Tool magazine system and tool changing method for a circular array machine tool

Abstract

This invention relates to a tool magazine system and tool changing method for a circular array machine tool, belonging to the field of machine tool equipment technology. The technical solution is as follows: A tool magazine system for a circular array machine tool includes a tool magazine component and a tool changing robot component. The tool magazine component includes multiple columns, a tool disc, a tool disc support, and tool holder assemblies. The tool disc is fixed to the support via a connecting plate and is annular. Multiple tool holder assemblies are installed within the ring of the tool disc. The robot includes a main body, an adjustment plate, a support plate, an extension arm, and pneumatic fingers, and can move along the machine tool bed to change tools. This solution sets the tool magazine in a circular shape and places the robot component for tool changing at the center of the ring. Through the movement of the robot, it can grasp tools at any position and install them on the machine head at any position. The arrangement of the tool disc and the robot reduces manual intervention, enabling rapid automatic tool changing for the circular array machine tool and improving its machining efficiency.

Description

Technical Field

[0001] This invention relates to the field of machine tool equipment technology, and in particular to a tool magazine system and tool changing method for a circular array machine tool. Background Technology Circular array machine tools, with their four machining heads evenly arranged in a ring, are widely used in the grinding and polishing of single workpieces. However, in practical applications, tool changing during the machining process has become a major challenge. To complete a full machining task, different types of machining tools need to be changed frequently. Using traditional manual tool changing methods, operators must walk around the machine tool and install appropriate tools for each spindle individually, a time-consuming process. The complexity and tediousness of this operation not only reduces overall machining efficiency but can also lead to unstable machining quality due to improper operation, increasing additional costs. Furthermore, the unique characteristics of circular array machine tools make traditional tool magazines difficult to integrate, hindering automatic tool changing and automated tool management. This results in deficiencies in automated and intelligent machining. Therefore, solving these problems is crucial for improving machining accuracy, reducing machining time, lowering production costs, and promoting the technological advancement of circular array machine tools. Summary of the Invention

[0002] This invention addresses the problem that tool magazines in traditional machine tools and machining centers are difficult to adapt to circular array machine tools, resulting in a low level of automation in current circular array machine tools. It provides a rotary tool magazine and robotic automatic tool changing device specifically for circular array machine tools.

[0003] To address the aforementioned problems, the present invention provides a tool magazine system for a circular array machine tool, comprising a tool magazine component and a tool changing robot component. The tool magazine component includes multiple columns, a tool disc, a tool disc support, and tool holder assemblies. The tool changing robot component includes a robot body, a robot support plate, a robot lateral adjustment plate, a robot longitudinal adjustment plate, a gripper extension arm, and pneumatic fingers. The tool disc is annular and centered on a central position, mounted on the columns. Multiple tool holder assemblies are mounted within the annulus of the tool disc. A mounting frame is commonly mounted on the top of the columns, and the tool changing robot component is mounted on the mounting frame at the center position. This solution leverages the characteristic of circularly distributed machine heads in a circular array machine tool. The tool magazine is arranged in a ring around the machine tool, with the robotic arm for tool changing positioned at the center of the ring, equidistant from the positions of each tool holder assembly on the tool turret. This allows the robotic arm to effortlessly grasp tools from any position. Simultaneously, the robotic arm, located at the central axis of the circular array machine tool and in front of each machine head, also facilitates the smooth mounting of tools onto any position on the machine head. Through this arrangement of the tool turret and robotic arm, automatic tool changing is achieved in the circular array machine tool, significantly improving its automation level, machining accuracy, and efficiency.

[0004] As a preferred embodiment of a rotary tool magazine and tool changing robot for a circular array machine tool, the tool turret comprises four individual tool turret units. Each individual tool turret unit is located between two adjacent columns, with its two ends fixedly connected to the columns on either side. The four individual tool turret units are connected end-to-end to form a ring. The tool turret also includes an upper connecting plate and a lower connecting plate. Both the upper and lower connecting plates are located at the connection points of two adjacent tool turret units. The adjacent ends of two tool turret units are fixedly connected to the upper and lower connecting plates. The upper connecting plate abuts against the top surface of the tool turret unit, and the lower connecting plate abuts against the bottom surface of the tool turret unit. The upper and lower connecting plates enhance the connection strength between adjacent units, preventing gaps or deformation of the tool turret under stress and ensuring the overall concentricity and structural stability of the tool turret.

[0005] As a preferred embodiment of a rotary tool magazine and tool changing robot for a circular array machine tool, a tool head support is installed in the middle of the column. The tool head support is L-shaped and includes a vertical plate and a flat plate. The flat plate is located above the vertical plate, and the vertical plate is fixedly connected to the side of the column facing the center. The tool head is mounted on the flat plate. The L-shaped structure provides stable support for the tool head, the connection between the vertical plate and the column ensures that the support is firmly installed, and the horizontal setting of the flat plate ensures the levelness of the tool head after installation, avoiding the impact of tool changing accuracy due to tool head tilt. It also simplifies the connection structure between the tool head and the column.

[0006] As a preferred embodiment of a rotary tool magazine and tool changing robot for a circular array machine tool, a first adjusting block is provided on the side of the plate away from the center. The first adjusting block has a threaded hole through which a first tightening bolt is threadedly installed. The bolt head of the first tightening bolt is located on the side of the first adjusting block away from the center. The end of the bolt passes through the first adjusting block and abuts against the outer edge of the tool disc. A first locking nut is also installed on the first tightening bolt, and the locking nut makes contact with the first adjusting block. An elongated hole is provided on the tool disc at the connection point with the plate. The extension direction of the elongated hole is the same as the axial direction of the first tightening bolt at that location. The tool disc is fixed to the plate by a screw passing through the elongated hole. The cooperation of the first tightening bolt and the elongated hole allows for fine adjustment of the circumferential position of the tool disc, ensuring that the center of the tool disc is completely aligned with the center of the machine tool, improving the positioning accuracy during tool changing. The first locking nut prevents the bolt from loosening, ensuring stable and reliable position after adjustment, and making operation simple and convenient.

[0007] As a preferred embodiment of a rotary tool magazine and tool changing robot device for a circular array machine tool, a support frame is further provided on the outer periphery of the tool disc. The support frame includes a ring frame and a support rod. The ring frame surrounds the outer periphery of the tool disc, and the support rod is arranged radially along the tool disc. One end of the support rod is fixedly connected to the ring frame, and the other end is fixedly connected to the outer edge of the tool disc. The support frame composed of the ring frame and the support rod can provide auxiliary support from the outer periphery of the tool disc, enhancing its resistance to deformation. Especially when multiple heavy tools are installed on the tool disc, it can effectively distribute the load, prevent the tool disc from bending due to uneven stress, extend the tool disc's service life, and further ensure the circumferential stability of the tool disc.

[0008] As a preferred embodiment of a rotary tool magazine and tool-changing robot device for a circular array machine tool, the mounting frame includes a mounting base located at the center. The mounting base is fixedly connected to each of the columns via multiple radial beams, which are arranged radially along the tool disc. The tool-changing robot component is mounted on the mounting base. The radial beams evenly distribute the force on the mounting base to each column, ensuring the stability and concentricity of the mounting base after installation. The central location of the mounting base ensures that the distance between the robot and each tool holder assembly of the tool disc and each machining head is consistent, providing a foundation for efficient and precise tool changing by the robot.

[0009] As a preferred embodiment of a rotary tool magazine and tool changing robot device for a circular array machine tool, the tool changing robot component includes a robot body, the free end of which is provided with pneumatic fingers, and the pneumatic fingers are fixed to a pneumatic finger connecting plate by a fixing member.

[0010] As a preferred embodiment of a rotary tool magazine and tool changing robot for a circular array machine tool, the pneumatic fingers are controlled to release or clamp via air pipes connected to a cylinder, which is fixed to the machine tool spindle. The pneumatic fingers offer fast response, stable and controllable clamping force, and can adapt to the gripping needs of tools of different specifications. They are simple in structure, easy to maintain, improve tool changing efficiency, and avoid damage to the tools caused by mechanical clamping.

[0011] As a preferred embodiment of a rotary tool magazine and tool changing robot for a circular array machine tool, the robot also includes a tail end connecting plate, and the gripper extension arm is fixed to the tail end connecting plate by a fastener.

[0012] As a preferred embodiment of a rotary tool magazine and tool changing robot device for a circular array machine tool, the robot achieves precise position adjustment through a transverse adjustment plate (9-2), a longitudinal adjustment plate (9-3), and adjustment blocks; the transverse adjustment plate is fixed above the longitudinal adjustment plate; the transverse and longitudinal adjustment plates are located above the mounting base fixing plate. Two longitudinal adjustment components and two transverse adjustment components are mounted on the fixing plate (9-1). The two longitudinal adjustment components are arranged longitudinally on both sides of the longitudinal adjustment plate (9-3), and the two transverse adjustment components are arranged transversely on both sides of the transverse adjustment plate (9-2). Both the longitudinal and transverse adjustment components include a second adjustment block (10). The second adjustment block (10) has a threaded hole and a second tightening bolt (11) is installed therein. The bolt head of the second tightening bolt (11) is located on the second adjustment block (10) away from the longitudinal adjustment plate (9-2). -3) and one side of the transverse adjustment plate (9-2), a second locking nut (12) is also installed on the second tightening bolt (11). The second locking nut (12) is pressed against the second adjustment block (10). In the transverse adjustment assembly, the screw end of the second tightening bolt (11) passes through the second adjustment block (10) and abuts against the outer edge of the transverse adjustment plate (9-2). In the longitudinal adjustment assembly, the screw end of the second tightening bolt (11) passes through the second adjustment block (10) and abuts against the longitudinal adjustment plate (9-3). Through the cooperation of the transverse and longitudinal adjustment plates, two-dimensional fine adjustment of the robot on the horizontal plane can be realized, ensuring the alignment accuracy of the robot with the cutter head and the machining head, and compensating for errors in the installation process. The bolt and locking nut structure of the adjustment assembly is simple to operate and can ensure the stability of the position after adjustment, improving the reliability of tool changing.

[0013] This invention provides a tool changing method for a tool magazine system of a circular array machine tool, wherein at least one empty position without a tool is provided in a plurality of tool holder assemblies, and the tool changing method includes the following steps: S1. The tool changing robot arm rotates to the position corresponding to the machining head and removes the current tool from the machining head; S2. The tool changing robot inserts the current tool into the tool holder assembly that is set to empty. S3. The tool changing robot arm rotates to the position corresponding to the target tool and removes the target tool from the tool holder assembly; S4. The tool changing robot arm installs the target tool onto the machining head; S5. Repeat steps S1-S4 to complete the tool change operation for all machining heads.

[0014] As can be seen from the above technical solutions, the advantages of this invention are as follows: This solution, through the layout design of the annular cutter head and the centrally positioned tool-changing robot, achieves automatic tool changing of the machine tool, significantly improving the degree of automation, machining accuracy, and efficiency; the cutter head adopts an arc-shaped single unit combined with upper and lower connecting plates, which facilitates transportation and installation while enhancing connection strength and structural stability; the L-shaped cutter head bracket provides stable support for the cutter head, ensuring installation level and simplifying the connection structure; the cooperation between the first tightening bolt and the elongated hole allows for fine-tuning of the cutter head position, ensuring center coincidence, improving positioning accuracy, and facilitating operation; the outer peripheral support frame enhances the cutter head's resistance to deformation, distributes load, and extends service life; the radial beam design of the mounting frame ensures the stability and concentricity of the mounting base, laying the foundation for precise tool changing by the robot; the combination of transverse and longitudinal adjustment plates enables two-dimensional fine-tuning of the robot, compensating for installation errors and improving tool changing reliability; the pneumatic fingers offer fast response, stable clamping, adaptability to various tools, and convenient maintenance; the proximity switch of the tool holder assembly monitors the tool status, and the steel ball set screw reliably fixes the tool, combining safety and practicality. The circular array machine tool that includes this tool magazine system, due to the surrounding layout and concentric setting of the tool magazine and the machining head, has the shortest tool changing path for the robot arm and reduced auxiliary time, realizing synchronous automatic tool changing of multiple machine heads, further improving processing efficiency and overall automation level. Attached Figure Description

[0015] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a side view schematic diagram of a specific embodiment of the present invention.

[0017] Figure 2 This is a top view schematic diagram of a specific embodiment of the present invention.

[0018] Figure 3 This is a side view of the tool magazine component in a specific embodiment of the present invention.

[0019] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0020] Figure 5 This is a top view of the tool magazine component in a specific embodiment of the present invention.

[0021] Figure 6 for Figure 5 Enlarged view of point B in the middle.

[0022] Figure 7 This is a schematic diagram of the mounting base in a specific embodiment of the present invention.

[0023] Figure 8 for Figure 7 A schematic diagram of the structure at point C.

[0024] Explanation of main figure symbols 01. Tool magazine assembly, 02. Tool changing robot assembly, 1. Column, 2. Tool disc, 2-1. Tool disc unit, 2-2. Upper connecting plate, 2-3. Lower connecting plate, 3. Tool holder assembly, 3-1. Tool holder seat, 3-2. Proximity switch, 3-3. Steel ball set screw, 4. Tool disc bracket, 4-1. Vertical plate, 4-2. Flat plate, 5. First adjusting block, 6. First tightening bolt, 7. Long slot, 8. Support frame, 8-1. Ring frame, 8-2. Support rod, 9. Mounting base, 9-1. Fixing plate, 9-2. Lateral adjusting plate, 9-3. Longitudinal adjusting plate, 10. Second adjusting block, 11. Second tightening bolt, 12. Second locking nut, 13. First locking nut, 14. Robot body, 15. Pneumatic fingers, 16. Machining head, 17. Radial beam, 18. Tool. Detailed Implementation

[0025] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0026] like Figure 1 , 2 As shown, a tool magazine system for a circular array machine tool includes a tool magazine component 01 and a tool changing robot component 02. like Figure 3As shown, the tool magazine component includes multiple columns 1, which are evenly distributed circumferentially around a predetermined center position. A tool head 2 is mounted on the center of each column 1. Specifically, a tool head support 4 is mounted on the center of each column 1. The tool head support 4 is L-shaped and includes a vertical plate 4-1 and a flat plate 4-2. The flat plate 4-2 is located above the vertical plate 4-1. In use, the vertical plate 4-1 is aligned with and fixed to the center-facing side of the column 1, ensuring the flat plate 4-2 is horizontal. Then, the tool head 2 is placed and fixed on the flat plate 4-2. The L-shaped structure provides stable support for the tool head 2, ensuring the support is securely installed and the tool head 2 is horizontal, avoiding any impact on tool changing accuracy due to tilting. It also simplifies the connection structure between the tool head 2 and the columns 1. The tool head 2 is annular with its center position as the center. Multiple tool holder assemblies 3 are mounted within the annulus of the tool head 2; as... Figure 5 As shown, the cutter head 2 includes cutter head units 2-1 corresponding to the number of columns 1. Each cutter head unit 2-1 is arc-shaped. During installation, each cutter head unit 2-1 is placed between two adjacent columns 1 one by one, so that the two ends of the unit are fixed to the two side columns 1. Then, the upper connecting plate 2-2 and the lower connecting plate 2-3 of the cutter head are respectively attached to the connection between the top and bottom surfaces of the adjacent units and fixed, thus forming a complete annular cutter head 2. The arc-shaped unit design facilitates transportation and assembly of large cutter heads, while the upper and lower connecting plates can enhance the connection strength, prevent gaps or deformation of the cutter head 2 under stress, and ensure overall concentricity and structural stability. The cutter head 2 is also provided with a support frame 8 on its outer periphery. The support frame 8 includes an annular frame 8-1 and a support rod 8-2. The annular frame 8-1 surrounds the outer periphery of the cutter head 2, and the support rod 8-2 is arranged radially along the cutter head 2. During installation, the annular frame 8-1 is wrapped around the outer periphery of the cutter head 2, and then the two ends of the support rod 8-2 are fixed to the annular frame 8-1 and the outer edge of the cutter head 2 respectively and evenly distributed. This support frame can provide auxiliary support from the outer periphery, enhance the deformation resistance of the cutter head 2, and effectively distribute the load, especially when multiple heavy-duty cutters are installed, to avoid bending and extend service life, further ensuring circumferential stability. Figure 4 As shown, the tool holder assembly 3 includes a tool holder 3-1. One end of the tool holder 3-1 is provided with a receiving hole for accommodating the tool, and the other end of the tool holder 3-1 is equipped with a proximity switch 3-2. The probe of the proximity switch 3-2 is located at the bottom of the receiving hole. The tool holder 3-1 is also provided with a steel ball set screw 3-3. The end of the steel ball set screw 3-3 protrudes from the inner wall of the receiving hole. In use, the tool is inserted into the receiving hole, and the protruding end of the steel ball set screw 3-3 is locked into the tool positioning groove to achieve fixation. The proximity switch 3-2 detects whether the tool is in place through the probe and feeds back a signal to the control system. This can prevent the tool from loosening, facilitate disassembly without damaging the tool, and avoid the robot arm from grabbing empty or missing, thus improving the safety of tool changing. like Figure 6As shown, a first adjusting block 5 is provided on the side of the plate 4-2 away from the center. The first adjusting block 5 has a threaded hole and a first tightening bolt 6 is installed through the thread. The bolt head of the first tightening bolt 6 is located on the side of the first adjusting block 5 away from the center. The end of the screw of the first tightening bolt 6 passes through the first adjusting block 5 and abuts against the outer edge of the cutter head 2. A first locking nut 13 is also installed on the first tightening bolt 6. The first locking nut 13 is in pressing contact with the first adjusting block 5. An elongated hole 7 is provided on the cutter head 2 at the position where it connects with the plate 4-2. The extension direction of the elongated hole 7 is the same as the axial direction of the first tightening bolt 6 at that position. The cutter head 2 and the plate 4-2 are fixed by a screw, which passes through the elongated hole 7. When the position of the cutter head 2 needs to be adjusted, first loosen the connecting screws, tighten the first tightening bolt 6 to push the cutter head 2 along the elongated hole 7, and after calibration, tighten the first locking nut 13 and the screw. This structure can achieve fine adjustment of the circumferential position of the cutter head 2, ensuring that its center is completely coincident with the center of the machine tool, improving the tool changing positioning accuracy, and is simple to operate and has a reliable fixed position. A mounting frame is jointly erected on the top of multiple columns 1. The tool-changing robot is mounted on the mounting frame and located at the center. The mounting frame includes a mounting base 9, which is located at the center. The mounting base 9 is fixedly connected to each of the columns 1 via multiple radial beams 17. The radial beams 17 are arranged radially along the cutter head 2. During installation, one end of each radial beam 17 is connected to the mounting base 9, and the other end is fixed to the top of each column 1, so that the mounting base 9 is in the center position. Then, the tool-changing robot is installed on it. The radial beams can evenly transmit the force of the mounting base 9 to the columns 1, ensuring the stability and concentricity after installation. The center position also ensures that the distance between the robot and each tool holder assembly 3 of the cutter head 2 and the machining head is consistent, laying the foundation for efficient and precise tool changing. Specifically, as shown... Figure 7 , 8As shown, the mounting base 9 includes a fixed plate 9-1, on which a horizontal adjustment plate 9-2 and a vertical adjustment plate 9-3 are stacked. The vertical adjustment plate 9-3 is located above the horizontal adjustment plate 9-2. A window is provided at the center of the fixed plate 9-1 and the horizontal adjustment plate 9-2. The area of ​​the vertical adjustment plate 9-3 is larger than the area of ​​the window, and the vertical adjustment plate 9-3 covers the window. The tool changing robot is installed on the bottom surface of the vertical adjustment plate 9-3 and is suspended below the mounting frame after passing through the window. Two vertical adjustment components and two horizontal adjustment components are installed on the fixed plate 9-1. The two vertical adjustment components are arranged longitudinally on both sides of the vertical adjustment plate 9-3, and the two horizontal adjustment components are arranged laterally on the horizontal adjustment plate 9-3. On both sides of plate 9-2, both the longitudinal adjustment assembly and the transverse adjustment assembly include a second adjustment block 10. The second adjustment block 10 has a threaded hole and a second tightening bolt 11 is installed thereon. The bolt head of the second tightening bolt 11 is located on the side of the second adjustment block 10 away from the longitudinal adjustment plate 9-3 and the transverse adjustment plate 9-2. A second locking nut 12 is also installed on the second tightening bolt 11. The second locking nut 12 is in pressing contact with the second adjustment block 10. In the transverse adjustment assembly, the screw end of the second tightening bolt 11 passes through the second adjustment block 10 and abuts against the outer edge of the transverse adjustment plate 9-2. In the longitudinal adjustment assembly, the screw end of the second tightening bolt 11 passes through the second adjustment block 10 and abuts against the longitudinal adjustment plate 9-3. When adjusting the position of the robot arm, after loosening the relevant fixing parts, the second tightening bolt 11 of the lateral adjustment component is turned to push the lateral adjustment plate 9-2 to move and adjust the lateral position. Similarly, the second tightening bolt 11 of the longitudinal adjustment component is turned to push the longitudinal adjustment plate 9-3 to adjust the longitudinal position. After completion, the second locking nut 12 and the fixing parts are tightened. This structure can realize two-dimensional fine adjustment of the robot arm on the horizontal plane, effectively compensate for installation errors, ensure the alignment accuracy with the cutter head and tool holder and the machining head, and is simple to operate, stable in position, and improves the reliability of tool changing. The tool changing robot arm component includes a robot arm body 14, which is a chain-type robot arm (i.e., a multi-link structure with joints having swing and rotational degrees of freedom). It is mounted on the bottom of the longitudinal adjustment plate via a rotating base. The free end of the robot arm body 14 is equipped with pneumatic fingers 15. In use, after receiving a tool changing command, the robot arm body 14 moves to the target tool holder assembly 3. The pneumatic fingers 15 open and wrap around the tool, then close and clamp the tool. Subsequently, it moves to the corresponding machining head, opens and installs the tool, and then resets. The pneumatic fingers 15 have a fast response speed, stable and controllable clamping force, and can adapt to the gripping needs of tools of different specifications. Moreover, the structure is simple and easy to maintain, which can improve tool changing efficiency and avoid damage to the tool. Example 2 like Figure 1 As shown, this embodiment provides a circular array machine tool, including multiple machining heads 16 arranged circumferentially. It also includes a tool magazine system as described in Embodiment 1. During installation, the multiple machining heads 16 are fixed in a circumferential arrangement. The tool magazine system's columns 1 and tool discs 2 are then placed around the outer periphery of the machining heads 16. Calibration is performed to ensure that the center of the tool disc 2 coincides with the center of the machining head 16. The tool magazine system is then connected to the machine tool control system to achieve collaborative operation. This surrounding layout and concentric arrangement allow the robot arm to quickly reach any machining head 16 for tool changing without requiring head movement, reducing auxiliary time and minimizing the tool changing path. This enables simultaneous automatic tool changing across multiple machining heads and further improves processing efficiency and the overall automation level of the machine tool.

[0027] Example 3 This embodiment provides a tool changing method for a circular array machine tool as provided in Embodiment 2. Among the multiple tool holder assemblies, at least one empty position without a tool is provided. The tool changing method includes the following steps: S1. The tool changing robot arm rotates to the position corresponding to the machining head and removes the current tool from the machining head; S2. The tool changing robot inserts the current tool into the tool holder assembly that is set to empty. S3. The tool changing robot arm rotates to the position corresponding to the target tool and removes the target tool from the tool holder assembly; S4. The tool changing robot arm installs the target tool onto the machining head; S5. Repeat steps S1-S4 to complete the tool change operation for all machining heads.

[0028] Furthermore, the annular cutter head can be divided into multiple sector sections according to the number and position of the machining heads (for example, if the machine tool has four machining heads, the cutter head can be divided into four 90-degree sections). Each sector section contains a set of tools and an empty space. In this way, when changing tools, the tool changing robot only needs to rotate once and then move within a small range.

[0029] As can be seen from the above embodiments, the beneficial effects of the present invention are as follows: This solution, through the layout design of the annular cutter head and the tool-changing robot at the center position, realizes automatic tool changing of the machine tool, greatly improving the degree of automation, machining accuracy and efficiency; the cutter head adopts an arc-shaped single unit combined with upper and lower connecting plates, which is not only convenient for transportation and installation, but also enhances the connection strength and structural stability; the L-shaped cutter head bracket provides stable support for the cutter head, ensures the installation level and simplifies the connection structure; the cooperation between the first tightening bolt and the elongated hole can finely adjust the position of the cutter head, ensure the center coincidence, improve positioning accuracy and facilitate operation; the outer peripheral support frame can enhance the cutter head's resistance to deformation, distribute the load and extend its service life; the radial beam design of the mounting frame ensures the stability and concentricity of the mounting base, laying the foundation for precise tool changing by the robot; the combination of the transverse and longitudinal adjustment plates enables two-dimensional fine adjustment of the robot, compensates for installation errors and improves the reliability of tool changing; the pneumatic fingers have fast response, stable clamping, are compatible with a variety of tools and are easy to maintain; the proximity switch of the tool holder assembly can monitor the tool status, and the steel ball set screw can reliably fix the tool, combining safety and practicality. The circular array machine tool that includes this tool magazine system, due to the surrounding layout and concentric setting of the tool magazine and the machining head, has the shortest tool changing path for the robot arm and reduced auxiliary time, realizing synchronous automatic tool changing of multiple machine heads, further improving processing efficiency and overall automation level.

[0030] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tool magazine system for a circular array machine tool, comprising a tool magazine component (01) and a tool changing robot component (02), characterized in that, The tool magazine component includes multiple columns (1), a tool disc (2), a tool disc support (4), and a tool holder assembly (3). The tool changing robot component (02) includes a robot body (14), a robot support plate, a robot lateral adjustment plate, a robot longitudinal adjustment plate, a gripper extension arm, and pneumatic fingers. The tool disc (2) is annular and centered on the center position, and is mounted on the column (1). Multiple tool holder assemblies (3) are installed inside the annulus of the tool disc (2). A mounting frame is mounted on the top of the columns (1), and the tool changing robot component (02) is mounted on the mounting frame and located at the center position.

2. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, The cutter head (2) comprises four cutter head units. Each cutter head unit (2-1) is located between two adjacent columns (1) and its two ends are fixedly connected to the columns (1) on both sides respectively. The four cutter head units (2-1) are connected end to end to form a ring. The cutter head also includes an upper cutter head connecting plate and a lower cutter head connecting plate. The upper cutter head connecting plate (2-2) and the lower cutter head connecting plate (2-3) are both located at the connection point of two adjacent cutter head units (2-1). The adjacent ends of the two cutter head units (2-1) are fixedly connected to the upper cutter head connecting plate (2-2) and the lower cutter head connecting plate (2-3). The upper cutter head connecting plate (2-2) is attached to the top surface of the cutter head unit (2-1), and the lower cutter head connecting plate (2-3) is attached to the bottom surface of the cutter head unit (2-1).

3. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, The tool holder assembly (3) includes a tool holder (3-1), one end of which is provided with a receiving hole for accommodating a tool, and the other end of which is equipped with a proximity switch (3-2), the probe of which is located at the bottom of the receiving hole; the tool holder (3-2) is also provided with a steel ball set screw (3-3), the end of which protrudes from the inner sidewall of the receiving hole; a tool disc bracket (4) is installed in the middle of the column (1), the tool disc bracket (4) is L-shaped, including a vertical plate (4-1) and a flat plate (4-2), the flat plate (4-2) is located above the vertical plate (4-1), the vertical plate (4-1) is fixedly connected to the side of the column (1) facing the center, and the tool disc (2) is installed on the flat plate (4-2).

4. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, A first adjusting block (5) is provided on the side of the plate (4-2) away from the center. The first adjusting block (5) has a threaded hole and a first tightening bolt (6) is installed through the thread. The bolt head of the first tightening bolt (6) is located on the side of the first adjusting block (5) away from the center. The screw end of the first tightening bolt (6) passes through the first adjusting block (5) and abuts against the outer edge of the cutter head (2). A first locking nut (13) is also installed on the first tightening bolt (6). The first locking nut (13) is in contact with the first adjusting block (5). An elongated hole (7) is provided on the cutter head (2) at the position where it connects with the plate (4-2). The extension direction of the elongated hole (7) is the same as the axial direction of the first tightening bolt (6) at that position. The cutter head (2) is fixed to the plate (4-2) by a screw, which passes through the elongated hole (7).

5. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, The cutter head (2) is also provided with a support frame (8) on its outer periphery. The support frame (8) includes an annular frame (8-1) and a support rod (8-2). The annular frame (8-1) surrounds the outer periphery of the cutter head (2). The support rod (8-2) is arranged radially along the cutter head (2). One end of the support rod (8-2) is fixedly connected to the annular frame (8-1), and the other end of the support rod (8-2) is fixedly connected to the outer edge of the cutter head (2).

6. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, The mounting frame includes a mounting base (9) located at the center. The mounting base (9) is fixedly connected to each of the columns (1) by multiple radial beams (17). The radial beams (17) are arranged radially along the cutter head (2). The tool changing robot is mounted on the mounting base (9).

7. The tool magazine system for a circular array machine tool according to claim 1, characterized in that, The tool changing robot arm component includes a robot arm body (14), and the free end of the robot arm body (14) is provided with a pneumatic finger (15). The pneumatic finger is fixed to the pneumatic finger connecting plate by a fixing member. The pneumatic finger is controlled to release or clamp by an air pipe, which is connected to a cylinder, and the cylinder is fixed on the machine tool spindle.

8. The tool magazine system for a circular array machine tool according to claim 7, characterized in that, The robotic arm also includes a tail-end connecting plate, and the gripper extension arm is fixed to the tail-end connecting plate by fasteners.

9. A tool magazine system for a circular array machine tool according to claim 8, characterized in that, The robotic arm achieves precise position adjustment through a horizontal adjustment plate (9-2), a vertical adjustment plate (9-3), and adjustment blocks; the horizontal adjustment plate is fixed above the vertical adjustment plate; the horizontal and vertical adjustment plates are located above the mounting base fixing plate. Two vertical adjustment components and two horizontal adjustment components are installed on the fixing plate (9-1). The two vertical adjustment components are arranged longitudinally on both sides of the vertical adjustment plate (9-3), and the two horizontal adjustment components are arranged laterally on both sides of the horizontal adjustment plate (9-2). Both the vertical and horizontal adjustment components include a second adjustment block (10). The second adjustment block (10) has a threaded hole and a second tightening bolt (11) is installed therein. The bolt head of the second tightening bolt (11) is located on the second adjustment block (10) away from the vertical adjustment plate (9-2). -3) and one side of the transverse adjustment plate (9-2), a second locking nut (12) is also installed on the second tightening bolt (11), the second locking nut (12) is pressed against the second adjustment block (10), in the transverse adjustment assembly, the screw end of the second tightening bolt (11) passes through the second adjustment block (10) and abuts against the outer edge of the transverse adjustment plate (9-2), in the longitudinal adjustment assembly, the screw end of the second tightening bolt (11) passes through the second adjustment block (10) and abuts against the longitudinal adjustment plate (9-3).

10. A tool changing method for a tool magazine system of a circular array machine tool, characterized in that, In multiple tool holder assemblies, at least one empty slot without a tool is provided. The tool changing method includes the following steps: S1. The tool changing robot arm component (02) rotates to the position corresponding to the machining head (16) and removes the current tool from the machining head (16); S2. The tool changing robot component (02) inserts the current tool into the tool holder assembly that is set to empty; S3. The tool changing robot (02) rotates to the position corresponding to the target tool and removes the target tool from the tool holder assembly; S4. Tool changing robot component (02) mounts the target tool onto the machining head; S5. Repeat steps S1-S4 to complete the tool change operation for all machining heads.

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