Tool changing system and tool changing method of machine tool and machine tool

Abstract

The invention relates to the field of machine tools, in particular to a tool changing system and method of a machine tool and the machine tool, the tool changing system comprises a tool changing device and a speed adjusting device, the speed adjusting device comprises an acceleration module, the acceleration module is used for accelerating a tool on the tool changing device, and the tool changing device is matched with a tool magazine, a main shaft and the speed adjusting device of the machine tool. The tool changing device is used for taking down tools from the tool magazine and assembling the tools on the speed adjusting device, the acceleration module is used for accelerating the tools assembled on the speed adjusting device to a preset rotating speed, and the tool changing device is further used for changing the tools on the speed adjusting device and the main shaft. According to the tool changing system and method, under the state that the main shaft keeps rotating, the tool changing system can still change the tool on the main shaft, the machining efficiency is effectively improved, and abrasion and consumption of equipment caused by frequent braking of the main shaft are reduced.

Description

Technical Field

[0001] This invention relates to the field of tool changing technology for machine tools, and more specifically, to a tool changing system, a tool changing method, and a machine tool. Background Technology

[0002] The biggest difference between a machining center and a conventional machine tool is that a machining center has the ability to automatically change machining tools. This is achieved by setting up a specific tool-changing robot, thus improving machining efficiency. In contrast, in a traditional machining center, automatic tool changing requires first stopping the spindle, then removing the tool from the spindle, installing the required tool onto the spindle, and finally restarting the spindle for machining.

[0003] Tool changing methods that involve stopping the spindle rotation negatively impact machining efficiency, especially in mass production. Furthermore, frequent spindle braking causes wear and tear on the equipment, consequently affecting its machining accuracy and lifespan. Therefore, existing technologies have shortcomings and require improvement. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a tool changing system, a tool changing method, and a machine tool, thereby resolving the technical problem in the prior art that the spindle must be stopped before tool changing can be performed.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] One embodiment of the present invention provides a tool changing system for a machine tool, the machine tool including a machine tool body and a tool magazine and a spindle disposed on the machine tool body, characterized in that the tool changing system includes a tool changing device and a speed regulating device:

[0007] The speed control device is located on the machine tool body and on one side of the tool magazine, and is used to adjust the speed of the tool.

[0008] The tool changing device is installed on the machine tool body and located between the tool magazine, speed control device and spindle. The tool changing device includes a tool changing arm, and both ends of the tool changing arm are provided with tool clamping structures for holding the tool. The tool changing arm is rotatably installed on the machine tool body.

[0009] The tool changing device is matched with the tool magazine, speed control device and spindle. The tool changing device is used to remove the tool from the tool magazine and assemble it onto the speed control device. The speed control device includes an acceleration module, which is used to accelerate the tool assembled onto the speed control device to a predetermined speed. The tool changing device is also used to change the tool on the speed control device and the spindle.

[0010] Preferably, in the above-mentioned tool changing system, the speed regulating device further includes a deceleration module, which is used to decelerate the tool mounted on the speed regulating device to zero. The tool changing device is also used to remove the tool from the speed regulating device and assemble it into the tool magazine.

[0011] Preferably, the above-mentioned tool changing system includes a spindle tool changing position and a tool magazine tool changing position. The tool changing system also includes a speed control tool changing position. The spindle tool changing position, the tool magazine tool changing position, and the speed control tool changing position are located on the same plane. The rotation center of the tool changing arm is on the same straight line as the spindle tool changing position and the speed control tool changing position. The distance from the tool magazine tool changing position to the rotation center is equal to the distance from the speed control tool changing position to the rotation center.

[0012] In the preferred embodiment of the above tool changing system, the spindle tool changing position, the tool magazine tool changing position, and the speed control device tool changing position are arranged in an isosceles triangle.

[0013] In the preferred embodiment of the tool changing system described above, the speed control device includes a motor and a sleeve disposed at the lower end of the motor and driven by the motor, the sleeve being matched with the tool.

[0014] In the aforementioned tool changing system, preferably, the tool holder is an arc-shaped structure with an opening;

[0015] The tool clamping structure includes a tool clamp for clamping a tool and a retractable locking mechanism disposed at the opening of the tool clamp. The tool clamp has a rotatable first rotating member on the clamping surface for clamping the tool. At least a portion of the first rotating member protrudes from the clamping surface. The locking mechanism cooperates with the tool clamp to clamp the tool.

[0016] The clamping mechanism includes a rod and a second rotating member. The rod is telescopically mounted on the tool changing arm, and the second rotating member is located at the end of the rod. At least part of the second rotating member blocks the opening of the tool holder.

[0017] In another aspect, the present invention provides a tool changing method for a machine tool tool changing system, wherein the machine tool tool changing system is any of the tool changing systems described above, and the tool changing method includes:

[0018] The required tool is picked up from the tool magazine by the tool changer and installed onto the speed control device.

[0019] The speed control device accelerates the tool to be loaded to a predetermined speed and controls the spindle to move to the spindle tool change position.

[0020] The tool changer changes the tool to be installed on the speed control device and the tool to be replaced on the spindle, so that the tool to be installed is installed on the spindle and the tool to be replaced is installed on the speed control device.

[0021] The tool to be replaced is decelerated to zero using a speed regulating device;

[0022] The tool to be replaced is removed from the speed control device and installed into the tool magazine using the tool changing device.

[0023] The preferred method of the above tool changing method involves using a tool changing device to retrieve the required tool from the tool magazine and install it onto the speed regulating device, including:

[0024] Rotate the tool changing arm of the tool changing device to clamp the required tool from the tool magazine through the tool clamping structure on one side of the tool changing arm, and rotate the tool changing arm again to install the tool onto the speed regulating device.

[0025] The tool changing device changes the tool to be loaded on the speed control device and the tool to be changed on the spindle, including:

[0026] Rotate the tool changer arm to clamp the tool to be replaced from the spindle through the clamping structure on one side of the tool changer arm, and clamp the tool to be installed from the speed control device through the clamping structure on the other side of the tool changer arm. Rotate the tool changer arm again to install the tool to be installed onto the spindle and the tool to be replaced onto the speed control device.

[0027] The tool to be replaced is removed from the speed control device and installed into the tool magazine via the tool changing device, including:

[0028] Rotate the tool changer arm to pick up the tool to be replaced from the speed control device through the tool clamping structure on one side of the tool changer arm, and rotate the tool changer arm again to install the tool to be replaced onto the tool magazine.

[0029] The preferred method of the above tool changing method includes accelerating the tool to be loaded to a predetermined speed using a speed regulating device and controlling the spindle to move to the spindle tool changing position, including:

[0030] After the speed control device accelerates the tool to be loaded to the predetermined speed, it controls the spindle to move to the spindle tool change position. The predetermined speed is greater than or equal to the spindle speed.

[0031] The tool to be replaced is decelerated to zero using a speed regulating device, including:

[0032] The speed reduction module of the speed control device reduces the speed of the tool to be replaced to zero.

[0033] In another aspect, the present invention also provides a machine tool, including a machine tool body and a tool magazine and a spindle disposed on the machine tool body, and further including any of the above-mentioned tool changing systems, wherein the tool changing system is disposed on the machine tool body.

[0034] The beneficial effects of this invention include at least the following: the tool changing system includes a tool changing device and a speed regulating device. The speed regulating device includes an acceleration module, which is used to accelerate the tool on the tool changing device. The tool changing device is matched with the machine tool's tool magazine, spindle, and speed regulating device. The tool changing device is used to remove a tool from the tool magazine and assemble it onto the speed regulating device. The acceleration module is used to accelerate the tool assembled on the speed regulating device to a predetermined speed. The tool changing device is also used to change tools on the speed regulating device and the spindle. This tool changing system allows for tool changing on the spindle while the spindle is rotating, effectively improving machining efficiency and reducing wear and tear caused by frequent spindle braking. It is particularly suitable for applications where spindle acceleration and deceleration times are long, tool changes are frequent, and machining efficiency requirements are high.

[0035] In a preferred embodiment, a tool clamping structure is provided on the tool changing arm of the tool changing device. A rotatable first rotating member is provided on the clamping surface for holding the tool, and at least a portion of the first rotating member protrudes from the clamping surface. When the tool clamp holds the tool, the tool and the first rotating member can rotate relative to each other. The tool, after being pre-accelerated by the speed regulating device, can smoothly maintain rotation even when held by the tool clamp, thus facilitating the tool changing system to change the tool on the spindle while the spindle is still rotating. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0037] Figure 1 This is a schematic diagram of the tool changing device preparing to retrieve a tool from the tool magazine in some embodiments of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the tool to be installed moving to the speed regulating device in some embodiments of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure for changing the position of the tool to be installed and the tool to be replaced in some embodiments of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of the tool to be replaced located in the speed regulating device in some embodiments of the present invention;

[0041] Figure 5 This is a schematic diagram of the tool changing process in some embodiments of the present invention;

[0042] Figure 6 This is a schematic diagram of the tool changing device in some embodiments of the present invention;

[0043] Figure 7 This is a schematic diagram of the clamping knife structure in some embodiments of the present invention;

[0044] Figure 8 It is the rotating groove of the rotating groove in some embodiments of the present invention;

[0045] Figure 9 This is a flowchart of a tool changing method for a machine tool according to some embodiments of the present invention.

[0046] The attached figures are labeled as follows:

[0047] 100-Tool changer, 200-Speed ​​control device, 300-Tool magazine, 400-Spindle, 500-Speed ​​control device tool change position, 600-Tool magazine tool change position, 700-Spindle tool change position, 800-Tool, 801-Tool to be loaded, 802-Tool to be replaced;

[0048] 101 - Tool Changer;

[0049] 102-Clamping structure, 1021-Clamping mechanism, 1022-Rod, 1023-Second rotating component, 1024-Second rotating shaft, 1025-Second rotating body, 1026-Clip holder, 1027-Rotating groove;

[0050] 103-First rotating component, 1031-First rotating shaft, 1032-First rotating body;

[0051] 104-rod hole;

[0052] 105 - Rotational structure. Detailed Implementation

[0053] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0054] In traditional tool changers for machining centers, tool changing often requires stopping the spindle first. Once the spindle has completely stopped, the tool to be changed is exchanged with the tool on the spindle via the tool changer. For example, when a tool change is needed, the spindle first brakes, stops machining, and returns to the tool change point. The tool magazine then transports the required tool directly below the spindle for the change. This is a commonly used tool changing method, but it impacts the efficiency of automatic tool changing, especially in high-volume or short-cycle production. Stopping the spindle for tool changing affects the efficiency of high-speed machining, and frequent spindle braking causes wear and tear on the equipment, consequently affecting its machining accuracy and lifespan.

[0055] refer to Figure 1-8 The first aspect of this invention provides a tool changing system for a machine tool. The machine tool includes a machine tool body, a tool magazine 300, and a spindle 400 disposed on the machine tool body. The tool changing system includes a tool changing device 100 and a speed regulating device 200. The speed regulating device 200 is disposed on the machine tool body and located on one side of the tool magazine 300, and is used to adjust the rotational speed of the tool 800. The tool changing device 100 is disposed on the machine tool body and located between the tool magazine 300, the speed regulating device 200, and the spindle 400. The tool changing device 100 is used to change tools on the speed regulating device 200 and the spindle 400. The tool changing device 100 includes a tool changing arm 101. Each end of the tool changing arm 101 in the length direction is provided with a tool clamping structure 102 for clamping the tool 800. The tool changing arm 101 is also provided with a rotating structure 105 for connecting to the machine tool, and the rotating structure 105 is located between the ends of the tool changing arm 101. It is easy to understand that both ends of the tool changing arm 101 can be provided with tool clamping structures 102, while the rotating structure 105 is located in the area between the ends of the tool changing arm 101. In use, the rotating structure 105 is connected to the machine tool body, and the tools clamped on both sides of the tool changing arm 101 are exchanged by rotating the tool changing arm 101. For example, a tool clamping structure 102 clamps a tool 801 to be installed from the tool magazine 300, and the tool 801 to be installed is installed onto the speed regulating device 200 by rotating the tool changing arm 101. For example, one clamping structure 102 clamps the tool 801 to be installed from the speed regulating device 200, and another clamping structure 102 removes the tool 802 to be replaced from the spindle 400. Then, by rotating the tool changing arm 101, the positions of the tool 801 to be installed and the tool 802 to be replaced are exchanged, thereby realizing the installation of the tool 801 to be installed on the spindle 400 and the placement of the tool 802 to be replaced on the speed regulating device 200.

[0056] To ensure the tool 800 continues to rotate during tool changing, the inner side of the tool clamping structure 102 is designed to allow sliding or relative rotation with the tool. Preferably, the tool clamping structure 102 includes a tool holder 1026 for holding the tool. A rotatable first rotating member 103 is provided on the clamping surface of the tool holder 1026, with at least a portion of the first rotating member 103 protruding from the clamping surface. When the tool holder clamps the tool, the tool and the first rotating member can rotate relative to each other. Even when clamped by the tool holder, the tool, after being pre-accelerated by the speed regulating device, can smoothly maintain rotation, thus facilitating tool changing even while the spindle is rotating.

[0057] In the aforementioned tool changing system, the tool changing device 100 is matched with the tool magazine 300, the speed regulating device 200, and the spindle 400. The tool changing device 100 removes the tool 801 to be installed from the tool magazine 300 and assembles it onto the speed regulating device 200. The speed regulating device 200 includes an acceleration module, which is used to accelerate the tool 801 assembled onto the speed regulating device 200 to a predetermined speed, so that the tool 801 rotates at a preset speed, wherein the preset speed is the same as or greater than the rotational speed of the spindle 400. For example, as... Figure 1 and Figure 2 As shown, when the spindle 400 needs to change the tool 800, the tool clamping structure 102 located on one side of the tool magazine 300 pre-grabs the tool 801 to be installed from the tool magazine 300 and places it on the speed regulating device 200. Then, the tool 801 to be installed is accelerated in advance by the acceleration module. Since a rotatable first rotating member 103 is provided on the clamping surface of the tool clamping structure 102, the tool 801 to be installed can be kept rotating on the tool clamping structure 102. After the tool 801 to be installed is accelerated, the tool clamping structure 102 on this side can clamp the rotating tool 801 to be installed from the speed regulating device 200.

[0058] like Figure 2 and Figure 3 As shown, during or after the acceleration module accelerates the tool 801 to be installed, the spindle 400 moves to the spindle tool change position 700. When the tool 801 to be installed reaches the preset speed, the tool clamping structures 102 on both sides of the tool changer 100 correspondingly clamp the tool (tool 801 to be installed) on the speed regulating device 200 and the tool (tool 802 to be changed) on the spindle 400. Then, further refer to... Figure 4, the tool changing device 100 is rotated through the rotating structure 105, so that the tool clamping structure 102 originally located on one side of the speed regulating device 200 is located on one side of the main shaft 400, so as to install the to-be-installed tool 801 on the main shaft 400; and the tool clamping structure 102 originally located on one side of the main shaft 400 is rotated to one side of the speed regulating device 200, so as to place the to-be-replaced tool 802 removed from the main shaft 400 into the speed regulating device 200. After the tool change is completed, the tool clamping structure 102 releases the to-be-installed tool 801 and the to-be-replaced tool 802, and the main shaft 400 can be moved away to perform the actions of the next process.

[0059] Further, referring to Figure 5 as shown, adjusting the main shaft 400 further includes a deceleration module, which is used to decelerate the rotational speed of the to-be-replaced tool 802 installed on the speed regulating device 200 to zero. When the rotational speed of the to-be-replaced tool 802 is reduced to zero, the tool changing device 100 is removed from the speed regulating device 200 and rotated, so that the to-be-replaced tool 802 is located at the tool magazine tool change position, and the to-be-replaced tool 802 is installed on the tool magazine 300.

[0060] In the process that the tool changing device 100 of the present invention clamps and installs the accelerated to-be-installed tool 801 onto the main shaft 400, the to-be-installed tool 801 is in a rotating state on the tool clamping structure 102 and generally maintains the same rotational speed as the main shaft 400. Therefore, after the to-be-installed tool 801 is installed on the main shaft 400, the to-be-installed tool 801 and the main shaft 400 are generally in synchronous motion, so as to realize the installation of the to-be-installed tool 801 onto the main shaft 400 without the main shaft 400 stopping rotating. The tool change system of the embodiment of the present application can perform tool change on the main shaft 400 while the main shaft 400 remains rotating, effectively improving the processing efficiency and reducing the wear and tear of the equipment caused by frequent braking of the main shaft 400.

[0061] In the above embodiment, referring to Figure 1 , the machine tool includes a main shaft tool change position 700 and a tool magazine tool change position 600. The tool change system includes a speed regulating device tool change position 500. Preferably, the main shaft tool change position 700, the tool magazine tool change position 600 and the speed regulating device tool change position 500 are located on the same plane. The rotation center of the tool change arm 101 is on the same straight line as the main shaft tool change position 700 and the speed regulating device tool change position 500. The distance from the tool magazine tool change position 600 to the rotation center is equal to the distance from the speed regulating device tool change position 500 to the rotation center.

[0062] Specifically, when a tool change is required for the tool on the main shaft 400, the tool change process of the main shaft 400 is as follows:

[0063] Refer to Figure 1 and Figure 6Under normal circumstances, the tool clamping structure 102 of the tool changing device 100 remains in a waiting position. The waiting position can be a position that does not interfere with the speed regulating device 200, tool magazine 300, spindle 400 and other mechanisms. When a tool change is required, the tool magazine 300 prepares a tool in advance, and the tool changing arm 101 of the tool changing device 100 starts to rotate, so that one of the tool clamping structures 102 rotates to the tool magazine changing position 600 to clamp the tool to be installed 801 from the tool magazine 300. After the tool clamping structure 102 clamps the tool to be installed 801 from the tool magazine 300, the tool changing device 100 continues to rotate until it reaches the speed regulating device changing position 500.

[0064] See again Figure 2 and Figure 6 The tool changer 100 installs the tool 801 to be loaded onto the speed control device 200 at the tool change position 500 of the speed control device. At this time, the spindle 400 is still located away from the spindle tool change position 700 and continues its original machining work. After the tool changer 100 installs the tool 801 to be loaded onto the speed control device 200, the tool clamping structure 102 of the tool changer 100 releases the tool 801 and rotates to a predetermined waiting position. Then the acceleration module accelerates the tool 801 to be loaded, so that the rotational speed of the tool 801 reaches the preset speed.

[0065] See Figure 3 , Figure 4 and Figure 6 During or after the acceleration of the tool 801 to be loaded, the spindle 400 completes its original machining work and then moves to the spindle tool change position 700. When the rotational speed of the tool 801 to be loaded reaches the preset speed, the tool changer 100 rotates to the tool change position, so that one clamping structure 102 is located at the tool change position 500 of the speed control device and clamps the accelerated tool 801 to be loaded, while the other clamping structure 102 is located at the spindle tool change position 700 and clamps the tool 802 to be changed from the spindle 400. Then the tool changer arm 101 of the tool changer 100 starts to rotate, so that the tool 801 to be loaded is located at the spindle tool change position 700 and is installed on the spindle 400. At the same time, the tool 802 to be changed is located at the tool change position 500 of the speed control device and is installed on the speed control device 200.

[0066] See again Figure 4 After the tool to be installed 801 is mounted onto the spindle 400 and the tool to be replaced 802 is placed on the speed regulating device 200, the two clamping structures 102 of the tool changing device 100 release the tool to be installed 801 and the tool to be replaced 802, and rotate to a predetermined waiting position. At this time, the spindle 400 has completed the tool change. The spindle 400 can be moved away from the spindle tool changing position 700 as needed to perform new machining. At the same time, the tool to be replaced 802 located on the speed regulating device 200 is decelerated by the reduction module until the rotational speed of the tool to be replaced 802 is zero.

[0067] Then refer to Figure 5 As shown, the tool changing device 100 moves again, causing the tool clamping structure 102 on one side to clamp the tool 802, which is rotating at zero speed, from the speed regulating device 200. After the tool clamping structure 102 clamps the tool 802, the tool changing device 100 rotates again, positioning the tool 802 in the tool magazine changing position 600, and then installing the tool 802 into the tool magazine 300. At this point, the entire tool changing process—from retrieving the tool from the tool magazine 300 and installing it onto the spindle 400, to returning the tool removed from the spindle 400 to the tool magazine 300—is complete.

[0068] The spindle tool change position 700, the tool magazine tool change position 600, and the speed control tool change position 500 can be distributed on the same circumference. Preferably, the three points of the spindle tool change position 700, the tool magazine tool change position 600, and the speed control tool change position 500 are arranged in an isosceles triangle, with the tool magazine tool change position 600 located at the vertex.

[0069] In some specific embodiments, reference is made to Figure 1 The speed control device 200 includes a motor (not shown in the figure) and a sleeve (not shown in the figure) disposed at the lower end of the motor and driven by the motor. The sleeve is matched with the tool 800. For example, during the acceleration process of the tool 801 to be loaded, the sleeve is connected to the tool 801 to be loaded, and then the motor is started. The rotation of the motor will drive the sleeve to rotate, causing the tool 801 to be loaded on the sleeve to rotate accordingly. During the deceleration process of the tool 802 to be changed, the tool 802 to be changed is connected to the sleeve, and the motor applies resistance to the sleeve through the reduction module, causing the speed of the sleeve to gradually decrease until it reaches zero. For example, the motor can use a reverse braking action to gradually reduce the speed of the tool 802 to zero. Of course, the motor can also be allowed to decelerate freely when the power is off. The structure of the motor and the sleeve can refer to the structure of the spindle.

[0070] In some specific embodiments, reference is made to Figure 6The tool holder 1026 is an arc-shaped structure with an opening. Specifically, the tool clamping structure 102 preferably includes a tool holder 1026 for clamping the tool and a retractable locking mechanism 1021 disposed at the opening of the tool holder 1026. A rotatable first rotating member 103 is provided on the clamping surface of the tool holder 1026, at least a portion of which protrudes from the clamping surface. The locking mechanism 1021 cooperates with the tool holder 1026 to clamp the tool 800. In actual use, when the tool 800 enters from the opening of the tool holder 1026, the tool 800 pushes the locking mechanism 1021 to retract. After the tool 800 enters the space defined by the tool holder 1026, the locking mechanism 1021 has a tendency to move towards the side of the tool 800, thereby enabling the locking mechanism 1021 to abut against the tool 800. This blocking state limits the tool 800, making the tool 800 more stably installed in the tool holder 1026.

[0071] In some specific embodiments, reference is made to Figure 6 and Figure 7 The clamping mechanism 1021 includes a rod 1022 and a second rotating member 1023. The rod 1022 is telescopically mounted on the tool changing arm 101, and the second rotating member 1023 is located at the end of the rod 1022. At least a portion of the second rotating member 1023 obstructs the opening of the tool holder 1026. Specifically, the clamping mechanism 1021 is located on the side of the tool holder 1026 with the opening and extends along the length of the tool changing arm 101 to the opening position of the tool holder 1026. The end of the clamping mechanism 1021 has a second rotating member 1023, and the first rotating member 103 cooperates with the second rotating member 1023 to clamp the tool 800. In actual use, the tool changer 100 clamps the tool 800 on the spindle 400 or the tool magazine 300. When the tool 800 enters through the opening of the tool holder 1026, the tool 800 contacts the second rotating member 1023, which abuts against the tool 800. The tool 800 pushes the clamping mechanism 1021 back. After the tool 800 enters the tool holder 1026, the clamping mechanism 1021, due to its extension and retraction, has a spring force or tendency to move towards the tool 800, thereby causing the clamping mechanism 1021 to abut against the tool 8006. This abutting state limits the tool 800, making the tool 8006 more stably installed in the tool holder 1026. When the cutting tool 800 pushes the second rotating member 1023, rotational contact occurs between the cutting tool 800 and the second rotating member 1023, thereby reducing the scraping of the cutting tool 800 by the second rotating member 1023 and protecting the cutting tool 800.

[0072] Furthermore, in some embodiments, reference is made to... Figure 6 and Figure 7The tool changer arm 101 has a rod hole 104 at its side end, and an elastic element is disposed within the rod hole 104. One end of the rod 1022, away from the second rotating member 1023, is inserted into the rod hole 104 and connected to the elastic element. When the tool clamping structure 102 clamps the tool 800, the tool 800 contacts and pushes against the second rotating member 1025. This pushing force causes the rod 1022 to compress the elastic element, moving the rod 1022 towards the rod hole 104. When the tool 800 enters the tool holder 1026, the elastic potential energy generated by the compression of the elastic element reacts to the tool 800. This reaction force causes the clamping mechanism 1021 to abut against the tool 800. The elastic element can be any elastic component or structure in the prior art, such as a spring.

[0073] In some specific embodiments, reference is made to Figures 6 to 8 The clamping surface is provided with a rotating groove 1027, and several first rotating members 103 are provided, which are spaced apart in the rotating groove 1027. "Several" means at least two.

[0074] In some embodiments, reference Figure 6 and Figure 7 The second rotating component 1023 includes a second rotating shaft 1024 and a second rotating body 1025 rotating about the second rotating shaft 1024. A shaft hole is provided on the rod body 1022, and the shaft hole on the second rotating body 1025 is coaxial with the shaft hole. The second rotating shaft 1024 is inserted into both the shaft hole and the shaft hole of the second rotating body 1025. During the process of the tool 800 entering the tool holder 1026, when the tool 800 contacts the second rotating body 1025, the thrust of the tool 800 on the second rotating body 1025 causes the second rotating body 1025 to rotate along the outer wall of the tool 800. When the rotating second rotating body 1025 contacts the tool 800, it reduces wear on the outer wall of the tool 800. Furthermore, the second rotating body 1025 can be configured as a roller structure.

[0075] refer to Figures 1 to 5 , Figure 9 A second aspect of the present invention provides a tool changing method for a machine tool tool changing system, wherein the tool changing method uses the tool changing system of the machine tool in any of the above embodiments to perform tool changing. The tool changing method includes the following steps:

[0076] S100: The tool 801 to be installed is picked up from the tool magazine 300 by the tool changer 100 and installed on the speed control device 200;

[0077] S200: The speed regulating device 200 accelerates the tool 801 to be loaded to a predetermined speed and controls the spindle 400 to move to the spindle tool change position 700.

[0078] S300: The tool changer 100 changes the tool 801 to be installed on the speed control device 200 and the tool 802 to be replaced on the spindle 400, so that the tool 801 to be installed is installed on the spindle 400 and the tool 802 to be replaced is installed on the speed control device 200.

[0079] S400: The speed control device 200 reduces the speed of the tool to be replaced 802 to zero;

[0080] S500: The tool to be replaced 802 is removed from the speed control device 200 by the tool changer 100 and installed on the tool magazine 300.

[0081] In this invention, during the tool changing process on the spindle 400, the tool 801 to be installed is accelerated to a predetermined speed by the speed regulating device 200. During the tool changing process, the tool 801 is rotating on the tool clamping structure 102 and maintains approximately the same speed as the spindle 400. Therefore, after the tool 801 is installed onto the spindle 400, it moves approximately synchronously with the spindle 400, thus enabling the tool 801 to be installed onto the spindle 400 without stopping its rotation. The tool changing system of this embodiment can change tools on the spindle 400 while the spindle 400 is still rotating, effectively improving machining efficiency and reducing wear and tear on the equipment caused by frequent braking of the spindle 400.

[0082] In some implementations, reference Figure 1 and Figure 6 Step S100 specifically includes:

[0083] Rotate the tool changing arm 101 of the tool changing device 100, and use the tool clamping structure 102 on one side of the tool changing arm 101 to clamp the required tool 801 from the tool magazine 300. Rotate the tool changing arm 101 again to install the tool 801 onto the speed regulating device 200.

[0084] Specifically, by rotating the tool changing arm 101, the tool clamping structure 102 on one side of the tool changing arm 101 is positioned at the tool magazine changing position 600, so that the tool clamping structure 102 can clamp the required tool 801 from the tool magazine 300. After the tool clamping structure 102 clamps the tool 801, the tool changing arm 101 rotates again, so that the tool clamping structure 102 holding the tool 801 is positioned at the speed regulating device changing position 500, so that the tool 801 can be installed onto the speed regulating device 200 for acceleration.

[0085] In some implementations, reference Figure 2 and Figure 6 Step S200 specifically includes:

[0086] After the speed control device 200 accelerates the tool 801 to the predetermined speed, it controls the spindle 400 to move to the spindle tool change position 700. The predetermined speed is greater than or equal to the speed of the spindle 400.

[0087] Specifically, during the installation of the accelerated tool 801 onto the spindle 400, the rotational speed of the tool 801 may decrease to some extent. Therefore, in actual operation, the predetermined rotational speed of the tool 801 can be set to be slightly greater than or equal to the rotational speed of the spindle 400, so that even if the rotational speed of the tool 801 decreases to some extent, it can be as similar as possible to or close to the rotational speed of the spindle 400.

[0088] In some implementations, reference Figure 3 and Figure 6 Step S300 specifically includes:

[0089] Rotate the tool changer arm 101 to clamp the tool to be replaced 802 from the spindle through the tool clamping structure 102 on one side of the tool changer arm 101, and clamp the tool to be installed 801 from the speed regulating device 200 through the tool clamping structure 102 on the other side of the tool changer arm 101. Rotate the tool changer arm 101 again to install the tool to be installed 801 onto the spindle 400 and install the tool to be replaced 802 onto the speed regulating device 200.

[0090] Specifically, after the rotational speed of the tool to be installed 801 reaches the preset speed, the tool clamping structure 102 located at the tool changing position 500 of the speed regulating device clamps the rotating tool to be installed 801 from the speed regulating device 200, and the tool clamping structure 102 located at the spindle tool changing position 700 clamps the tool to be replaced 802 from the spindle 400. The tool changing arm 101 is rotated again, so that the tool to be installed 801 is located at the spindle tool changing position 700 and the tool to be replaced 802 is located at the speed regulating device tool changing position 500. The tool to be installed 801 is installed on the spindle 400 and the tool to be replaced 802 is installed on the speed regulating device 200. During the entire tool changing process, the spindle 400 is kept rotating to complete the tool replacement.

[0091] In some implementations, reference Figure 4 and Figure 6 Step S500 specifically includes:

[0092] Rotate the tool changing arm 101 to clamp the tool 802 to be replaced from the speed regulating device 200 through the tool clamping structure 102 on one side of the tool changing arm 101. Rotate the tool changing arm 101 again to install the tool 802 to be replaced onto the tool magazine 300.

[0093] Specifically, after the tool to be installed 801 is mounted on the spindle 400, the tool to be changed 802 is located on the speed regulating device 200, and then the speed reduction module reduces the speed of the tool to be changed 802. When the speed of the tool to be changed 802 is reduced to zero, the tool clamping structure 102 located on one side clamps the tool to be changed 802 from the speed regulating device 200, and then rotates the tool changing arm again so that the tool to be changed 802 is located in the tool magazine changing position 600, so that the tool to be changed 802 is installed into the tool magazine 300, thereby completing the entire tool changing process of the spindle 400.

[0094] refer to Figures 1 to 8 A third aspect of the present invention provides a machine tool, including a machine tool body and a tool magazine 300 and a spindle 400 disposed on the machine tool body. The machine tool also includes a tool changing system of any of the above-mentioned components, the tool changing system being disposed on the machine tool body.

[0095] In this embodiment of the invention, the speed regulating device 200 pre-accelerates the tool 801 to be installed, which is taken from the tool magazine 300, so that the rotational speed of the tool 801 is approximately the same as that of the spindle 400. The tool changing arm 101 is rotated so that the tool 801 to be installed moves to the spindle tool changing position 700, and the tool 802 to be changed is located at the speed regulating device tool changing position 500. Since the rotational speed of the tool 801 to be installed is approximately the same as that of the spindle 400, the tool 801 to be installed and the spindle 400 move synchronously, so as to insert the tool 801 to be installed onto the spindle 400, complete the installation of the tool 801, and realize tool changing while the spindle 400 is rotating. The tool changing process and principle of the spindle 400 have been described in detail in the above embodiments and will not be repeated here.

[0096] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tool changing system for a machine tool, the machine tool comprising a machine tool body and a tool magazine (300) and a spindle (400) disposed on the machine tool body, characterized in that, The tool changing system includes a tool changing device (100) and a speed regulating device (200): The speed regulating device (200) is installed on the machine tool body and located on one side of the tool magazine (300) for adjusting the rotational speed of the tool (800); The tool changing device (100) is mounted on the machine tool body and located between the tool magazine (300), the speed regulating device (200) and the spindle (400). The tool changing device (100) includes a tool changing arm (101), and both ends of the tool changing arm (101) are provided with tool clamping structures (102) for clamping the tool. The tool changing arm (101) is rotatably mounted on the machine tool body. The tool changing device (100) is matched with the tool magazine (300), the speed regulating device (200) and the spindle (400). The tool changing device (100) is used to remove the tool from the tool magazine (300) and assemble it onto the speed regulating device (200). The speed regulating device (200) includes an acceleration module, which is used to accelerate the tool assembled on the speed regulating device (200) to a predetermined speed. The tool changing device (100) is also used to change the tools on the speed regulating device (200) and the spindle (400).

2. The tool changing system of the machine tool according to claim 1, characterized in that, The speed regulating device (200) also includes a deceleration module, which is used to decelerate the tool mounted on the speed regulating device (200) to zero. The tool changing device (100) is also used to remove the tool from the speed regulating device (200) and assemble it onto the tool magazine (300).

3. The tool changing system of the machine tool according to claim 2, characterized in that, The machine tool includes a spindle tool change position (700) and a tool magazine tool change position (600). The tool changing system includes a speed control tool change position (500). The spindle tool change position (700), the tool magazine tool change position (600), and the speed control tool change position (500) are located on the same plane. The rotation center of the tool changing arm (101) is on the same straight line as the spindle tool change position (700) and the speed control tool change position (500). The distance from the tool magazine tool change position (600) to the rotation center is equal to the distance from the speed control tool change position (500) to the rotation center.

4. The tool changing system of the machine tool according to claim 3, characterized in that, The spindle tool change position (700), the tool magazine tool change position (600), and the speed control tool change position (500) are arranged in an isosceles triangle.

5. The tool changing system of the machine tool according to any one of claims 1 to 4, characterized in that, The speed regulating device (200) includes a motor and a sleeve disposed at the lower end of the motor and driven by the motor, the sleeve being matched with the cutting tool.

6. The tool changing system of the machine tool according to any one of claims 1 to 4, characterized in that, The tool clamping structure (102) includes a tool clamp (1026) for clamping a tool (800) and a retractable locking mechanism (1021) disposed at the opening of the tool clamp (1026). The tool clamp (1026) has a rotatable first rotating member (103) on its clamping surface for clamping the tool. At least a portion of the first rotating member (103) protrudes from the clamping surface. The locking mechanism (1021) cooperates with the tool clamp (1026) to clamp the tool. The tool clamp (1026) is an arc-shaped structure with an opening. The clamping mechanism (1021) includes a rod (1022) and a second rotating member (1023). The rod (1022) is telescopically mounted on the tool changing arm (101). The second rotating member (1023) is located at the end of the rod (1022). At least a portion of the second rotating member (1023) covers the opening of the tool holder (1026).

7. A tool changing method for a machine tool tool changing system, characterized in that, The tool changing system of the machine tool is the tool changing system according to any one of claims 1 to 6, and the tool changing method includes: The tool changer (100) picks up the required tool (801) from the tool magazine (300) and installs it onto the speed control device (200). The speed regulating device (200) accelerates the tool to be loaded (801) to a predetermined speed and controls the spindle (400) to move to the spindle tool change position (700); The tool changer (100) is used to change the tool (801) to be installed on the speed control device (200) and the tool (802) to be replaced on the spindle (400), so that the tool (801) to be installed is installed on the spindle (400) and the tool (802) to be replaced is installed on the speed control device (200). The speed control device (200) reduces the speed of the tool to be replaced (802) to zero; The tool to be replaced (802) is removed from the speed control device (200) by the tool changing device (100) and installed on the tool magazine (300).

8. The tool changing method according to claim 7, characterized in that, The step of using the tool changer (100) to pick up the required tool (801) from the tool magazine (300) and install it onto the speed control device (200) includes: Rotate the tool changing arm (101) of the tool changing device (100) to clamp the required tool (801) from the tool magazine (300) through the tool clamping structure (102) on one side of the tool changing arm (101). Rotate the tool changing arm (101) again to install the tool (801) onto the speed regulating device (200). The process of changing the tool (801) on the speed regulating device (200) and the tool (802) on the spindle (400) using the tool changing device (100) includes: Rotate the tool changer (101) to clamp the tool to be replaced (802) from the spindle (400) through the clamping structure (102) on one side of the tool changer (101), and clamp the tool to be installed (801) from the speed regulating device (200) through the clamping structure (102) on the other side of the tool changer (101). Rotate the tool changer (101) again to install the tool to be installed (801) onto the spindle (400) and install the tool to be replaced (802) onto the speed regulating device (200). The step of removing the tool (802) to be replaced from the speed regulating device (200) via the tool changing device (100) and installing it onto the tool magazine (300) includes: Rotate the tool changing arm (101) and use the tool clamping structure (102) on one side of the tool changing arm (101) to clamp the tool to be replaced (802) from the speed regulating device (200). Rotate the tool changing arm (101) again and install the tool to be replaced (802) onto the tool magazine (300).

9. The tool changing method according to claim 7, characterized in that, The step of accelerating the tool to be loaded (801) to a predetermined speed via the speed regulating device (200) and controlling the spindle (400) to move to the spindle tool change position (700) includes: After the speed regulating device (200) accelerates the tool to be installed (801) to a predetermined speed through the acceleration module, the spindle (400) is then controlled to move to the spindle tool change position (700). The predetermined speed is greater than or equal to the speed of the spindle (400). The step of reducing the speed of the tool to be replaced (802) to zero via the speed regulating device (200) includes: The speed control device (200) reduces the speed of the tool to be replaced (802) to zero via the speed reduction module.

10. A machine tool, comprising a machine tool body and a tool magazine (300) and a spindle (400) disposed on the machine tool body, characterized in that, It also includes the tool changing system as described in any one of claims 1 to 6, wherein the tool changing system is disposed on the machine tool body.

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