A moving sliding table of the tool taking mechanism drives a tool rest to move and press downwards; during downward pressing, a trigger block on the side part of the tool rest acts on a swing arm group of the tool lifting assembly to drive the swing arm group to rotate; the swing arm group pushes a lifting execution piece of the cutter lifting assembly to axially move, so that a meshing part of the lifting execution piece and the output end of the driving assembly enter a meshing state; the driving assembly then works to drive the engaged lifting execution piece to rotate, then a bearing part of the lifting execution piece pushes a sliding block of the cutter lifting assembly to vertically ascend, and a cutter lifting part on the sliding block lifts the target cutter to an adsorption fixing structure at the bottom of the cutter rest to complete adsorption fixing; and finally, the knife rest lifts with the knife to complete knife taking. According to the automatic tool taking device, a complex mechanical linkage and power meshing sequence is triggered through single physical pressing, and automatic tool taking which is compact in structure, reliable in action and controllable in lifting power is achieved.

Description

Technical Field

[0001] This invention relates to the field of automated processing equipment technology, and more specifically, to an automatic tool-retrieving device, an automatic tool-retrieving method, and a cutting machine including the device. Background Technology

[0002] In the field of automated cutting and processing of sheet materials such as flexible printed circuit boards (FPCBs) and optical films, different specifications of cutting tools often need to be changed during processing, depending on different cutting trajectories, material properties, or processing requirements. Traditional manual tool changing methods are inefficient, risky due to operational errors, and cannot meet the demands of high-precision and high-efficiency modern production.

[0003] Existing tool-retrieving schemes are complex in structure and difficult to coordinate and control. In many schemes, the actuators driving the horizontal movement and vertical lifting of the tool holder, such as motors and cylinders, the actuators driving the tool lifting action, and the mechanisms for locking and adsorbing the tool are all independently set and require separate control. This results in a complex overall structure with many parts, and requires complex multi-axis coordinated control logic and sensor feedback systems to ensure the accuracy of the tool-retrieving sequence, which not only increases costs but also reduces the reliability of the system.

[0004] Therefore, there is an urgent need in this field for a new automatic tool-retrieving technology that can reduce the number of independent drive sources and the complexity of control through simple mechanical linkage, introduce a reliable and controllable power transmission mechanism to ensure reliable tool-retrieving action, and maintain the compactness of the overall structure. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic blade-retrieving device, method, and cutting machine. The downward pressing action of the blade-retrieving mechanism is designed as a mechanical trigger signal. This signal does not directly generate a lifting force, but instead drives the blade-lifting assembly to reliably engage with an independent drive assembly. Subsequently, the independent drive assembly provides controllable power to complete the final lifting and fixing of the cutting blade. This design retains the advantages of a compact mechanical linkage structure and its inherent timing, while introducing an independent drive source, resulting in a simpler system structure and smoother lifting.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an automatic tool retrieval device, including a tool magazine assembly, a tool retrieval mechanism, a tool lifting assembly, and a drive assembly. The device includes a tool magazine assembly for storing multiple cutting blades along a predetermined path; a blade retrieval mechanism comprising a motion slide mounted above the tool magazine assembly and a blade holder mounted at the movable end of the motion slide, the bottom of which has an adsorption and fixing structure for adsorbing and fixing the cutting blades; a blade lifting assembly connected to the tool magazine assembly, having a lifting section for supporting the cutting blades and a power input end; and a drive assembly including an output end for providing lifting power. The motion slide is configured to drive the blade holder to move above the target cutting blade and perform a pressing action. The blade lifting assembly is configured to, in response to the pressing action, mechanically engage the power input end of the blade lifting assembly with the output end of the drive assembly, moving them from a disengaged state to a power-transmitting engagement state. The drive assembly is configured to operate in the engagement state, driving the blade lifting assembly to vertically lift the target cutting blade on its lifting section, so that its top is contacted and fixed by the adsorption and fixing structure of the blade holder. The motion slide is also configured to drive the blade holder with the fixed cutting blades to rise, completing the blade retrieval.

[0007] Preferably, the tool holder includes a tool holder body, a fixing groove formed at the bottom of the tool holder body, and a trigger block disposed on the side of the tool holder body; the adsorption and fixing structure is disposed in the fixing groove.

[0008] Preferably, the tool lifting assembly includes a support, a sliding pair, a lifting actuator, a first elastic element, and a swing arm assembly. The support is fixed to the tool magazine assembly; the sliding pair includes a slider slidably connected to the side wall of the tool magazine assembly, and the slider has the tool lifting portion; the lifting actuator is movably connected to the support, and includes an engaging portion for engaging with the output end of the drive assembly, and a supporting portion for driving the slider upward; the first elastic element is connected between the support and the lifting actuator; the middle portion of the swing arm assembly is rotatably mounted on the support, one end of which is a force-receiving portion for contacting the trigger block, and the other end is a actuating portion for axially displacing the lifting actuator; wherein, when the trigger block presses down on the force-receiving portion, it drives the swing arm assembly to swing, and the actuating portion overcomes the preload of the first elastic element to axially displace the lifting actuator, causing the engaging portion to engage with the output end of the drive assembly, and the drive assembly drives the supporting portion to move the tool lifting portion toward the tool holder.

[0009] Preferably, the drive assembly includes a servo motor, a damper, and a radially arranged snap-fit ​​structure; one end of the damper is connected to the output shaft of the servo motor, and the snap-fit ​​structure is located at the other end of the damper; the engaging portion of the lifting actuator is provided with a snap-fit ​​groove that cooperates with the snap-fit ​​structure; the slider is provided with a first locking portion, the support is provided with a second locking portion, and the supporting portion of the lifting actuator is located between the two.

[0010] Preferably, the lifting assembly further includes a second elastic element, one end of which is connected to the tool magazine assembly or the support, and the other end is connected to the bottom of the slider, for providing an elastic force to reset the slider.

[0011] Preferably, the tool magazine assembly includes: a tool holder, comprising a tool holder body, a guide rail disposed on the tool holder body, and a clearance groove disposed on the tool holder body; the guide rail is used to arrange and store the cutting tools, one end of the clearance groove is connected to the tool outlet end of the guide rail, and the other end extends to the tool lifting part of the slider; an elastic actuating member is disposed at the end of the guide rail, used to continuously apply a pushing force towards the tool outlet end to the last cutting tool in the arrangement, pushing the last cutting tool into the tool lifting part.

[0012] Preferably, the cutting blade has a shoulder; the bottom of the guide rail and the clearance groove is provided with a stepped structure for supporting the shoulder; the lifting part is a slot adapted to the shape of the shoulder, and the slot allows only one cutting blade to be pushed in; the lifting part is provided with a limiting slope on the side facing the blade magazine assembly, and when the slot lifts the target cutting blade, the limiting slope can push the adjacent cutting blade of the target cutting blade back.

[0013] Preferably, the tool magazine assembly further includes a guide member disposed on the tool holder, the guide member including a guide ramp located above the slot, so that the blade exit end of the guide rail narrows and positions the bottom of the cutting blade to slide into the slot.

[0014] Preferably, it further includes a control unit and an image acquisition module disposed at the movable end of the motion slide; the image acquisition module is used to acquire the status image of the elastic actuating component; the control unit is communicatively connected to the image acquisition module and is used to determine the stock status of the tool magazine assembly or the result of the tool retrieval operation based on the status image.

[0015] Secondly, the present invention provides an automatic tool retrieval method applied to the above-mentioned device, comprising the following steps: a control unit receives a tool retrieval command and determines the position of the target cutting tool in the tool magazine assembly according to the command; controls the motion slide to drive the tool holder to move to a tool retrieval position above the target cutting tool; controls the motion slide to drive the tool holder to press down, triggering the tool lifting assembly; the tool lifting assembly responds to the pressing trigger by engaging its power input end with the output end of the drive assembly; the drive assembly operates, driving the tool lifting assembly to vertically lift the target cutting tool until its top is attracted and fixed by the suction and fixing structure of the tool holder; controls the motion slide to drive the tool holder with the fixed cutting tool to rise, disengage from the tool lifting assembly, and complete the tool retrieval.

[0016] Preferably, after the tool is removed, a tool removal verification step is also included: The state of the elastic actuating component in the tool magazine assembly is captured again by the image acquisition module; The control unit determines the quantity of the target cutting blade based on the re-acquired status image and compares it with the quantity before blade removal; If the stock decreases, the tool retrieval process is considered complete. If the stock does not decrease, the tool retrieval is deemed a failure and an alarm is triggered.

[0017] Preferably, the drive assembly includes a servo motor, a damper, and a radially arranged snap-fit ​​structure; in the step of engaging the power input end of the lifting assembly with the output end of the drive assembly, the control unit is further configured to control the servo motor to operate according to the following process: when the power input end is axially displaced, the servo motor is controlled to reverse by a first preset angle to find the engagement position between the snap-fit ​​structure and the power input end; after the first preset angle rotation is completed, the servo motor is controlled to rotate forward to drive the slider to lift.

[0018] Thirdly, the present invention provides a cutting machine comprising the above-described automatic blade removal device.

[0019] The beneficial effects of this invention are as follows: by using the pressing action that the tool-retrieving mechanism must perform as a single physical trigger source, the subsequent power engagement preparation can be reliably triggered through a purely mechanical structure such as a swing arm assembly, eliminating the need to add an independent drive source or complex electronic control signals for the "engagement preparation" step, thus simplifying the system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0021] Figure 1 This is a schematic diagram of the overall structure of the automatic knife-removing device in the embodiment.

[0022] Figure 2 This is a schematic diagram of the exploded state of the tool magazine assembly and the tool lifting assembly in the embodiment.

[0023] Figure 3 This is a half-section structural diagram of the automatic tool removal device in the embodiment.

[0024] Figure 4 This is a schematic diagram of the tool holder structure in the embodiment.

[0025] Figure 5 This is a schematic diagram of the structure of the cutting blade and the slider in the embodiment.

[0026] Figure 6 This is another schematic diagram of the exploded state of the tool magazine assembly and the tool lifting assembly in the embodiment.

[0027] Figure 7 This is a schematic diagram of the initial state of the tool magazine assembly and the tool lifting assembly before they are pressed down in the embodiment.

[0028] Figure 8 This is a schematic diagram of the trigger state of the tool magazine component and the tool lifting component after they are pressed down in the embodiment.

[0029] Figure 9 This is a half-section three-dimensional structural diagram of the tool magazine assembly and the tool lifting assembly in the embodiment.

[0030] Figure 10 This is a schematic diagram of the slider in the embodiment.

[0031] Figure 11 This is a schematic diagram of a cutting machine including an automatic blade removal device in the embodiment.

[0032] Explanation of reference numerals in the attached figures: 100-Tool magazine assembly, 110-Tool holder, 111-Guide rail, 111a-Tool delivery end, 112-Air clearance groove, 113-Stepped structure, 114-Tool disc, 117-Support plate, 118-Tool holder body, 1181-Circular mounting slot, 119-Guide component, 1191-Guide ramp, 120-Elastic actuating component, 121-L-shaped pawl, 122-Rotating shaft, 123-Torsion spring, 124-Angle indicator, 130-Flip cover, 131-Tool removal hole, 132-Through window.

[0033] 200-Tool retrieving mechanism, 210-Three-axis motion slide, 220-Tool holder, 221-Tool holder body, 222-Fixing groove, 223-Trigger block, 224-Adsorption fixing structure.

[0034] 300- Lifting assembly, 310- Support, 311- Support shaft, 320- Slider, 321- Lifting part, 3211- Slot, 3212- Limiting slope, 322- First locking part, 330- Lifting actuator, 331- Engaging part, 331a- Locking groove, 332- Supporting part, 340- First elastic element, 350- Swing arm assembly, 351- Force-receiving part, 352- Actuating part, 353- Support connector, 354- Swing arm component, 355- First rotating shaft component, 360- Second elastic element, 361- L-shaped support plate, 362- Protruding edge, 370- Second locking part; 400 - Drive assembly, 410 - Damper, 420 - Snap-fit ​​structure.

[0035] 500 - Cutting blade, 501 - Cutting section, 502 - Conical chamfer, 510 - Shoulder.

[0036] 600 - Automatic tool removal device.

[0037] 700 - Cutting machine, 710 - Frame. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0042] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0043] Example 1 Please see Figures 1 to 4 This embodiment aims to provide an automatic tool-retrieving device that converts the pressing action of the tool-retrieving mechanism 200 into a trigger signal for power engagement between the tool-lifting assembly 300 and the independent drive assembly 400, and the drive assembly 400 provides controllable power to complete the final tool lifting.

[0044] like Figure 1 As shown, the automatic tool retrieval device mainly includes a tool magazine assembly 100, a tool retrieval mechanism 200, a tool lifting assembly 300, and a drive assembly 400.

[0045] like Figure 2 As shown, the tool magazine assembly 100 is used to orderly store multiple cutting tools 500. Figure 2 As shown, it mainly includes a tool holder 110. The tool holder 110 has an arc-shaped guide rail 111 along which multiple cutting blades 500 can be arranged. Each cutting blade 500 has a shoulder 510. The bottom of the guide rail 111 has a stepped structure 113 to support the shoulder 510 of the cutting blade 500, allowing its cutting portion 501 at its end to be suspended. At the end of the guide rail 111 is an elastic actuating element 120, which in this embodiment is an L-shaped actuating claw 121 provided with elastic force by a torsion spring 123. This elastic actuating element 120 continuously applies a pushing force pointing towards the blade exit end 111a to the last cutting blade 500, ensuring that the last blade is always in the ready-to-retrieve position. The tool holder 110 also has a clearance groove 112 communicating with the blade exit end 111a of the guide rail 111, the end of which forms a blade retrieval station.

[0046] like Figure 2 and Figure 6 As shown, for further precise positioning, please refer to [link / reference]. Figure 4The tool holder 110 has a guide 119 at the top of the connection between the tool outlet 111a of the guide rail 111 and the clearance groove 112. The guide 119 has a guide slope 1191, which narrows the end of the guide rail 111, thereby guiding the cutting blade 500 to slide precisely into the predetermined position, and allowing only a single cutting blade 500 to enter.

[0047] Please see Figure 2 and Figure 3 The tool holder 110 further includes a support plate 117, a tool holder body 118 fixed on the support plate 117, and a circular cutter disc 114 housed within the tool holder body 118. The tool holder body 118 has a circular mounting groove 1181, and the circular cutter disc 114 is coaxially disposed within this groove. An arc-shaped guide rail 111 is formed between the outer peripheral wall of the circular cutter disc 114 and the inner peripheral wall of the circular mounting groove 1181. Preferably, the arc length of the guide rail 111 occupies approximately three-quarters of the circumference of the entire circle, with the remaining quarter space used to accommodate the support 310 of the tool lifting assembly 300.

[0048] Preferably, please refer to Figure 2 , Figure 7 and Figure 8 The tool magazine assembly also includes a flip cover 130 rotatably mounted on top of the tool holder body. One side of the flip cover 130 is rotatably connected to the tool holder body via a pivot pin, while the other side is movably connected via a hand-tightening bolt. The flip cover 130 is used to cover the tool disc and cutting blades. The flip cover 130 also has a blade ejection hole 131, allowing the cutting blade to pass through. A through window 132 is also provided in the center for the angle indicator 124 to protrude.

[0049] For example, please refer to Figure 5 In this embodiment, the cutting blade 500 is a cylindrical blade body. The bottom of the cutting blade 500 is a sharp cutting part 501, and the top is a conical chamfer 502, which is used to guide it into the fitting connection station in the fixed groove. Its material is metal, especially metal that can be magnetically attracted.

[0050] The tool-retrieving mechanism 200 is responsible for carrying the tool to perform three-dimensional motion. For example... Figures 1 to 4As shown, it includes a three-axis motion slide 210 driven by a servo motor, and a tool holder 220 fixed to the movable end of the motion slide 210. The tool holder 220 includes a cylindrical tool holder body 221. A fixing groove 222 is provided at the bottom of the tool holder body 221, and an adsorption fixing structure 224 is embedded in the groove. The adsorption fixing structure 224 is a permanent magnet. It is understood that in other embodiments, an adsorption component such as an electromagnet can also be used. A trigger block 223 is detachably installed on the side of the tool holder body 221 by screws, which facilitates the adjustment of the trigger height according to the tool specifications. Preferably, an image acquisition module can also be integrated on the tool holder 220.

[0051] The lifting assembly 300 is a key component for achieving both "downward trigger engagement" and "receiving lifting power." For example... Figure 2 and Figure 6 As shown, it mainly includes a support 310, a slider 320, a lifting actuator 330, a first elastic element 340, a swing arm assembly 350, and a second elastic element 360.

[0052] like Figure 2 and Figure 6 As shown, for example, the support 310 is fixed to the side of the tool magazine assembly 100 by bolts. The slider 320 is vertically slidably connected to the side wall of the tool magazine assembly 100 via a sliding pair consisting of a linear bearing and a linear shaft. For installation and positioning, the tool magazine assembly 100 is provided with limiting protrusions at the top and bottom of the sliding pair. These limiting protrusions are used to fix the upper and lower ends of the sliding pair and to limit the upper and lower stroke ends of the slider 320.

[0053] like Figure 2 , Figure 6 and Figure 10 As shown, the slider 320 has a lifting part 321 on the side facing the clearance groove 112. A portion of the lifting part 321 extends into the interior of the clearance groove 112, and this portion can move up and down along the clearance groove 112. In the initial state, the lifting part 321 is located at the same level as or slightly lower than the cutting end 111a. On the lifting part 321, directly opposite the cutting end 111a, a slot 3211 is formed. The slot 3211 is used so that the last cutting tool can be pushed into the slot 3211 under the action of the elastic actuating member 120. That is, the slot 3211 is at the same height as or slightly lower than the stepped structure 113 of the cutting end 111a (in the initial state). In this example, the slot 3211 can be a U-shaped slot or a V-shaped slot, used to support the shoulder 510 of the target cutting tool 500 located at the tool taking position. The slider 320 has a first locking part 322 on its side. For example, the first locking part 322 can be a protruding post, and the supporting part 332 can slide along its surface.

[0054] like Figure 5 and 10As shown, it should be added that a limiting inclined surface 3212 is provided on the side wall of the lifting part 321 facing the target cutting blade, i.e., on the same side as the slot 3211. In the initial state, before the target cutting blade is lifted, it is pushed to the top of the lifting part 321, and the cutting part 11 is placed in the slot 3211. As the target cutting blade is lifted, the limiting inclined surface 3212 moves upward, gradually contacting and pushing away the adjacent cutting blade 500. This ensures that the adjacent cutting blade is effectively pushed away during the lifting process without hindering the lifting of the target cutting blade. The surface of the limiting inclined surface 3212 is smooth and has a low coefficient of friction, further reducing the resistance generated when pushing away the adjacent cutting blade and ensuring the smooth progress of the entire blade removal process. In addition, the connection between the limiting inclined surface 3212 and the lifting part 321 adopts an arc transition, avoiding stress concentration and improving the overall strength and service life of the lifting part 321. After the target cutting blade is removed, the lifting part 321 moves down to reset. At this time, the cutting blade 500, which was originally pushed away, enters the top position of the lifting part under the action of the elastic actuating member 120, preparing for the next blade removal operation.

[0055] like Figure 2 and Figure 6 As shown, the lifting actuator 330 is a component that receives the engagement and performs the lifting action. It is slidably sleeved on the support shaft 311 of the support 310 through a central through hole. One end of the lifting actuator 330 (near the drive assembly 400) is the engagement part 331, which has a plurality of circumferentially distributed snap-fit ​​grooves 331a. The other end is the support part 332, which is an arc-shaped rod in this example. A first elastic element 340 (tension spring) is connected between the support 310 and the lug of the lifting actuator 330, providing a preload force to the lifting actuator 330 to move its engagement part 331 away from the drive assembly 400. For example, the first elastic element 340 can be a tension spring. In the initial state, the lower edge of the support portion 332 is located between the first locking portion 322 of the slider 320 and the second locking portion 370 on the support 310, and is in contact with the second locking portion 370 in the initial state, thereby limiting the further downward swing of the lifting actuator 330 under the action of gravity. The second locking portion 370 can be a protruding post, and the support portion 332 can slide along its surface.

[0056] like Figure 2 and Figure 6The bottom of the swing arm assembly 350 is bolted to the top of the support 310. One end extends to form a force-bearing portion 351, which is an arc-shaped contact surface for contacting the trigger block 223 of the tool holder 220; the other end extends to form a actuating portion 352. The swing arm assembly 350 essentially constitutes a lever. For example, the swing arm assembly 350 specifically includes an obtuse-angled support connector 353 and an obtuse-angled swing arm 354. The bottom end of the support connector 353 is fixed to the support 310, and its top end is hinged to the middle of the swing arm 354 via a first pivot 355. The top end of the swing arm 354 extends to form the force-bearing portion 351, which can be an arc-shaped contact surface, and the bottom end of the swing arm 354 extends to form the actuating portion 352.

[0057] like Figure 2 and Figure 6 The upper end of the second elastic element 360 is connected to the L-shaped support plate 361 of the tool holder 110, and the lower end is connected to the protruding edge 362 at the bottom of the slider 320, providing a continuous downward restoring force to the slider 320. For example, the second elastic element 360 can be a tension spring. For example, an L-shaped support plate 361 is fixedly provided on the support plate of the tool holder 110. The two ends of the second elastic element 360 are respectively connected to the horizontal protruding edge of the L-shaped support plate 361 and the protruding edge 362 at the bottom of the slider 320. The second elastic element 360 is always in a stretched or pre-stretched state, thereby providing the slider 320 with a continuous and consistently downward elastic restoring force.

[0058] The drive assembly 400 provides precise and controllable power for the lifting action. For example... Figure 2 and Figure 6 As shown, it includes a servo motor, a damper 410, and a radial snap-fit ​​structure 420 located at the output end of the damper 410. The servo motor is connected to the input end of the damper 410, which is used to buffer the impact during engagement and startup. The drive assembly 400 is mounted on the frame 710 of the cutting machine 700, and the rotation axis of its snap-fit ​​structure 420 should be aligned with the sliding axis of the lifting actuator 330 on the support shaft 311. For example, the damper 410 includes a first shaft and a second shaft, which are dampedly connected. When the torque is less than the connection damping, the two shafts rotate coaxially; when the torque is greater than the connection damping, they rotate relative to each other.

[0059] like Figures 7 to 9As shown, exemplarily, the locking structure 420 of the drive assembly 400 is a locking pin radially disposed at the end of the damper 410. The engagement portion 331 of the lifting actuator 330 is provided with a locking groove 331a adapted to the locking pin. Since the locking pin and the locking groove 331a may not be aligned when the downward trigger is triggered, after the control unit detects that the tool holder 220 has completed the downward trigger action, it first controls the servo motor to reverse (e.g., 180°, which is exemplarily related to the distribution spacing of the locking grooves 331a). During the reversal process, since the lifting actuator 330 has been axially moved close to the locking pin, and at this time the support portion 332 abuts against the second locking post 390 of the support, the outer circumferential surface of the locking pin and the outer end face of the locking groove 331a will slide relative to each other. When the locking pin is rotated to align with a certain locking groove 331a, under the axial thrust continuously applied by the swing arm assembly 350, the locking pin will quickly lock into the groove to achieve engagement. The damper 410 buffers the engagement impact during this process. Even if engagement occurs prematurely, the servo motor will still complete the preset reverse angle, at which point the damper 410 undergoes slight deformation to absorb excess rotation. After the reverse rotation ends, the control unit immediately controls the servo motor to rotate forward. At this time, the engagement part 331 is firmly engaged with the locking pin, and the forward rotation power is transmitted through the lifting actuator 330. Its supporting part 332 pushes the first locking part 322 of the slider 320 upward, driving the slider 320 and the target cutting blade 500 to rise smoothly and vertically.

[0060] It should be noted that the snap-fit ​​structure 420 of the drive assembly 400 is not limited to a cylindrical pin. It can be a radially protruding key, a non-cylindrical protrusion, or a groove on the meshing part 331, or a shaped groove that mates with it. As long as the mating relationship between the "radial protrusion" and the "axial groove" is satisfied, circumferential power transmission can be achieved.

[0061] The control unit (not shown in the figure, such as a PLC) is electrically connected to the driver of the motion slide 210, the servo motor of the drive assembly 400, and the optional image acquisition module described later, for coordinating and controlling the entire tool removal process.

[0062] The working principle and tool removal process of this embodiment are as follows. Please refer to... Figure 1 , Figure 7 , Figure 8 and Figure 11 understand: S1: Initial Preparation. The elastic actuating member 120 pushes the last cutting blade 500 into the blade-retrieving position at the end of the clearance groove 112, allowing the shoulder 510 of the cutting blade 500 to rest on the slot 3211 (a U-shaped slot in this embodiment) of the lifting portion 321 of the slider 320. At this time, the slider 320 is at its lower limit position under the pulling force of the second elastic element 360. Under the action of the first elastic element 340, the engaging portion 331 of the lifting actuator 330 separates from the locking structure 420 of the drive assembly 400. The motion slide 210 carries the tool holder 220 to a safe position or the previous position.

[0063] S2: Positioning and Pressing Down. According to the tool change command, the control unit controls the motion slide 210 to drive the tool holder 220 to move, aligning its bottom fixing groove 222 directly above the target cutting tool 500 at the tool pick-up station. Then, the control unit controls the motion slide 210 to drive the tool holder 220 to move downwards along the Z-axis.

[0064] S3: Triggering engagement preparation. When descending to the preset height, the trigger block 223 on the side of the tool holder 220 contacts and presses down the force-bearing part 351 of the swing arm assembly 350. The swing arm assembly 350 rotates around its fulcrum. The actuating part 352 at its other end swings upward, overcoming the tension of the first elastic element 340, and pushing the lifting actuator 330 to generate axial displacement along the support shaft 311 towards the drive assembly 400. This displacement moves the locking groove 331a of the engagement part 331 of the lifting actuator 330 into an axial range that can engage with the locking structure 420 of the drive assembly 400. It should be noted that this pressing process only displaces the lifting actuator 330 in preparation for engagement; the slider 320 and the cutting blade 500 have not yet been lifted.

[0065] S4: Reverse Positioning and Engagement. After the control unit detects that the tool holder 220 has completed its downward stroke or received a positioning signal, it controls the servo motor of the drive assembly 400 to start working. First, the control servo motor reverses (e.g., 180°). During the reversal, as the lifting actuator 330 is axially pushed closer, the end face of its engagement portion 331 will slide relative to the outer circumference of the rotating locking structure 420. When the locking pin rotates to align with a locking groove 331a, under the combined action of the axial thrust continuously provided by the swing arm assembly 350 and the rebound tendency accumulated after the first elastic element 340 is compressed, the locking pin slides into the locking groove 331a, achieving reliable engagement. Even when the damper 410 allows the support portion 332 to be limited, the servo motor can still continue to reverse. The driving force of the servo motor is greater than the damping force of the damper 410. When the servo motor rotates forward, the damping force of the damper 410 is greater than the lifting force to be applied, thereby pushing the first locking portion 322 upward.

[0066] S5: Forward Rotation Drives Lifting and Adsorption. After the servo motor reverses to the preset angle, it immediately rotates forward. At this time, power is transmitted to the lifting actuator 330 through the firmly engaged locking structure 420, causing it to rotate. Since the supporting part 332 of the lifting actuator 330 is now in contact with the first locking part 322 of the slider 320 through axial displacement, when the lifting actuator 330 rotates, the movement trajectory of its supporting part 332 causes the contact point with the first locking part 322 to continuously rise, thereby converting the rotational motion into a vertical thrust on the slider 320. The slider 320 lifts the target cutting blade 500 synchronously and vertically through its lifting part 321. As the cutting blade 500 rises, its top guide chamfer 502 first enters the fixing groove 222 of the blade holder 220 until it is firmly adsorbed by the permanent magnet in the groove.

[0067] S6: Tool retrieval and reset completed. The control unit controls the motion slide 210 to drive the tool holder 220 and the fixed cutting blade 500 to rise. As the tool holder 220 rises, the trigger block 223 disengages from the force-bearing part 351 of the swing arm assembly 350. Under the restoring force of the first elastic element 340, the lifting actuator 330 is pulled back, its engaging part 331 disengages from the locking structure 420 of the drive assembly 400, and the supporting part 332 swings down to reset. Under the pulling force of the second elastic element 360, the slider 320 descends to reset to the lower limit. At this time, the elastic actuating member 120 immediately pushes the next cutting blade 500 in the guide rail 111 into the vacated tool retrieval position, waiting for the next tool retrieval command.

[0068] Example 2 This embodiment adds a visual recognition and verification system to the first embodiment in order to achieve intelligent management and closed-loop process control.

[0069] like Figure 2 , Figures 7 to 9 As shown, an angle indicator 124, such as a "T" shaped mark, is fixed on the rotation shaft 122 of the elastic actuating member 120, located at the top of the center of the guide rail 111. Since the swing angle of the pawl 121 strictly corresponds to the number of remaining cutting blades 500 in the tool magazine, the pointing angle of the indicator 124 directly maps to the real-time inventory of the tool magazine.

[0070] An image acquisition module, such as a miniature camera, is integrated and installed on the tool holder 220, with its lens facing the angle indicator mark 124.

[0071] The image acquisition module, motion slide 210, and drive component 400 are all communicatively connected to the control unit.

[0072] Its workflow is based on Example 1, with the following additional steps: Pre-removal tool identification and verification: During or before the motion slide 210 drives the tool holder 220 to move towards the target tool magazine, the control unit can trigger the image acquisition module to capture an image of the top of the tool magazine and identify the direction of the angle indicator 124. The control unit has pre-stored the tool type and quantity information corresponding to each angle, which can be used for dual verification: 1) confirming whether the tool type in the target tool magazine meets the tool change command requirements; 2) recording the inventory data before tool removal.

[0073] Post-tool retrieval verification: After tool retrieval is completed (step S6) and the tool holder 220 carrying the tool leaves the tool magazine area, the control unit can again control the motion slide 210 to drive the tool holder 220 (carrying the image acquisition module) past the tool magazine, or directly perform secondary image acquisition during the upward movement of the tool holder 220. The control unit again identifies the direction of the angle indicator 124 and calculates the remaining quantity after tool retrieval.

[0074] Result Judgment and Processing: The control unit compares the remaining quantity after tool retrieval with the quantity recorded before retrieval. If the quantity decreases (usually by 1), the tool retrieval process is considered successfully completed, and the system can continue with subsequent machining operations. If the quantity does not decrease, the tool retrieval is considered a failure (possible reasons include: failed adsorption leading to tool drop, triggering or engagement abnormalities causing failure to lift, etc.). The control unit immediately triggers an audible and visual alarm, displays the specific tool magazine retrieval failure on the control panel, and can pause the machining program according to preset strategies, awaiting operator intervention.

[0075] Please see Figure 10 This embodiment also provides a cutting machine 700, which includes the above-mentioned automatic blade removal device 600.

[0076] Through the above-described specific embodiments, this invention provides an automatic tool-removing solution with reliable structure and operation. It organically combines simple mechanical triggering with controllable power drive, effectively solving the problems of system complexity, poor synchronization, and low reliability existing in the background technology, and is especially suitable for precision cutting equipment with high requirements for tool changing efficiency and reliability.

[0077] The lifting action is ultimately driven by an independent servo motor, whose speed, torque, and stroke can be precisely controlled by a program. This avoids the problem of lifting force and stroke being constrained by the mechanical relationship of downward force in pure mechanical linkage, resulting in smoother and more precise lifting and greater adaptability to tools of different sizes. The introduction of a "reverse positioning" soft-engagement control method, combined with damper buffering, ensures a smooth and accurate engagement process between the output end of the drive component and the power input end of the tool lifting component. This effectively avoids component wear, jamming, or alignment failure caused by hard impacts, greatly improving long-term operational reliability. The overall structural layout is reasonable, and the linkage mechanism is compact. Combined with a vision recognition and verification system, tool inventory monitoring and closed-loop verification of tool retrieval results can be achieved, enhancing the equipment's intelligence level and maintenance convenience.

[0078] The device provided in the embodiments of this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An automatic tool changer characterized in that, The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly.

2. The automatic tool changer according to claim 1, characterized in that The application relates to a cutting tool magazine assembly.

3. The automatic tool changer according to claim 2, characterized in that The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly.

4. The automatic tool changer according to claim 3, characterized in that The application relates to a cutting tool magazine assembly.

5. The automatic tool changer according to claim 3, wherein The application relates to a cutting tool magazine assembly.

6. The automatic tool changer according to claim 3 or 4, characterized in that The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. The application relates to a cutting tool magazine assembly. 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The application relates to a cutting tool magazine The knife seat comprises a knife seat body, a guide rail arranged on the knife seat body, and a clearance groove arranged on the knife seat body; the guide rail is used for arranging and storing the cutting knives, one end of the clearance groove is communicated with the knife outlet end of the guide rail, and the other end extends to the knife lifting part of the sliding block; An elastic pushing member is arranged at the end of the guide rail and is used for continuously applying a pushing force to the last cutting knife in the arrangement direction of the guide rail to push the last cutting knife into the knife lifting part.

7. The automatic tool changer according to claim 6, characterized in that The cutting knife is provided with a shaft shoulder; the guide rail and the bottom of the clearance groove are provided with a stepped structure for supporting the shaft shoulder; the knife lifting part is a clamping groove matched with the shape of the shaft shoulder, and the clamping groove only allows one cutting knife to be pushed in; The knife lifting part is provided with a limiting inclined surface on one side of the knife magazine assembly; when the clamping groove lifts the target cutting knife, the limiting inclined surface can push the adjacent cutting knife of the target cutting knife back.

8. The automatic tool changer according to claim 6, wherein Further comprising a control unit and an image acquisition module arranged on the movable end of the moving sliding table; the image acquisition module is used for acquiring a state image of the elastic pushing member; the control unit is in communication connection with the image acquisition module and is used for judging the inventory state of the knife magazine assembly or the result of the knife taking operation according to the state image.

9. An automatic tool changing method for a cutting machine, characterized in that, The automatic knife taking device comprises the following steps: The control unit receives a knife taking instruction and determines the position of the target cutting knife in the knife magazine assembly according to the instruction; The moving sliding table is controlled to drive the knife holder to move to a knife taking position above the target cutting knife; The moving sliding table is controlled to drive the knife holder to press down and trigger the knife lifting assembly; The knife lifting assembly is triggered in response to the pressing down, so that the power input end of the knife lifting assembly is engaged with the output end of the driving assembly; The driving assembly works to drive the knife lifting assembly to vertically lift the target cutting knife until the top of the target cutting knife is adsorbed and fixed by the adsorption fixing structure of the knife holder; The moving sliding table is controlled to drive the knife holder of the fixed cutting knife to rise and separate from the knife lifting assembly, thereby completing the knife taking.

10. The automatic tool changing method according to claim 9, wherein After the knife taking is completed, the following knife taking verification step is further included: The image acquisition module acquires the state of the elastic pushing member in the knife magazine assembly again; The control unit judges the inventory of the target cutting knife according to the state image acquired again and compares the inventory with the inventory before the knife taking; If the inventory is reduced, it is determined that the knife taking process is completed; If the inventory is not reduced, it is determined that the knife taking fails and an alarm is triggered.

11. The automatic tool changing method according to claim 9, wherein The driving assembly comprises a servo motor, a damper and a radially arranged clamping structure; in the step of engaging the power input end of the knife lifting assembly with the output end of the driving assembly, the control unit is further configured to control the servo motor to work in the following process: after the power input end is axially displaced, the servo motor is controlled to reverse for a first preset angle to find the engagement position of the clamping structure and the power input end; after the first preset angle rotation is completed, the servo motor is controlled to rotate forward to drive the sliding block to rise.

12. A cutting machine characterized by, The automatic knife taking device comprises the automatic knife taking device according to any one of claims 1 to 8. The automatic knife taking device comprises the automatic knife taking device according to any one of claims 1 to 8.

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