Tool changer for machine tool, machine tool, and tool change method for machine tool

Abstract

The present invention discloses a tool changing device for a machine tool, a machine tool, and a tool changing method for the machine tool, the tool changing device for the machine tool including a manipulator, a manipulator mounting arm, a manipulator mounting base, a manipulator rotation drive mechanism, a manipulator swing drive mechanism, and a manipulator horizontal movement drive mechanism, the manipulator being mounted on the manipulator mounting arm, the manipulator rotation drive mechanism being mounted on the manipulator mounting arm for driving the manipulator to rotate about a horizontal axis, the manipulator mounting arm being mounted on the manipulator mounting base, the manipulator swing drive mechanism being mounted on the manipulator mounting base for driving the manipulator mounting arm to swing along the horizontal axis, and the manipulator horizontal movement drive mechanism being further mounted on the manipulator mounting base for driving the manipulator mounting base to move horizontally to move the manipulator closer to or away from the machine tool working spindle. The tool changing device for the machine tool disclosed in the present invention has advantages such as a simple structure, a short tool changing time, and the ability to improve the machining efficiency of the machine tool.

Description

[Technical Field]

[0001] The present invention relates to the field of machine tool technology, and more particularly to a tool changer for a machine tool, a machine tool, and a tool change method for a machine tool. [Background technology]

[0002] In conventional machine tool tool changes, tool changes are performed at fixed tool change points on both sides of the machine tool. That is, when the machine tool's processing spindle completes a single tool change on the processing machine, the machine tool's processing spindle is moved to a fixed tool change area, and a manipulator is used to perform the tool change operation on the machine tool's processing spindle and tool magazine. After the tool change is completed, the machine tool's processing spindle must be moved back to the processing area to process the workpiece. For machine tools with short strokes, the time required to move the machine tool's processing spindle to the tool change point and perform the tool change is relatively short, and the impact on processing efficiency is small. However, for machine tools with long strokes, especially those with strokes exceeding 3 meters, moving the machine tool from the processing area (especially when the processing area is located at the end farthest from the tool magazine) to the tool change area to perform the tool change, and then moving it back to the processing area takes a long time to change the tool, which significantly reduces the processing efficiency of parts that require frequent tool changes. Summary of the Invention

[0003] SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a tool changer for a machine tool.

[0004] The technical solutions adopted by the present invention are as follows:

[0005] A tool changer for a machine tool, comprising: a manipulator, a manipulator mounting arm, a manipulator mounting base, a manipulator rotation drive mechanism, a manipulator swing drive mechanism, and a manipulator horizontal movement drive mechanism; The manipulator is mounted on the manipulator mounting arm, and the manipulator rotation drive mechanism is mounted on the manipulator mounting arm for driving the manipulator to rotate about a horizontal axis, the manipulator mounting arm is mounted on the manipulator mounting base, and a manipulator swing drive mechanism is mounted on the manipulator mounting base for driving the manipulator mounting arm to swing about a horizontal axis, and a manipulator horizontal movement drive mechanism is further mounted on the manipulator mounting base for driving the manipulator mounting base to move horizontally, thereby moving the manipulator closer to or away from a machine tool working spindle.

[0006] Furthermore, the manipulator horizontal movement drive mechanism includes a guide rail slider, a rack, a gear, and a first drive motor; The guide rail slider is attached to the manipulator mounting base and connected to a guide rail installed on the machine tool bed, the first drive motor is attached to the manipulator mounting base, and the gear is connected to the first drive motor, and the gear meshes with a rack installed on the machine tool bed.

[0007] Furthermore, the manipulator mounting base includes a guide rail slider mounting portion, a first drive motor mounting portion, and a manipulator mounting arm mounting portion, The guide rail slider is attached to the guide rail slider mounting portion, the first drive motor is attached to the first drive motor mounting portion, the upper part of one end of the guide rail slider mounting portion is the manipulator mounting arm mounting portion, and the manipulator mounting arm is hingedly connected to the manipulator mounting arm mounting portion.

[0008] Furthermore, the manipulator mounting arm is hingedly connected to the manipulator mounting base, and the manipulator swing drive mechanism is a linear drive device, one end of which is hingedly connected to the manipulator mounting arm or the manipulator mounting base, and the other end of which is fixedly connected to the manipulator mounting base or the manipulator mounting arm.

[0009] Furthermore, the manipulator includes a main tool change claw, a main clamp claw, and a main clamp claw drive mechanism, the main tool change claw is provided with a shank locking groove, the main clamp claw drive mechanism is installed at one end of the locking opening of the shank locking groove of the main tool change claw, the main clamp claw is fixed to the main clamp claw drive mechanism, and the main clamp claw drive mechanism can drive the main clamp claw to move it to one side of the shank locking groove, thereby clamping or unclamping a shank placed in the shank locking groove.

[0010] Furthermore, the manipulator rotation drive mechanism is a second drive motor.

[0011] Furthermore, a stroke switch is further attached to the manipulator mounting base.

[0012] A machine tool including a machine tool bed, a machine tool working spindle, a tool magazine and a tool changer for the machine tool disclosed in the present invention, The machine tool working spindle is attached to the machine tool bed, the tool magazine is provided at one end of the machine tool bed, the tool changer of the machine tool is attached to the machine tool bed, and the manipulator horizontal movement drive mechanism can drive the tool changer of the machine tool to move horizontally on the machine tool bed, thereby moving the manipulator closer to or away from the machine tool working spindle.

[0013] Furthermore, the guide rail connected to the guide rail slider of the manipulator horizontal movement drive mechanism is the same guide rail as the guide rail along which the machine tool processing spindle moves horizontally.

[0014] A tool changing method for a machine tool used in the machine tool disclosed in the present invention, comprising: When the machine tool machining spindle processes the workpiece, the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the bed where the tool magazine is provided, and separates the tool changer of the machine tool from the machining area of ​​the machine tool; When the machine tool spindle needs to change the tool, the machine tool spindle stops processing, and the manipulator rotation drive mechanism drives the manipulator to rotate around the horizontal axis to pick up the corresponding tool in the tool magazine, and then the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move along the guide rail along which the machine tool spindle moves horizontally, and moves the manipulator horizontally to the position of the machine tool spindle; a manipulator swing drive mechanism driving the manipulator mounting arm to swing about a horizontal axis toward the machine tool working spindle, thereby causing the manipulator and the machine tool working spindle to correspond in position; Driving the manipulator by the manipulator rotary drive mechanism to rotate about a horizontal axis to realize switching between a tool on the manipulator and a tool on the machine tool working spindle; After the manipulator and the tool of the machine tool working spindle have been switched, the manipulator swing drive mechanism drives the manipulator mounting arm to swing it around the horizontal axis away from the machine tool working spindle, and the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the machine tool bed to which the tool magazine is attached, thereby separating the manipulator from the working area of ​​the machine tool working spindle.

[0015] Compared with the prior art, the beneficial effects of the tool changer of a machine tool disclosed in the present invention are as follows: The tool changer of a machine tool disclosed in the present invention is provided with a manipulator horizontal movement drive mechanism, and the tool changer of a machine tool is installed on a guide rail coaxial with the machine tool slide table, so that the manipulator horizontal movement drive mechanism can drive the manipulator to move horizontally along the machine tool bed, thereby realizing rapid tool change, improving the tool change speed and the machining efficiency of the machine tool. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a front view of a tool changer of a machine tool disclosed in the present invention. [Figure 2] FIG. 2 is a rear view of the tool changer of the machine tool disclosed in the present invention. [Figure 3] FIG. 1 is a left side view of a tool changer of a machine tool disclosed in the present invention. [Figure 4] 1 is a perspective view of a tool changer of a machine tool disclosed in the present invention; [Figure 5] 1 is a structural diagram of a machine tool disclosed in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Example 1 1 to 4 show a tool changer for a machine tool disclosed in the present invention, which includes a manipulator 1, a manipulator mounting arm 2, a manipulator mounting base 3, a manipulator rotation drive mechanism 4, a manipulator swing drive mechanism 5, and a manipulator horizontal movement drive mechanism 6. The manipulator 1 is attached to the manipulator mounting arm 2, and the manipulator rotation drive mechanism 4 is attached to the manipulator mounting arm 2 for driving the manipulator 1 to rotate about a horizontal axis, the manipulator mounting arm 2 is attached to the manipulator mounting base 3, and the manipulator swing drive mechanism 5 is attached to the manipulator mounting base 3 for driving the manipulator mounting arm 2 to swing about a horizontal axis, and the manipulator mounting base 3 is further attached to the manipulator horizontal movement drive mechanism 6 for driving the manipulator mounting base 3 to move the manipulator 1 towards or away from a machine tool working spindle.

[0018]

[0033] Specifically, as shown in Figure 4, the manipulator mounting base 3 includes a guide rail slider mounting portion 30, a first drive motor mounting portion 31, and a manipulator mounting arm mounting portion 32. In this embodiment, the guide rail slider mounting portion 30 is a metal plate structure, and the first drive motor mounting portion 31 is installed on one side of the guide rail mounting portion 30, and the two are installed at a certain angle to each other. In this embodiment, the guide rail slider mounting portion 30 is installed perpendicular to the first drive motor mounting portion 31, and extends outward from an upper portion of one end of the guide rail slider mounting portion 30 to form the manipulator mounting arm mounting portion 32. Preferably, the guide rail slider mounting portion 30, the first drive motor mounting portion 31, and the manipulator mounting arm mounting portion 32 are an integrally cast structure, and the manipulator mounting base 3 is further provided with structures such as reinforcing ribs and weight-reducing holes to improve its strength and reduce its weight.

[0019] The manipulator horizontal movement drive mechanism 6 is attached to the manipulator mounting base 3, and as shown in FIGS. 1 and 2, the manipulator horizontal movement drive mechanism 6 includes a guide rail slider 60, a rack 61, a gear 62, and a first drive motor 63, The guide rail slider 60 is mounted on the manipulator mounting base 3 and connected to a guide rail 80 installed on the machine tool bed 81, the first drive motor 63 is mounted on the manipulator mounting base 3, and the gear 62 is connected to the first drive motor 63, and the gear 62 meshes with a rack 61 installed on the machine tool bed 81, and in this embodiment, a servo motor is used as the first drive motor.

[0020] Specifically, the guide rail slider 60 is attached to the bottom surface of the guide rail slider attachment portion 30. In this embodiment, there are a plurality of guide rail sliders 60, and the guide rail sliders 60 are connected to guide rails 80 installed on the machine tool bed 81. Preferably, the guide rail attached to the guide rail slider 60 is the same guide rail as the guide rail for realizing horizontal movement of the machine tool working spindle. That is, the tool changer of the machine tool is attached to the machine tool slide table (the machine tool working spindle is attached to the guide rail on the machine tool bed via the machine tool slide table). and the manipulator mounting base 60 share the same horizontal guide rail, and a first drive motor 63 is attached to the first drive motor mounting part 31 and connected to a gear 62 via a reducer. In this embodiment, the first drive motor 63, the reducer, and the gear 62 are located in the space below the guide rail slider 60, and the gear 62 engages with a rack 61 installed on the machine tool bed 81. The rack is installed parallel to the guide rail on the machine tool bed, and the first drive motor 63 drives and rotates the gear 62 via a reducer, which engages with the rack, thereby driving the manipulator mounting base to move horizontally back and forth on the guide rail of the machine tool bed. The upper part of one end of the manipulator mounting base is the manipulator mounting arm mounting part 32, and the manipulator mounting arm 2 is hingedly connected to the manipulator mounting arm mounting part 32. A manipulator is mounted on the manipulator mounting arm, and horizontal movement of the manipulator mounting base can drive the manipulator to move closer to or away from the machine tool processing spindle.

[0021] As shown in FIG. 4, the manipulator mounting arm 2 includes a mounting arm hinge connection portion 21, a first mounting arm link portion 22, a second mounting arm link portion 23, a third mounting arm link portion 24, a fourth mounting arm link portion 25, and a manipulator rotation drive mechanism mounting portion 26. A fixed shaft 33 is attached to the manipulator mounting arm mounting portion 32. The mounting arm hinge connection portion 21 is attached to the fixed shaft 33 via a bearing. The first mounting arm link portion 22 is provided at the mounting arm hinge connection portion 21. The second mounting arm link portion 23 is provided at the other end of the first mounting arm link portion 22. The first mounting arm link portion 22 forms a certain angle with the second mounting arm link portion 23, and the axis of the fixed shaft 33 is perpendicular to the plane formed by the first mounting arm link portion 22 and the second mounting arm link portion 23. The third mounting arm link portion 24 is provided at the other end of the second mounting arm link portion 23. The third mounting arm link section 24 is installed in a direction parallel to the axial direction of the fixed shaft 33, and a fourth mounting arm link section 25 is provided at the other end of the third mounting arm link section 24. The fourth mounting arm link section 25 is parallel to the plane formed by the first mounting arm link section 22 and the second mounting arm link section 23, and the other end of the fourth mounting arm link section 25 is a manipulator rotation drive mechanism mounting section 26. The manipulator mounting arm 2 may be formed by assembling multiple link structures, or may be an integrally machined structure. In this embodiment, all of the mounting arm link sections are housing structures with internal cavities, which make it easy to arrange various electrical or hydraulic lines, etc. At the same time, a manipulator mounting arm with this structure will eliminate motion interference with the tool magazine or machine tool processing spindle during the operation of the machine tool tool changer.

[0022] The manipulator mounting arm 2 is attached to a fixed axis 33 on the manipulator mounting base 3 via a bearing, and the manipulator swing drive mechanism 5 is a linear drive device, one end of which is hingedly connected to the manipulator mounting arm 2 or the manipulator mounting base 3, and the other end of which is fixedly connected to the manipulator mounting base 3 or the manipulator mounting arm 2. Specifically, in this embodiment, the linear drive device is a hydraulic cylinder, one end of a piston rod of which is hingedly connected to the manipulator mounting base 3. In the figure, one end of the piston rod of the hydraulic cylinder is hingedly connected to the upper edge of the manipulator mounting arm mounting part, and one end of the cylinder body of the hydraulic cylinder is fixedly connected to the manipulator mounting arm via a hydraulic cylinder fixing frame. The movement of the piston rod of the hydraulic cylinder can drive the manipulator mounting arm to swing around a fixed axis (axis BB in FIG. 4).

[0023] The free end of the fourth mounting arm link portion 25 is a manipulator rotation drive mechanism mounting portion 26, and a second drive motor mounting cavity 27 is provided in the manipulator rotation drive mechanism mounting portion 26. A second drive motor is mounted in the second drive motor mounting cavity, and the second drive motor is connected to the manipulator via a reducer and is used to drive the manipulator to rotate around the central axis (AA in Figure 3). In this embodiment, the reducer is an RV reducer, and the second drive motor is a servo motor.

[0024] The manipulator 1 includes a main tool change jaw 10, a main clamp jaw 11, and a main clamp jaw drive mechanism 12. The main tool change jaw 10 is provided with a shank locking groove 13. The main clamp jaw drive mechanism 12 is installed at one end of the locking opening of the shank locking groove 13 of the main tool change jaw 10. The main clamp jaw 11 is fixed to the main clamp jaw drive mechanism 12. The main clamp jaw drive mechanism 12 can drive the main clamp jaw 11 to move it to one side of the shank locking groove 13, thereby locking the shank placed in the shank locking groove 13. Specifically, a hydraulic cavity is provided at one end of the locking port of the main tool change jaw, which is close to the shank locking groove, and the hydraulic cavity is connected to a hydraulic pump unit via a pipe. The main clamping jaw has a metal plate structure and is disposed in the hydraulic cavity via a stroke limiting pin. The high-pressure liquid of the hydraulic pump unit can drive the main clamping jaw to move within the hydraulic cavity, thereby clamping or unclamping the shank disposed in the shank locking groove 13.

[0025] Furthermore, a stroke switch 7 is further mounted on the manipulator mounting base 3, which serves to control and detect the position of the tool changer of the machine tool. Specifically, by installing the stroke switch, the current position of the manipulator can be obtained in real time, and the manipulator can be controlled to accelerate / decelerate or perform uniform motion, so that the manipulator can be accurately moved to the current position of the machine tool working spindle, thereby realizing tool change of the machine tool working spindle.

[0026] In the tool change device of the machine tool disclosed in the present invention, the tool change manipulator and the machine tool slide table 85 share one guide rail, so that the tool change manipulator can be moved horizontally easily and quickly along the machine tool bed, and is used to change tools for the machine tool working spindle. When changing tools for the machine tool working spindle in the tool change device of the machine tool disclosed in the present invention, there is no need to move the machine tool working spindle (machine tool slide table) horizontally to the tool change area on the machine tool bed or to the working area, and the machine tool working spindle can move horizontally along the machine tool working area. Therefore, tool changes can be performed at any position on the workpiece after the tool change, eliminating the need for the machine tool spindle (machine tool slide table) to perform an idle stroke movement, significantly shortening the tool change time and improving machining efficiency. At the same time, tool changes on the machine tool spindle do not require the machine tool slide table to move back and forth, reducing wear on the guide rails and slide table and improving the service life of the machine tool. Furthermore, the machine tool tool changer is light in weight, which is convenient for control and high-speed operation, further improving tool change efficiency.

[0027] Example 2 FIG. 5 shows a machine tool according to the present invention, including a machine tool bed 81, a machine tool working spindle 82, a tool magazine 83 and a tool changer for the machine tool according to the present invention; The machine tool working spindle 82 is attached to the machine tool bed 81, the tool magazine 83 is provided at one end of the machine tool bed 81, the tool changer of the machine tool is attached to the machine tool bed 81, and the manipulator horizontal movement drive mechanism 6 can drive the tool changer of the machine tool to move horizontally on the machine tool bed 81, thereby moving the manipulator 1 closer to or away from the machine tool working spindle 82.

[0028] Specifically, the machine tool machining spindle device is installed on a guide rail arranged horizontally along the bed, and can move horizontally along the guide rail to machine a workpiece. A tool magazine is installed at one end of the machine tool bed. In this embodiment, the tool magazine is a disk-type tool magazine. A truss 84 is installed between the machine tool bed and the tool magazine. The truss is provided with an extension guide rail that abuts against the horizontal guide rail on the machine tool bed. The tool changer of the machine tool can move horizontally on the horizontal guide rail or the extension guide rail on the machine tool bed. That is, the guide rail slider of the tool changer of the machine tool is attached to the guide rail, and the truss 84 is installed, thereby reducing the length of the machine tool bed, saving material for the machine tool bed, and reducing the manufacturing costs of the machine tool.

[0029] Furthermore, the guide rail 80 connected to the guide rail slider 60 of the manipulator horizontal movement drive mechanism 6 is the same guide rail as the guide rail along which the machine tool processing spindle 82 moves horizontally, thereby further simplifying the structure and facilitating installation and adjustment.

[0030] Example 3 A tool changing method for a machine tool used in the machine tool disclosed in the present invention, comprising: When the machine tool machining spindle processes a workpiece, the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the bed where the tool magazine is installed, and separates the tool changer of the machine tool from the machining area of ​​the machine tool; Specifically, before the machine tool machining spindle processes the workpiece, the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the bed where the tool magazine is provided, and moves the tool changer of the machine tool away from the machine tool machining area, and then the machine tool processes the workpiece; When the machine tool spindle needs to change the tool, the machine tool spindle stops processing, and the manipulator rotation drive mechanism drives the manipulator to rotate around the horizontal axis and pick up the corresponding tool in the tool magazine; then the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move along the guide rail along which the machine tool spindle moves horizontally, and moves the manipulator horizontally to the position of the machine tool spindle; Specifically, when the machine tool processing spindle needs to change tools, the machine tool processing spindle stops processing, and the numerical control system adjusts the attitude of the processing spindle to make the tool on the processing spindle parallel to the machine tool bed. The manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis toward the tool magazine, and then the manipulator rotation drive mechanism (second drive motor) drives the manipulator to rotate 180°, so that the manipulator can easily grasp the corresponding tool in the tool magazine. When the manipulator and the tool magazine perform tool changes, the manipulator is rotated by 180°, and the manipulator horizontal movement drive mechanism drives the manipulator to move horizontally. Rotating the manipulator allows the manipulator to grasp the tool and the manipulator horizontal movement drive mechanism drives the manipulator to move horizontally, which is used to realize the manipulator extracting a tool from the tool magazine or inserting a tool into the tool magazine; after the manipulator grasps the tool, the manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis to the side away from the tool magazine to the initial position of the manipulator; then the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move along the guide rail on which the machine tool working spindle moves horizontally, so that the manipulator moves horizontally to the position where the machine tool working spindle is located, and at this time the manipulator and the machine tool working spindle are at corresponding positions in the horizontal direction; the manipulator swing drive mechanism drives the manipulator mounting arm to swing about the horizontal axis toward the machine tool working spindle, thereby corresponding the positions of the manipulator and the machine tool working spindle; Specifically, after the manipulator moves horizontally to a position where the machine tool processing spindle is located, the manipulator swing drive mechanism drives the manipulator mounting arm to swing it around the horizontal axis toward the machine tool processing spindle, thereby making the manipulator correspond to the position of the machine tool processing spindle in the vertical space; then the manipulator rotation drive mechanism drives the manipulator to rotate, and switches the tool on the manipulator with the tool on the machine tool processing spindle; tool exchange between the manipulator and the processing spindle involves rotating the manipulator and driving the manipulator horizontal movement drive mechanism to move the manipulator horizontally (in the direction shown by the CC arrow in FIG. 5 ); the rotation of the manipulator is used to realize the manipulator gripping and unclamping of the tool, and the manipulator horizontal movement drive mechanism drives the manipulator to move horizontally is used to realize the manipulator pulling out the tool from the machine tool processing spindle or inserting the tool into the machine tool processing spindle; After the tools of the manipulator and the machine tool working spindle are switched, the manipulator swing drive mechanism drives the manipulator mounting arm to swing it around the horizontal axis to a side away from the machine tool working spindle, and the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the machine tool bed where the tool magazine is attached, thereby separating the manipulator from the working area of ​​the machine tool working spindle; Specifically, after the tools of the manipulator and the machine tool working spindle are switched, the manipulator swing drive mechanism drives the manipulator mounting arm to swing it around the horizontal axis away from the machine tool working spindle, i.e., moves the manipulator to a corresponding position in vertical space, thereby avoiding motion interference with the machine tool or other members when the manipulator moves horizontally, and the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the machine tool bed where the tool magazine is provided, and moves the manipulator away from the working area of ​​the machine tool working spindle, i.e., moves the manipulator to a reset position.

[0031] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent replacements or modifications made by those skilled in the art based on the technical solutions and inventive concepts of the present invention within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. [Explanation of symbols]

[0032] 1 Manipulator 10 Main tool exchange claw 11 Main clamp jaw 12 Main clamp jaw drive mechanism 13 Shank locking groove 2 Manipulator mounting arm 21 Mounting arm hinge connection 22 First mounting arm connection part 23 Second mounting arm connection 24 Third mounting arm connection 25 Fourth mounting arm connection 26 Manipulator rotation drive mechanism mounting part 27 Second drive motor mounting cavity 3 Manipulator mounting base 30 Guide rail slider mounting part 31 First drive motor mounting portion 32 Manipulator mounting arm mounting part 4. Manipulator rotation drive mechanism 40 Second drive motor 5 Manipulator swing drive mechanism 6. Manipulator horizontal movement drive mechanism 60 Guide rail slider 61 racks 62 gears 63 First drive motor 7 Stroke Switch 80 guide rail 81 Machine Tool Bed 82 Machine Tool Processing Spindle 83 Tool Magazine 84 Truss 85 Machine tool slide table 9 Tool changer for machine tools

Claims

1. A machine tool bed, a machine tool processing spindle, a tool magazine, and a tool changer, the tool changer includes a manipulator, a manipulator mounting arm, a manipulator mounting base, a manipulator rotation drive mechanism, a manipulator swing drive mechanism, and a manipulator horizontal movement drive mechanism; the manipulator is attached to the manipulator mounting arm, the manipulator rotation drive mechanism is attached to the manipulator mounting arm for driving the manipulator to rotate about a horizontal axis, the manipulator mounting arm is attached to the manipulator mounting base, the manipulator swing drive mechanism is attached to the manipulator mounting base for driving the manipulator mounting arm to swing about a horizontal axis, and the manipulator horizontal movement drive mechanism is further attached to the manipulator mounting base for driving the manipulator mounting base to move horizontally, thereby moving the manipulator closer to or away from the machine tool processing spindle, the manipulator mounting arm includes a mounting arm hinge connection, a first mounting arm link portion, a second mounting arm link portion, a third mounting arm link portion, a fourth mounting arm link portion (25), and the manipulator rotation drive mechanism mounting portion; a fixed shaft is attached to the manipulator mounting arm mounting portion, the mounting arm hinge connection portion is attached to the fixed shaft via a bearing, the first mounting arm link portion is provided at the mounting arm hinge connection portion, the second mounting arm link portion is provided at the other end of the first mounting arm link portion, the first mounting arm link portion forms an angle with the second mounting arm link portion, and the axis of the fixed shaft is perpendicular to a plane formed by the first mounting arm link portion and the second mounting arm link portion; the third attachment arm link portion is provided at the other end of the second attachment arm link portion, and the installation direction of the third attachment arm link portion is parallel to the axial direction of the fixed shaft; the fourth attachment arm link portion is provided at the other end of the third attachment arm link portion, and the fourth attachment arm link portion is parallel to a plane formed by the first attachment arm link portion and the second attachment arm link portion; and the other end of the fourth attachment arm link portion is the manipulator rotation drive mechanism attachment portion; the machine tool working spindle is attached to the machine tool bed, the tool magazine is provided at one end of the machine tool bed, the tool changer is attached to the machine tool bed, and the manipulator horizontal movement drive mechanism can drive the tool changer to move horizontally on the machine tool bed, thereby moving the manipulator closer to or away from the machine tool working spindle; A machine tool characterized in that the guide rail connected to the guide rail slider of the manipulator horizontal movement drive mechanism is the same guide rail as the guide rail along which the machine tool processing spindle moves horizontally.

2. the manipulator horizontal movement drive mechanism includes a guide rail slider, a rack, a gear, and a first drive motor; 2. The machine tool tool of claim 1, wherein the guide rail slider is mounted on the manipulator mounting base and connected to a guide rail installed on the machine tool bed, the first drive motor is mounted on the manipulator mounting base, the first drive motor is connected to the gear, and the gear meshes with a rack installed on the machine tool bed.

3. the manipulator mounting base includes a guide rail slider mounting portion, a first drive motor mounting portion, and a manipulator mounting arm mounting portion; 3. The machine tool according to claim 2, wherein the guide rail slider is attached to the guide rail slider attachment portion, the first drive motor is attached to the first drive motor attachment portion, an upper portion of one end of the guide rail slider attachment portion is the manipulator attachment arm attachment portion, and the manipulator attachment arm is hingedly connected to the manipulator attachment arm attachment portion.

4. 2. The machine tool according to claim 1, wherein the manipulator mounting arm is hingedly connected to the manipulator mounting base, and the manipulator swing drive mechanism is a linear drive device, one end of the linear drive device is hingedly connected to the manipulator mounting arm or the manipulator mounting base, and the other end of the linear drive device is fixedly connected to the manipulator mounting base or the manipulator mounting arm.

5. 2. The machine tool according to claim 1, wherein the manipulator includes a main tool changing claw, a main clamping claw, and a main clamping claw drive mechanism, wherein the main tool changing claw is provided with a shank locking groove, the main clamping claw drive mechanism is installed at an end of the main tool changing claw remote from the shank locking groove, the main clamping claw is fixed to the main clamping claw drive mechanism, and the main clamping claw drive mechanism can drive the main clamping claw to move to one side of the shank locking groove, thereby being able to clamp or unclamp a shank placed in the shank locking groove.

6. 2. The machine tool according to claim 1, wherein the manipulator rotation drive mechanism is a second drive motor.

7. 2. The machine tool according to claim 1, further comprising a stroke switch attached to the manipulator mounting base.

8. A tool changing method for a machine tool used in the machine tool according to claim 1, comprising: When the machine tool machining spindle processes a workpiece, the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the machine tool bed where the tool magazine is provided, and separates the tool changer of the machine tool from the machining area of ​​the machine tool; When the machine tool spindle needs to change the tool, the machine tool spindle stops processing, and the manipulator rotation drive mechanism drives the manipulator to rotate around the horizontal axis to pick up the corresponding tool in the tool magazine, and then the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move along the guide rail along which the machine tool spindle moves horizontally, and moves the manipulator horizontally to the position of the machine tool spindle; a manipulator swing drive mechanism driving the manipulator mounting arm to swing about a horizontal axis toward the machine tool working spindle, thereby causing the manipulator and the machine tool working spindle to correspond in position; Driving the manipulator by the manipulator rotary drive mechanism to rotate about a horizontal axis to realize switching between a tool on the manipulator and a tool on the machine tool working spindle; after the tools of the manipulator and the machine tool working spindle have been switched, the manipulator swing drive mechanism drives the manipulator mounting arm to swing it about the horizontal axis away from the machine tool working spindle, and the manipulator horizontal movement drive mechanism drives the tool changer of the machine tool to move it to one end of the machine tool bed to which the tool magazine is attached, thereby separating the manipulator from the machining area of ​​the machine tool working spindle.

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