Numerical control tool magazine structure with protective door body

Abstract

The application discloses a numerical control tool magazine structure with a protective door body, and relates to the technical field of numerical control machine tool magazine protection. The structure comprises a tool magazine body, a protective cover, a protective door body, a tool changing channel acquisition assembly and a control unit. The protective cover is arranged outside the tool magazine body and is provided with a tool changing window. The protective door body is movably arranged at the tool changing window. The protective door body is provided with a floating sealing detection edge, which is used for generating displacement representing the edge compression state of the door body when the protective door body is closed or pre-opened. The tool changing channel acquisition assembly acquires actual passing clearance, tool and tool handle contour information and position state information. The control unit determines a swept equivalent contour and a tool changing channel entity margin, and controls an entering standard tool changing permission, a degraded tool changing permission, a pollution recovery effectiveness confirmation or a safety locking state according to the same, so as to reduce the tool changing interference risk caused by chip clamping, deflection and channel shortage.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool magazine protection technology, and more specifically, to a CNC tool magazine structure with a protective door. Background Technology

[0002] During automatic tool changing in CNC machine tools, tools are typically stored in the tool magazine body, and the tool exchange is completed by the coordination of the spindle, tool changer arm, and tool change position in the tool magazine. To reduce the entry of chips, coolant, and oil mist into the tool magazine from the machining area, a protective cover is usually installed on the outside of the tool magazine, and tool change windows are opened at the corresponding tool change path positions.

[0003] In the prior art, CN215317269U discloses an automatic door structure and a tool magazine for a gantry crane machine tool having the same. This design features a tool changing window on the tool magazine door baffle and an armored automatic door at the tool changing window. The automatic door is opened or closed by an opening and closing drive mechanism to achieve isolation and protection between the tool magazine and the machine tool processing area.

[0004] The common structure of this type of solution typically includes a tool magazine body, a protective cover or door, a tool changing window, a protective door, and a drive mechanism for opening and closing the protective door. The protective door closes the tool changing window when not changing tools, and opens it during tool changing, allowing the spindle, tool changing arm, tool, or tool holder to pass through the area to complete the tool change.

[0005] However, in machining scenarios involving high-frequency tool changes, wet cutting, and significant chip splashing, chips, coolant, or sludge can easily adhere to the gaps in the protective door, the guide rails, and the edges of the tool change window. Ordinary protective doors rely primarily on open / closed signals to determine whether a tool change is permitted, making it difficult to promptly identify issues such as a half-open door, lateral misalignment, chip trapping in the gaps, springback upon closing, or insufficient actual passage clearance. This can still lead to tool change interference or tool magazine contamination.

[0006] Therefore, it is still necessary to provide a CNC tool magazine structure with a protective gate to simultaneously achieve contamination isolation, gate status detection, and tool change channel physical margin confirmation at the tool change window. Summary of the Invention

[0007] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a CNC tool magazine structure with a protective door. This structure addresses the problems mentioned in the background art, such as the difficulty in timely detection of door abnormalities and insufficient tool changing channels in ordinary tool magazine protective doors, which easily lead to tool changing interference and tool magazine contamination.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A CNC tool magazine structure with a protective door includes a tool magazine body, a protective cover, a protective door, a tool change channel acquisition component, and a control unit. The protective cover surrounds the outside of the tool magazine body and has a tool change window. The protective door is movably disposed at the tool change window and has a floating sealing detection edge. The floating sealing detection edge is used to generate displacement to characterize the pressing state of the door edge when the protective door engages with the tool change window. The tool change channel acquisition component is used to acquire the actual passage clearance at the tool change window and to acquire the outline information and position status information for determining the sweep equivalent outline of the tool and tool holder under the tool change action trajectory. The control unit is connected to the protective door and the tool change channel acquisition component. The control unit is used to determine the sweep equivalent outline based on the outline information and the position status information, determine the tool change channel physical margin based on the remaining space after deducting the sweep equivalent outline, comprehensive positioning error margin, and safety margin from the actual passage clearance, and allow or restrict the tool change action based on the displacement and the tool change channel physical margin.

[0009] In a preferred embodiment, the protective door includes a main door panel, a movable edge of the protective door, a movable edge reference member, and a floating sealing detection edge; the main door panel is movably connected to the protective cover; the movable edge of the protective door is located on the side of the main door panel near the tool changing window; the movable edge reference member is located on the movable edge of the protective door; the floating sealing detection edge is located on the movable edge of the protective door and is positioned opposite to the fixed edge of the tool changing window.

[0010] In a preferred embodiment, the floating seal detection edge includes a pressing seat, a guide, an elastic reset member, a micro-displacement detection member, and a pressing detection member; the pressing seat is movably engaged with the main door panel via the guide member; the elastic reset member is disposed between the pressing seat and the main door panel; the micro-displacement detection member is disposed opposite to the pressing seat and is used to detect the displacement of the pressing seat relative to the main door panel; the pressing detection member is disposed opposite to the pressing seat and is used to detect the pressing state of the pressing seat.

[0011] In a preferred embodiment, the floating sealing detection edge further includes a sealing strip, a replaceable scraper, and a positioning slot; the positioning slot is disposed in the pressing seat; the sealing strip is installed in the positioning slot; the replaceable scraper is installed in the pressing seat, and along the closing direction of the protective door, the protruding end of the replaceable scraper is located in front of the protruding end of the sealing strip.

[0012] In a preferred embodiment, the floating sealing detection edge further includes a sealed detection cavity, a sealing ring, a labyrinth groove, a micro-positive pressure air path, and a micro-exhaust port; the micro-displacement detection element and the compression detection element are disposed within the sealed detection cavity; the sealing ring is disposed at the engagement position of the sealed detection cavity; the labyrinth groove is disposed at the channel position adjacent to the external environment of the sealed detection cavity; the micro-positive pressure air path communicates with the sealed detection cavity; and the micro-exhaust port communicates with the sealed detection cavity.

[0013] In a preferred embodiment, the fixed edge of the tool change window is provided with a fixed edge reference member; the tool change channel acquisition component includes a channel gap detection member, a tool outline acquisition member, a spindle position acquisition member, a tool change arm phase acquisition member, and a tool magazine tool change position detection member; the channel gap detection member is used to obtain the actual passage gap based on the relative position of the fixed edge reference member and the movable edge reference member; the tool outline acquisition member is used to obtain the outline information of the tool and the tool holder; the spindle position acquisition member is used to obtain spindle position information; the tool change arm phase acquisition member is used to obtain tool change arm phase information; the tool magazine tool change position detection member is used to obtain tool magazine tool change position information; the position status information includes the spindle position information, the tool change arm phase information, and the tool magazine tool change position information.

[0014] In a preferred embodiment, the system further includes a door drive assembly and a door guide assembly. The door drive assembly includes a drive component and a transmission component. The drive component is connected to the protective door via the transmission component and is used to drive the protective door to open, close, pre-open, or retract. The door guide assembly includes a guide rail, a slider or roller, a guide groove, a mechanical deviation limiting component, a hard limiting component, a safety input circuit, a mechanical synchronous anti-deviation structure, and an effective opening degree detection component. The door guide assembly is used to limit the movement path of the protective door. The effective opening degree detection component is used to detect the opening degree status of both sides of the protective door. The mechanical synchronous anti-deviation structure includes at least one of a synchronous shaft, a synchronous belt or rack linkage, a cross steel wire rope, or a double-sided connecting rod.

[0015] In a preferred embodiment, a contamination recovery component is further included; the contamination recovery component includes a purge nozzle, an air supply pressure regulating circuit, a chip and liquid discharge trough, a liquid discharge continuity detection element, a door gap contamination detection element, a guide rail chip accumulation detection element, and a scraping structure; the purge nozzle is positioned towards the tool change window, the movable edge of the protective door, or the door guide assembly; the air supply pressure regulating circuit includes a pressure regulating valve, a filter, a throttle valve, and a pressure detection element; the chip and liquid discharge trough includes an inclined bottom surface, a removable filter screen, and a low-point liquid discharge port; the control unit is used to control the CNC tool magazine structure to enter a contamination recovery effectiveness confirmation state when the displacement characterizes abnormal rebound, abnormal clamping, or chip clamping state, so that the contamination recovery component performs purge, chip and liquid discharge, or scraping actions, and re-determines the physical margin of the tool change channel after the contamination recovery component performs the actions.

[0016] In a preferred embodiment, the control unit includes a data acquisition layer, a boundary generation layer, a state execution layer, a unified boundary parameter package, a bottom-level tool change state machine, a data acquisition reliability level determination module, an event recording unit, a non-volatile memory, and a maintenance prompt unit. The data acquisition layer is used to acquire the door opening, displacement of the floating seal detection edge, clamping status, drive load, actual passage clearance, spindle position, tool changer phase, tool magazine tool change position, purging pressure, and drainage status. The boundary generation layer is used to form the unified boundary parameter package based on the data acquired by the data acquisition layer. The state execution layer is used to determine the unified boundary parameter package and the bottom-level tool change state machine based on the data acquisition layer. The underlying tool change state machine controls the actions of the protective door, the tool magazine body, or the contamination recovery component, or outputs restriction commands to the external spindle system or tool changer system; the underlying tool change state machine includes a standard tool change permission state, a downgraded tool change permission state, a contamination recovery effectiveness confirmation state, and a safety lock state; the data acquisition reliability level determination module is used to determine the data acquisition reliability level based on the data refresh status, numerical out-of-bounds status, redundancy signal consistency, and the matching status of the acquisition results and action commands; the event recording unit is used to write tool change event information into the non-volatile memory; the maintenance prompt unit is used to output maintenance prompts based on the tool change event information.

[0017] In a preferred embodiment, the protective door is a sliding protective door, a lifting protective door, a flipping protective door, or an arc-shaped swinging protective door; the sliding protective door slides laterally along the tool changing window; the lifting protective door rises and falls vertically; the flipping protective door flips around a hinge axis; the arc-shaped swinging protective door moves along an arc-shaped guide rail; the control unit is used to determine the actual passage gap based on the movement pattern of the protective door and the relative positions of the movable edge of the protective door and the fixed edge of the tool changing window.

[0018] The technical effects and advantages of the CNC tool magazine structure with protective door of the present invention are as follows: This invention provides a protective door with a floating sealing detection edge at the tool changing window. This allows the protective door to reflect the pressing, rebound, and chip-clamping status of the door edge during closing, pre-opening, and resetting processes. It no longer relies solely on ordinary opening and closing signals to determine whether the protective door meets the tool changing conditions, thereby reducing the risk of tool changing interference caused by the door being half-open, chip-clamping in the door gap, or abnormal rebound during closing.

[0019] This invention uses a fixed edge reference component and a movable edge reference component to form an actual passage gap. Combined with the equivalent outer contour of the tool and tool holder sweeping under the tool changing action trajectory, it confirms whether the tool changing channel meets the passage conditions. This provides a clearer spatial judgment basis before the spindle, tool changing arm, tool, and tool holder enter the tool changing window, thereby helping to reduce collisions, jamming, or abnormal shutdowns caused by insufficient actual passage.

[0020] This invention, through the cooperation of a contamination recovery component, a mechanical synchronous anti-deviation structure, an effective opening detection component, a hard limit component, and a control unit, conservatively handles working conditions such as door gap contamination, guide rail chip accumulation, door misalignment, sensor abnormalities, communication interruptions, or power outage recovery. This enables CNC tool magazines to reduce the probability of contamination entering the tool magazine and tool changing abnormalities in continuous machining and unattended machining scenarios, thereby improving the reliability of the protective door opening and closing and tool changing processes. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a CNC tool magazine with a protective door according to the present invention.

[0022] Figure 2 This is a partial cross-sectional view of the protective door body and the floating seal detection edge of the present invention.

[0023] Figure 3 This is a schematic diagram of the actual passage gap and the equivalent outline of the sweeping in this invention.

[0024] Figure 4 This is a flowchart of the tool changing protection control process of the present invention.

[0025] Figure 5 This is a schematic diagram of the unified boundary parameter package and the underlying tool change state machine of the present invention.

[0026] Figure 6 This is a flowchart of the pollution recovery process of the present invention.

[0027] Figure 7 This is a timing diagram of the tool changing process of the present invention.

[0028] Figure 8 This is a schematic diagram illustrating the abnormal operating condition handling method of the present invention.

[0029] 100. CNC tool magazine structure; 110. Tool; 200. Tool magazine body; 210. Tool holder or tool clip; 220. Tool change position; 300. Protective cover; 310. Tool change window; 320. Fixed edge reference component; 330. Actual passage clearance; 400. Protective door; 410. Main door panel; 420. Floating seal detection edge; 421. Pressure seat; 422. Guide component; 423. Elastic reset component; 424. Micro 425. Displacement detection component; 426. Clamping detection component; 427. Sealing strip; 428. Replaceable scraper blade; 429. Movable edge reference component; 430. Sealed detection chamber; 500. Micro-positive pressure air path; 600. Door drive assembly; 610. Door guide assembly; 620. Mechanical synchronous anti-deviation structure; 701. Effective opening detection component; 802. Tool change channel acquisition assembly; 903. Contamination recovery assembly; 100. Control unit. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] The CNC tool magazine referred to in this application is a tool storage mechanism installed on CNC machine tools, machining centers, or composite machining equipment to store cutting tools 110 and to automatically change tools in conjunction with the spindle or tool changer. The CNC tool magazine can be a disc-type tool magazine, a chain-type tool magazine, or a dome-type tool magazine.

[0032] The protective door 400 referred to in this application is a movable door installed at the tool changing window 310 of the tool magazine protective cover 300. The protective door 400 closes the tool changing window 310 when not changing tools, and opens a tool changing channel for the spindle, tool changing arm, tool 110 or tool holder to pass through when changing tools.

[0033] The floating seal detection edge 420 referred to in this application refers to the door edge structure installed at the movable edge of the protective door 400. This structure can generate a small displacement relative to the main door panel 410 during the closing, pre-opening, or reset of the protective door 400, and is used to reflect the compression, rebound, chipping, or contamination status of the door edge.

[0034] The actual passage clearance 330 referred to in this application refers to the actual channel size formed between the fixed edge of the tool change window 310 and the movable edge of the protective door 400. This size is used to reflect the actual space that the tool 110, tool holder, spindle, or tool changer arm can pass through during the tool change process.

[0035] The sweeping equivalent profile referred to in this application refers to the maximum passing profile formed by the tool 110 and tool holder relative to the tool change window 310 during spindle approach, tool changer arm swing, or tool magazine repositioning. The sweeping equivalent profile can be determined based on the length of the tool 110, the diameter of the tool 110, the tool holder specifications, the rotation radius of the tool changer arm, the orientation of the tool 110, and the tool change path.

[0036] The outline information referred to in this application refers to information used to characterize the external dimensions of the tool 110 and tool holder, and the space they occupy when passing through the tool change window 310. The outline information includes at least one of the following: tool 110 length, tool 110 diameter, tool holder specifications, tool 110 weight class, tool 110 posture, and preset outline data corresponding to the tool 110 number. The outline information can come from a tool management system, a tool preset table, tool coding information, a tool measuring device, an external measuring sensor, or manually entered data.

[0037] The position status information referred to in this application refers to information used to determine the spatial position of the tool 110 and the tool holder under the tool change action trajectory. The position status information includes at least one of spindle position information, tool changer phase information, and tool magazine change position 220 information. The control unit 900 determines the sweep equivalent profile of the tool 110 and the tool holder under the tool change action trajectory based on the profile information and the position status information.

[0038] The tool changer channel physical margin referred to in this application refers to the usable passage space remaining after deducting the sweeping equivalent outline of the tool 110 and tool holder, the comprehensive positioning error margin, and the safety margin from the actual passage clearance 330. The comprehensive positioning error margin is determined based on the spindle repeatability error, the tool changer arm phase error, the tool magazine tool change position 220 error, the door guide error, and the sensor measurement error. The safety margin is determined based on the tool 110 length grade, the tool 110 weight grade, the tool changer speed grade, the machine tool vibration grade, and the contamination recovery status.

[0039] The tool change path physical margin boundary corresponding to standard tool change as referred to in this application means the path margin boundary that allows the spindle, tool changer arm, tool 110, and tool holder to pass through the tool change window 310 according to the normal tool change cycle. The tool change path physical margin boundary corresponding to degraded tool change as referred to in this application means the path margin boundary that does not meet the standard tool change requirements but allows tool change or safe return to be completed under the conditions of limiting the spindle approach speed, tool magazine shifting speed, or tool changer arm entry phase.

[0040] The physical margin boundary of the tool change channel corresponding to the standard tool change and the physical margin boundary of the tool change channel corresponding to the degraded tool change are calibrated through prototype tool change test, maximum tool profile test, gate deviation test and tool magazine tool change position 220 error test and then stored in the control unit 900.

[0041] This application applies to continuous machining environments for CNC machine tools. In such environments, chips, coolant, oil mist, and dust easily adhere to the tool change window 310, the door guide rails, and the vicinity of the tool magazine protective cover 300. After frequent opening and closing of the protective door 400 over a long period, problems may arise such as the door being partially open, inconsistent opening on both sides, chip accumulation on the guide rails, chip trapping in the door gaps, insufficient closing clamping, abnormal door rebound, or insufficient tool change channel. If the door's opening or closing is determined solely by a standard position switch, interference may easily occur between the spindle, tool changer arm, tool 110, or tool holder and the protective door 400, and contaminants may also enter the contact area of ​​the tool holder or tool magazine.

[0042] Example 1, as Figure 1 As shown, this embodiment provides a basic hardware architecture and tool changing protection control process for a CNC tool magazine structure 100 with a protective door 400. The CNC tool magazine structure 100 includes a tool magazine body 200, a protective cover 300, a tool changing window 310, a protective door 400, a door drive assembly 500, a door guide assembly 600, a tool changing channel acquisition assembly 700, a contamination recovery assembly 800, and a control unit 900. The tool magazine body 200 carries a tool holder or tool clip 210, which holds the tool 110. The protective cover 300 is located outside the tool magazine body 200 to isolate chips, coolant, oil mist, and dust within the machining area. The tool changing window 310 is located on the protective cover 300 and corresponds to the tool changing path of the spindle or tool changing arm. The protective door 400 is movably positioned at the tool changing window 310 to close or open the tool changing window 310.

[0043] The protective door 400 includes a main door panel 410 and a floating sealing detection edge 420. The main door panel 410 is the main shielding component and adopts a lateral sliding structure in this embodiment. The floating sealing detection edge 420 is located on the side of the main door panel 410 near the movable edge of the tool change window 310 and can undergo slight displacement relative to the main door panel 410 along the door closing direction.

[0044] like Figure 2As shown, the floating seal detection edge 420 includes a pressure seat 421, a guide 422, an elastic reset component 423, a micro-displacement detection component 424, a clamping detection component 425, a sealing strip 426, a replaceable scraper 427, and a movable edge reference component 428. The pressure seat 421 is slidably connected to the main door panel 410 via the guide 422. The guide 422 can be a guide post, a short guide rail, or a guide groove. The elastic reset component 423 is disposed between the pressure seat 421 and the main door panel 410, and is used to reset the pressure seat 421 after being compressed. The elastic reset component 423 can be a compression spring, a leaf spring, a polyurethane elastic block, or an oil-resistant elastic pad. The micro-displacement detection component 424 is disposed in the sealed detection cavity 429 inside the main door panel 410 and is opposite to the back side of the pressure seat 421, and is used to detect the minute displacement of the pressure seat 421. The clamping detection component 425 is used to detect whether the pressure seat 421 has reached the closed clamping position.

[0045] The sealing strip 426 is located on the side of the pressure seat 421 near the fixed edge of the tool change window 310. The replaceable scraper 427 is located on the side of the sealing strip 426 near the processing area, and comes into contact with contaminants in the door seam first when the protective door 400 is closed or re-closed. The replaceable scraper 427 can be installed on the outside of the pressure seat 421 via a pressure strip, a slot, a screw plate, or a spring clip. The pressure seat 421 is provided with a positioning slot, in which the sealing strip 426 is embedded. When replacing the replaceable scraper 427, the pressure strip can be removed or the screw plate can be loosened, allowing the scraper to be pulled out laterally from the pressure seat 421. Thus, the replaceable scraper 427 can be replaced independently, while the sealing strip 426 remains in its original installation position.

[0046] The sealed detection chamber 429 is isolated from the machining area by a sealing ring, a labyrinth groove, and a micro-positive pressure air passage 430. The micro-positive pressure air passage 430 draws air from the machine tool's clean compressed air branch, passes through a pressure regulating valve and a filter, enters the sealed detection chamber 429, and then exits through a micro-exhaust port facing inwards towards the protective cover 300. The pressure of the micro-positive pressure air passage 430 is set to prevent oil mist and dust from entering the sealed detection chamber 429 without affecting the movement of the detection element. The control unit 900 determines the reliability level of the micro-displacement detection element 424 and the clamping detection element 425 based on the pressure feedback from the micro-positive pressure air passage 430. The lower pressure limit of the micro-positive pressure air passage 430 is determined through a leak test of the sealed detection chamber 429, an oil mist environment test, and a detection element movement stability test. When the pressure of the micro-positive pressure air passage 430 is lower than the set lower limit, the control unit 900 prohibits direct entry into the standard tool change permission state.

[0047] The movable edge reference component 428 is located at the movable edge of the pressure seat 421 or the main door panel 410. A fixed edge reference component 320 is located at the fixed edge of the tool change window 310. The movable edge reference component 428 can be a metal reference strip, a positioning boss, a positioning pin, a reflective target, or a magnetic scale. The fixed edge reference component 320 can be a reference strip, a reference surface, a positioning groove, or a distance measuring reference plate. After assembly, the fixed edge reference component 320 and the movable edge reference component 428 are paired and calibrated through a no-load opening and closing test and a reference distance measuring test. The calibration results are used to determine the zero point and range of the actual passage clearance 330.

[0048] The permissible fretting stroke of the floating seal detection edge 420 is determined by the compression of the sealing strip 426, the preload of the elastic reset element 423, the door closing speed, and the need for door gap contamination identification. For the lateral sliding protective door 400 of common machining centers, the permissible fretting stroke is preferably 0.5 mm to 5 mm, more preferably 1 mm to 3 mm. The permissible fretting stroke is calibrated through prototype testing, with test conditions including no-load closing, fine chips trapped in the door gap, curled chips trapped in the door gap, coolant adhesion, sludge residue, and wear of the sealing strip 426.

[0049] The door drive assembly 500 includes a drive component and a transmission component. The drive component can be a servo motor, stepper motor, electric actuator, cylinder, or rodless cylinder. The transmission component can be a synchronous belt, lead screw, rack and pinion, connecting rod, or wire rope transmission mechanism. When a motor drive is used, the drive load can be characterized by the drive current or output torque; when a cylinder drive is used, the drive load can be characterized by changes in air pressure, flow rate, or stroke speed.

[0050] The door guide assembly 600 includes a guide rail, a slider or roller, a guide groove, a mechanical deviation limiting component, a hard limit component, a safety input circuit, a mechanical synchronous anti-deviation structure 610, and an effective opening detection component 620. The guide rail and guide groove define the movement path of the protective door 400. The slider or roller is connected to the protective door 400 and moves along the guide rail or guide groove. The mechanical deviation limiting component restricts the lateral deviation of the protective door 400 during opening and closing. The hard limit component is connected to the safety input circuit, which is preferably a normally closed circuit. When the hard limit component is triggered or the safety input circuit is disconnected, the control unit 900 enters a safety locking state.

[0051] The effective opening detection element 620 is used to detect the opening status of both sides of the protective door 400. In this embodiment, the left effective opening detection element 620 and the right effective opening detection element 620 are respectively provided on both sides of the protective door 400 to collect the actual opening of the left and right sides of the protective door 400. The mechanical synchronous anti-deviation structure 610 includes at least one of a synchronous shaft, a synchronous belt or rack and pinion linkage, a cross steel wire rope or a double-sided connecting rod. The mechanical synchronous anti-deviation structure 610 is set on the upper edge, lower edge or both sides of the protective door 400 guide portion to limit the relative offset of the left and right sides of the protective door 400. The synchronous gap of the mechanical synchronous anti-deviation structure 610 is calibrated by no-load opening and closing test, off-center opening and closing test and slight chip accumulation opening and closing test. When the synchronous gap causes the difference in opening between the two sides to reach the degradation boundary, the control unit 900 outputs a maintenance prompt; when the difference in opening between the two sides reaches the locking boundary, the control unit 900 enters the safety locking state.

[0052] The tool changer acquisition component 700 includes a channel clearance detection component, a tool outline acquisition component, a spindle position acquisition component, a tool changer arm phase acquisition component, and a tool magazine changer position detection component. The channel clearance detection component detects the actual passage clearance 330 formed between the fixed edge reference component 320 and the movable edge reference component 428. The channel clearance detection component can be a linear displacement sensor, a magnetic scale, a wire encoder, a proximity switch array, or a distance measuring device installed in a sealed detection cavity 429. The tool outline acquisition component acquires the outline information of the tool 110 and the tool holder. The outline information can come from a tool management system, a tool preset table, tool coding information, a tool measuring device, an external measuring sensor, or manually entered data. The spindle position acquisition component acquires spindle position information, the tool changer arm phase acquisition component acquires tool changer arm phase information, and the tool magazine changer position detection component acquires tool magazine changer position 220 information. The control unit 900 determines the sweep equivalent profile of the current tool 110 and tool holder under the tool change trajectory based on the profile information, spindle position information, tool changer phase information, and tool magazine change position 220 information. If the profile information is missing, the control unit 900 uses the maximum tool profile allowed by the tool magazine as a conservative substitute value and prohibits entering the standard tool change permission state.

[0053] The contamination recovery component 800 includes a purge nozzle, an air supply pressure regulating circuit, a chip and liquid discharge trough, a liquid discharge continuity detection element, a door gap contamination detection element, a guide rail chip accumulation detection element, and a scraping structure. The purge nozzle is positioned towards the tool change window 310, the moving edge of the protective door 400, or the door guide assembly 600, with the spray direction towards the door gap, guide groove, and chip and liquid discharge trough. Multiple purge nozzles can be provided, spaced apart along the door's movement direction. The air supply pressure regulating circuit is connected to the purge nozzle and includes a pressure regulating valve, a filter, a throttle valve, and a pressure detection element. The chip and liquid discharge trough is located below the tool change window 310 or below the guide groove, and has an inclined bottom, a removable filter screen, and a low-point discharge port.

[0054] The control unit 900 can be implemented by a machine tool controller, programmable logic controller, motion controller, CNC system expansion module, or dedicated control board. The control unit 900 includes an acquisition layer, a boundary generation layer, a state execution layer, a unified boundary parameter package, a low-level tool changer state machine, an acquisition reliability level determination module, an event recording unit, a non-volatile memory, and a maintenance prompt unit. The acquisition layer is used to acquire the door opening, displacement of the floating seal detection edge 420, clamping status, drive load, actual passage clearance 330, spindle position, tool changer phase, tool magazine tool change position 220, purging pressure, and drainage status. The boundary generation layer is used to form a unified boundary parameter package based on the data acquired by the acquisition layer. The state execution layer is used to control the actions of the protective door 400, tool magazine body 200, or contamination recovery component 800 based on the unified boundary parameter package and the low-level tool changer state machine, or to output restriction commands to the external spindle system and tool changer system. The acquisition reliability level determination module is used to determine the acquisition reliability level based on data refresh status, numerical out-of-bounds status, redundancy signal consistency, and the matching status of acquisition results with action commands. The event logging unit is used to write tool change event information into non-volatile memory, and the maintenance prompt unit is used to output maintenance prompts based on the tool change event information.

[0055] The acquisition layer acquires sensor signals at a fixed sampling period, which can be set according to the controller performance and tool change cycle, preferably between 5 milliseconds and 20 milliseconds. The refresh period of the status execution layer is preferably between 10 milliseconds and 50 milliseconds. Before entering the tool change permission state, the control unit 900 latches the same boundary calculation frame, which includes the door opening, the rebound of the floating seal detection edge 420, the actual passage gap 330, the spindle position, the tool changer arm phase, the tool magazine tool change position 220, and the contamination recovery status. If any key field does not belong to the same valid sampling window, the control unit 900 must not enter the standard tool change permission state.

[0056] The control unit 900 sets the acquisition confidence level. Acquisition confidence levels include invalid, low confidence, available, and high confidence. The acquisition confidence level is determined based on whether the data is refreshed in a timely manner, whether the value exceeds the limit, whether redundant signals are consistent, and whether the acquisition results match the action commands. If a signal is not refreshed for two to five consecutive sampling cycles, the control unit 900 classifies the corresponding signal as low confidence; if a signal is not refreshed for more than five consecutive sampling cycles, the control unit 900 classifies the corresponding signal as invalid; if the detected value exceeds the sensor's range, the control unit 900 classifies the corresponding signal as invalid; if the difference between redundant signals exceeds the degradation boundary, the control unit 900 classifies the corresponding data as low confidence; if the difference between redundant signals exceeds the lockout boundary, the control unit 900 enters a safety lockout state.

[0057] The control unit 900 generates a unified boundary parameter package. This package includes the event number, timestamp, current control state, target door opening boundary, left and right synchronization deviation boundary, micro-stroke springback boundary, drive load boundary, door jamming observation window, actual channel minimum clearance boundary, spindle approach speed boundary, tool changer entry phase boundary, tool magazine shifting speed boundary, contamination tolerance boundary, purging duration boundary, contamination recovery exit boundary, reset retry boundary, safety lockout boundary, data acquisition reliability level, and exception code. Each field in the unified boundary parameter package includes the current value, normal boundary, degradation boundary, lockout boundary, data source, and exception replacement value.

[0058] The unified boundary parameter package can be transmitted to the state execution layer via input / output signals, fieldbus, CNC system interface, or internal registers of the motion controller. The boundary parameter package is created at the start of each tool change event window, latched before state transition, and written to the event log after tool change completion or abnormal exit. If the boundary parameter package reading fails, the version is inconsistent, or the validity flag is abnormal, the control unit 900 enters a manual confirmation holding state; if fields involving spindle position, tool changer arm phase, or tool magazine change position 220 are abnormal, the control unit 900 enters a safety lock state.

[0059] like Figure 4 As shown, the basic working process of this embodiment includes four steps.

[0060] The first step involves the protective door 400 closing the tool changing window 310 when the CNC machine tool is not in a tool changing state, with the floating seal detection edge 420 pressed tightly against the fixed edge of the tool changing window 310. The control unit 900 reads the effective opening degree on both sides, feedback on the door closing position, feedback on the door locking, drive load, compression amount of the floating seal detection edge 420, rebound amount of the floating seal detection edge 420, door gap contamination detection signal, guide rail chip accumulation detection signal, and drainage on / off status to establish the sealing baseline data for this tool changing event.

[0061] In this step, the control unit 900 can calculate the left and right synchronization deviation of the protective door 400: ; in, This indicates the left-right synchronization deviation of the protective door body by 400 mm. Indicates the effective opening on the left side. This indicates the effective opening degree on the right side.

[0062] The left and right synchronization deviation boundaries are obtained through prototype calibration. The preferred standard synchronization boundary is 0.5 mm to 2 mm, the preferred degradation synchronization boundary is 2 mm to 3 mm, and the preferred locking synchronization boundary is 3 mm to 5 mm. If... Within the normal synchronization boundary, the control unit 900 maintains the normal door target opening boundary; if Within the degraded synchronization boundary, the control unit 900 tightens the target door opening boundary and extends the door obstruction observation window; if Upon reaching the locking synchronization boundary, the control unit 900 enters either the manual confirmation holding state or the safety locking state.

[0063] The second step involves the protective door 400 performing a pre-opening micro-stroke after receiving the tool change command from the control unit 900. This pre-opening micro-stroke is used to detect whether there is chip adhesion, coolant adhesion, sludge residue, guide rail debris accumulation, or localized jamming when the door is released from its closed and clamped state. The sources of the pre-opening micro-stroke include the total door travel, the allowable travel of the floating seal detection edge 420, the door gap contamination detection distance, and the minimum controllable displacement of the drive component. The pre-opening micro-stroke is preferably 3% to 15% of the conventional door opening travel; for small disc tool magazines, it is preferably 2 mm to 8 mm; for large chain tool magazines, it is preferably 8 mm to 20 mm.

[0064] During the pre-opening micro-stroke, the control unit 900 continuously collects data on the displacement changes on both sides of the protective door 400, the drive load changes, the door speed changes, the rebound changes of the floating seal detection edge 420, the contact status of the replaceable scraper blade 427, the purging pressure, and the on / off status of the drainage. The control unit 900 can calculate the rebound amount of the floating seal detection edge 420. ; in, This indicates the amount of springback at the floating seal detection edge 420. This indicates the position of the floating seal detection edge 420 after the protective door body 400 has been closed, compressed, and stabilized. This indicates the stable position of the floating seal probe edge 420 after the pre-opening micro-stroke releases the clamping.

[0065] The rebound margin is calibrated through a sealing strip 426 compression test, an elastic reset element 423 stiffness test, a door closing speed test, and a chip trapping simulation test. The conventional rebound margin is preferably 0.2 mm to 1 mm, the degraded rebound margin is preferably 1 mm to 1.5 mm, and the locking rebound margin is preferably 1.5 mm to 3 mm. Within the normal rebound boundary, the control unit 900 is allowed to enter the micro-stroke detection and confirmation state; if Within the degradation rebound boundary, control unit 900 tightens the contamination recovery exit boundary and triggers purging and secondary closure confirmation; if Once the springback is locked at the boundary, the control unit 900 restricts tool magazine repositioning, tool changer arm entry, and spindle approach.

[0066] Thirdly, after the pre-opening micro-stroke detection satisfies the door blockage observation window and the contamination recovery exit boundary, the door drive assembly 500 continues to drive the protective door 400 to move towards the target opening. An actual passage gap 330 is formed between the fixed edge reference member 320 and the movable edge reference member 428. The control unit 900 collects the actual passage gap 330, tool 110 length, tool 110 diameter, tool holder specifications, tool 110 weight class, spindle approach path, tool changer phase, tool magazine change position 220, and tool magazine change speed, and forms the physical margin boundary of the tool change channel.

[0067] In this step, the control unit 900 can calculate the physical margin of the tool change path: ; Where M represents the physical margin of the tool changing channel, G represents the actual passage gap 330 between the fixed edge reference 320 and the movable edge reference 428, D represents the sweep equivalent outline of the current tool 110 and tool holder under the tool changing action trajectory, E represents the comprehensive positioning error margin of the spindle, tool changing arm, protective door 400 and tool magazine tool changing position 220, and S represents the safety margin reserved in the tool changing process.

[0068] When determining the sweep equivalent profile D, the control unit 900 simplifies the shape of the tool 110 and tool holder into multiple profile sections distributed along the tool axis. These profile sections are determined by the length of the tool 110, the diameter of the tool 110, the tool holder specifications, and preset tool profile data. The control unit 900 determines the passage position of each profile section at the tool change window 310 based on the spindle approach path, the tool changer phase, and the tool magazine change position 220. Under multiple sampling phases (tool changer swing, spindle approach, or tool magazine reposition), the control unit 900 calculates the projected width of the tool 110 and tool holder in the passage direction of the tool change window 310. The control unit 900 uses the maximum value of the projected width under each sampling phase as the sweep equivalent profile D of the current tool 110 and tool holder in the tool change trajectory. If the tool 110 profile information is incomplete, a conservative sweep equivalent profile D is determined based on the maximum tool length, maximum tool diameter, and maximum tool holder specifications allowed by the tool magazine.

[0069] It should be noted that, as Figure 3As shown, the comprehensive positioning error margin E and safety margin S can be schematically distributed on both sides of the swept equivalent contour D. This is used to visually represent the error space and safety space that need to be reserved between the fixed edge reference 320 and the movable edge reference 428 when the tool 110 and tool holder pass through the tool change window 310. The E and S shown on the left and right sides of the figure are only used to illustrate the possible distribution relationship of the margin on both sides of the channel. When the control unit 900 calculates the physical margin of the tool change channel, E represents the comprehensive positioning error margin after combining the spindle position error, tool changer phase error, tool magazine tool change position 220 error, protective door opening error, and detection error. S represents the safety margin after combining the tool 110 length grade, tool 110 weight grade, tool change speed grade, machine tool vibration grade, and contamination recovery state. Therefore, E and S are used as the combined total margin in the determination of the physical margin of the tool change channel during the calculation, rather than repeatedly deducting the schematic margins on the left and right sides of the figure.

[0070] G is obtained directly from the channel clearance detection device, or calculated from the effective opening on both sides of the door. D is determined by the control unit 900 based on the outline information and position status information. If the outline information is missing, the control unit 900 uses the maximum tool outline allowed by the tool magazine as a conservative substitute value and prohibits entering the standard tool change permission state. E is obtained through error envelope calibration. Under safety-first conditions, E is preferably determined by extreme value superposition. S is determined by the tool 110 length grade, tool 110 weight grade, tool change speed grade, machine tool vibration grade, and contamination recovery status. Under normal tool conditions, S is preferably 3 mm to 8 mm; under long tool, high-speed tool change, or heavy tool conditions, S is preferably 8 mm to 15 mm.

[0071] If M reaches the physical margin boundary of the tool change channel corresponding to the standard tool change, the control unit 900 enters the standard tool change permission state; if M is lower than the physical margin boundary of the tool change channel corresponding to the standard tool change but reaches the physical margin boundary of the tool change channel corresponding to the degraded tool change, the control unit 900 enters the degraded tool change permission state; if M is lower than the physical margin boundary of the tool change channel corresponding to the degraded tool change, the control unit 900 enters the manual confirmation holding state or the safety lock state.

[0072] Step four, as Figure 7As shown, the control unit 900 establishes a tool changing process timing sequence with the protective door 400, contamination recovery component 800, spindle, tool changer arm, tool magazine body 200, and event recording unit. When the control unit 900 enters the standard tool changing permission state, it controls the tool magazine body 200 to reposition and outputs spindle approach permission and tool changer arm entry permission to the external spindle system and tool changer arm system, ensuring the current tool changing action is executed according to the normal tool changing cycle. When the control unit 900 enters the degraded tool changing permission state, it limits the spindle approach speed, tool magazine repositioning speed, and tool changer arm entry phase, and extends the time the protective door 400 maintains the target opening, ensuring the current tool changing action is completed within the restricted boundaries, or allowing the spindle and tool changer arm to safely retract.

[0073] After the tool change is completed, the door drive assembly 500 drives the protective door 400 to move in the closing direction. The floating seal detection edge 420 first contacts the fixed edge of the tool change window 310, and the replaceable scraper blade 427 scrapes away residual chips and coolant from the door gap. The purge nozzle can purge briefly before or after closing, and the chip and liquid discharge channel discharges chips, coolant, and sludge. After the protective door 400 is closed, the control unit 900 re-collects the effective opening degree on both sides, left and right synchronization deviation, rebound amount, locking feedback, drive load, purge pressure, liquid discharge on / off status, and door gap contamination status, and determines whether to return to the closed standby state.

[0074] Under normal tool changing conditions, the protective door 400 closes the tool changing window 310 in a closed standby state, with both left and right synchronization deviations and springback within normal limits. Upon receiving a tool changing command, the control unit 900 sequentially completes pre-opening micro-stroke detection, tool changing channel judgment, and standard tool changing permission. As the protective door 400 opens, the actual passage gap 330 increases, and the tool changing channel physical margin reaches the boundary corresponding to the standard tool changing, at which point the control unit 900 allows the tool changing. After the tool changing is completed, the protective door 400 closes, the floating seal detection edge 420 is pressed, and the control unit 900 returns to the closed standby state.

[0075] Example 2 provides a method for determining channel margin boundaries and contamination recovery, which enables the protective door 400 to maintain a controllable tool changing channel under different tool 110 specifications and contamination states. The control unit 900 determines the channel margin boundary based on the tool 110 outline, door opening, positioning error, and contamination recovery state, and selects different recovery actions according to the degree of contamination.

[0076] The overall positioning error margin is determined based on the spindle repeatability error, tool changer phase error, tool magazine tool change position 220 error, gantry guidance error, and sensor measurement error. Under safety-first operating conditions, the control unit 900 uses a conservative envelope of the upper limit of each error as the overall positioning error margin. If the sources of each error are verified to be independent, the control unit 900 can use the sum of squares and square roots as an auxiliary estimate, and use the conservative envelope result as a safety check.

[0077] The safety margin is determined based on the tool 110 length class, tool 110 weight class, tool change speed class, machine tool vibration level, and contamination recovery status. For conventional tools, conventional tool change speeds, and high data acquisition reliability, a smaller safety margin can be used. For long tools, heavy tools, high-speed tool changes, slight door misalignment, insufficient contamination recovery, or a reduced data acquisition reliability, a larger safety margin is used. The control unit 900 can store the safety margins corresponding to different tool 110 classes and tool change speed classes through a parameter table. This parameter table is stored in the non-volatile memory area of ​​the control unit 900, the host computer parameter table, or the CNC system parameter area.

[0078] like Figure 6 As shown, pollution recovery is categorized into mild, moderate, and severe pollution based on the degree of pollution. The control unit 900 determines the degree of pollution based on a pollution identification data set, which includes at least two of the following: rebound amount of the floating seal detection edge 420, number of consecutive exceedances of the floating seal detection edge 420, clamping status of the clamping detection element 425, peak value of the door drive load, door drive load rise rate, increment of the door drive load relative to the no-load reference, door gap pollution detection signal, guide rail debris accumulation detection signal, purge pressure arrival status, purge pressure decay status, drainage on / off status, and secondary closure retest results. The boundaries of mild, moderate, and severe pollution levels, as well as the pollution recovery exit boundary, are calibrated through a prototype pollution simulation test and stored in the control unit 900. The prototype pollution simulation test includes conditions such as fine chip residue, curled chip entrapment, coolant adhesion, sludge residue, guide rail debris accumulation, partial blockage of the purge nozzle, and poor drainage of the chip and liquid discharge trough.

[0079] Slight contamination refers to a situation where the contamination detection signal of the door gap or the rebound amount of the floating seal detection edge 420 indicates the presence of a small amount of chips, coolant, or sludge residue in the door gap, and the peak value of the door drive load, the rate of increase of the door drive load, and the displacement of the floating seal detection edge 420 have not reached the degradation boundary, and the purging pressure and drainage on / off status are in an usable state. Under slight contamination, the control unit 900 controls the contamination recovery component 800 to perform a short-term purging and perform a low-speed secondary closure confirmation; if the rebound amount, clamping status, and door drive load after the secondary closure recover to within the contamination recovery exit boundary, the control unit 900 allows continued entry into the micro-stroke detection confirmation state or the tool change channel restricted observation state.

[0080] Moderate contamination refers to the presence of recoverable debris in the door seams or guide rails. The rebound amount of the floating seal detection edge 420, the peak value of the door drive load, the rate of increase of the door drive load, or the debris detection signal on the guide rails reach the degradation boundary but not the locking boundary, and no hard interference boundary is triggered. Under moderate contamination, the control unit 900 extends the purging time, controls the protective door 400 to perform small, low-speed reciprocating movements, and uses the replaceable scraper blade 427 to scrape away contaminants from the door seams multiple times. After each recovery movement, the control unit 900 re-collects the rebound amount of the floating seal detection edge 420, the clamping status of the clamping detection element 425, the door drive load, the purging pressure, and the drain on / off status, and re-determines whether the contamination recovery exit boundary is met. If the contamination recovery exit boundary is met, the control unit 900 re-determines the physical margin of the tool change channel; if only the degradation boundary is met, the control unit 900 allows entry into the degradation tool change permission state.

[0081] Severe contamination refers to situations where the displacement of the floating seal detection edge 420, the peak value of the door drive load, the rate of increase of the door drive load, the guide rail debris detection signal, the attenuation state of the purging pressure, or the on / off state of the drain reaches the locking boundary; or purging and small-amplitude low-speed reciprocating scraping still fail to meet the contamination recovery exit boundary; or continuous recovery failures reach the maximum allowable number of recovery attempts; or the drive load rises rapidly and reaches the hard interference boundary during the second closure of the door. Under severe contamination, the control unit 900 stops the second closure and automatic blade change permission, keeps the protective door 400 in its current position or slowly returns it to a safe position, and enters a manually confirmed holding state or a safe locking state.

[0082] After the contamination recovery operation is completed, the control unit 900 does not directly use the physical margin of the tool change channel before contamination recovery. Instead, it re-collects the actual passage gap 330, the rebound amount of the floating seal detection edge 420, the clamping status, and the contamination identification data set, and redetermines the physical margin of the tool change channel. Only when the redetermined physical margin of the tool change channel reaches the physical margin boundary of the tool change channel corresponding to the standard tool change or the physical margin boundary of the tool change channel corresponding to the downgraded tool change will the control unit 900 allow entry into the corresponding tool change permission state.

[0083] When hard chips are trapped, the driving load during the secondary closing process of the protective door 400 will increase rapidly, and the displacement of the floating seal detection edge 420 may also reach the degradation boundary or locking boundary within a short period of time. The control unit 900 determines whether hard interference exists based on the peak driving load, the rate of load increase, and the displacement change of the floating seal detection edge 420. The hard interference boundary is obtained through experiments with chips of different materials and shapes trapped in the door gap. If the hard interference boundary is reached, the control unit 900 immediately stops closing, does not continue to press the door body, and outputs a hard interference warning for the door gap.

[0084] Under slight contamination conditions, the protective door 400 exhibits a rebound exceeding the normal rebound boundary during its pre-opening micro-stroke, and the door gap contamination detection component detects residual chips or coolant. The control unit 900 enters the contamination recovery effectiveness confirmation state, and the contamination recovery component 800 performs purging, chip / coolant removal, or scraping actions, and performs a secondary closure confirmation. If the recovered rebound returns to the normal boundary, the control unit 900 continues to enter the micro-stroke detection confirmation state and the tool changer channel restricted observation state. If the recovered rebound is at the degradation boundary, the control unit 900 can enter the degradation tool change permission state, limiting the spindle approach speed, tool magazine shifting speed, and tool changer arm entry phase. If continuous recovery failures reach the maximum permissible number of recovery attempts, the control unit 900 enters the manual confirmation holding state or the safety lock state.

[0085] Example 3 provides an abnormal operating condition handling and maintenance prompt method to ensure the safety of the CNC tool magazine in the event of abnormal shutdown, sensor failure, or aging of the door components. The control unit 900 is equipped with degraded tool change, low-speed retraction, manual confirmation, and safety lockout processing, and records and handles communication interruption, power failure recovery, multi-sensor failure, and door aging status.

[0086] like Figure 5 As shown, the underlying tool change state machine includes closed standby state, door pre-open observation state, micro-stroke detection confirmation state, tool change channel restricted observation state, degraded tool change permission state, standard tool change permission state, contamination recovery effectiveness confirmation state, manual confirmation holding state, and safety lockout state. Only one master control state is allowed at a time. The safety lockout state has the highest priority, followed by the manual confirmation holding state, and the contamination recovery effectiveness confirmation state has higher priority than the door pre-open observation state, micro-stroke detection confirmation state, tool change channel restricted observation state, degraded tool change permission state, and standard tool change permission state. The degraded tool change permission state and the standard tool change permission state are mutually exclusive.

[0087] like Figure 8 As shown, the sources of anomalies include door drive communication interruption, spindle system communication interruption, sensor bus interruption, channel gap detection failure, effective opening degree detection failure on both sides, power failure or emergency stop, failure to recover from contamination, and aging of door components.

[0088] The entry conditions for the degraded tool change permission state are: the physical margin of the tool change channel meets the physical margin boundary of the tool change channel corresponding to the degraded tool change; the gate has no serious skew; contamination recovery has not failed; and the spindle position and tool changer phase are both available or highly reliable. In this state, the control unit 900 limits the spindle approach speed, tool magazine shifting speed, and tool changer entry phase, and extends the gate opening time. The degraded tool change permission state prohibits rapid tool changes, prohibits skipping gate verification, and prohibits continuing tool changes when the physical margin of the tool change channel is lower than the physical margin boundary of the tool change channel corresponding to the degraded tool change. The exit conditions are: the current tool change is completed, the tool change action safely returns, the physical margin of the tool change channel falls below the physical margin boundary of the tool change channel corresponding to the degraded tool change, the gate falls abnormally, manual confirmation is triggered, or the action times out. If the action times out, the control unit 900 controls the spindle to return, the tool changer to exit, the tool magazine to stop shifting, the protective gate 400 to maintain a safe position or close at a low speed, and enters the manual confirmation holding state.

[0089] When both the channel gap detector and the effective opening detectors 620 on both sides fail simultaneously, the control unit 900 stops calculating the physical margin of the tool change channel, prohibits entering the standard tool change permission state and the downgraded tool change permission state, and only allows the spindle, tool change arm, and protective door 400 to return to the safe position at low speed, or enter the safety lock state. When the door gap contamination detector, the purge pressure detector, and the drain flow detector fail simultaneously, the control unit 900 prohibits automatic recovery confirmation and enters the manual confirmation holding state. When any of the critical position signals of the spindle position, tool change arm phase, or tool magazine tool change position 220 fails, the control unit 900 enters the safety lock state.

[0090] When communication between the control unit 900 and the door drive assembly 500 is interrupted, the control unit 900 stops the door movement and keeps the protective door 400 in its current position or slowly retracts it to a safe position. When communication between the control unit 900 and the spindle system is interrupted, the control unit 900 enters a safety lock state. When sensor bus communication is interrupted, the control unit 900 prohibits entering the standard tool change permission state. When the detection signal communication used to obtain information about the tool change position 220 of the tool magazine is interrupted, the control unit 900 prohibits tool magazine repositioning and tool change permission. All of the above communication interruption events are written to the event log.

[0091] When the machine tool stops suddenly, the controller resets, communication is interrupted, or there is a sudden power failure, the protective door 400 is held in a safe position by a power-off brake, spring locking mechanism, mechanical stop, or self-locking transmission mechanism. The power-off brake can be located at the drive motor shaft end or the transmission output end. The spring locking mechanism can be located at the closed end or the safety holding end of the protective door 400. The locking force is sufficient to overcome the weight of the door, the guide rail resistance, and the preset impact margin. After power is restored, the control unit 900 does not use the tool change permission state before the power failure. It first reads the spindle position, tool changer phase, tool magazine tool change position 220, and the position of the protective door 400. If all of the above positions can be confirmed, the control unit 900 re-establishes the closure reference; if any critical position cannot be confirmed, the control unit 900 enters the safety locking state. The last state before the power failure and the abnormal code are written to non-volatile memory for traceability and maintenance prompts only, and are not directly used as the basis for tool change permission after restoration.

[0092] After the door body resets and seals, the control unit 900 writes the maximum left and right synchronization deviation, maximum springback, minimum tool change channel physical margin, highest drive load, number of contamination recovery attempts, final control status, and exception code for this tool change event into the event log. The event log is used for selecting the initial boundary level, providing maintenance prompts, and tracing anomalies for the next tool change event, and must not exceed the mechanical safety locking threshold. If the event log is lost, the control unit 900 uses the factory default conservative boundary, which does not affect basic tool change safety. The event log can be stored using a cyclic overwrite method; ordinary tool change events can be cyclically overwritten, while abnormal events are retained with priority.

[0093] The control unit 900 can also record the springback baseline, clamping baseline, and drive load baseline under uncontaminated, closed conditions. If the springback baseline continues to rise, the clamping amount continues to decrease, or the drive load baseline continues to rise during multiple tool change events, the control unit 900 outputs a prompt to check the sealing strip 426, the elastic reset element 423, or replace the scraper. During mild aging, the control unit 900 prohibits entering the standard tool change permission state or shortens the maintenance cycle; during severe aging, the control unit 900 enters a manually confirmed holding state or a safety lock state. The control unit 900 does not automatically relax safety boundaries due to aging.

[0094] In cases of insufficient channel margin, the protective door 400 is already open, but due to factors such as the large diameter and length of the tool 110, tool changer phase offset, inconsistent opening on both sides of the door, or insufficient contamination recovery, the physical margin of the tool change channel is lower than the physical margin boundary corresponding to the standard tool change. The control unit 900 enters the restricted observation state for the tool change channel. If the physical margin of the tool change channel is still higher than the physical margin boundary corresponding to the downgraded tool change, the control unit 900 enters the downgraded tool change permission state, reduces the spindle approach speed, restricts the tool changer arm entry phase, and extends the door opening time. If the physical margin of the tool change channel is lower than the physical margin boundary corresponding to the downgraded tool change, the control unit 900 enters the manual confirmation holding state or the safety lock state, and outputs prompts for door opening check, tool outline check, tool changer phase check, or tool magazine changer position 220 check.

[0095] Example 4: This example provides an adaptable structure for protective gate 400 with different motion forms. The floating seal detection, actual passage gap 330 confirmation, and knife change protection control of this application are not limited to the horizontal sliding protective gate 400, but can also be applied to lifting, flipping, or arc swinging protective gate 400.

[0096] In protective doors 400 with different movement patterns, the actual passage gap 330 is determined by the minimum non-interference distance between the fixed edge reference component 320 and the movable edge reference component 428 in the effective passage direction of the tool change window 310. The control unit 900 determines the actual passage gap 330 based on the opening, angle, or arc position of the protective door 400, combined with the assembly calibration data of the fixed edge reference component 320 and the movable edge reference component 428, after deducting the installation deviation of the two reference components, the door guide gap, and the zero-point deviation of the effective opening detection component 620. The installation deviation of the two reference components is calibrated through no-load opening and closing tests, reference component alignment tests, and tool change window 310 reference distance measurement tests, and then stored in the control unit 900.

[0097] In the transverse sliding protective door 400, the protective door 400 slides laterally along the knife change window 310. The effective opening detection element 620 is respectively set on the guide part on both sides of the door. The mechanical synchronous anti-deviation structure 610 is set on the upper or lower edge of the door. The actual passage gap 330 is determined by subtracting the installation deviation between the movable edge reference element 428 and the fixed edge reference element 320 from the transverse opening of the protective door 400.

[0098] In the lifting protective door 400, the protective door 400 is lifted and lowered in the vertical direction. The effective opening detection component 620 is set at the vertical guide rail. The power failure brake or spring locking component is used to prevent the door from sliding down when the power is off. The actual passage gap 330 is determined by subtracting the installation deviation between the movable edge reference component 428 and the fixed edge reference component 320 from the vertical opening of the protective door 400.

[0099] In the flip-type protective door 400, the protective door 400 flips around the hinge axis. The effective opening detection element 620 adopts an angle detection element. The control unit 900 determines the projected distance of the active edge reference element 428 relative to the fixed edge reference element 320 in the effective passage direction based on the flip angle of the protective door 400, the distance from the hinge axis to the active edge reference element 428, the current position of the active edge reference element 428, and the position of the fixed edge reference element 320. The result after deducting the installation deviation of the reference element from the projected distance is used as the actual passage gap 330.

[0100] In the arc-shaped swing-type protective door 400, the protective door 400 moves along the arc-shaped guide rail. The effective opening detection component 620 adopts the arc-shaped guide rail position detection component or angle detection component. The control unit 900 determines the minimum distance between the two reference components in the effective passage direction based on the arc-shaped guide rail radius, swing angle, position of the movable edge reference component 428 on the arc-shaped guide rail and position of the fixed edge reference component 320. The result after deducting the installation deviation of the reference component from the minimum distance is taken as the actual passage gap 330.

[0101] In all the aforementioned different motion modes, the floating seal detection edge 420 is located at the movable edge of the protective door 400 and cooperates with the fixed edge reference member 320 to form an actual passage gap 330. The door drive load, effective opening, rebound state of the floating seal detection edge 420, and contamination recovery state can all serve as the basis for judging tool change permission. Therefore, the replacement of the aforementioned door motion modes does not affect the technical effect of this application in reducing the risk of tool change interference through the combined state of the protective door 400 and the tool change channel.

[0102] It should be noted that the above embodiments are used to illustrate the composition, connection relationship, and working process of the CNC tool magazine structure of this application, and are not intended to limit the specific dimensions, materials, installation direction, or specific execution sequence of each component. All equivalent substitutions, improvements, or combinations made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A CNC tool magazine structure with a protective door, characterized in that, It includes the tool magazine body, protective cover, protective door, tool change channel acquisition component, and control unit; The protective cover is installed around the outside of the tool magazine body, and the protective cover is provided with a tool changing window; The protective door is movably mounted at the tool changing window. The protective door is provided with a floating sealing detection edge, which is used to generate a displacement that characterizes the pressing state of the door edge when the protective door is engaged with the tool changing window. The tool change channel acquisition component is used to acquire the actual passage gap at the tool change window, and to acquire the outline information and position status information for determining the sweep equivalent outline of the tool and tool holder under the tool change action trajectory. The control unit is connected to the protective door and the tool changing channel acquisition component respectively. The control unit is used to determine the sweeping equivalent outline based on the outline information and the position status information, determine the tool changing channel physical margin based on the remaining space after deducting the sweeping equivalent outline, the comprehensive positioning error margin and the safety margin from the actual passage gap, and allow or restrict the tool changing action based on the displacement and the tool changing channel physical margin.

2. The CNC tool magazine structure with a protective door as described in claim 1, characterized in that, The protective door includes a main door panel, a movable edge of the protective door, a reference component for the movable edge, and the floating sealing detection edge; The main door panel is movably connected to the protective cover; The movable edge of the protective door is located on the side of the main door panel near the tool changing window; The movable edge reference element is disposed at the movable edge of the protective door body; The floating sealing detection edge is located on the movable edge of the protective door and is positioned opposite to the fixed edge of the tool changing window.

3. The CNC tool magazine structure with a protective door as described in claim 2, characterized in that, The floating seal detection edge includes a pressure seat, a guide, an elastic reset component, a micro-displacement detection component, and a clamping detection component; The pressing seat is movably engaged with the main door panel via the guide member; The elastic reset member is disposed between the pressing seat and the main door panel; The micro-displacement detection element is disposed opposite to the pressure seat and is used to detect the displacement of the pressure seat relative to the main door panel; The clamping detection element is disposed opposite to the clamping seat and is used to detect the clamping state of the clamping seat.

4. The CNC tool magazine structure with a protective door as described in claim 3, characterized in that, The floating sealing detection edge also includes a sealing strip, a replaceable scraper, and a positioning slot; The positioning slot is disposed on the pressing seat; The sealing strip is installed in the positioning slot; The replaceable scraper is installed on the pressure seat, and along the closing direction of the protective door, the protruding end of the replaceable scraper is located in front of the protruding end of the sealing strip.

5. A CNC tool magazine structure with a protective door as described in claim 4, characterized in that, The floating sealed detection edge also includes a sealed detection chamber, a sealing ring, a labyrinth groove, a micro-positive pressure air path, and a micro exhaust port; The micro-displacement detection element and the clamping detection element are disposed inside the sealed detection cavity; The sealing ring is disposed at the engagement position of the sealed detection chamber; The labyrinth groove is located in the channel between the sealed detection chamber and the external environment; The micro-positive pressure air path is connected to the sealed detection chamber; The micro-vent is connected to the sealed detection chamber.

6. A CNC tool magazine structure with a protective door according to any one of claims 2 to 5, characterized in that, The tool changing window is provided with a fixed edge reference element at its fixed edge; The tool change channel acquisition component includes a channel clearance detection component, a tool outline acquisition component, a spindle position acquisition component, a tool changer arm phase acquisition component, and a tool magazine tool change position detection component; The channel gap detection component is used to obtain the actual passage gap based on the relative position of the fixed edge reference component and the movable edge reference component; The tool outline acquisition component is used to acquire the outline information of the tool and the tool holder; The spindle position acquisition device is used to acquire spindle position information; The tool changer phase acquisition device is used to acquire the tool changer phase information; The tool magazine tool change position detection device is used to obtain tool magazine tool change position information; The position status information includes the spindle position information, the tool changer phase information, and the tool magazine tool change position information.

7. A CNC tool magazine structure with a protective door according to any one of claims 1 to 6, characterized in that, It also includes door drive components and door guide components; The door drive assembly includes a drive component and a transmission component. The drive component is connected to the protective door through the transmission component and is used to drive the protective door to open, close, pre-open, or retract. The door guide assembly includes a guide rail, a slider or roller, a guide groove, a mechanical deviation limiting component, a hard limiting component, a safety input circuit, a mechanical synchronous anti-deviation structure, and an effective opening detection component; The door guide assembly is used to limit the movement path of the protective door; The effective opening detection device is used to detect the opening status of both sides of the protective door. The mechanical synchronization anti-deviation structure includes at least one of a synchronization shaft, a synchronization belt or rack linkage, a cross steel wire rope or a double-sided connecting rod.

8. A CNC tool magazine structure with a protective door as described in claim 7, characterized in that, It also includes pollution recovery components; The pollution recovery component includes a purge nozzle, an air supply and pressure regulation circuit, a chip and liquid discharge trough, a liquid discharge continuity detection device, a door seam pollution detection device, a guide rail chip accumulation detection device, and a chip scraping structure. The purge nozzle is positioned toward the tool changing window, the movable edge of the protective door, or the door guide assembly; The gas supply pressure regulating circuit includes a pressure regulating valve, a filter, a throttle valve, and a pressure detection device; The chip and liquid discharge tank includes an inclined bottom surface, a removable filter screen, and a low-point discharge port; The control unit is used to control the CNC tool magazine structure to enter the contamination recovery effectiveness confirmation state when the displacement characterizes abnormal springback, abnormal clamping, or chip clamping state, so that the contamination recovery component performs purging, chip and liquid discharge, or scraping actions, and redetermines the physical margin of the tool change channel after the contamination recovery component performs the actions.

9. A CNC tool magazine structure with a protective door according to any one of claims 1 to 8, characterized in that, The control unit includes an acquisition layer, a boundary generation layer, a state execution layer, a unified boundary parameter package, a low-level tool change state machine, an acquisition reliability level determination module, an event recording unit, a non-volatile memory, and a maintenance prompt unit. The acquisition layer is used to acquire the door opening, displacement of the floating seal detection edge, clamping status, drive load, actual passage gap, spindle position, tool changer phase, tool magazine tool change position, purging pressure, and drainage status. The boundary generation layer is used to form the unified boundary parameter package based on the data acquired by the acquisition layer; The state execution layer is used to control the actions of the protective door, the tool magazine body, or the contamination recovery component according to the unified boundary parameter package and the underlying tool changing state machine, or to output restriction commands to the external spindle system and tool changing arm system. The underlying tool change state machine includes a standard tool change permission state, a downgraded tool change permission state, a contamination recovery effectiveness confirmation state, and a safety lockout state. The data acquisition reliability level determination module is used to determine the data acquisition reliability level based on the data refresh status, numerical out-of-bounds status, redundancy signal consistency, and the matching status between the acquisition results and the action instructions. The event recording unit is used to write tool change event information into the non-volatile memory; The maintenance prompt unit is used to output maintenance prompts based on the tool change event information.

10. A CNC tool magazine structure with a protective door according to any one of claims 1 to 9, characterized in that, The protective door can be a horizontal sliding protective door, a lifting protective door, a flip-up protective door, or an arc-shaped swing protective door; The transverse protective door slides laterally along the blade changing window; The lifting protective door moves up and down vertically. The flip-type protective door flips around the hinge axis; The arc-shaped swing-type protective door moves along the arc-shaped guide rail; The control unit is used to determine the actual passage gap based on the movement pattern of the protective door and the relative positions of the movable edge of the protective door and the fixed edge of the knife-changing window.

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