Multi-tool magazine switching method and numerical control cutting and grinding machining center thereof

Abstract

The application discloses a multi-tool magazine switching method and a numerical control cutting and grinding machining center, wherein the multi-tool magazine switching method comprises the following steps: step one, a tool changing disc of a tool changing mechanism takes down a tool from a chain at a tool taking position of a chain tool magazine; step two, the displacement of the chain during rotation is determined; step three, the tool changing mechanism is translated away from the chain tool magazine and approaches a milling head of a machining mechanism; and step four, the chain tool magazine drives the chain to intermittently rotate with the distance between two adjacent tools as a single displacement, and in only one intermittent displacement in the process, the chain tool magazine drives the tool changing disc to change the tool of the milling head. The application can replace the tool to be taken at the tool taking position and change the tool of the milling head in parallel operation of the tool changing disc, reduces the machining waiting time, realizes closed loop continuous operation of "tool taking-tool moving-tool changing-tool resetting-tool taking again", and improves the overall flexibility of the multi-tool magazine machining center.

Description

Technical Field

[0001] This invention relates to the field of machining, specifically to a multi-tool magazine switching method and its CNC grinding machining center. Background Technology

[0002] Machining centers are an important category of CNC machine tools, and their automatic tool changer (APC) system is a key device for achieving continuous multi-process machining and improving production efficiency. An APC mainly consists of a tool magazine, a tool changing mechanism, and a control system. Its tool changing efficiency, reliability, and tool magazine capacity directly affect the overall process performance of the machining center. Currently, as the manufacturing industry develops towards multi-variety, small-batch, and complex processes, a single tool magazine can no longer meet the needs of machining complex parts for the variety and quantity of tools. Configuring multiple tool magazines has become an important technical solution for large machining centers to improve machining capabilities and flexibility. For example, mill-turn machining centers are equipped with dual tool magazines to store turning tools and milling tools separately to achieve seamless integration of turning and milling operations; symmetrical layouts of dual tool magazines are used to expand tool capacity, shorten tool retrieval paths, or achieve tool redundancy backup.

[0003] When a machining center is equipped with multiple tool magazines, the non-machining time during the tool change cycle increases because the tool changing mechanism needs to switch between different tool magazines. This is especially true during the process of picking up, moving, changing, and resetting different types of tools between the tool magazine and the machining mechanism. For example, after picking up a tool from the current tool magazine and changing the tool completely, the removed tool needs to be returned to the corresponding tool magazine. If the type of tool required for the next machining operation is different from the type of tool removed, it is necessary to move to another tool magazine to pick up the tool. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-tool magazine switching method and a CNC grinding machining center thereof. This multi-tool magazine switching method and CNC grinding machining center can replace the tool to be picked up at the tool pick position and perform milling head tool changing in parallel with the tool changer, reducing machining waiting time and realizing a closed-loop continuous operation of "tool pick-tool movement-tool change-reset-tool pick-up", thereby improving the overall flexibility of the multi-tool magazine machining center.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] A method for switching between multiple tool magazines includes the following steps:

[0007] Step 1: The tool changer of the tool changer mechanism takes the tool off the chain at the tool pick-up position of the chain tool magazine. At this time, the tool changer is in a vertically tilted state.

[0008] Step 2: Based on the fixed position of the cutter on the chain and the positional relationship between the two types of cutters arranged at equal intervals, obtain the distance between the cutter to be picked up next and the pick-up position, and determine the displacement when the chain rotates.

[0009] Step 3: The tool changing mechanism moves away from the chain tool magazine and closer to the milling head of the machining mechanism, and during this process, the tool changing disc remains in a vertically tilted state;

[0010] Step 4: The chain tool magazine drives the chain to rotate intermittently with the distance between two adjacent tools as the single displacement amount. In only one intermittent displacement during this process, the chain tool magazine drives the tool changer to change the milling head. After the tool changer completes the tool change, it is in a horizontal state.

[0011] Step 5: The tool changing mechanism moves away from the milling head and closer to the chain tool magazine, and before the tool taken from the previous step on the chain moves to the tool taking position, the tool changing disc remains horizontal and has not moved to the bottom.

[0012] Step 6: The tool changing mechanism moves to the bottom, and during this process, the tool changing disc returns from a horizontal state to a vertically tilted state while the chain remains stationary.

[0013] As a further limitation of the present invention, in step four, during the single displacement of the chain, the chain tool magazine first drives the tool changer to rotate in the opposite direction and then changes from a vertically inclined state to a horizontal state, removing the tool from the milling head; then drives the tool changer to rotate in the forward direction and maintains a horizontal state, mounting the tool removed from the chain onto the milling head.

[0014] As a further limitation of the present invention, in step six, before the tool changer begins to return from a horizontal state to a vertically inclined state, the tool changer places the tool removed from the milling head on the temporary storage position of the chain tool magazine, until the fixed position on the chain for placing the temporary tool is on the same horizontal line as the temporary storage position during the intermittent rotation of the chain, at which point the temporary tool is transferred to the chain.

[0015] The present invention also provides a CNC grinding machining center, comprising:

[0016] A machining mechanism used for grinding and polishing workpieces;

[0017] A chain-type tool magazine is used to store two types of tools, which are alternately clamped and fixed on the chain of the tool magazine at equal intervals.

[0018] The tool changing mechanism is used to change the tool on the chain to the milling head of the machining mechanism. The tool changing disc of the tool changing mechanism has two tool retraction positions at both ends, and the distance between the two tool retraction positions on the same side is the same as the distance between two adjacent tools on the chain.

[0019] The chain tool magazine is equipped with a tool retrieval position, which is provided with a pusher mechanism for disengaging the tool from the chain. The chain tool magazine is also equipped with a drive mechanism for intermittently rotating the chain. The chain replaces the tool to be retrieved at the tool retrieval position through the drive mechanism. The drive mechanism and the tool changer are connected by a transmission mechanism, so that the chain tool magazine can drive the tool changer to change the milling head tool during only one intermittent displacement of the chain during the intermittent rotation process of the chain when the tool to be retrieved is replaced at the tool retrieval position.

[0020] As a further limitation of the present invention, the tool changing mechanism further includes a sliding seat, which is horizontally slidably disposed on the machine body. A first linear drive device for driving the sliding seat to move relative to the machine body is installed on the machine body. The tool changing disc is rotatably connected to the sliding seat. The chain and the milling head are respectively located at both ends of the horizontal movement trajectory of the tool changing disc. A plurality of first tool clamps are slidably disposed on the tool changing disc for clamping the tool at the tool taking position and pulling it into the tool taking position. The number of first tool clamps is the same as the number of tool taking positions and the two correspond one-to-one. A drive device for driving the first tool clamps to slide linearly relative to them is installed on the tool changing disc.

[0021] As a further limitation of the present invention, the transmission mechanism includes a rotating shaft, a switching unit, and a drive unit for driving the rotating shaft to rotate in both directions. The rotating shaft is rotatably connected to the machine body and is a telescopic structure that passes through a sliding seat and is fixedly connected to the tool changer. The drive unit achieves a transmission connection with the drive mechanism through the switching unit. The switching unit includes a switching seat that is slidably disposed on the machine body. A second linear drive device for driving the switching seat to move relative to the machine body is installed on the machine body. A switching shaft is rotatably connected to the switching seat. The switching shaft achieves a transmission connection with the drive mechanism in sequence through a gear transmission mechanism and a synchronous belt transmission mechanism. The machine body is rotatably connected to a drive shaft, and a drive gear is fixedly connected to the drive shaft. A switching gear is installed on a switching shaft, and a transmission gear and a limiting plate are installed on the drive shaft. When the tool to be picked up at the tool picking position is of the same type as the tool picked up in the previous tool picking, the switching gear meshes with the drive gear. When the tool to be picked up at the tool picking position is of a different type than the tool picked up in the previous tool picking, the switching gear meshes with the transmission gear. The transmission gear is provided with a protrusion, and the limiting plate is provided with an arc-shaped hole for the protrusion to slide. When the switching gear meshes with the transmission gear, during the process of replacing the tool with an adjacent tool at the tool picking position, the protrusion slides from one end of the arc-shaped hole to the other end.

[0022] As a further limitation of the present invention, the driving unit includes an upper roller, a lower roller, and a driving seat. The upper roller and the lower roller are arranged vertically and are both rotatably connected to the machine body. The upper roller and the lower roller are connected to the rotating shaft in sequence through a gear transmission mechanism, a worm gear transmission mechanism, and a synchronous belt transmission mechanism. The driving seat is slidably disposed on the machine body. The transmission shaft drives the driving seat to slide relative to the machine body through a belt conveyor. The driving seat is fixedly connected to the belt of the belt conveyor. The length of the belt is four times the length of the upper roller. The upper roller and the lower roller are the same length. The length of the moving trajectory of the driving seat between the adjacent ends of the upper roller and the lower roller is the same as the length of the upper roller. A first arc groove is formed on the side of the upper roller. The machine includes a first arc groove, a second arc groove, and a straight groove. The outer ends of the first arc groove and the second arc groove are located on the end faces of the two ends of the upper roller, and their inner ends are connected. The horizontal distance between the two ends of the first arc groove is smaller than the horizontal distance between the two ends of the second arc groove. The two ends of the straight groove are located on the end faces of the two ends of the upper roller, and the adjacent ends of the straight groove and the second arc groove are connected. The structure of the lower roller is the same as that of the upper roller. The drive base is provided with protrusions that are adapted to the first arc groove, the second arc groove, and the straight groove. The protrusions can drive the upper roller and the lower roller to rotate in the forward and reverse directions in sequence through the first arc groove and the second arc groove. The machine body is provided with a reset unit for resetting the upper roller, the lower roller, and the transmission gear after the tool to be taken is replaced at the tool-taking position.

[0023] As a further limitation of the present invention, the reset unit includes a reset shaft, which is rotatably connected to the machine body. The reset shaft is connected to either the upper roller or the lower roller via a gear transmission mechanism. Both the upper roller and the lower roller are provided with reset slots for connecting the two adjacent ends of the straight groove and the first arc groove. A reset gear is connected to the machine body via a first one-way bearing. A reset rack adapted to the reset gear is installed on the sliding seat. A synchronous belt transmission mechanism is provided between the reset shaft and the reset gear, and both are connected to the synchronous belt transmission mechanism via a bevel gear transmission mechanism. There are two switching gears, and the switching gear that can mesh with the transmission gear is connected to the switching shaft via a second one-way bearing. The transmission gear and the transmission shaft, as well as the limit plate and the transmission shaft, are connected via a third one-way bearing. The transmission gear can be connected to the reset gear in sequence via the synchronous belt transmission mechanism and the bevel gear transmission mechanism.

[0024] As a further limitation of the present invention, the driving mechanism includes a driving wheel and three driven wheels. The driving wheel and the driven wheels are rotatably connected to the machine body. A stepper motor for driving the driving wheel to rotate intermittently relative to the machine body is installed on the machine body. The output shaft of the stepper motor is connected to the switching shaft in sequence through a synchronous belt transmission mechanism and a gear transmission mechanism. The chain is wound around the driving wheel and the driven wheels. The tool pick-up position is located between two adjacent driven wheels.

[0025] As a further limitation of the present invention, the chain-type tool magazine is provided with a temporary storage position, and the temporary storage position is provided with a clamping mechanism for loading the tool back onto the chain. The clamping mechanism includes a conveyor seat, which is horizontally slidably disposed on the machine body. A third linear drive device for driving the conveyor seat to slide relative to it is installed on the machine body. The moving direction of the conveyor seat is parallel to the moving direction of the sliding seat. A second tool holder is rotatably disposed on the conveyor seat and a first drive motor for driving the second tool holder to rotate relative to it is installed. The chain is located on the rotation trajectory of the second tool holder.

[0026] Compared with the prior art, the present invention has the following advantages and effects:

[0027] This invention integrates different types of tools onto a single chain-type tool magazine and leverages the tool magazine's driving effect on the tool changer on the tool changer mechanism. Combined with the tool changer's operations of picking up, moving, changing, and resetting tools between the chain and the milling head, the tool changer completes the tool change for the milling head within a single intermittent displacement of the chain. This achieves synchronized chain movement and tool changing actions, allowing for parallel operations of tool replacement at the tool pick-up position and milling head tool changing by the tool changer. This reduces machining waiting time. Furthermore, the delayed recovery of the tool changer's posture provides time for tool replacement at the tool pick-up position and avoids interference between chain movement and tool changer posture transitions. This allows the tool changer to immediately pick up the next tool after resetting, ensuring a closed-loop continuous operation of "tool pick-up-movement-change-reset-re-picking up," thus improving the overall flexibility of multi-tool magazine machining centers. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a CNC grinding machining center according to the present invention.

[0029] Figure 2 yes Figure 1 The diagram shows the structure of the tool changing mechanism.

[0030] Figure 3 yes Figure 1 The diagram shows the structure of the drive mechanism.

[0031] Figure 4 yes Figure 3 The diagram shows a schematic of the switching unit in the transmission mechanism from one perspective.

[0032] Figure 5 yes Figure 3 The diagram shows a schematic of the switching unit in the transmission mechanism from a second perspective.

[0033] Figure 6 yes Figure 5 The diagram shows a partial structural schematic of the driving unit shown.

[0034] Figure 7yes Figure 5 The diagram shows a partial structural schematic of the driving unit shown.

[0035] Figure 8 yes Figure 6 The diagram shows the structure of the upper roller.

[0036] Figure 9 yes Figure 5 The diagram shows a partial structural schematic of the driving unit shown.

[0037] Figure 10 yes Figure 5 The diagram shows a partial structural schematic of the driving unit shown.

[0038] Figure 11 yes Figure 5 The diagram shows a partial structural schematic of the driving unit shown.

[0039] Figure 12 yes Figure 10 The diagram shows a partial structural schematic of the reset unit shown.

[0040] Figure 13 yes Figure 10 The diagram shows a partial structural schematic of the reset unit shown.

[0041] Figure 14 yes Figure 10 The diagram shows a partial structural schematic of the reset unit shown.

[0042] Figure 15 yes Figure 10 The diagram shows a partial structural schematic of the reset unit shown.

[0043] Figure 16 yes Figure 1 The diagram shows the structure of the clamping mechanism.

[0044] Figure 17 yes Figure 1 The diagram shows the structure of the pusher mechanism.

[0045] Figure 18 yes Figure 1 A schematic diagram of a portion of the processing mechanism shown.

[0046] Figure 19 yes Figure 1 The diagram shows a partial structural schematic of the processing mechanism shown.

[0047] The components include: machining mechanism 1, milling head 11, drive table 12, worktable 13, lifting seat 14, first translation seat 15, clamping seat 16, second translation seat 17, chain tool magazine 2, chain 21, tool retrieval position 22, tool pushing mechanism 23, temporary storage position 24, clamping mechanism 25, conveyor seat 26, second tool holder 27, pushing unit 28, pushing seat 29, tool changing mechanism 3, tool changing disc 31, tool retraction position 32, sliding seat 33, first tool holder 34, driving device 35, driving mechanism 4, transmission mechanism 41, rotating shaft 42, switching unit 43, driving unit 44, reset unit 45, driving wheel 46, driven wheel 47, stepper motor 48, switching seat 51, switching shaft 52, transmission shaft 53, driving gear 54, switching gear 55, transmission gear 56, limit plate 57, and protrusion 58. Arc hole 59, upper roller 61, lower roller 62, drive seat 63, belt conveyor 64, first arc groove 65, second arc groove 66, straight groove 67, protrusion 68, reset shaft 71, reset groove 72, first one-way bearing 73, reset gear 74, reset rack 75, second one-way bearing 76, third one-way bearing 77, first linear drive device 81, second linear drive device 82, third linear drive device 83, fourth linear drive device 84, fifth linear drive device 85, sixth linear drive device 86, seventh linear drive device 87, first drive motor 91, second drive motor 92, third drive motor 93, machine body 94, gear transmission mechanism 95, synchronous belt transmission mechanism 96, worm gear transmission mechanism 97, bevel gear transmission mechanism 98. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0049] See Figures 1-19This embodiment discloses a CNC grinding machining center, including a machining mechanism 1 for grinding workpieces, a chain tool magazine 2 for storing two types of cutting tools, and a tool changing mechanism 3 for changing the cutting tools on the chain 21 of the chain tool magazine 2 to the milling head 11 of the machining mechanism 1. The chain tool magazine 2 is provided with a tool retrieval position 22, and the tool retrieval position 22 is provided with a pusher mechanism 23 for pushing the cutting tools to release the connection between the cutting tools and the chain 21. The two types of cutting tools are alternately clamped and fixed on the chain 21 at equal intervals. The chain tool magazine 2 is provided with a drive mechanism for intermittently rotating the chain 21. The drive mechanism 4 and the chain 21 replace the tool to be taken on the tool position 22 through the drive mechanism 4. The tool changing mechanism 3 has two tool receiving positions 32 at both ends of the tool changing disc 31, and the distance between the two tool receiving positions 32 located on the same side is the same as the distance between two adjacent tools on the chain 21. The drive mechanism 4 and the tool changing disc 31 are connected by a transmission mechanism 41 so that the chain tool magazine 2 can drive the tool changing disc 31 to change the tool of the milling head 11 during only one intermittent displacement of the chain 21 during the intermittent rotation process of the tool to be taken on the tool position 22.

[0050] The tool changing mechanism 3 further includes a sliding seat 33, which is horizontally slidably mounted on the machine body. A first linear drive device 81 for driving the sliding seat 33 to move relative to the machine body is installed on the machine body. The tool changing disc 31 is rotatably connected to the sliding seat 33. The chain 21 and the milling head 11 are respectively located at both ends of the horizontal movement trajectory of the tool changing disc 31. A plurality of first tool clamps 34 are slidably mounted on the tool changing disc 31 for clamping the tool on the tool taking position 22 and pulling it into the tool taking position 32. The number of first tool clamps 34 is the same as the number of tool taking positions 32 and the two correspond one-to-one. A drive device 35 for driving the first tool clamps 34 to slide linearly relative to it is installed on the tool changing disc 31.

[0051] When the tool on the milling head 11 needs to be replaced, the tool changer 31 removes the tool from the chain 21 at the tool pick-up position 22 of the chain tool magazine 2. At this time, the tool changer 31 is in a vertically tilted state. Based on the fixed position of the tool on the chain 21 and the positional relationship between the two types of tools arranged alternately at equal intervals, and according to the machining process of the workpiece, the tool required for the next machining process is determined, thereby obtaining the distance between the tool to be picked up next and the tool pick-up position 22, and determining the displacement of the chain 21 when it rotates (i.e., the displacement distance of the tool to be picked up next from its current position to the tool pick-up position 22). At the same time, the sliding seat 33 is driven to slide relative to the machine body through the first linear drive device 81, so that the tool changer 3 translates away from the chain tool magazine 2 and moves closer to the milling head 11. During this process, the tool changer 31 remains in a vertically tilted state.

[0052] When the milling head 11 is within the tool changing range of the tool changing disc 31, the first linear drive device 81 stops driving the sliding seat 33. Then, under the drive of the drive mechanism 4, the chain 21 rotates intermittently with the distance between two adjacent tools as the single displacement amount. In only one intermittent displacement during this process, the chain tool magazine 2 drives the tool changing disc 31 to change the tool of the milling head 11 through the transmission mechanism 41 (that is, first unload the tool from the milling head 11, and then load the tool onto the milling head 11).

[0053] After the tool change is completed on the milling head 11, the tool changer 31 is in a horizontal state. Then, the sliding seat 33 slides relative to the machine body and resets under the drive of the first linear drive device 81. At this time, the tool changer 3 moves away from the milling head 11 and closer to the chain-type tool magazine 2. During this process, the chain 21 rotates intermittently until the next tool is moved to the tool pick-up position 22, while the tool changer 31 remains horizontal. Subsequently, when the next tool is moved to the tool pick-up position 22, as the sliding seat 33 continues to move and reset, the tool changer 31 returns from a horizontal state to a vertically tilted state, while the chain 21 remains stationary.

[0054] In the above process, the tool changer 31 drives the first tool holder 34 to slide linearly relative to it through the drive device 35, so that the first tool holder 34 extends from the tool changer 31 and clamps the tool that has been released from the chain 21 and the milling head 11. Combined with the driving effect of the first linear drive device 81 on the sliding seat 33, the clamped tool is pulled out from the chain 21 and the milling head 11. Then, under the driving effect of the drive device 35 on the first tool holder 34, the removed tool is put into the tool take-up position 22 of the tool changer 31 and moves together with the tool changer 31 in the subsequent process.

[0055] In this embodiment, the first linear drive device 81 can be a linear module, the sliding seat 33 is fixedly connected to the slide of the linear module, the drive device 35 can be a right-angle screw motor with a gear transmission structure, and the first tool clip 34 is threadedly fitted onto the output shaft of the right-angle screw motor.

[0056] See Figures 3-15The transmission mechanism 41 includes a rotating shaft 42, a switching unit 43, and a drive unit 44 for driving the rotating shaft 42 to rotate in both directions. The rotating shaft 42 is rotatably connected to the machine body. The rotating shaft 42 is a telescopic structure and passes through the sliding seat 33 and is fixedly connected to the tool changer 31. When the sliding seat 33 moves relative to the machine body, the rotating shaft 42 can be stretched, thereby ensuring the driving effect of the drive mechanism 4 on the tool changer 31 via the transmission mechanism 41. The drive unit 44 is connected to the drive mechanism 4 through the switching unit 43. The switching unit 43 includes a switching seat 51, which is slidably disposed on the machine body. A second linear drive device 82 for driving the switching seat 51 to move relative to the machine body is installed on the machine body. The switching shaft 52 is rotatably connected to the switching seat 51. The switching shaft 52 is sequentially transmitted through a gear transmission mechanism 41 and a synchronous drive mechanism 82. The belt drive mechanism 41 achieves a transmission connection with the drive mechanism 4. A drive shaft 53 is rotatably connected to the machine body. A drive gear 54 is fixedly connected to the drive shaft 53. A switching gear 55 is installed on the switching shaft 52. A drive gear 56 and a limiting plate 57 are installed on the drive shaft 53. When the tool to be taken at the tool position 22 is of the same type as the tool taken in the previous step, the switching gear 55 meshes with the drive gear 54. When the tool to be taken at the tool position 22 is of a different type than the tool taken in the previous step, the switching gear 55 meshes with the drive gear 56. The drive gear 56 is provided with a protrusion 58. The limiting plate 57 is provided with an arc hole 59 for the protrusion 58 to slide. When the switching gear 55 meshes with the drive gear 56, during the process of replacing the tool with an adjacent tool at the tool position 22, the protrusion 58 slides from one end of the arc hole 59 to the other end.

[0057] The drive unit 44 includes an upper roller 61, a lower roller 62, and a drive seat 63. The upper roller 61 and the lower roller 62 are arranged vertically and are rotatably connected to the machine body. The upper roller 61 and the lower roller 62 are connected to the rotating shaft 42 through a gear transmission mechanism 41, a worm gear transmission mechanism 41, and a synchronous belt transmission mechanism 41 in sequence. The drive seat 63 is slidably mounted on the machine body. The transmission shaft 53 drives the drive seat 63 to slide relative to the machine body through a belt conveyor 64. The drive seat 63 is fixedly connected to the belt of the belt conveyor 64. The length of the belt is four times the length of the upper roller 61. The upper roller 61 and the lower roller 62 are the same length. The length of the movement trajectory of the drive seat 63 between the adjacent ends of the upper roller 61 and the lower roller 62 is the same as the length of the upper roller 61. The upper roller 61 has a first arc groove 65, a second arc groove 66, and a straight groove 67 on its side. The outer ends of the first arc groove 65 and the second arc groove 66 are located at the two ends of the upper roller 61, respectively. The two end faces are connected and their inner ends are connected. Along the circumference of the upper roller 61, the horizontal distance between the two ends of the first arc groove 65 is less than the horizontal distance between the two ends of the second arc groove 66 and their spiral directions are opposite. Along the axial direction of the upper roller 61, the horizontal distance between the two ends of the first arc groove 65 is the same as the horizontal distance between the two ends of the second arc groove 66. The two ends of the straight groove 67 are located on the end faces of the two ends of the upper roller 61, and the adjacent ends of the straight groove 67 and the second arc groove 66 are connected. The structure of the lower roller 62 is the same as that of the upper roller 61. The drive seat 63 is provided with a protrusion 68 that is adapted to the first arc groove 65, the second arc groove 66 and the straight groove 67. The protrusion 68 can drive the upper roller 61 and the lower roller 62 to rotate in opposite directions in sequence through the first arc groove 65 and the second arc groove 66. The machine body is provided with a reset unit 45 for resetting the upper roller 61 and the lower roller 62 relative to the machine body and the transmission gear 56 relative to the limit plate 57 after the tool to be taken on the tool position 22 is replaced.

[0058] The reset unit 45 includes a reset shaft 71, which is rotatably connected to the machine body. The reset shaft 71 is connected to either the upper roller 61 or the lower roller 62 via a gear transmission mechanism 41. Both the upper roller 61 and the lower roller 62 have reset grooves 72 for connecting adjacent ends of the straight groove 67 and the first arc groove 65. A reset gear 74 is connected to the machine body via a first one-way bearing 73. A reset rack 75, adapted to the reset gear 74, is mounted on the sliding seat 33. When the sliding seat 33 moves away from the chain tool magazine 2 and closer to the milling head 11, the reset rack 75 on the sliding seat 33 is driven by the first one-way bearing 73. When the reset gear 74 rotates, it will not drive the reset shaft 71 and the transmission gear 56 to rotate. A synchronous belt drive mechanism 41 is provided between the reset shaft 71 and the reset gear 74, and both are connected to the synchronous belt drive mechanism 41 through the bevel gear drive mechanism 41. There are two switching gears 55, and the switching gear 55 that can mesh with the transmission gear 56 is connected to the switching shaft 52 through the second one-way bearing 76. The transmission gear 56 and the transmission shaft 53, as well as the limit plate 57 and the transmission shaft 53, are connected through the third one-way bearing 77. The transmission gear 56 can be connected to the reset gear 74 in sequence through the synchronous belt drive mechanism 41 and the bevel gear drive mechanism 41.

[0059] When the tool to be retrieved begins to be replaced at the tool retrieval position 22, the protrusion 68 is located on the outer end of the first arc groove 65 on the upper roller 61 or the lower roller 62, and the protrusion 58 is located on one end of the arc hole 59. Simultaneously, based on the type of tool retrieved in the previous and subsequent retrievals, the switching seat 51 is driven by the second linear drive device 82, causing the switching gear 55 to slide under the drive of the switching seat 51. This achieves the effect of switching the meshing object of the switching gear 55 between the drive gear 54 and the transmission gear 56. Specifically:

[0060] When the tools retrieved in the previous two operations are of the same type, the switching gear 55 meshes with the drive gear 54, and at this time, the protrusion 68 is located on the outer end of the first arc groove 65 on the upper roller 61. The drive mechanism 4 drives the drive gear 54 to rotate intermittently via the synchronous belt drive mechanism 41, the gear drive mechanism 41, and the switching gear 55, and drives the drive shaft 53 to rotate. This causes the limiting disk 57 to rotate together under the drive of the drive shaft 53 and drive the drive gear 56 to rotate via the protrusion 58. The protrusion 58 remains located on one end of the arc hole 59. At the same time, the rotation of the drive shaft 53 drives the belt on the belt conveyor 64 to rotate. Thus, during the process of replacing the adjacent different types of tools at the tool retrieval position 22, the drive seat 63 will move under the drive of the belt, causing the protrusion 68 on it to move sequentially along the first arc groove 65 and the second arc groove 66. During this process, as the protrusion 68 moves along the first arc groove 65, it drives the upper roller 61 to rotate. This rotation is then carried by the gear transmission mechanism 41, the worm gear transmission mechanism 41, and the synchronous belt transmission mechanism 41, causing the rotating shaft 42 to rotate. This causes the tool changer 31 to change from a vertically inclined state to a horizontal state under the influence of the rotating shaft 42. At this point, the tool changer 31 can remove the tool from the milling head 11 until the protrusion 68 moves to the connection point between the first arc groove 65 and the second arc groove 66. Subsequently, the protrusion 68 moves along the second arc groove 66 and drives the upper roller 61 to rotate in the opposite direction, maintaining a horizontal state after rotation (i.e., completing the exchange of the left and right ends of the tool changer 31). This allows the tool changer 31 to mount the tool removed from the chain 21 onto the milling head 11, which has already had its tool removed, thus completing the tool replacement on the milling head 11.

[0061] During the above process, the rotation of the upper roller 61 causes the straight groove 67 on it to move onto the trajectory of the protrusion 68. Simultaneously, since both the upper roller 61 and the lower roller 62 are connected to the rotating shaft 42, the rotation of the upper roller 61 drives the lower roller 62 to rotate synchronously and in the same direction. This causes the straight groove 67 on the lower roller 62 to also lie on the trajectory of the protrusion 68. Therefore, as the chain 21 continues to rotate intermittently under the drive of the drive mechanism 4 to move the next tool to the tool-taking position 22, the protrusion 68 slides directly along the straight groove 67 during horizontal movement, preventing the drive mechanism 4 from driving the tool-changing disc 31 to rotate relative to the sliding seat 33 via the transmission mechanism 41. When the next tool is moved to the tool-taking position 22, due to the length relationship between the belt, the upper roller 61, and the lower roller 62, the protrusion 68 can move to the connection point between the straight groove 67 and the reset groove 72 on the upper roller 61 or the lower roller 62.

[0062] During the resetting process of the sliding seat 33 under the drive of the first linear drive device 81, the resetting rack 75 on it drives the resetting shaft 71 to rotate via the resetting gear 74, bevel gear transmission mechanism 41, and synchronous belt transmission mechanism 41. This drives the upper roller 61 or lower roller 62 to rotate and reset via the gear transmission mechanism 41. Combined with the transmission relationship between the upper roller 61 and lower roller 62, the resetting of the upper roller 61 and lower roller 62 is completed. During this process, the protrusion 68 moves along the resetting groove 72 from the connection between the resetting groove 72 and the linear groove 67 to the connection between the resetting groove 72 and the first arc groove 65. Simultaneously, the rotation of the upper roller 61 and lower roller 62 causes the rotating shaft 42 to rotate synchronously, thereby driving the tool changer 31 to rotate from a horizontal state back to a vertically inclined state.

[0063] During the above process, due to the reset of the sliding seat 33, the reset gear 74, driven by the reset rack 75, drives the transmission gear 56 to rotate via the bevel gear transmission mechanism 41 and the synchronous belt transmission mechanism 41. During the process of the drive shaft 53 rotating when the tool to be taken is replaced at the tool-taking position 22, the convex post 58 can remain on one end of the arc hole 59 because the limiting plate 57 and the transmission gear 56 rotate together. Thus, when the sliding seat 33 resets and drives the transmission gear 56 to rotate, the transmission gear 56 can drive the limiting plate 57 to rotate together via the convex post 58. Due to the setting of the third one-way bearing 77, the rotation of the transmission gear 56 and the limiting plate 57 will not drive the drive shaft 53 to rotate, ensuring the stability of the position of the convex post 68 on the upper roller 61 or the lower roller 62 during the reset process, and ensuring that the tool-taking position 22 can perform the next tool replacement operation.

[0064] When the tools retrieved in the previous two operations are of different types, the switching gear 55 meshes with the transmission gear 56. During the process of replacing the tool with an adjacent tool of a different type at the tool retrieval position 22, due to the arc hole 59 on the limiting plate 57, the switching gear 55, which rotates under the drive gear 54, drives the transmission gear 56 to rotate relative to the limiting plate 57 until the protrusion 58 moves from one end of the arc hole 59 to the other end. At this time, the tool of a different type adjacent to the tool retrieved by the tool changer 31 moves to the tool retrieval position 22, so that the replacement of the tool to be retrieved at the subsequent tool retrieval position 22 becomes the replacement of the same type of tool. The transmission gear 56 continues to rotate under the drive of the drive mechanism 4 and drives the drive shaft 53 to rotate, and drives the tool changer 31 to switch states (i.e., switch between vertical tilt state and horizontal state) via the drive unit 44 to change the tool of the milling head 11.

[0065] After the tool change is completed in the above process, during the reset of the sliding seat 33, while driving the upper roller 61, lower roller 62 and tool changer 31 to reset, the sliding seat 33 also drives the transmission gear 56 to rotate relative to the limit plate 57 via the reset gear 74, bevel gear transmission mechanism 41 and synchronous belt transmission mechanism 41, so that the protrusion 58 moves from the other end of the arc hole 59 back to one end. Due to the setting of the third one-way bearing 77, the rotation of the transmission gear 56 will not drive the transmission shaft 53 to rotate. The switching gear 55, which rotates under the drive of the transmission gear 56, will not drive the switching shaft 52 to rotate due to the setting of the second one-way bearing 76.

[0066] In the above process, when the tool to be retrieved on the tool retrieval position 22 is an adjacent tool to the tool retrieved in the previous retrieval, when the tool changer 31 retrieves the tool, it can simultaneously remove the two tools (i.e., the two adjacent tools) for the current retrieval and the next retrieval and put them into the tool return position 32. Combined with the lifting and lowering setting of the milling head 11, both tools can be replaced onto the milling cutter.

[0067] In this embodiment, the second linear drive device 82 may be a linear module, and the switching seat 51 is fixedly connected to the slide of the linear module.

[0068] See Figure 1 , Figure 3 The drive mechanism 4 includes a drive wheel 46 and three driven wheels 47. The drive wheel 46 and the driven wheels 47 are rotatably connected to the machine body. A stepper motor 48 is installed on the machine body to drive the drive wheel 46 to rotate intermittently relative to the machine body. The output shaft of the stepper motor 48 is connected to the switching shaft 52 through a synchronous belt transmission mechanism 41 and a gear transmission mechanism 41 in sequence. The chain 21 is wound around the drive wheel 46 and the driven wheels 47. The tool pick-up position 22 is located between two adjacent driven wheels 47, so that the intermittent rotation of the chain 21 is associated with the tool changing operation of the tool changer 31, ensuring the switching and use of different types of tools on a single chain 21 of the tool magazine.

[0069] See Figure 16 The chain-type tool magazine 2 is provided with a temporary storage position 24, and a clamping mechanism 25 for loading tools back onto the chain 21 is provided on the temporary storage position 24. The clamping mechanism 25 includes a conveyor seat 26, which is horizontally slidably disposed on the machine body. A third linear drive device 83 is installed on the machine body for driving the conveyor seat 26 to slide relative to it. The moving direction of the conveyor seat 26 is parallel to the moving direction of the sliding seat 33. A second tool holder 27 is rotatably disposed on the conveyor seat 26 and a first drive motor 91 for driving the second tool holder 27 to rotate relative to it is installed. The chain 21 is located on the rotation trajectory of the second tool holder 27.

[0070] During the translational reset process of the sliding seat 33 driven by the first linear drive device 81, the third linear drive device 83 drives the conveyor seat 26 to slide relative to the machine body, causing the second tool holder 27 to move out of the machine body. Before the tool changer 31 begins to return from a horizontal state to a vertical tilted state, when the second tool holder 27 is within the tool change range of the tool changer 31, the sliding seat 33 pauses its translational reset, and the tool removed from the milling head 11 by the tool changer 31 is clamped and fixed on the second tool holder 27, completing the tool unloading from the tool changer 31. Subsequently, when the placement position of the temporarily stored tool on the chain 21 moves to be opposite to the temporary storage position 24 due to the intermittent rotation of the chain 21, the second tool holder 27 rotates relative to the conveyor seat 26 under the drive of the first drive motor 91, allowing the temporarily stored tool to move onto the chain 21. Combined with the drive of the conveyor seat 26 by the third linear drive device 83, the temporarily stored tool can be reinstalled on the upper chain 21.

[0071] In this embodiment, the third linear drive device 83 can be an electric push rod, and the conveying seat 26 is fixedly connected to the connector of the electric push rod. The position of the second tool holder 27 clamping the tool is offset from the position of the first tool holder 34 clamping the tool, which ensures that the tool taken from the milling head 11 on the tool changer 31 is transferred to the second tool holder 27 via the first tool holder 34.

[0072] See Figure 17 The pusher mechanism 23 includes two pusher units 28. The distance between the two pusher units 28 is the same as the distance between two adjacent cutters on the chain 21, so that the two pusher units 28 correspond one-to-one with the two adjacent cutters. Each pusher unit 28 includes a pusher seat 29, which is slidably mounted on the machine body. A fourth linear drive device 84 is installed on the machine body to drive the pusher seat 29 to slide relative to it. The moving direction of the pusher seat 29 is parallel to the moving direction of the sliding seat 33. By driving the pusher seat 29 through the fourth linear drive device 84, the pusher seat 29 slides horizontally relative to the machine body, thereby pushing the cutter located on its moving trajectory. This allows the cutter and the chain 21 to be released from their locking and fixing, facilitating the subsequent removal of the cutter from the chain 21 by the tool changer 31.

[0073] In this embodiment, the fourth linear drive device 84 can be an electric push rod, and the push seat 29 is fixedly connected to the connector of the electric push rod.

[0074] See Figure 18 , Figure 19The processing mechanism 1 further includes a drive table 12 for driving the milling head 11 and a worktable 13 for clamping and fixing the workpiece. The drive table 12 includes a lifting seat 14 and a first translation seat 15. The milling head 11 is rotatably mounted on the lifting seat 14. A second drive motor 92 for driving the milling head 11 to rotate relative to the lifting seat 14 is mounted on the lifting seat 14. The lifting seat 14 is vertically slidably mounted on the first translation seat 15. A fifth linear drive device 85 for driving the lifting seat 14 to slide relative to the first translation seat 15 is mounted on the first translation seat 15. The first translation seat 15 is horizontally slidably mounted on the machine body. A drive device 85 for driving the first translation seat 15 is mounted on the machine body. The sixth linear drive device 86 slides relative to the seat 15. The moving direction of the first translation seat 15 is parallel to the moving direction of the sliding seat 33. The worktable 13 includes a clamping seat 16 and a second translation seat 17. The clamping seat 16 is rotatably mounted on the second translation seat 17. A third drive motor 93 for driving the clamping seat 16 to rotate relative to it is mounted on the second translation seat 17. The second translation seat 17 is horizontally slidably mounted on the machine body. A seventh linear drive device 87 for driving the second translation seat 17 to slide relative to it is mounted on the machine body. The moving direction of the second translation seat 17 is perpendicular to the moving direction of the first translation seat 15. The structure of the drive table 12 enables the milling head 11 to move in both the horizontal and vertical directions. This facilitates the alignment between the milling head 11 and the tool retraction position 32 on the tool changer 31, and also allows the tool on the milling head 11 to perform grinding on different positions of the workpiece on the worktable 13. Combined with the structure of the worktable 13, this further enhances the flexibility of the tool on the milling head 11 in grinding the workpiece and ensures the processing quality of the workpiece.

[0075] In this embodiment, the fifth linear drive device 85, the sixth linear drive device 86 and the seventh linear drive device 87 can all be linear modules, and the lifting seat 14, the first translation seat 15 and the second translation seat 17 are all fixedly connected to the slide of the corresponding linear module.

[0076] The above description is merely illustrative of the invention. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined by the claims, all of which should fall within the protection scope of this invention.

Claims

1. A method for switching between multiple tool magazines, characterized in that, Includes the following steps: Step 1: The tool changer of the tool changer mechanism takes the tool off the chain at the tool pick-up position of the chain tool magazine. At this time, the tool changer is in a vertically tilted state. Step 2: Based on the fixed position of the cutter on the chain and the positional relationship between the two types of cutters arranged at equal intervals, obtain the distance between the cutter to be picked up next and the pick-up position, and determine the displacement when the chain rotates. Step 3: The tool changing mechanism moves away from the chain tool magazine and closer to the milling head of the machining mechanism, and during this process, the tool changing disc remains in a vertically tilted state; Step 4: The chain tool magazine drives the chain to rotate intermittently with the distance between two adjacent tools as the single displacement amount. In only one intermittent displacement during this process, the chain tool magazine drives the tool changer to change the milling head. After the tool changer completes the tool change, it is in a horizontal state. Step 5: The tool changing mechanism moves away from the milling head and closer to the chain tool magazine, and before the tool taken from the previous step on the chain moves to the tool taking position, the tool changing disc remains horizontal and has not moved to the bottom. Step 6: The tool changing mechanism moves to the bottom, and during this process, the tool changing disc returns from a horizontal state to a vertically tilted state while the chain remains stationary.

2. The multi-tool magazine switching method according to claim 1, characterized in that: In step four, during a single displacement of the chain, the chain tool magazine first drives the tool changer to rotate in the opposite direction and then changes from a vertically inclined state to a horizontal state, removing the tool from the milling head; then it drives the tool changer to rotate in the forward direction and maintains a horizontal state, loading the tool removed from the chain onto the milling head.

3. The multi-tool magazine switching method according to claim 2, characterized in that: In step six, before the tool changer begins to return from a horizontal state to a vertically inclined state, the tool changer places the tool removed from the milling head onto the temporary storage position of the chain tool magazine. The temporary tool is transferred to the chain when the fixed position for placing the temporary tool on the chain is on the same horizontal line as the temporary storage position during the intermittent rotation of the chain.

4. A CNC grinding machining center, characterized in that, include: A machining mechanism used for grinding and polishing workpieces; A chain-type tool magazine is used to store two types of tools, which are alternately clamped and fixed on the chain of the tool magazine at equal intervals. The tool changing mechanism is used to change the tool on the chain to the milling head of the machining mechanism. The tool changing disc of the tool changing mechanism has two tool retraction positions at both ends, and the distance between the two tool retraction positions on the same side is the same as the distance between two adjacent tools on the chain. The chain tool magazine is equipped with a tool retrieval position, which is provided with a pusher mechanism for disengaging the tool from the chain. The chain tool magazine is also equipped with a drive mechanism for intermittently rotating the chain. The chain replaces the tool to be retrieved at the tool retrieval position through the drive mechanism. The drive mechanism and the tool changer are connected by a transmission mechanism, so that the chain tool magazine can drive the tool changer to change the milling head tool during only one intermittent displacement of the chain during the intermittent rotation process of the chain when the tool to be retrieved is replaced at the tool retrieval position. The transmission mechanism includes a rotating shaft, a switching unit, and a drive unit for driving the rotating shaft to rotate in both directions. The drive unit includes an upper roller, a lower roller, and a drive base. The upper roller and the lower roller are arranged vertically and are rotatably connected to the machine body. The upper roller and the lower roller are connected to the rotating shaft in sequence through a gear transmission mechanism, a worm gear transmission mechanism, and a synchronous belt transmission mechanism.

5. The CNC grinding machining center according to claim 4, characterized in that: The tool changing mechanism also includes a sliding seat, which is horizontally slidably mounted on the machine body. A first linear drive device is installed on the machine body to drive the sliding seat to move relative to the machine body. The tool changing disc is rotatably connected to the sliding seat. The chain and the milling head are located at the two ends of the horizontal movement trajectory of the tool changing disc, respectively. Several first tool clamps are slidably mounted on the tool changing disc to clamp the tool in the tool taking position and pull it into the tool retracting position. The number of first tool clamps is the same as the number of tool retracting positions and the two correspond one-to-one. A drive device is installed on the tool changing disc to drive the first tool clamps to slide linearly relative to them.

6. The CNC grinding machining center according to claim 5, characterized in that: The rotating shaft is rotatably connected to the machine body. The rotating shaft is telescopic and passes through a sliding seat, being fixedly connected to the tool changer. The drive unit achieves transmission connection with the drive mechanism through a switching unit. The switching unit includes a switching seat slidably mounted on the machine body. A second linear drive device for driving the switching seat to move relative to the machine body is installed on the machine body. A switching shaft is rotatably connected to the switching seat. The switching shaft achieves transmission connection with the drive mechanism through a gear transmission mechanism and a synchronous belt transmission mechanism in sequence. A drive shaft is rotatably connected to the machine body, and a drive mechanism is fixedly connected to the drive shaft. The device has a drive gear, a switching gear mounted on the switching shaft, and a transmission gear and a limiting plate mounted on the drive shaft. When the tool to be retrieved at the tool retrieval position is of the same type as the tool retrieved previously, the switching gear meshes with the drive gear. When the tool to be retrieved at the tool retrieval position is of a different type than the tool retrieved previously, the switching gear meshes with the transmission gear. The transmission gear has a protrusion, and the limiting plate has an arc-shaped hole for the protrusion to slide. When the switching gear meshes with the transmission gear, during the process of replacing the tool with an adjacent tool at the tool retrieval position, the protrusion slides from one end of the arc-shaped hole to the other end.

7. The CNC grinding machining center according to claim 6, characterized in that: The drive seat is slidably mounted on the machine body. The drive shaft drives the drive seat to slide relative to the machine body via a belt conveyor. The drive seat is fixedly connected to the belt of the belt conveyor. The length of the belt is four times the length of the upper roller. The upper roller and the lower roller are the same length. The length of the movement trajectory of the drive seat between the adjacent ends of the upper and lower rollers is the same as the length of the upper roller. The upper roller has a first arc groove, a second arc groove, and a straight groove on its side. The outer ends of the first arc groove and the second arc groove are located on the end faces of the two ends of the upper roller, and their inner ends are connected. The horizontal distance between the two ends of the linear groove is less than the horizontal distance between the two ends of the second arc groove. The two ends of the straight groove are located on the end faces of the two ends of the upper roller, and the two adjacent ends of the straight groove and the second arc groove are connected. The structure of the lower roller is the same as that of the upper roller. The drive base is provided with protrusions that are compatible with the first arc groove, the second arc groove, and the straight groove. The protrusions can drive the upper roller and the lower roller to rotate in the forward and reverse directions in sequence through the first arc groove and the second arc groove. The machine body is provided with a reset unit for resetting the upper roller, the lower roller, and the transmission gear after the tool to be taken is replaced at the tool taking position.

8. The CNC grinding machining center according to claim 7, characterized in that: The reset unit includes a reset shaft rotatably connected to the machine body. The reset shaft is connected to either the upper or lower roller via a gear transmission mechanism. Both the upper and lower rollers have reset slots for connecting the two adjacent ends of the straight groove and the first arc groove. A reset gear is connected to the machine body via a first one-way bearing. A reset rack adapted to the reset gear is installed on the sliding seat. A synchronous belt transmission mechanism is provided between the reset shaft and the reset gear, and both are connected to the synchronous belt transmission mechanism via a bevel gear transmission mechanism. There are two switching gears, and the switching gear that can mesh with the transmission gear is connected to the switching shaft via a second one-way bearing. The transmission gear and the transmission shaft, as well as the limit plate and the transmission shaft, are connected via a third one-way bearing. The transmission gear can be connected to the reset gear sequentially via the synchronous belt transmission mechanism and the bevel gear transmission mechanism.

9. The CNC grinding machining center according to claim 6, characterized in that: The drive mechanism includes a drive wheel and three driven wheels. Both the drive wheel and the driven wheels are rotatably connected to the machine body. A stepper motor is installed on the machine body to drive the drive wheel to rotate intermittently relative to the machine body. The output shaft of the stepper motor is connected to the switching shaft in sequence through a synchronous belt transmission mechanism and a gear transmission mechanism. The chain is wound around the drive wheel and the driven wheels. The tool pick-up position is located between two adjacent driven wheels.

10. The CNC grinding machining center according to claim 4, characterized in that: The chain-type tool magazine is provided with a temporary storage position, and a clamping mechanism for loading tools back onto the chain is provided on the temporary storage position. The clamping mechanism includes a conveyor seat, which is horizontally slidably mounted on the machine body. A third linear drive device is installed on the machine body to drive the conveyor seat to slide relative to it. The moving direction of the conveyor seat is parallel to the moving direction of the sliding seat. A second tool holder is rotatably mounted on the conveyor seat and a first drive motor is installed to drive the second tool holder to rotate relative to it. The chain is located on the rotation trajectory of the second tool holder.

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