A pneumatic system and control method of a multi-tool-position composite tool magazine

Abstract

The present application relates to the technical field of composite tool magazine, and particularly relates to a pneumatic system and control method of a multi-tool-changing-position composite tool magazine, which comprises: a logic control module, which is connected in a pure pneumatic mode by a pneumatic valve, a pneumatic or valve, a pneumatic delay valve and a pneumatic pilot valve; an input end of the logic control module is used for receiving a pneumatic signal generated by a cylinder in a previous action, and an output end of the logic control module is connected with a pneumatic control end of a cylinder in a subsequent action; and the logic control module is configured to: when the received pneumatic signal meets a preset logic condition, at least one of the pneumatic valve, the pneumatic or valve and the pneumatic delay valve outputs control to the pneumatic pilot valve through a physical pneumatic connection, the pneumatic pilot valve switches a pneumatic path, and a subsequent cylinder is driven to perform an action. The present application adopts pure pneumatic logic control, and is free from dependence on an electrical system, thereby improving reliability and safety of the system.

Description

Technical Field

[0001] This invention relates to the field of composite tool magazine technology, and in particular to a pneumatic system and control method for a multi-tool change composite tool magazine. Background Technology

[0002] Multi-tool changer (MPC) is the core tool changing device in a CNC machining center. It achieves rapid tool exchange by setting up multiple tool changing stations, including an upper tool changer, a lower tool changer, and a tool loading station, as well as multiple actuators such as a spindle-side robot and a tool magazine-side robot. The pneumatic system is the power and control core of the MPC, typically including an air source, control valves, cylinders, and detection elements, used to drive the robots and tool changers to complete the tool changing actions according to a preset sequence.

[0003] Currently, pneumatic systems for multi-position tool changers generally employ electrical control. This involves a PLC outputting electrical signals to solenoid valves according to a preset program, which then control the cylinder's movement. Simultaneously, electrical sensors such as magnetic switches or proximity switches detect the cylinder's position and feed back electrical signals to the PLC, forming a closed-loop control. However, since the control logic is fixed in the PLC program, debugging the tool change sequence and troubleshooting must be done by electrical engineers, resulting in high maintenance costs and low efficiency. Furthermore, the system relies on various electrical components such as solenoid valves, electrical sensors, and cables, and a failure in any of these components can cause system downtime. Fault points are scattered, and signal reliability is poor in electromagnetic interference environments.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] In view of at least one of the above technical problems, the present invention provides a pneumatic system and control method for a multi-tool changer composite tool magazine. It adopts a pure pneumatic logic control module and realizes the sequential control of tool changing actions through physical air circuit connection, so as to avoid over-reliance on electrical system.

[0006] This invention provides a pneumatic system for a multi-tool changer composite tool magazine, comprising: The logic control module consists of pneumatic AND valves, pneumatic OR valves, pneumatic delay valves, and pneumatic pilot valves connected in a purely pneumatic manner. The input terminal of the logic control module is used to receive the air pressure signal generated by the cylinder that moves first and then reaches its position. The output terminal of the logic control module is connected to the air circuit control terminal of the cylinder that moves later. The logic control module is configured such that when the received air pressure signal meets the preset logic conditions, at least one of the pneumatic AND valve, pneumatic OR valve, and pneumatic delay valve outputs control to the pneumatic pilot valve through a physical air circuit connection. The pneumatic pilot valve switches the air circuit and drives the next cylinder to perform the action.

[0007] Furthermore, the preset logical conditions include: When multiple pressure signals need to be satisfied simultaneously to trigger the next action, this is achieved through the physical air circuit connection between the pneumatic actuator and the valve. When any one of the multiple pneumatic pressure signals is satisfied to trigger the next action, it is achieved through the physical pneumatic circuit connection of the pneumatic or valve. When the air pressure signal needs to be delayed for a certain period of time before triggering the next action, this is achieved through the physical air circuit connection of the pneumatic delay valve.

[0008] Furthermore, it also includes: The detection module includes a pneumatic stroke valve installed at the end of the movement of each cylinder. The output of the pneumatic stroke valve is connected to the input of the logic control module and is used to output the air pressure signal when the cylinder extends or retracts to its position. The execution module includes multiple double-acting cylinders, which are used to drive the spindle-side robot, the tool magazine-side robot, the upper tool changer station, the lower tool changer station, and the tool loading station to perform tool changing actions. The air circuit control terminal of each of the double-acting cylinders is connected to the output terminal of the corresponding air-controlled pilot valve in the logic control module. The safety module, located upstream of the main air line, includes a pneumatic lock-up valve and a pneumatic pressure reducing valve connected in series, as well as a pneumatic emergency stop valve. The control terminal of the pneumatic lock-up valve is connected to the output terminal of the pneumatic emergency stop valve.

[0009] Furthermore, the logic control module includes multiple parallel control units and interlocking units; The input terminal of the parallel control unit is connected to the air pressure signal of the prior actuating cylinder, and the output terminal is connected to the air-controlled pilot valve of two or more parallel actuating cylinders respectively, so as to simultaneously drive two or more parallel actuating cylinders to actuate when the air pressure signal of the prior actuating cylinder is received. The interlock unit is composed of pneumatics and valves. The input end of the interlock unit is connected to the air pressure signal of each of the parallel action cylinders, and the output end is connected to the air-controlled pilot valve of the subsequent action cylinder. It is used to drive the subsequent action cylinder to act only when two or more of the parallel action cylinders output the air pressure signal.

[0010] Furthermore, the logic control module also includes a priority interrupt unit and a manual reset valve, wherein the priority interrupt unit is composed of a reset or valve; The input terminal of the priority interrupt unit is connected to the output terminal of the manual reset valve, and the output terminal of the priority interrupt unit is connected in parallel with the reset control terminal of each of the pneumatic pilot valves. When the manual reset valve is triggered, the priority interrupt unit outputs a reset air pressure signal to the reset control terminal of each of the pneumatic pilot valves, and all the pneumatic pilot valves switch to the reset state, driving all cylinders to move to the initial position.

[0011] The present invention also provides a control method for a multi-tool changer composite tool magazine, comprising the following steps: All cylinders are in their initial positions, air supply is in place, and the safety module is in standby mode, waiting to receive a start signal. Upon receiving the start signal, the first set of cylinders is triggered to drive the corresponding tool changer or robot arm to perform the first action. After the first set of cylinders reaches its position, the pneumatic stroke valve installed at the end of the cylinder's movement outputs a pneumatic pressure signal to the logic control module. The logic control module processes the received air pressure signal according to preset logic conditions; When the air pressure signal meets the logic condition, the logic control module outputs control air pressure to the air-controlled pilot valve of the next group of cylinders to drive the next group of cylinders to perform the action; Repeat the above steps, driving each set of cylinders in sequence according to the tool change sequence, until the entire tool change cycle is completed.

[0012] Furthermore, it also includes safety protection and reset: During the tool changing process, when the safety module detects that the pneumatic emergency stop valve is triggered or the main air pressure is lower than the set value, it immediately cuts off the air supply to the logic control module and the execution module, and locks the current position of all cylinders. After the tool change is completed or the safety protection is triggered, all cylinders return to their initial positions and wait for the next start signal.

[0013] Furthermore, the logic control module processes the received air pressure signal according to preset logic conditions, specifically including: When multiple pressure signals need to be satisfied simultaneously to trigger the next action, the pneumatic valve determines whether all the input pressure signals exist. When any one of the multiple pressure signals is satisfied to trigger the next action, the pneumatic or valve system determines whether at least one of the input pressure signals exists. When a certain delay is required before triggering the next action, the input air pressure signal is delayed and output through the pneumatic delay valve.

[0014] Furthermore, it also includes parallel control and interlocking: When the first-acting cylinder is in position, the logic control module simultaneously drives two or more of the parallel-acting cylinders to act. The logic control module waits for all the parallel action cylinders to output the air pressure signal before driving the subsequent action cylinder to act. If any of the parallel-action cylinders fails to output the air pressure signal within a preset time, the subsequent actions will stop.

[0015] Furthermore, it also includes fault diagnosis: When any cylinder is activated, if the corresponding pneumatic stroke valve fails to output the air pressure signal within a preset allowable time, the logic control module outputs a fault signal. The fault signal triggers the safety module to cut off the air supply and lock the current position of all cylinders, while the fault location is indicated by the pneumatic indicator light.

[0016] The technical solution of this invention can achieve the following technical effects: By replacing electrical control with a pure pneumatic logic control module consisting of pneumatic AND valves, pneumatic OR valves, pneumatic delay valves, and pneumatic pilot valves, the complex tool changing sequence and control logic are completely solidified by physical pneumatic circuit connections. This effectively solves the problems of existing technologies such as reliance on electrical systems, high maintenance thresholds, weak anti-electromagnetic interference capabilities, and insufficient safety protection, thereby improving the reliability and safety of the system.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the logic control module in an embodiment of the present invention; Figure 2 This is a logic diagram of the logic control module in an embodiment of the present invention; Figure 3 This is a logic diagram of the pneumatic system of the multi-tool changer composite tool magazine in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the control method of the multi-tool changer composite tool magazine in an embodiment of the present invention; Figure 5 This is a schematic diagram of the safety protection and reset process in an embodiment of the present invention; Figure 6 This is a schematic diagram of the parallel control and interlocking process in an embodiment of the present invention; Figure 7 This is a schematic diagram of the fault diagnosis process in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] This invention provides a method such as Figures 1 to 3 The pneumatic system of the multi-tool changer compound tool magazine shown includes: The logic control module consists of pneumatic AND valves, pneumatic OR valves, pneumatic delay valves, and pneumatic pilot valves connected in a purely pneumatic manner. The input terminal of the logic control module is used to receive the air pressure signal generated by the cylinder that moves first and then reaches its position. The output terminal of the logic control module is connected to the air circuit control terminal of the cylinder that moves later. The logic control module is configured such that when the received air pressure signal meets the preset logic conditions, at least one of the pneumatic AND valve, pneumatic OR valve and pneumatic delay valve outputs control to the pneumatic pilot valve through a physical air circuit connection. The pneumatic pilot valve switches the air circuit and drives the next cylinder to perform the action.

[0023] The logic control module consists of pneumatic AND valves, pneumatic OR valves, pneumatic delay valves, and pneumatic pilot valves connected in a purely pneumatic manner. The pneumatic AND valve has two or more input terminals and one output terminal. Its working principle is that the output terminal only outputs a pressure signal when all input terminals simultaneously have a pressure signal; if any input terminal has no pressure signal, the output terminal has no output. The pneumatic OR valve has two or more input terminals and one output terminal. When any input terminal has a pressure signal, the output terminal outputs a pressure signal; only when all input terminals have no pressure signal will the output terminal have no output. The pneumatic delay valve has one input terminal and one output terminal. When a pressure signal is present at the input terminal, the output terminal outputs a pressure signal after a preset delay time; if the pressure signal disappears within the delay time, the output terminal has no output. The pneumatic pilot valve can be a two-position five-way valve with a control end, an air inlet, an air outlet, and two working ports. When the control end receives a pneumatic pressure signal, the valve core switches, changing the flow direction of the main air path, thereby controlling the extension or retraction of the double-acting cylinder.

[0024] The working principle of this invention is as follows: The input terminal of the logic control module is connected to the pneumatic pressure signal generated by the preceding cylinder when it reaches its final position. When the piston rod of the preceding cylinder extends or retracts to its end position, it triggers the pneumatic stroke valve installed at the end of the cylinder's movement. The pneumatic stroke valve outputs a pneumatic pressure signal, which is transmitted to the input terminal of the logic control module through an air pipe. The output terminal of the logic control module is connected to the pneumatic control terminal of the following cylinder. The working port of the pneumatic pilot valve in the logic control module is connected to the air inlet and exhaust port of the following cylinder through an air pipe. The switching state of the pneumatic pilot valve determines the extension or retraction of the following cylinder.

[0025] The distance describes the configuration of the logic control module. Assume the following actions are required in the tool change sequence: After the clamping cylinder of the upper tool changer reaches its position, it triggers the extension cylinder of the tool magazine-side robot arm. When the clamping cylinder of the upper tool changer reaches its position, the pneumatic stroke valve at the end is depressed, outputting a pneumatic pressure signal. This signal is transmitted to the input of the logic control module via an air pipe. Inside the logic control module, the pneumatic pressure signal is connected to one input of a pneumatic OR valve. The output of the pneumatic OR valve is connected to the control terminal of a pneumatic pilot valve. Due to the presence of a pneumatic pressure signal at the input, the pneumatic OR valve immediately outputs control air pressure to the control terminal of the pneumatic pilot valve. Upon receiving the control air pressure, the pilot valve switches its valve core, changing the direction of the main air path and driving the extension cylinder of the tool magazine-side robot arm to extend. When the extension cylinder of the tool magazine-side robot arm reaches its position, the corresponding pneumatic stroke valve outputs a new pneumatic pressure signal as the trigger condition for the next action, and so on, forming a complete tool change sequence chain.

[0026] If multiple conditions need to be met simultaneously to trigger the next action in the tool change sequence, pneumatics and valves are used. For example, the tool magazine-side robot arm needs to be extended to its full position and the spindle-side robot arm needs to be retracted to its full position simultaneously to trigger the tool change rotation action. In this case, these two air pressure signals are connected to the two input terminals of the pneumatic actuator and valve, respectively. Only when there are air pressure signals at both input terminals will the pneumatic actuator and valve output control air pressure to the corresponding air-controlled pilot valve.

[0027] If the tool change sequence requires a waiting period after a certain action is completed before executing the next action, a pneumatic delay valve is used. For example, after the spindle-side robot releases the tool, it needs to wait for the tool to completely disengage from the spindle taper before the tool magazine-side robot rotates. At this time, the air pressure signal generated by the spindle-side robot in the tool release position is connected to the input of the pneumatic delay valve. After a preset delay time, the pneumatic delay valve outputs control air pressure to the pneumatic pilot valve corresponding to the rotating cylinder of the tool magazine-side robot.

[0028] Pneumatic AND valves, pneumatic OR valves, and pneumatic delay valves can be connected in series, parallel, or in combination to form various logic judgment loops, depending on the actual needs of the tool change sequence. This enables pure pneumatic sequential control of complex tool change processes. For example, the output of one pneumatic AND valve can be used as the input of the next pneumatic delay valve, or the output of one pneumatic OR valve can be used simultaneously as the control signal for multiple pneumatic pilot valves, achieving multi-channel parallel triggering.

[0029] In some embodiments of the present invention, the preset logical conditions include: When multiple air pressure signals need to be satisfied simultaneously to trigger the next action, this is achieved through the physical air circuit connection between the pneumatic system and the valve. When any one of multiple air pressure signals is satisfied to trigger the next action, it is achieved through the physical air circuit connection of pneumatic or valve. When the air pressure signal needs to be delayed for a certain period of time before triggering the next action, this is achieved through the physical air circuit connection of the pneumatic delay valve.

[0030] The pneumatic AND valve, pneumatic OR valve, and pneumatic delay valve are all purely pneumatic components with no internal electrical parts. They are all driven by air pressure signals. The input end of each component is connected to the output end of the pneumatic stroke valve in the detection module through an air pipe to receive the air pressure signal generated by the cylinder reaching its position. The output end of each component is connected to the control end of the pneumatic pilot valve to output a control signal to drive the subsequent cylinder action.

[0031] The specific implementation of the logic is as follows: When multiple conditions need to be met simultaneously to trigger the next action in the tool change sequence, the preset logic conditions are implemented through the physical air circuit connection of the pneumatic actuator and valve. The pneumatic actuator and valve have two or more input terminals and one output terminal. The output terminal only outputs an air pressure signal when all input terminals have air pressure signals simultaneously; if any input terminal has no air pressure signal, the output terminal has no output. The number of input terminals of the pneumatic actuator and valve can be selected according to actual needs, such as using two-input, three-input, or more-input models. When three conditions need to be met simultaneously, the three air pressure signals can be connected to the three input terminals of the three-input pneumatic actuator and valve respectively, and there will be an output only when all three signals are present.

[0032] The specific implementation of the OR logic is as follows: When any one of the multiple conditions in the tool change sequence is met to trigger the next action, the preset logic conditions are implemented through the physical air circuit connection of the pneumatic OR valve. The pneumatic OR valve has two or more input terminals and one output terminal. When any input terminal has an air pressure signal, the output terminal outputs an air pressure signal; only when all input terminals have no air pressure signal will the output terminal have no output. The number of input terminals of the pneumatic OR valve can also be selected according to actual needs. For example, in a composite tool magazine with three tool change stations, the clamping position signals of the three tool change stations can be connected to the three input terminals of the three-input pneumatic OR valve respectively, and the subsequent action can be triggered when any tool change station is clamped in place.

[0033] The specific implementation of the delay logic is as follows: When the tool change sequence requires a certain delay in the pneumatic pressure signal before triggering the next action, the preset logic condition is achieved through the physical air circuit connection of the pneumatic delay valve. The pneumatic delay valve has one input and one output end, and internally contains a delay circuit composed of air resistance and air capacitance. When a pneumatic pressure signal is present at the input end, the output end outputs a pneumatic pressure signal only after the preset delay time; if the input pneumatic pressure signal disappears within the delay time, there is no output. The delay time can be adjusted via a mechanical knob, typically continuously set within the range of 0.3 seconds to 2 seconds. The delay time of the pneumatic delay valve can be adjusted according to actual working conditions. For example, for heavy-duty tools, the delay time can be appropriately extended to ensure the tool is completely disengaged before proceeding to the next action; for light-duty tools, the delay time can be shortened to improve tool change efficiency.

[0034] In actual tool changing processes, pneumatic AND valves, pneumatic OR valves, and pneumatic delay valves can be connected in series, parallel, or in combination according to timing requirements to form more complex logic judgment loops. For example, the output of a pneumatic AND valve can be used as the input of a pneumatic delay valve to achieve logic where multiple conditions are met simultaneously before a delay triggers the action. Specifically, two pneumatic pressure signals are first connected to the two inputs of the pneumatic AND valve, and the output of the pneumatic AND valve is then connected to the input of the pneumatic delay valve. The output of the pneumatic delay valve is then connected to a pneumatic pilot valve. In this way, subsequent actions will only be triggered after a preset delay when both conditions are met. Multiple pneumatic delay valves can also be connected to the output of a pneumatic OR valve simultaneously to achieve logic where different actions are triggered after a delay when any condition is met. All combinations are implemented through physical pneumatic circuit connections, requiring no programming or electrical components; the entire logic judgment process is completed by the flow of pneumatic pressure signals within the pneumatic valve.

[0035] In some embodiments of the present invention, please refer to Figure 3 It also includes: The detection module includes a pneumatic stroke valve installed at the end of the movement of each cylinder. The output of the pneumatic stroke valve is connected to the input of the logic control module and is used to output a pneumatic pressure signal when the cylinder extends or retracts into place. The execution module includes multiple double-acting cylinders, which are used to drive the spindle-side robot, the tool magazine-side robot, the upper tool changer station, the lower tool changer station, and the tool loading station to perform tool changing actions. The air circuit control terminal of each double-acting cylinder is connected to the output terminal of the corresponding air-controlled pilot valve in the logic control module. The safety module, located upstream of the main air line, includes a pneumatic lock-up valve and a pneumatic pressure reducing valve connected in series, as well as a pneumatic emergency stop valve. The control terminal of the pneumatic lock-up valve is connected to the output terminal of the pneumatic emergency stop valve.

[0036] The detection module consists of pneumatic stroke valves installed at the end of each cylinder's movement. These valves can be mechanically triggered two-position three-way valves, with a contact rod or roller connected to the valve core. When the cylinder's piston rod extends or retracts to its final position, the piston rod or a mechanical component connected to it contacts the contact rod of the stroke valve, switching the valve core and connecting the inlet and outlet ports to output a pneumatic pressure signal. When the cylinder leaves this position, the contact rod resets, connecting the outlet and exhaust port, and the pneumatic pressure signal disappears. The output of the pneumatic stroke valve is connected to the input of the logic control module via an air pipe. Each cylinder has an independent pneumatic stroke valve for extending and retracting to its final position, outputting pneumatic pressure signals indicating these positions respectively. The logic control module can accurately determine the state of each cylinder, avoiding electromagnetic interference and signal delay issues. The installation position of the pneumatic stroke valve can be adjusted according to the actual structure. For example, it can be directly installed on the end cap of the cylinder body, allowing the cylinder piston rod to directly contact it; or it can be installed at the end of the robot's movement trajectory, allowing the robot body to contact it.

[0037] The execution module includes multiple double-acting cylinders, each with two air inlets connected to the two working ports of the corresponding pneumatic pilot valve in the logic control module. When the pneumatic pilot valve switches to the first position, compressed air enters the rodless chamber of the cylinder, exhausts air from the rod chamber, and the piston rod extends. When the pneumatic pilot valve switches to the second position, compressed air enters the rod chamber of the cylinder, exhausts air from the rodless chamber, and the piston rod retracts.

[0038] The double-acting cylinders in the execution module are used to drive the spindle-side robot, tool magazine-side robot, upper tool changer station, lower tool changer station, and tool loading station to perform tool changing actions. The spindle-side robot typically includes two cylinders: one controls the extension and retraction of the robot (approaching or moving away from the spindle), and the other controls the clamping and releasing of the robot (grabbing or releasing the tool). The tool magazine-side robot also includes two cylinders: one controls the extension and retraction of the robot, and the other controls the rotation of the robot to exchange tools. The upper and lower tool changer stations each include a clamping cylinder to control the clamping and releasing of the tool holder to fix or release the tool to be exchanged. The tool loading station includes a clamping cylinder to fix the tool during the loading process, facilitating the operator or automatic tool loading mechanism to load the tool into the tool holder. The pneumatic control terminals of each double-acting cylinder are connected to the two working ports of the corresponding pneumatic pilot valve in the logic control module via air pipes. Each pneumatic pilot valve independently controls the extension and retraction of one double-acting cylinder.

[0039] In some embodiments of the present invention, please refer to Figure 3 The logic control module includes multiple parallel control units and interlocking units; The input terminal of the parallel control unit is connected to the pneumatic pressure signal of the first-acting cylinder, and the output terminal is connected to the pneumatic pilot valves of two or more parallel-acting cylinders respectively, so as to drive two or more parallel-acting cylinders to act simultaneously when the pneumatic pressure signal of the first-acting cylinder is received. The interlock unit consists of pneumatic components and valves. The input end of the interlock unit is connected to the pneumatic pressure signal of each parallel-acting cylinder, and the output end is connected to the pneumatic pilot valve of the subsequent-acting cylinder. It is used to drive the subsequent-acting cylinder to act only when two or more parallel-acting cylinders output pneumatic pressure signals.

[0040] The parallel control unit is internally composed of pneumatic logic elements, used to enable a single trigger signal to simultaneously drive multiple parallel-acting cylinders. Once the preceding cylinder has reached its position, the corresponding pneumatic stroke valve outputs a pressure signal, which is transmitted to the input of the parallel control unit via an air pipe. The parallel control unit can use a three-way air connector to split the input air pipe into two outputs, directly achieving signal splitting; or it can use a pneumatic OR valve, short-circuiting the two inputs as inputs, with the outputs connected to multiple pneumatic pilot valves. Signal distribution is achieved using the internal channels of the pneumatic OR valve, and the parallel control method significantly shortens the tool change cycle.

[0041] The interlock unit, composed of pneumatic actuators and valves, ensures that all parallel-action cylinders are in position before triggering subsequent actions. After each parallel-action cylinder completes its movement, the corresponding pneumatic stroke valve outputs a pressure signal, which is transmitted to each input terminal of the pneumatic actuator and valve. This maintains a match between the number of input terminals of the pneumatic actuator and valve and the number of parallel-action cylinders, fundamentally avoiding the risk of mechanical collisions caused by asynchronous actions. In actual tool-changing processes, the parallel control unit and the interlock unit are typically used together to form a complete control chain from parallel triggering to interlock waiting and then to subsequent actions.

[0042] In some embodiments of the present invention, please refer to Figure 3 The logic control module also includes a priority interrupt unit and a manual reset valve. The priority interrupt unit is composed of a reset or valve. The reset or valve has the same structure and principle as a common pneumatic or valve and is used to process the transmission and distribution of reset signals. The input terminal of the priority interrupt unit is connected to the output terminal of the manual reset valve, and the output terminal of the priority interrupt unit is connected in parallel with the reset control terminal of each pneumatic pilot valve to form a common reset signal line. The reset control terminals of all pneumatic pilot valves share the same reset signal. When the manual reset valve is triggered, the priority interrupt unit outputs a reset air pressure signal to the reset control terminal of each pneumatic pilot valve, and all pneumatic pilot valves switch to the reset state, driving all cylinders to move to the initial position.

[0043] The manual reset valve is a manually operated two-position three-way pneumatic valve with one air inlet, one air outlet, and one exhaust port, as well as a manual button or knob. The air inlet of the manual reset valve is connected to the air source, and the air outlet is connected to the input terminal of the priority interruption unit. During normal operation, the manual reset valve is in the closed state, with the air inlet and outlet blocked, and the air outlet and exhaust port connected, resulting in no signal output. When the operator presses or rotates the manual reset valve, the valve core switches, connecting the air inlet and outlet, and outputting an air pressure signal to the priority interruption unit.

[0044] The internal structure of the pneumatic pilot valve is designed such that when there is a pneumatic pressure signal at the reset control terminal, the valve core is forcibly switched to the preset reset position regardless of whether there is a signal at the main control terminal. The reset position is set to the cylinder retracted state. When the pneumatic pressure signal at the reset control terminal disappears, the valve core remains in the reset position until the main control terminal receives a new control signal before switching. This gives the reset control terminal the highest control priority, which can cover the normal tool change sequence control signal, thereby achieving forced reset of all cylinders. The entire reset process does not depend on the completion of any intermediate steps in the tool change sequence, improving the convenience and safety of system debugging, fault handling, and maintenance.

[0045] After all cylinders have been reset, the operator can release the manual reset valve. The manual reset valve will automatically reset to the closed state, the output air pressure signal will disappear, the priority interrupt unit will then have no signal, the reset control air pressure signal of each pneumatic pilot valve will disappear, but the valve core will remain in the reset position, waiting for the next start signal.

[0046] Based on the above embodiments, multiple input terminals of the reset or valve can be reserved for connecting other reset signal sources. For example, in addition to the manual reset valve, fault signals from the safety module, abnormal air pressure signals, etc., can be connected to other input terminals of the reset or valve to achieve centralized processing of multiple reset trigger sources. When any reset trigger source is activated, the reset or valve outputs a reset air pressure signal to achieve unified reset control.

[0047] Based on the same inventive concept as the pneumatic system of the multi-tool changer composite tool magazine in the foregoing embodiments, the present invention also provides a control method for the multi-tool changer composite tool magazine, such as... Figures 4 to 7 As shown, it includes the following steps: All cylinders are in their initial positions, air supply is in place, and the safety module is in standby mode, waiting to receive a start signal. Upon receiving the start signal, the first set of cylinders is triggered to drive the corresponding tool changer or robotic arm to perform the first action. After the first set of cylinders reaches its position, the pneumatic stroke valve installed at the end of the cylinder's movement outputs a pneumatic pressure signal to the logic control module. The logic control module processes the received air pressure signal according to preset logic conditions; When the air pressure signal meets the logic condition, the logic control module outputs control air pressure to the air-controlled pilot valve of the next group of cylinders, driving the next group of cylinders to perform the action; Repeat the above steps, driving each set of cylinders in sequence according to the tool change sequence, until the entire tool change cycle is completed.

[0048] The specific structure of the logic control module, as well as the installation method and working principle of the pneumatic stroke valve in the detection module, have been described in detail in the aforementioned system embodiments and will not be repeated here.

[0049] At the start of the control process, the system first completes initialization. All cylinders are in their initial positions, the spindle-side manipulator and the tool magazine-side manipulator are in the retracted state, the clamping cylinders of each tool changer are in the released state, air supply is activated, and the safety module is in standby mode (i.e., the pneumatic emergency stop valve is not triggered, the pneumatic lock-up valve is open, and the system waits to receive a start signal). When the start signal arrives, the first group of cylinders is triggered; for example, the clamping cylinder of the upper tool changer extends to clamp the tool in the tool holder. After the cylinder reaches its position, the pneumatic stroke valve at the end is triggered, outputting a pneumatic pressure signal to the logic control module, indicating that the upper tool changer is clamped in place. The pneumatic pressure signal serves as a condition for triggering subsequent actions and is judged by the logic control module.

[0050] The logic control module processes the received pneumatic pressure signal according to preset logic conditions. The preset logic conditions are fixed through the physical pneumatic circuit connection of internal pneumatic AND valve, pneumatic OR valve, and pneumatic delay valve. When the pneumatic pressure signal meets the logic conditions, the logic control module outputs control air pressure to the pneumatic pilot valve of the next set of cylinders to drive the cylinder to perform an action, such as the extension cylinder action of the tool magazine side robot arm.

[0051] The process of feedback, logical judgment, and driving the next set of cylinders is executed cyclically in the tool change sequence. In each step, the air pressure signal generated by the cylinder in position serves as the trigger source for the next step. All logical judgments are completed by physical air circuit connections. The entire control process does not require any electrical components or programming. After the tool change cycle is completed, all cylinders return to their initial positions, and the system waits for the next start signal. This achieves pure pneumatic sequential control of the tool change sequence. The air pressure signal generated by the cylinder in position is used as feedback, and condition judgments are completed through the physical connection of pneumatic logic components, forming a complete closed-loop control chain. The control logic is solidified in the air circuit topology and is not affected by electromagnetic interference. Debugging and maintenance can be completed independently by mechanical maintenance personnel. This solves the problems of weak anti-interference ability and reliance on electrical interlocks for safety protection, and improves the reliability and safety of the tool change process.

[0052] In some embodiments of the present invention, such as Figure 5 As shown, it also includes safety protection and reset functions to ensure the safety of equipment and operators in abnormal situations, and to automatically reset the system after normal or abnormal shutdown. During tool changing, when the safety module detects that the pneumatic emergency stop valve is triggered or the main air pressure is lower than the set value, it immediately cuts off the air supply to the logic control module and the execution module, and locks the current position of all cylinders. After the tool change is completed or the safety protection is triggered, all cylinders return to their initial positions and wait for the next start signal.

[0053] The pneumatic emergency stop valve can be a manually operated two-position three-way valve, installed on the control panel for easy operator access. During normal operation, the pneumatic emergency stop valve is normally open, and compressed air is supplied through it to the control terminal of the pneumatic lock valve in the safety module, keeping the pneumatic lock valve open and ensuring normal air supply to the main air circuit. When the operator detects an abnormality, they immediately press the button on the pneumatic emergency stop valve. The internal valve core of the pneumatic emergency stop valve switches, connecting the output terminal to the exhaust port. The air pressure signal at the control terminal of the pneumatic lock valve is released, and the pneumatic lock valve immediately closes under spring force, cutting off the main air circuit to the logic control module and the execution module. Simultaneously, the exhaust port discharges residual compressed air in the downstream pipeline into the atmosphere. At this point, all cylinders lose air supply pressure and maintain their current position by their internal friction and load weight, achieving a safe locking mechanism. If an abnormal situation occurs and the main air pressure is lower than the set value, such as an interruption of the air supply or a pipeline leak, when the safety module detects that the pneumatic emergency stop valve has been triggered or the main air pressure is lower than the set value, it immediately cuts off the air supply to the logic control module and the execution module, and locks the current position of all cylinders. Even if the control system loses power completely or the air supply is interrupted, the system can still maintain a safe state.

[0054] The reset step is executed after tool change or after safety protection is triggered. When the tool change cycle is completed normally, all cylinders return to their initial positions sequentially according to the tool change sequence, and the system automatically enters standby mode, waiting for the next start signal. Alternatively, if the safety protection is triggered and the operator needs to manually restore the system after troubleshooting, the operator first resets the pneumatic emergency stop valve, restoring it to its normally open state. The air supply resumes to the control terminal of the pneumatic lock valve, opening it and restoring the air supply to the system. Subsequently, the operator triggers the manual reset valve. The priority interrupt unit in the logic control module outputs a reset air pressure signal to the reset control terminal of all pneumatic pilot valves, forcing all cylinders to move to their initial positions. After all cylinders have reset, the system re-enters standby mode, waiting for the next start signal. This avoids the secondary risks that may arise from the immediate movement of cylinders after an emergency stop reset. The operator can manually perform the reset only after confirming safety.

[0055] In some embodiments of the present invention, the logic control module processes the received air pressure signal according to preset logic conditions, specifically including: When multiple air pressure signals need to be satisfied simultaneously to trigger the next action, the pneumatic actuator and valve determine whether all input air pressure signals exist. This is used in safety scenarios requiring multiple confirmations. For example, the tool magazine-side robot arm must be extended and the spindle-side robot arm must be retracted simultaneously to trigger the tool change rotation. In this case, the air pressure signals generated by the tool magazine-side robot arm extending and retracting are respectively connected to the two input terminals of the pneumatic actuator and valve. Only when both signals exist simultaneously will the pneumatic actuator and valve output a control signal to the pneumatic pilot valve of the tool change rotation cylinder to drive the rotation action. If only one signal exists, such as the tool magazine-side robot arm has been extended but the spindle-side robot arm has not yet retracted, the pneumatic actuator and valve will not output, and the tool change rotation will not be executed, thus preventing collisions between the robots. The response is rapid and reliable.

[0056] When any one of multiple pneumatic pressure signals is satisfied to trigger the next action, the presence of at least one input pneumatic pressure signal is determined by pneumatic actuators or valves. For example, the clamping of the upper tool changer station or the clamping of the lower tool changer station can trigger the extension of the tool magazine-side robot arm to respond to the tool changing needs of different workstations. At this time, the pneumatic pressure signal generated by the clamping of the upper tool changer station and the clamping of the lower tool changer station are respectively connected to the two input terminals of the pneumatic actuator or valve. Regardless of which signal arrives first, the pneumatic actuator or valve will immediately output a control signal to the pneumatic pilot valve of the tool magazine-side robot arm extension cylinder to drive the pneumatic pilot valve to act. If the two signals arrive at the same time, there will be an output at the output terminal, and no conflict will occur. This allows for flexible response to trigger signals from multiple workstations and simplifies the pneumatic circuit structure.

[0057] When a certain delay is required before triggering the next action, the pneumatic delay valve delays the output of the input air pressure signal. The pneumatic delay valve has one input end and one output end, and contains a delay circuit composed of air resistance and air capacity. When there is an air pressure signal at the input end, compressed air slowly fills the air capacity through the air resistance. After the pressure in the air capacity reaches the set threshold, the output end outputs the air pressure signal. If the input signal disappears during the delay process, there will be no output at the output end.

[0058] In some embodiments of the present invention, such as Figure 6 As shown, it also includes parallel control and interlocking: When the first-acting cylinder reaches its position, the logic control module simultaneously drives two or more parallel-acting cylinders to move. The logic control module waits for all parallel action cylinders to output air pressure signals before driving the subsequent action cylinder to move. If any parallel-acting cylinder fails to output a pressure signal within a preset time, subsequent actions will stop to prevent the system from waiting indefinitely due to cylinder jamming, air leakage, or stroke valve failure.

[0059] For example, after the clamping cylinder of the upper tool changer is in place, it is necessary to simultaneously drive the extension cylinders of the tool magazine-side robot and the spindle-side robot. At this time, the air pressure signal generated by the clamping of the upper tool changer enters the parallel control unit. Through air path splitting, one signal is simultaneously distributed to two outputs, which drive the air control pilot valves corresponding to the two cylinders respectively, so that the two cylinders start to act at the same time. This reduces the total action time from the sum of the action times of the two cylinders to the maximum value of the action times of the two cylinders, significantly improving the tool changing efficiency.

[0060] The logic control module is equipped with an interlocking unit consisting of pneumatic actuators and valves. In the example above, the pneumatic pressure signal generated by the extension of the tool magazine-side robot arm and the pneumatic pressure signal generated by the extension of the spindle-side robot arm are respectively connected to the two input terminals of the pneumatic actuator and valve. Only when there are pneumatic pressure signals at both input terminals at the same time will the pneumatic actuator and valve output control signals to the tool changing rotary cylinder to drive its action. If either cylinder is not in position, the pneumatic actuator and valve will not output, and subsequent actions will not be executed, thus avoiding the risk of mechanical collision caused by asynchronous actions.

[0061] If any parallel-acting cylinder fails to output a pneumatic pressure signal within a preset time, subsequent actions will stop. This is achieved by connecting a pneumatic delay valve in series at the output of the interlock unit. The delay time of the delay valve is set to the maximum time required for all parallel-acting cylinders to complete their actions under normal conditions. If a parallel-acting cylinder fails to reach its position within the preset time due to a malfunction, the pneumatic valve will have no output, and the input of the delay valve will have no signal. Subsequent actions will not be triggered, thus preventing the system from falling into an infinite wait due to a single cylinder malfunction. At the same time, operators can quickly locate the faulty cylinder based on the missing pneumatic pressure signal, improving the reliability and maintainability of the system.

[0062] In some embodiments of the present invention, such as Figure 7 As shown, it also includes fault diagnosis: When any cylinder is activated, if the corresponding pneumatic stroke valve fails to output a pneumatic pressure signal within a preset allowable time, the logic control module outputs a fault signal. The fault signal triggers the safety module to cut off the air supply and lock the current position of all cylinders, while the fault location is indicated by the pneumatic indicator light.

[0063] When the logic control module outputs a control signal to the pneumatic pilot valve of a cylinder, the cylinder begins to move. Simultaneously, the control signal is introduced into a fault diagnosis unit, which consists of a pneumatic delay valve. The delay time is set to the maximum time required for the cylinder to complete its movement under normal conditions. Under normal cylinder movement, the pneumatic stroke valve at the end of the cylinder's trajectory outputs a pressure signal. This pressure signal arrives within the time set by the delay valve, clearing the trigger state of the fault diagnosis unit, and the system continues to operate. If the cylinder fails to reach its position within the preset allowable time due to jamming, air leakage, excessive load, or stroke valve malfunction, the pneumatic stroke valve outputs no signal, and the pneumatic delay valve in the fault diagnosis unit outputs a fault signal after the timer expires.

[0064] When a fault signal is generated, the system immediately executes a safety protection action. The fault signal is transmitted to the safety module through the air circuit, triggering the pneumatic lock valve to close, cutting off the main air circuit to the logic control module and the execution module, and at the same time venting the residual compressed air in the downstream pipeline. After losing the air source pressure, all cylinders rely on their own friction and load gravity to maintain their current position, achieving safety locking. Even if the fault causes the electrical system to fail completely, the safety protection can still be reliably executed.

[0065] At the same time, the fault signal is also transmitted to the pneumatic indicator light, which is a purely pneumatic indicator element. When it receives a pneumatic signal, the internal piston or diaphragm pushes the mechanical structure, causing the indicator window to pop up or change color, intuitively displaying the fault status.

[0066] Based on the above embodiments, each cylinder is equipped with an independent pneumatic indicator light. A fault signal triggers the indicator light at the corresponding location, allowing the operator to quickly locate the faulty cylinder based on the indicator light display. For example, if the extension cylinder of the tool magazine-side robot arm fails to reach its designated position within the specified time, the pneumatic indicator light for that cylinder will pop up, allowing the operator to immediately determine that there is a fault in that cylinder or its related pneumatic circuit.

[0067] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A pneumatic system for a multi-tool changer composite tool magazine, characterized in that... include: The logic control module consists of pneumatic AND valves, pneumatic OR valves, pneumatic delay valves, and pneumatic pilot valves connected in a purely pneumatic manner. The input terminal of the logic control module is used to receive the air pressure signal generated by the cylinder that moves first and then reaches its position. The output terminal of the logic control module is connected to the air circuit control terminal of the cylinder that moves later. The logic control module is configured such that when the received air pressure signal meets the preset logic conditions, at least one of the pneumatic AND valve, pneumatic OR valve and pneumatic delay valve outputs control to the pneumatic pilot valve through a physical air circuit connection, and the pneumatic pilot valve switches the air circuit to drive the next cylinder to perform the action. The logic control module includes multiple parallel control units and interlocking units: The input terminal of the parallel control unit is connected to the air pressure signal of the prior actuating cylinder, and the output terminal is connected to the air-controlled pilot valve of two or more parallel actuating cylinders respectively, so as to simultaneously drive two or more parallel actuating cylinders to act when the air pressure signal of the prior actuating cylinder is received. The logic control module further includes a priority interrupt unit and a manual reset valve, wherein the priority interrupt unit is composed of a reset or valve. The input terminal of the priority interrupt unit is connected to the output terminal of the manual reset valve, and the output terminal of the priority interrupt unit is connected in parallel with the reset control terminal of each of the pneumatic pilot valves. When the manual reset valve is triggered, the priority interrupt unit outputs a reset air pressure signal to the reset control terminal of each of the pneumatic pilot valves, and all the pneumatic pilot valves switch to the reset state, driving all cylinders to move to the initial position; The interlock unit is composed of pneumatics and valves. The input end of the interlock unit is connected to the air pressure signal of each of the parallel action cylinders, and the output end is connected to the air-controlled pilot valve of the subsequent action cylinder. It is used to drive the subsequent action cylinder to act only when two or more of the parallel action cylinders output the air pressure signal. The detection module includes a pneumatic stroke valve installed at the end of the movement of each cylinder. The output of the pneumatic stroke valve is connected to the input of the logic control module and is used to output the air pressure signal when the cylinder extends or retracts to its position. The execution module includes multiple double-acting cylinders, which are used to drive the spindle-side robot, the tool magazine-side robot, the upper tool changer station, the lower tool changer station, and the tool loading station to perform tool changing actions. The air circuit control terminal of each of the double-acting cylinders is connected to the output terminal of the corresponding air-controlled pilot valve in the logic control module. The safety module, located upstream of the main air line, includes a pneumatic lock-up valve and a pneumatic pressure reducing valve connected in series, as well as a pneumatic emergency stop valve. The control terminal of the pneumatic lock-up valve is connected to the output terminal of the pneumatic emergency stop valve.

2. The pneumatic system of the multi-tool changer composite tool magazine according to claim 1, characterized in that, The preset logical conditions include: When multiple pressure signals need to be satisfied simultaneously to trigger the next action, this is achieved through the physical air circuit connection between the pneumatic actuator and the valve. When any one of the multiple pneumatic pressure signals is satisfied to trigger the next action, it is achieved through the physical pneumatic circuit connection of the pneumatic or valve. When the air pressure signal needs to be delayed for a certain period of time before triggering the next action, this is achieved through the physical air circuit connection of the pneumatic delay valve.

3. A control method for a multi-tool changer composite tool magazine, characterized in that, The pneumatic system using the multi-tool changer composite tool magazine as described in any one of claims 1 to 2 includes the following steps: All cylinders are in their initial positions, air supply is in place, and the safety module is in standby mode, waiting to receive a start signal. Upon receiving the start signal, the first set of cylinders is triggered to drive the corresponding tool changer or robot arm to perform the first action. After the first set of cylinders reaches its position, the pneumatic stroke valve installed at the end of the cylinder's movement outputs a pneumatic pressure signal to the logic control module. The logic control module processes the received air pressure signal according to preset logic conditions; When the air pressure signal meets the logic condition, the logic control module outputs control air pressure to the air-controlled pilot valve of the next group of cylinders to drive the next group of cylinders to perform the action; Repeat the above steps, driving each set of cylinders in sequence according to the tool change sequence, until the entire tool change cycle is completed.

4. The control method for a multi-tool changer composite tool magazine according to claim 3, characterized in that, It also includes safety protection and reset: During the tool changing process, when the safety module detects that the pneumatic emergency stop valve is triggered or the main air pressure is lower than the set value, it immediately cuts off the air supply to the logic control module and the execution module, and locks the current position of all cylinders. After the tool change is completed or the safety protection is triggered, all cylinders return to their initial positions and wait for the next start signal.

5. The control method for a multi-tool changer composite tool magazine according to claim 3, characterized in that, The logic control module processes the received air pressure signal according to preset logic conditions, specifically including: When multiple pressure signals need to be satisfied simultaneously to trigger the next action, the pneumatic valve determines whether all the input pressure signals exist. When any one of the multiple pressure signals is satisfied to trigger the next action, the pneumatic or valve system determines whether at least one of the input pressure signals exists. When a certain delay is required before triggering the next action, the input air pressure signal is delayed and output through the pneumatic delay valve.

6. The control method for a multi-tool changer composite tool magazine according to claim 3, characterized in that, It also includes parallel control and interlocking: When the first-acting cylinder is in position, the logic control module simultaneously drives two or more of the parallel-acting cylinders to act. The logic control module waits for all the parallel action cylinders to output the air pressure signal before driving the subsequent action cylinder to act. If any of the parallel-action cylinders fails to output the air pressure signal within a preset time, the subsequent actions will stop.

7. The control method for a multi-tool changer composite tool magazine according to claim 3, characterized in that, It also includes fault diagnosis: When any cylinder is activated, if the corresponding pneumatic stroke valve fails to output the air pressure signal within a preset allowable time, the logic control module outputs a fault signal. The fault signal triggers the safety module to cut off the air supply and lock the current position of all cylinders, while the fault location is indicated by the pneumatic indicator light.

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