Tool changing device and machining center

Abstract

The utility model relates to the field of machine tools, in particular to a tool changing device and a machining center, the tool changing device comprises a tool changing arm, a telescopic rod is arranged on the tool changing arm, and the telescopic rod is located on one side of an opening of a tool holder. In actual use, when a cutter enters from the opening of the cutter holder, the cutter pushes the telescopic rod to retract. After the cutter enters the cutter holder, the telescopic rod has a recovery trend of moving towards one side of the cutter due to the telescopic action of the telescopic rod, so that the telescopic rod is propped against the cutter, and the propping state plays a role in limiting the cutter, so that the cutter is more stably mounted in the cutter holder.

Description

Technical Field

[0001] The utility model relates to the field of machine tools, in particular to a tool changing device and a machining center. Background Art

[0002] The biggest difference between a machining center and an ordinary machine tool is that a machining center has the ability to automatically exchange machining tools. It achieves automated tool change by setting up a specific tool-changing robot to improve machining efficiency.

[0003] However, existing automatic tool changers for CNC machining centers suffer from instability and inreliability in tool clamping. For example, Chinese patent document CN117773632A discloses an automated tool changer with a tool support arm equipped with locking devices at opposite corners. The locking devices include an inner recess for mounting the tool, with a semi-arc support integrally formed inside the recess to fit within the annular inner groove surrounding the tool. Once the tool is inserted into the recess, the semi-arc support secures it in place.

[0004] The semi-arc support in this patent is provided in two sections with openings at both ends, through which the tool can be inserted into and out of the mounting recess. However, the tool is prone to slipping out of the opening or falling out of the recess.

[0005] Therefore, the existing technology still has deficiencies and needs to be improved. Utility Model Content

[0006] In order to solve the above problems, the purpose of the present invention is to provide a tool changing device and a machining center to solve the technical problem of unstable tool clamping of the tool changing device in the prior art.

[0007] The purpose of this utility model is achieved through the following technical solutions:

[0008] A first embodiment of the present invention provides a tool changing device, comprising: a tool changing arm, wherein a tool clamping structure for clamping a tool is provided at an end in a length direction of the tool changing arm, and a rotating structure for connecting to a machine tool body is further provided on the tool changing arm, wherein the rotating structure is located between the ends of the tool changing arm or at an end opposite to the end where the tool clamping structure is located;

[0009] The tool clamping structure includes a telescopic rod that can be extended and retracted along the length direction of the tool changing arm and a tool clamp with an arc-shaped opening. The telescopic rod is located on the side of the tool clamp with the opening and extends along the length direction of the tool changing arm to the opening position of the tool clamp. The protruding end of the telescopic rod cooperates with the tool clamp to clamp the tool.

[0010] In some embodiments, the telescopic rod includes a rod body and a first rotating member that can rotate relative to the tool. The rod body is telescopically arranged on the tool changing arm, the first rotating member is arranged at the end of the rod body, and the first rotating member at least partially blocks the opening of the tool clamp.

[0011] In some embodiments, the first rotating member includes a first rotating shaft and a first rotating body sleeved on the first rotating shaft. A first shaft hole is provided on the rod body, and the first rotating shaft is inserted into the first shaft hole.

[0012] In some embodiments, the first rotating body is a roller structure or a spherical structure; and / or,

[0013] A rod hole is provided at the end of the tool changing arm, and an elastic part is provided in the rod hole. The end of the rod body away from the first rotating body is inserted into the rod hole and connected to the elastic part. A limiting structure is provided between the tool changing arm and the rod body, and the limiting structure is used to limit the extension length of the rod body.

[0014] In some embodiments, the tool clamping structure further includes a second rotating member rotatable relative to the tool, the second rotating member is located on the inner side wall of the tool clamp, and at least a portion of the second rotating member protrudes from the inner side wall of the tool clamp.

[0015] In some embodiments, a rotating groove is provided on the inner side of the tool holder, and a plurality of second rotating members are spaced apart and arranged in the rotating groove;

[0016] The second rotating member includes a second rotating shaft and a second rotating body arranged on the second rotating shaft, wherein the second rotating shaft is perpendicular to the plane where the tool holder is located and is arranged in the rotating groove body;

[0017] The second rotating body is a cylindrical structure or a spherical structure.

[0018] In some embodiments, the tool holder includes a first pressure plate and a second pressure plate, the first pressure plate is provided with a first notch, the second pressure plate is provided with a second notch, the first pressure plate is detachably pressed on the second pressure plate, and the first notch and the second notch cooperate to form a rotating groove body.

[0019] In some embodiments, the first pressing plate is integrally provided with the tool changing arm; or,

[0020] The tool holder and the tool changing arm are not integrally arranged. The tool holder includes an opening end and a connecting end. The opening is located at the opening end, and the connecting end is detachably connected to the tool changing arm.

[0021] In some embodiments, tool clamping structures are provided at both ends of the tool changing arm in the length direction, the rotating structure is provided in the middle of the tool changing arm, and the tool clamps of the tool clamping structures at both ends of the tool changing arm have opening directions in opposite directions; and / or,

[0022] There are more than two tool changing devices, and the tool changing arms of the more than two tool changing devices are cross-arranged.

[0023] The second aspect of the present invention provides a machining center, including a machine tool body and a tool changing device of any one of the above items. The machine tool body includes a spindle, a tool magazine and a tool changing installation position. The tool changing device is arranged on the tool changing installation position and is used to install or remove tools on the spindle and the tool magazine.

[0024] The beneficial effects of the embodiments of the present invention include at least one aspect: a telescopic rod is provided on the tool change arm, located on one side of the tool holder opening. During use, when a tool enters the tool holder opening, the tool pushes the telescopic rod back. Once the tool is inside the tool holder, the telescopic rod's telescopic action causes it to move back toward the tool, causing it to abut against the tool. This abutment acts as a position limiter for the tool, ensuring a more stable fit within the tool holder. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 It is a structural schematic diagram of a tool changing device in some embodiments of the present utility model;

[0027] Figure 2 is another structural schematic diagram of the tool changing device in some embodiments of the present utility model;

[0028] Figure 3 It is a structural exploded view of the tool changing device in some embodiments of the present utility model;

[0029] Figure 4 is a top view of a tool changing device in some embodiments of the present invention;

[0030] Figure 5 is a schematic structural diagram of the second rotating member in some embodiments of the present utility model;

[0031] Figure 6 It is a structural schematic diagram of a cross-arranged tool changing device in some embodiments of the present invention.

[0032] The accompanying drawings are denoted as follows:

[0033] 1- Tool changing arm;

[0034] 2- knife clamping structure, 21- telescopic rod, 211- rod body, 212- first rotating member, 2121- first rotating shaft, 2122- first rotating body, 22- knife clamp, 221- rotating trough, 222- first pressing plate, 223- second pressing plate, 224- opening end, 225- connecting end;

[0035] 3- Rotational structure;

[0036] 4-rod hole;

[0037] 5-second rotating member, 51-second rotating shaft, 52-second rotating body;

[0038] 6- Knife. DETAILED DESCRIPTION

[0039] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0040] refer to Figure 1 and Figure 2 The first embodiment of the present invention provides a tool changing device. The tool changing device includes: a tool changing arm 1, wherein a tool clamping structure 2 for clamping a tool 6 is provided at the end of the tool changing arm 1 in the longitudinal direction; a rotating structure 3 for connecting to a machine tool is provided on the tool changing arm 1, and the rotating structure 3 is located between the ends of the tool changing arm 1 or at the end opposite to the end where the tool clamping structure 2 is located. It is not difficult to understand that the tool clamping structure 2 can be provided at both ends of the tool changing arm 1, and the rotating structure 3 is located in the area between the ends of the tool changing arm 1; the tool changing arm 1 can also be provided with the tool clamping structure 2 at only one end, and the rotating structure 3 at the other end.

[0041] During use, the rotating structure 3 is connected to the machine tool body, that is, the rotating structure 3 is mounted on the machine tool body. By rotating the tool change arm 1, the tools 6 located on both sides of the tool change arm 1 are exchanged. For example, a new tool 6 is clamped on one tool clamping structure 2, while an old tool 6 is removed from the other tool clamping structure 2. By rotating the tool change arm 1, the new tool 6 and the old tool 6 are swapped, so that the new tool 6 is installed on the spindle and the old tool 6 is returned to the tool magazine.

[0042] The tool clamping structure 2 includes a telescopic rod 21 that can be extended and retracted along the length direction of the tool changing arm 1 and a tool clamp 22 with an arc-shaped opening. The telescopic rod 21 is located on the side of the tool clamp 22 with an opening and extends along the length direction of the tool changing arm 1 to the opening position of the tool clamp 22. The telescopic rod 21 and the tool clamp 22 cooperate to clamp the tool 6.

[0043] A telescopic rod 21 is mounted on the tool changing arm 1 and is located on one side of the opening of the tool holder 22. In actual use, when the tool 6 enters the opening of the tool holder 22, the tool 6 pushes the telescopic rod 21 back. Once the tool 6 enters the space defined by the tool holder 22, the telescopic rod 21 has a tendency to move back toward the side where the tool 6 is located, allowing it to abut against the tool 6. This abutment acts as a position limiter for the tool 6, ensuring a more stable fit within the tool holder 22.

[0044] In some embodiments, the tool changing device includes two tool clamping structures 2, one for clamping a new tool 6 removed from the tool magazine, and the other for clamping an old tool 6 removed from the spindle. When using the tool changing device, the tool 6 is loaded into the tool holder 22 through its opening. During this process, the tool 6 pushes the telescopic rod 21 toward the tool changing arm 1. When the tool 6 enters the tool holder 22, the telescopic rod 21 exerts a force against the tool 6 due to its own telescopic action. The tool holder 22 cooperates with the telescopic rod 21 to more stably clamp the tool 6 in the tool holder 22.

[0045] In some embodiments, reference Figure 2 and Figure 3 The telescopic rod 21 includes a rod body 211 and a first rotating member 212 that can rotate relative to the tool 6. The rod body 211 is telescopically mounted on the tool changing arm 1. The first rotating member 212 is disposed at the end of the rod body 211. The first rotating member 212 at least partially blocks the opening of the tool holder 22. Specifically, when the tool 6 enters the tool holder 22, the tool 6 contacts the first rotating member 212, which abuts against the tool 6, forming a limited clamping effect on the tool 6. When the tool 6 pushes the first rotating member 212, rotational contact is generated between the tool 6 and the first rotating member 212, thereby reducing the scratching of the tool 6 by the first rotating member 212 and protecting the tool 6.

[0046] In some embodiments, reference Figure 2 and Figure 3 The first rotating member 212 includes a first rotating shaft 2121 and a first rotating body 2122 that rotates about the first rotating shaft 2121. A first axial hole is provided on the rod body 211. The axial hole on the first rotating body 2122 is coaxial with the first axial hole. The first rotating shaft 2121 is inserted into the axial hole and the first axial hole of the first rotating body 2122. When the tool 6 enters the tool holder 22 and contacts the first rotating body 2122, the thrust of the tool 6 on the first rotating body 2122 causes the first rotating body 2122 to rotate along the outer wall of the tool 6. When the rotating first rotating body 2122 contacts the tool 6, wear on the outer wall of the tool 6 is reduced.

[0047] Furthermore, the first rotating body 2122 can be configured as a roller structure, referring to Figure 3 , or it can be set as a spherical structure (not shown in the figure). When in use, the first rotating shaft 2121 passes through the roller structure or the spherical structure, so that the roller structure or the spherical structure rotates with the first rotating shaft 2121 as the axis.

[0048] In some embodiments, reference Figure 2 and Figure 3 The side end of the tool change arm 1 is provided with a rod hole 4, and an elastic member is provided in the rod hole 4. The end of the rod body 211 away from the first rotating member 212 is inserted into the rod hole 4 and connected to the elastic member. When the tool clamping structure 2 clamps the tool 6, the tool 6 contacts and pushes against the first rotating body 2122. This thrust causes the rod body 211 to compress the elastic member, causing the rod body 211 to move toward the rod hole 4. When the tool 6 enters the tool clamp 22, the elastic restoring force generated by the compression of the elastic member will react on the tool 6. This reaction force causes the telescopic rod 21 to press against the tool 6, so that the tool clamp 22 and the telescopic rod 21 cooperate to clamp the tool 6 in the tool clamp 22. The elastic member can be any existing elastic structure, such as a spring. A limiting structure is also provided between the tool change arm 1 and the rod body 211, which is used to limit the extension length of the rod body 211. For example, the rod body 211 is restricted from extending too far from the rod hole 4 , thereby affecting the installation of the tool 6 , or the rod body 211 is prevented from falling off from the rod hole 4 .

[0049] In some embodiments, reference Figure 2 and Figure 3 The tool clamping structure 2 further includes a second rotating member 5 located on the inner side wall of the tool clamp 22. The second rotating member 5 at least partially protrudes from the inner side wall of the tool clamp 22. Specifically, the tool clamp 22 is semicircular in shape, and the inner side wall of the semicircular shape is provided with the second rotating member 5. When projected from a top view of the tool changing arm 1 (see FIG. Figure 4 ), the second rotating member 5 protrudes from the inner sidewall of the semicircular arc, allowing the protruding portion of the second rotating member 5 to contact the cutting tool 6. The second rotating member 5 is rotatable relative to the cutting tool 6. When the cutting tool 6 is located within the tool holder 22, the second rotating member 5 and the cutting tool 6 are in contact, and the two can rotate relative to each other. For example, when the cutting tool 6 enters the tool holder 22 and rotates at a certain speed, the rotating cutting tool 6 drives the second rotating member 5 to rotate, and the two enter a relative rotation state, which has the effect of reducing friction and thereby reducing wear on the cutting tool 6.

[0050] In the tool changing device of a traditional machining center machine tool, tool changing often requires stopping the spindle first. After the spindle has completely stopped, the tool 6 that needs to be replaced is exchanged with the tool 6 on the spindle through the tool changing device to complete the tool changing action. For example, when a tool change is required, the spindle first brakes to stop the machining action and returns to the tool changing point. Then the tool magazine transports the required tool 6 to the bottom of the spindle for tool changing. This is the tool changing method that is more commonly used now. This solution will affect the efficiency of automatic tool changing of machine tools, especially in large-scale and short-cycle production. Stopping the spindle for tool changing will affect the efficiency of high-speed machining, and frequent braking of the spindle will also cause wear and tear on the equipment, thereby affecting the machining accuracy and service life of the equipment.

[0051] In the embodiment of the present application, the provision of the second rotating member 5 has the technical effect of allowing the tool 6 to be replaced without stopping the rotation of the main shaft. Specifically, the tool clamping structure 2 is moved to the position directly below the main shaft of the machine tool. When the tool 6 that is rotating on the main shaft is removed, the tool 6 first contacts the first rotating body 2122 on the telescopic rod 21. Since the first rotating body 2122 can rotate (such as the rotation of the roller structure), the first rotating body 2122 rotates with the main shaft, and the tool 6 pushes the telescopic rod 21 to retract. When the tool 6 enters the tool holder 22, since the second rotating member 5 can rotate, the second rotating member 5 can rotate with the tool 6. In this state, the tool 6 is clamped in the tool holder 22 for rotation, and then the tool is loosened while the main shaft keeps rotating, thereby completing the removal of the tool 6 from the main shaft while the main shaft is rotating.

[0052] In some embodiments, reference Figure 1 、 Figure 3 and Figure 4 A rotating groove 221 is provided on the inner side of the tool holder 22, and a plurality of second rotating members 5 are provided, and the plurality of second rotating members 5 are arranged at intervals in the rotating groove 221. The second rotating member 5 includes a second rotating shaft 51 and a second rotating body 52 provided on the second rotating shaft 51. The second rotating shaft 51 is provided in the rotating groove 221 perpendicular to the plane where the tool holder 22 is located, and the second rotating shaft 51 is vertically fastened in the rotating groove 221. Specifically, a plurality of spaced second rotating shafts 51 are provided in the rotating groove 221, and each second rotating shaft 51 passes through a second rotating body 52, so that spaced second rotating bodies 52 are formed in the rotating groove 221, and the second rotating body 52 can rotate with the second rotating shaft 51 as the axis. When the rotating tool 6 contacts the second rotating body 52, it drives the second rotating body 52 to rotate, so that the rotating tool 6 can be clamped in the tool holder 22.

[0053] Further, in some embodiments, reference Figure 3 and Figure 5The second rotating body 52 is a cylindrical structure or a spherical structure. Both cylindrical and spherical structures can rotate relative to the tool 6. The spherical structure and the tool 6 are in point contact, while the cylindrical structure and the tool 6 are in line contact. Line contact has a larger contact surface than point contact. Therefore, it is preferred that the second rotating body 52 is a cylindrical structure.

[0054] In some embodiments, reference Figures 1 to 3 The tool holder 22 includes a first pressing plate 222 and a second pressing plate 223. The first pressing plate 222 is provided with a first notch, which is located on the inner side of the tool holder 22. The second pressing plate 223 is provided with a second notch, which is located on the inner side of the tool holder 22. The first pressing plate 222 is detachably pressed onto the second pressing plate 223, so that the first notch and the second notch cooperate to form a rotating groove 221. The second rotating body 52 is located in the rotating groove 221, and a portion of the second rotating body 52 protrudes from the rotating groove 221. From the top view projection of the tool changing structure, see Figure 4 The second rotating body 52 protrudes from the inner side of the tool holder 22 toward the opening side of the tool holder 22 , so that the protruding portion of the second rotating body 52 can contact the tool 6 .

[0055] Further, in some embodiments, reference Figure 2 and Figure 3 , the first pressure plate 222 is integrally provided with the tool change arm 1, and the second pressure plate 223 is detachably pressed and installed on the first pressure plate 222. Specifically, the first pressure plate 222 is integrally provided with the tool change arm 1, and a groove is provided at the connection between the first pressure plate 222 and the tool change arm 1. The thickness of the first pressure plate 222 is less than the thickness of the tool change arm 1. The second pressure plate 223 is pressed onto the first pressure plate 222, and the side of the second pressure plate 223 away from the tool holder 22 is embedded in the groove at the connection between the first pressure plate 222 and the tool change arm 1, and the groove plays a positioning role for the second pressure plate 223. When the second pressure plate 223 is pressed onto the first pressure plate 222, the thickness of the combination of the first pressure plate 222 and the second pressure plate 223 is roughly equal to that of the tool change arm 1, that is, the second pressure plate 223 and the upper surface of the tool change arm 1 (here with Figure 2 The first and second pressing plates 222 and 223 are approximately flush with each other (with the direction as a reference). At least one fastening structure (such as a fastening screw) is provided on the side of the second pressing plate 223 near the tool changing arm 1. The fastening structure is inserted from the second pressing plate 223 into the first pressing plate 222, thereby fixing the first and second pressing plates 222 and 223. Optionally, three screws are provided for fixing.

[0056] Furthermore, in some other embodiments, referring to Figure 2 、 Figure 3 and Figure 4The tool holder 22 and the tool change arm 1 can be separated into a single piece. The tool holder 22 includes an open end 224 and a connecting end 225. The opening of the tool holder 22 is located at the open end 224, and the connecting end 225 is detachably connected to the tool change arm 1. In this design, the entire tool holder 22 and the tool change arm 1 are detachably arranged. The first pressing plate 222 and the second pressing plate 223 are assembled. One end of the tool holder 22 is the open end 224 with an opening, and the other end of the tool holder 22 is the connecting end 225. The tool holder 22 is detachably connected to the tool change arm 1 via the connecting end 225.

[0057] Furthermore, the connection method of the tool holder 22 and the tool change arm 1 can be specifically as follows: a connection groove is provided on the side of the tool change arm 1 for mounting the tool holder 22. After the first pressing plate 222 and the second pressing plate 223 are assembled, the connection end 225 of the tool holder 22 is inserted into the connection groove, so that the tool change arm 1 (herein Figure 2 The tool holder 22 is inserted into the connection end 225 through the fastening structure (with the direction as a reference), thereby fixing the tool holder 22 in the connection groove. It should be noted that there are many ways to connect the connection end 225 of the tool holder 22 to the tool change arm 1. The tool change device of the embodiment of the present application can use any existing technology to connect the connection end 225 to the tool change arm 1.

[0058] In some embodiments, reference Figure 2 、 Figure 4 and Figure 6 , tool clamping structures 2 are provided at both ends of the tool changing arm 1 in the length direction, and a rotating structure 3 is provided in the middle of the tool changing arm 1. The opening directions of the tool clamps 22 of the two tool clamping structures 2 are opposite. This arrangement facilitates the replacement of the new tool 6 of the tool changing device and the old tool 6 removed from the spindle. For example, one side of the tool changing device takes the new tool 6 from the tool magazine, and the other side of the tool changing device takes the old tool 6 from the spindle. The openings of the tool clamps 22 where the new tool 6 and the old tool 6 are located are opposite. When the tool changing arm 1 is turned, the new tool 6 is located below the spindle, and the old tool 6 is located at the tool magazine. For the tool magazine side, the opening direction of the tool clamp 22 after the tool changing arm 1 is turned is the same as the opening direction of the tool clamp 22 before the tool changing arm 1 is turned; for the spindle side, the opening direction of the tool clamp 22 after the tool changing arm 1 is turned is also the same as the opening direction of the tool clamp 22 before the tool changing arm 1 is turned, which facilitates the removal and installation of the tool 6.

[0059] Further, in some embodiments, reference Figure 2 and Figure 6, the tool changing device is provided with more than two, and the tool changing arms 1 of the more than two tool changing devices are cross-arranged. The meaning of "more than two" includes two and more than two situations. Specifically, through the cross-arrangement of the tool changing arms 1, the entire tool changing structure has multiple tool clamping structures 2, and the two tool clamping structures 2 on each tool changing arm 1 form a group. When a tool clamping structure 2 is damaged, another group of tool clamping structures 2 can be used to improve work efficiency. Preferably, two groups of tool clamping structures 2 are arranged, that is, the two tool changing arms 1 are cross-arranged, and a group of tool clamping structures 2 is provided on each tool changing arm 1.

[0060] refer to Figure 1 and Figure 2 Another embodiment of the present invention further provides a machining center, which includes a machine tool body and any one of the above-mentioned tool changing devices. The machine tool body includes a spindle, a tool magazine and a tool changing installation position. The tool changing device is arranged on the tool changing installation position and is used to install or remove tools on the spindle and the tool magazine.

[0061] For example, the tool clamping mechanism 2 on one side of the tool changer takes a tool from the tool magazine, while the tool clamping mechanism 2 on the other side takes a tool from the spindle. The tool changer arm 1 rotates by the rotating mechanism 3, thereby reversing the directions of the two tool clamping mechanisms 2, and the tool removed from the tool magazine is installed on the spindle, and the tool removed from the spindle is placed in the tool magazine, completing the tool change.

[0062] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A tool changing device, characterized in that: include: A tool changing arm (1), wherein a tool clamping structure (2) for clamping a tool (6) is provided at an end portion in a longitudinal direction of the tool changing arm (1), and a rotating structure (3) for connecting to a machine tool body is further provided on the tool changing arm (1), wherein the rotating structure (3) is located between the ends of the tool changing arm (1) or at an end opposite to the end where the tool clamping structure is located; The tool clamping structure (2) comprises a telescopic rod (21) that can be telescoped along the length direction of the tool changing arm (1) and a tool clamp (22) having an arc-shaped opening. The telescopic rod (21) is located on a side of the tool clamp (22) having an opening and extends along the length direction of the tool changing arm (1) to the opening position of the tool clamp (22). The protruding end of the telescopic rod (21) cooperates with the tool clamp (22) to clamp the tool (6).

2. The tool changing device according to claim 1, characterized in that: The telescopic rod (21) comprises a rod body (211) and a first rotating member (212) that can rotate relative to the tool (6); the rod body (211) is telescopically arranged on the tool changing arm (1); the first rotating member (212) is arranged at the end of the rod body (211); and the first rotating member (212) at least partially covers the opening of the tool holder (22).

3. The tool changing device according to claim 2, characterized in that: The first rotating member (212) comprises a first rotating shaft (2121) and a first rotating body (2122) sleeved on the first rotating shaft (2121); a first shaft hole is provided on the rod body (211); and the first rotating shaft (2121) is inserted into the first shaft hole.

4. The tool changing device according to claim 3, characterized in that: The first rotating body (2122) is a roller structure or a spherical structure; and / or, A rod hole (4) is provided at the end of the tool changing arm (1), an elastic member is provided in the rod hole (4), an end of the rod body (211) away from the first rotating body (2122) is inserted into the rod hole (4) and connected to the elastic member, and a limiting structure is provided between the tool changing arm (1) and the rod body (211), and the limiting structure is used to limit the extension length of the rod body (211).

5. The tool changing device according to any one of claims 1 to 4, characterized in that: The tool clamping structure (2) also includes a second rotating member (5) that can rotate relative to the tool (6), the second rotating member (5) is located on the inner wall of the tool clamp (22), and at least part of the second rotating member (5) protrudes from the inner wall of the tool clamp (22).

6. The tool changing device according to claim 5, characterized in that: A rotating groove (221) is provided on the inner side of the tool holder (22), and a plurality of the second rotating members (5) are arranged at intervals in the rotating groove (221); The second rotating member (5) includes a second rotating shaft (51) and a second rotating body (52) arranged on the second rotating shaft (51), and the second rotating shaft (51) is arranged in the rotating groove (221) perpendicular to the plane where the tool holder (22) is located; The second rotating body (52) is a cylindrical structure or a spherical structure.

7. The tool changing device according to claim 6, characterized in that: The tool holder (22) includes a first pressure plate (222) and a second pressure plate (223), the first pressure plate (222) is provided with a first notch, the second pressure plate (223) is provided with a second notch, the first pressure plate (222) is detachably pressed onto the second pressure plate (223), and the first notch and the second notch cooperate to form the rotating groove body (221).

8. The tool changing device according to claim 7, characterized in that: The first pressing plate (222) is integrally provided with the tool changing arm (1); or, The tool holder (22) is not integrally formed with the tool change arm (1), and the tool holder (22) includes an opening end (224) and a connecting end (225), wherein the opening is located at the opening end (224), and the connecting end (225) is detachably connected to the tool change arm (1).

9. The tool changing device according to any one of claims 1 to 4, characterized in that: The tool clamping structure (2) is provided at both ends of the tool changing arm (1) in the longitudinal direction, the rotating structure (3) is provided in the middle of the tool changing arm (1), and the opening directions of the tool clamps (22) of the tool clamping structures (2) at both ends of the tool changing arm (1) are opposite; and / or, The tool changing devices are provided in a plurality of ways, and the tool changing arms (1) of the two or more tool changing devices are arranged in a cross-like manner.

10. A machining center, characterized in that: It comprises a machine tool body and a tool changing device according to any one of claims 1 to 9, wherein the machine tool body comprises a spindle, a tool magazine and a tool changing installation position, and the tool changing device is arranged on the tool changing installation position and is used to install or remove tools on the spindle and the tool magazine.

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