A disc-shaped structure with a robotic arm and tool magazine

Abstract

This invention belongs to the field of CNC machine tool processing technology, specifically a disc-shaped tool magazine structure with a robotic arm. It includes a support frame, a disc-shaped tool magazine body, a drive mechanism, a tool-retrieving robotic arm assembly, and a dust-cleaning assembly. The dust-cleaning assembly is fixedly installed at the tool changing port of the protective housing and includes a fixed arc-shaped rail, a movable air-jet arm slidably connected to the fixed arc-shaped rail, a drive unit for driving the movable air-jet arm to reciprocate, and an air supply unit. The movable air-jet arm is arc-shaped, with multiple air nozzles evenly distributed at its bottom facing the tool. This invention, through the dust-cleaning assembly, enables high-pressure air jet cleaning of the tool during tool changing, effectively removing impurities adhering to the tool surface. The arc-shaped sliding structure enables the reciprocating rotation of the air-jet arm, achieving all-around, dead-angle-free cleaning. Combined with a vision detection module and controller, the dust-cleaning parameters can be automatically adjusted according to the degree of tool contamination, achieving intelligent, precise, and efficient dust-cleaning operations.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool processing technology, and in particular to a disc-shaped structure with a robotic tool magazine. Background Technology

[0002] Disc-type tool changers with robotic arms are common automatic tool changers in machining centers. They typically consist of a rotatable circular tool disc, several tool holders distributed along the circumference of the disc, and a robotic arm for retrieving and loading tools. During operation, the drive mechanism rotates the circular tool disc to index and deliver the target tool to the tool change position. Subsequently, the robotic arm moves to remove the tool from the tool holder and load it onto the machine tool spindle, or vice versa, to return the tool from the spindle to the tool holder.

[0003] During machining, cutting tools inevitably accumulate impurities such as cutting fluid, metal shavings, and oil. If these impurities are sent back to the tool magazine along with the tool, they not only contaminate the internal environment of the magazine but may also drip onto other clean tools, causing them to rust, lose precision, and even affect the clamping accuracy and machining quality during the next tool change. Existing tool magazine structures typically lack a device for real-time cleaning of the tools during tool changes, failing to effectively solve these problems. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, this invention proposes a disc-shaped structure with a robotic arm tool magazine.

[0005] The present invention proposes a disc-shaped structure with a robotic tool magazine, comprising: Support frame; The disc tool magazine body includes a circular tool disc, a plurality of tool sleeves evenly distributed along the circumference of the circular tool disc, a central rotating shaft passing through the center of the circular tool disc, and a protective shell covering the outside of the circular tool disc. A drive mechanism is mounted on the support frame and is connected to the central rotating shaft for driving the circular cutter head to rotate and index. A tool-retrieving robotic arm assembly, which is mounted on the support frame, is used to perform tool-retrieving and tool-releasing actions; And a dust removal assembly, which is fixedly installed at the tool changing port of the protective housing and is used to clean the tool in the tool changing position; The dust removal assembly includes: A fixed arc-shaped rail is fixedly installed at the tool changing port of the protective housing, and its arc-shaped structure matches the movement trajectory of the tool sleeve assembly when it swings from the tool changing position to the vertical state. The movable jet arm is slidably connected to the fixed arc-shaped rail and has an arc-shaped structure adapted to the fixed arc-shaped rail. Multiple air nozzles facing the tool at the tool change position are evenly arranged at the bottom of the movable jet arm along its length. The drive unit is connected to the movable jet arm and is used to drive the movable jet arm to slide back and forth along the fixed arc-shaped rail. The air supply unit is connected to the air inlet of the movable jet arm via a hose and is used to supply high-pressure gas.

[0006] Preferably, the driving unit includes: An arc-shaped gear ring is fixedly mounted on the movable jet arm; A geared motor, which is fixedly mounted on the protective housing; A gear is mounted on the output shaft of the geared motor and meshes with the arc-shaped gear ring.

[0007] Preferably, the air supply unit includes an air pump, which is fixedly installed on the protective housing, and its output end is connected to the air inlet of the movable jet arm through the hose.

[0008] Preferably, the fixed arc-shaped rail and the movable jet arm have the same arc-shaped opening direction. When the tool sleeve assembly swings to the vertical tool changing position, the movable jet arm can wrap the tool sleeve and the tool part inside its arc.

[0009] Preferably, it further includes an intelligent control system, the intelligent control system comprising: A visual inspection module is installed at the tool changing port of the protective housing and located above the dust removal assembly, for collecting image information of the tool at the tool changing position; The controller is electrically connected to the vision detection module, the geared motor of the drive unit, and the air pump of the air supply unit, respectively. The controller is configured to: Receive tool image information sent by the vision detection module; The image information of the cutting tool is analyzed to determine the degree of contamination on the tool surface; Based on the degree of contamination, a corresponding dust removal control strategy is generated and executed.

[0010] Preferably, the dust removal control strategy includes: If the pollution level is determined to be light pollution, the air pump is controlled to operate at a first preset power, and the geared motor is controlled to drive the movable jet arm to slide back and forth once at a first preset speed and a first preset stroke. If the pollution level is determined to be moderate, the air pump is controlled to operate at the second preset power, and the geared motor is controlled to drive the movable jet arm to slide back and forth multiple times at the second preset speed and the second preset stroke. If the pollution level is determined to be severe, the air pump is controlled to operate at the third preset power, and the geared motor is controlled to drive the movable jet arm to slide back and forth multiple times at the third preset speed and maximum stroke, while extending the dust removal time.

[0011] Preferably, the intelligent control system further includes a pressure regulating valve and a flow meter disposed between the air pump and the hose. The pressure regulating valve and the flow meter are both electrically connected to the controller and are used to precisely adjust the air supply pressure and flow rate according to the instructions of the controller.

[0012] Preferably, the movable jet arm is provided with a slider or roller that slides in cooperation with the fixed arc-shaped rail.

[0013] Preferably, the tool holder assembly includes a tool holder mounting base and a tool holder, wherein the tool holder is rotatably connected to the tool holder mounting base via a pivot and can swing about the pivot between 0° and 90°.

[0014] Preferably, the tool-retrieving robot assembly includes a robot base, a telescopic arm, and a tool gripper. The robot base is fixed to the support frame, the telescopic arm is mounted on the robot base, and the tool gripper is mounted at the end of the telescopic arm.

[0015] Compared with the prior art, the present invention provides a disc-shaped structure with a robotic arm tool magazine, which has the following advantages: By setting up a dust removal component and using an arc-shaped rail and a reciprocating swing jet arm structure at the tool changer, the tool can be cleaned with high-pressure jets in all directions the moment it is returned to the tool holder. This effectively removes cutting fluid and debris adhering to the tool surface and prevents contamination of other tools in the tool magazine.

[0016] The dust removal assembly adopts a sliding fit structure between a fixed arc-shaped rail and a movable air jet arm. The arc-shaped design of the air jet arm allows it to cover the tool to the maximum extent without interfering with the normal swing of the tool holder, achieving cleaning without dead angles. The structure is compact and the layout is reasonable.

[0017] Through the meshing transmission of a geared motor, gears, and an arc-shaped gear ring, the movable jet arm is driven to reciprocate on the arc-shaped rail, which dynamically changes the jet angle of the air nozzle, significantly expanding the coverage area of ​​a single dust cleaning and improving the cleaning effect and efficiency.

[0018] By introducing an intelligent control system, the visual detection module identifies the degree of tool contamination, and the controller automatically adjusts the air pump power, the swing speed and frequency of the air jet arm, realizing intelligent and precise control of the dust removal operation. This ensures cleaning effect, saves energy, and extends equipment life.

[0019] By installing a pressure regulating valve and flow meter connected to the controller in the air circuit, precise closed-loop control of the air supply pressure and flow rate is achieved. The most suitable cleaning airflow can be provided according to different pollution conditions, avoiding damage to the cutting tools due to excessive air pressure or incomplete cleaning due to insufficient air pressure. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the first angle structure of the present invention; Figure 2 This is a schematic diagram of the second angle structure of the present invention; Figure 3 This is a schematic diagram showing the installation position of the dust removal component of the present invention; Figure 4 This is a schematic diagram of the dust removal component structure of the present invention; Figure 5 This is a block diagram illustrating the control principle of the intelligent control system of the present invention.

[0021] In the diagram: 1. Disc-shaped tool magazine body; 11. Circular tool disc; 12. Tool sleeve assembly; 13. Central rotating shaft; 14. Protective housing; 2. Drive mechanism; 21. Power source; 22. Transmission assembly; 3. Tool retrieval robot assembly; 31. Robot base; 32. Telescopic arm; 33. Tool gripper; 4. Dust removal assembly; 41. Fixed arc-shaped rail; 42. Movable air jet arm; 421. Air nozzle; 43. Arc-shaped gear ring; 44. Gear motor; 45. Gear; 46. Air pump; 47. Hose. Detailed Implementation

[0022] 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.

[0023] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] like Figures 1-4As shown, the disc-shaped tool magazine structure proposed in this invention mainly consists of several core modules: a disc-shaped tool magazine body 1, a drive mechanism 2, a tool-picking robot arm assembly 3, a dust-cleaning assembly 4, and a support frame. These modules are mechanically connected to form a rigid whole, working together to complete the functions of tool storage, indexing and positioning, automatic retrieval and placement, and real-time dust cleaning during tool changes. The support frame serves as the mounting foundation for the entire tool magazine and is typically fixedly connected to one side of the machining center bed, providing a stable and precise mounting reference for other components.

[0025] The disc tool magazine body 1 is a component used to store multiple cutting tools. Its structure includes a circular tool disc 11, a tool holder assembly 12, a central rotating shaft 13, and a protective housing 14. The tool holder assembly 12 is as follows... Figure 2 As shown, several tool holders are evenly distributed along the circumference of the circular tool disc 11. Specifically, multiple tool holder mounting seats are fixedly connected to the edge of the circular tool disc 11 by bolts or other fasteners, serving as the load-bearing base for the tool holders. Each tool holder has a pivot extending from both sides, with the axis of the pivot extending radially along the tool disc, i.e., perpendicular to the rotation axis of the circular tool disc 11. The tool holder forms a rotational engagement with the bearings or bushings on the tool holder mounting seats through its pivots on both sides, allowing the tool holder to swing around the pivot between 0° (horizontal storage state) and 90° (vertical tool changing state). The swinging of the tool holder can be achieved using a cam follower mechanism, i.e., by setting a fixed cam on the rotation path of the tool disc, forcing the tool holder to swing at a specific position; or it can be achieved using an independent drive, i.e., each tool holder or a group of tool holders is equipped with an independent swing drive source. The tool holder has a tool clamping cavity that matches the taper of the tool holder and a positioning boss for axial positioning, used to clamp the tool holder and ensure the positional accuracy of the tool each time it is stored. A central rotating shaft 13 passes through the central hub of the circular cutter head 11, and the two are circumferentially fixed by a flat key or spline to ensure effective torque transmission. Both ends of the central rotating shaft 13 are rotatably connected to bearing seats on the support frame via rolling bearings, allowing the entire circular cutter head 11 to rotate smoothly around its own axis, achieving the indexing function. A protective housing 14 covers the outside of the circular cutter head 11, typically a thin-walled metal shell, and is fixedly connected to the flange of the central rotating shaft 13 by screws or directly to the support frame. Its main functions are physical isolation, dust prevention, and aesthetic decoration. A tool changing port is provided on the protective housing 14 at the corresponding tool changing position, allowing the tool-retrieving robot assembly 3 to enter and exit the cutter head for tool gripping and placement. The dust removal assembly 4 of this invention is fixedly installed at this tool changing port.

[0026] The drive mechanism 2 is the power unit that drives the circular cutter head 11 to rotate and index. Its structure includes a power source 21 (such as a servo motor or pneumatic motor), a transmission assembly 22 (such as a synchronous belt and pulleys, or a gear set), and a positioning and locking assembly (such as a brake or indexing pin). The power source 21 is fixedly mounted on the support frame via a motor bracket and bolts, and its output shaft is coaxially and fixedly connected to the driving component of the transmission assembly 22. The transmission assembly 22 transmits the power from the power source 21 to the central rotating shaft 13. When a synchronous belt drive is used, the driving component is a small synchronous pulley, and the driven component is a large synchronous pulley. The large synchronous pulley is fitted and fixed to the central rotating shaft 13, achieving speed reduction and power transmission through the synchronous belt. When a gear drive is used, the driving component is a small gear, and the driven component is a large gear. The large gear is also fixed to the central rotating shaft 13, and the two mesh directly. Through the transmission assembly 22, the power source 21 drives the central rotating shaft 13 to rotate, thereby driving the circular cutter head 11 to perform precise indexing rotation. The positioning and locking assembly is used to lock the target tool after the circular cutter head 11 has indexed it to the tool change position, ensuring the accuracy of the tool change position. If a brake is used, its stator is fixed to the support frame, and the rotor is fitted and fixed to the central shaft 13. When locking is required, the brake is energized and clamps, locking the shaft. If an indexing pin is used, the indexing pin is installed on the support frame, and the circular cutter head 11 has multiple positioning holes corresponding to the tool sleeve positions. When the cutter head is indexed to the correct position, the indexing pin extends and inserts into the positioning holes to achieve mechanical locking.

[0027] The tool-handling robot assembly 3 is an actuator that performs tool exchange with the machine tool spindle. Its structure includes a robot base 31, a telescopic arm 32, and a tool gripper 33. In some more complex embodiments, a swing arm may also be included to achieve greater degrees of freedom of movement. The robot base 31 is rigidly connected to the side of the support frame by high-strength bolts, providing a stable mounting base and load-bearing support for the entire robot. The lower end of the swing arm (if present) is hinged to the robot base 31, and the upper end is hinged to the fixed section of the telescopic arm 32. The cylinder body of the swing drive cylinder (such as a pneumatic or hydraulic cylinder) is hinged to the robot base 31, and its piston rod is hinged to the swing arm, driving the swing arm to pitch and swing through the extension and retraction of the piston rod. The telescopic arm 32 typically consists of a fixed section and a sliding section. The fixed section serves as the base, and the sliding section can slide axially along the fixed section. The cylinder body of the telescopic drive cylinder (such as a pneumatic cylinder or a servo electric cylinder) is fixedly connected to the fixed section, and its piston rod is fixedly connected to the sliding section. The extension or retraction of the sliding section is driven by the extension and retraction of the piston rod. The tool gripper 33 is fixedly connected to the end of the sliding section of the telescopic arm 32. The tool gripper 33 is usually composed of pneumatic fingers or hydraulic jaws, and its gripping surface has jaws that match the V-groove on the tool holder for reliable clamping and precise release of the tool. This forms a mechanism with a "swing + telescopic" composite motion capability, enabling its end tool gripper 33 to move precisely to the tool holder at the tool change position or the machine tool spindle.

[0028] like Figure 3 and Figure 4As shown, this invention addresses the problem of existing equipment being unable to clean the tool in a timely manner during tool changing by providing a cleaning component 4. This component is fixedly installed at the tool changing port of the protective housing 14, and its specific structure and connection relationship are as follows: The cleaning component 4 includes a fixed arc-shaped rail 41, a movable air jet arm 42, a drive unit, and an air supply unit. The fixed arc-shaped rail 41 is a guide rail structure with a specific curvature, which is fixedly installed on the inner wall or edge of the tool changing port of the protective housing 14 by screws or other fasteners. Its arc-shaped design matches the movement trajectory of the tool sleeve assembly 12 as it swings from a horizontal storage state to a vertical tool changing state in the tool changing position. That is, when the tool sleeve swings down with the tool, the fixed arc-shaped rail 41 can precisely accommodate and surround one side of the tool sleeve and the tool, without any movement interference. The movable air jet arm 42 is a sliding component that cooperates with the fixed arc-shaped rail 41; it is also an arc-shaped structure with the same curvature as the fixed arc-shaped rail 41. The movable air jet arm 42 is slidably connected to a groove on the fixed arc-shaped rail 41 via a slider or roller on its back, allowing it to smoothly reciprocate along the trajectory of the fixed arc-shaped rail 41. At the bottom of the movable air jet arm 42, multiple air nozzles 421 are evenly distributed along its entire arc length, with the jet direction of these nozzles 421 all pointing towards the tool in the tool change position. Importantly, the arc-shaped openings of the fixed arc-shaped rail 41 and the movable air jet arm 42 are aligned, both facing the tool holder. Therefore, when the tool holder assembly 12 swings to the vertical tool change position, by sliding the movable air jet arm 42 to the appropriate position, it can work in conjunction with the fixed arc-shaped rail 41 to enclose the tool holder and tool portion within the arc-shaped space it forms, ensuring that the high-pressure gas ejected from all the air nozzles 421 effectively acts on the tool surface.

[0029] The drive unit provides power for the reciprocating sliding of the movable jet arm 42. In this embodiment, the drive unit includes an arc-shaped gear ring 43, a reduction motor 44, and a gear 45. The arc-shaped gear ring 43 is an arc-shaped rack, fixedly installed on the side wall or back of the movable jet arm 42. The reduction motor 44, as the drive source, is fixedly installed on the corresponding position of the protective housing 14 via a motor mount. The gear 45 is installed on the output shaft of the reduction motor 44 and meshes with the arc-shaped gear ring 43. Therefore, when the reduction motor 44 is working, its output shaft drives the gear 45 to rotate. The gear 45, through meshing with the arc-shaped gear ring 43, drives the movable jet arm 42 to rotate along the central axis of the fixed arc-shaped rail 41. By controlling the forward and reverse rotation and the speed of the reduction motor 44, the sliding direction, speed, and number of reciprocations of the movable jet arm 42 can be precisely controlled, thereby realizing the dynamic change of the spray angle of the air nozzle 421 and performing all-round dust removal on the blade.

[0030] The air supply unit provides a high-pressure air source for dust removal. In this embodiment, the air supply unit includes an air pump 46, which is fixedly installed in a suitable position (such as the side) of the protective housing 14. The output end of the air pump 46 is connected to the air inlet of the movable jet arm 42 through a flexible hose 47 of a certain length. Since the movable jet arm 42 is movable, the use of the hose 47 ensures that the air supply is not interrupted during movement.

[0031] When the tool on the spindle is returned by the robotic arm and moves upward to prepare for insertion into the empty tool holder, the cleaning assembly 4 is activated. The air pump 46 starts working, and high-pressure gas enters the movable jet arm 42 through the hose 47 and is ejected at high speed from multiple air nozzles 421 at the bottom, directly washing the tool surface. At the same time, the geared motor 44 starts working, driving the movable jet arm 42 to rotate back and forth within a certain angle range. This reciprocating rotational motion causes the jet direction of the air nozzles 421 to change continuously, achieving all-round, no-dead-angle cleaning of the tool (especially complex-shaped tools such as end mills with spiral grooves), effectively blowing off the cutting fluid and debris adhering to the tool surface.

[0032] To further enhance the intelligence and cleaning efficiency of the dust removal assembly and adapt to tools with varying degrees of contamination, this invention introduces an intelligent control system based on the aforementioned structure. For example... Figure 5 The system mainly includes a vision inspection module and a controller. The vision inspection module is installed at the tool changing position of the protective housing 14, above the dust removal assembly 4. It can be a high-resolution industrial camera equipped with a suitable lighting source (such as an LED ring light). Its function is to acquire images of the tool before dust removal begins, or during the dust removal process, reflecting the adhesion of debris and oil on the tool surface. The controller is the core of the intelligent control system and can be a PLC (Programmable Logic Controller) or an industrial control computer. It is electrically connected to the vision inspection module, the geared motor 44, and the air pump 46. The controller has pre-installed image processing algorithms and decision control programs.

[0033] The controller's workflow and configuration: When a tool change command is issued, the target tool rotates with the tool head to the tool change position and swings to a vertical position, or when the robot arm returns the tool from the spindle and approaches the tool holder, the controller triggers the vision detection module to acquire the current tool's image information and send it to the controller. Upon receiving the tool image information, the controller immediately calls an image processing algorithm for analysis. This algorithm can extract and quantify features in the image (such as the area and density of debris, or the area of ​​coolant reflection) to determine the degree of contamination on the tool surface. For quantitative judgment, multiple contamination level thresholds can be preset in the controller, such as "light contamination," "moderate contamination," and "heavy contamination." Based on the determined contamination level, the controller generates and executes a corresponding dust removal control strategy according to preset logic. For example, if the contamination level is determined to be light, the controller controls the air pump 46 to operate at a lower first preset power (e.g., 50% of rated power), while simultaneously controlling the geared motor 44 to drive the movable air jet arm 42 at a slower first preset speed and a shorter first preset stroke (e.g., only one reciprocating slide) for dust removal. If the pollution level is determined to be moderate, the controller controls the air pump 46 to operate at a moderate second preset power (e.g., 75% of the rated power), and controls the geared motor 44 to drive the movable jet arm 42 at a moderate second preset speed and a longer second preset stroke (e.g., reciprocating two to three times) for dust removal. If the pollution level is determined to be heavy, the controller controls the air pump 46 to operate at the highest third preset power (e.g., 100% of the rated power), and controls the geared motor 44 to drive the movable jet arm 42 at a faster third preset speed and maximum stroke (i.e., utilizing the entire sliding range of the movable jet arm 42) for multiple reciprocating strokes, while extending the duration of the entire dust removal action.

[0034] To achieve precise control of the air supply pressure and flow rate, in some preferred embodiments, the intelligent control system can also add a pressure regulating valve and a flow meter to the pipeline between the air pump 46 and the hose 47. Both the pressure regulating valve and the flow meter are electrically connected to the controller. Based on the degree of contamination determined by the visual detection module, the controller can send instructions to the pressure regulating valve to dynamically set the required air supply pressure. At the same time, the flow meter monitors the actual flow rate in real time and feeds it back to the controller, forming a closed-loop control circuit. This ensures that the dust removal process is always under optimal fluid dynamic parameters, further improving the control accuracy and dust removal effect.

[0035] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A disc-shaped structure with a robotic arm tool magazine, characterized in that, include: Support frame; The disc tool magazine body (1) includes a circular tool disc (11), a plurality of tool sleeves (12) evenly distributed along the circumference of the circular tool disc (11), a central rotating shaft (13) passing through the center of the circular tool disc (11), and a protective shell (14) covering the outside of the circular tool disc (11). The drive mechanism (2) is mounted on the support frame and is connected to the central rotating shaft (13) for driving the circular cutter head (11) to rotate and index. The tool-retrieving robot arm assembly (3) is mounted on the support frame and is used to perform tool retrieval and tool placement actions; And a dust removal component (4), which is fixedly installed at the tool changing port of the protective housing (14) for cleaning the tool in the tool changing position; The dust removal component (4) includes: A fixed arc-shaped rail (41) is fixedly installed at the tool changing port of the protective housing (14), and its arc-shaped structure matches the movement trajectory of the tool sleeve assembly (12) when it swings to the vertical state in the tool changing position; The movable jet arm (42) is slidably connected to the fixed arc-shaped rail (41) and has an arc-shaped structure that is adapted to the fixed arc-shaped rail (41). The bottom of the movable jet arm (42) is evenly provided with multiple air nozzles (421) facing the tool at the tool changing position along its length direction. The drive unit is connected to the movable jet arm (42) and is used to drive the movable jet arm (42) to slide back and forth along the fixed arc track (41); The gas supply unit is connected to the air inlet of the movable jet arm (42) via a hose (47) to provide high-pressure gas.

2. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, The driving unit includes: Arc-shaped toothed ring (43), which is fixedly installed on the movable jet arm (42); A geared motor (44) is fixedly mounted on the protective housing (14); Gear (45), which is mounted on the output shaft of the geared motor (44) and meshes with the arc-shaped gear ring (43).

3. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, The air supply unit includes an air pump (46), which is fixedly installed on the protective housing (14), and its output end is connected to the air inlet of the movable jet arm (42) through the hose (47).

4. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, The fixed arc-shaped rail (41) and the movable jet arm (42) have the same arc-shaped opening direction. When the tool sleeve assembly (12) swings to the vertical tool changing position, the movable jet arm (42) can wrap the tool sleeve and the tool part inside its arc.

5. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, It also includes an intelligent control system, which includes: A visual inspection module is installed at the tool changing port of the protective housing (14) and located above the dust removal assembly (4) to collect image information of the tool changing position. The controller is electrically connected to the vision detection module, the geared motor (44) of the drive unit and the air pump (46) of the air supply unit, respectively. The controller is configured to: Receive tool image information sent by the vision detection module; The image information of the cutting tool is analyzed to determine the degree of contamination on the tool surface; Based on the degree of contamination, a corresponding dust removal control strategy is generated and executed.

6. The disc-shaped tool magazine structure with robotic arm according to claim 5, characterized in that, The dust removal control strategy includes: If the pollution level is determined to be light pollution, the air pump (46) is controlled to work at the first preset power, and the geared motor (44) is controlled to drive the movable jet arm (42) to slide back and forth once at the first preset speed and the first preset stroke. If the pollution level is determined to be moderate, the air pump (46) is controlled to operate at the second preset power, and the geared motor (44) is controlled to drive the movable jet arm (42) to slide back and forth multiple times at the second preset speed and the second preset stroke. If the pollution level is determined to be severe, the air pump (46) is controlled to operate at the third preset power, and the geared motor (44) is controlled to drive the movable jet arm (42) to slide back and forth multiple times at the third preset speed and maximum stroke, while extending the dust removal time.

7. The disc-shaped tool magazine structure with robotic arm according to claim 5, characterized in that, The intelligent control system also includes a pressure regulating valve and a flow meter disposed between the air pump (46) and the hose (47). The pressure regulating valve and the flow meter are electrically connected to the controller and are used to precisely adjust the air supply pressure and flow according to the instructions of the controller.

8. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, The movable jet arm (42) is provided with a slider or roller that slides in cooperation with the fixed arc-shaped rail (41).

9. The disc-shaped tool magazine structure with robotic arm according to claim 1, characterized in that, The tool holder assembly (12) includes a tool holder mounting base and a tool holder. The tool holder is rotatably connected to the tool holder mounting base via a pivot and can swing around the pivot between 0° and 90°.

10. A disc-shaped tool magazine structure with a robotic arm according to claim 1, characterized in that, The tool-retrieving robotic arm assembly (3) includes a robotic arm base (31), a telescopic arm (32), and a tool gripper (33). The robotic arm base (31) is fixed on the support frame, the telescopic arm (32) is mounted on the robotic arm base (31), and the tool gripper (33) is mounted on the end of the telescopic arm (32).

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