CN108857524A - A kind of matrix form tool magazine knife-changing system and its method - Google Patents
A kind of matrix form tool magazine knife-changing system and its method Download PDFInfo
- Publication number
- CN108857524A CN108857524A CN201811007849.6A CN201811007849A CN108857524A CN 108857524 A CN108857524 A CN 108857524A CN 201811007849 A CN201811007849 A CN 201811007849A CN 108857524 A CN108857524 A CN 108857524A
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- Prior art keywords
- knife
- tool
- tool changing
- main shaft
- signal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
Abstract
The invention discloses a kind of matrix form tool magazine tool changing systems, using the matrix form tool magazine for having multilayer knife-carrier, a large amount of cutter can be stored, the clamping and movement of blade insert, tool changing component and main shaft are taken by control system control, intelligent tool changing process may be implemented；A kind of matrix form tool magazine cutter replacing method of the invention, has the function of standby knife, it can be judged automatically after standby knife interrupts and whether need still directly to carry out tool changing according to standby knife for the first time for knife again, also knife process also judges knife presence of whether haveing been friends in the past on main shaft, disposably target tool and old knife can be stored on knife-carrier after the interruption, intelligent tool changing is realized, go back knife.
Description
Technical field
The present invention relates to a kind of matrix form tool magazine knife-changing system and its methods.
Background technique
According to the investigation of product in the market, the automatic tool magazine majority that CNC (numerical control) board now on the market is equipped with is with chain
Based on this few money tool magazine of formula tool magazine, circular tool magazine, bamboo hat type tool holder, umbellate form tool magazine, D type tool magazine, this few money tool magazine is all little Rong
The tool magazine of amount, intermediate size hilt, the tool magazine for large capacity hilt are that only magazine can be equipped with, but its outer dimension
Very big (magazine shape majority is oval), the installation space needed is larger, and existing tool magazine tool changing process all compared with
It is simple, is only to be related to common tool changing and go back knife, when tool changing stream is voluntarily interrupted in system jam interruption or user
Cheng Shi cannot rejudge the cutter got ready, need to remove recycling cutter by hand, recycling trouble, tool changing process is not
Enough intelligence.
Summary of the invention
To solve the above problems, being adopted the purpose of the present invention is to provide a kind of matrix form tool magazine knife-changing system and its method
Traditional tool magazine is replaced with the tool magazine of matrix form, capacity is big, can be to the cutter got ready if interrupting in exchanging knives process
It carries out going back knife or again tool changing processing, realizes intelligent tool changing.
Technical solution used by the present invention solves the problems, such as it is：
A kind of matrix form tool magazine knife-changing system, including for storing knifes matrix form tool magazine, for clamp cutter carry out
The main shaft of processing and control system for controlling tool changing, the matrix form tool magazine includes one layer or more for storing knifes
Knife-carrier, for clamp cutter take blade insert and tool changing component, the tool changing component includes more than two for pressing from both sides
Take the clamping part of cutter；Old knife disposed thereon is placed on tool changing component by the main shaft, described to take blade insert from knife-carrier
The upper target tool needed replacing that clamps is placed on tool changing component, and is clamped the old knife on tool changing component and be stored in knife-carrier
On, the target tool on the main shaft clamping tool changing component；The control system control tool changing component takes blade insert and main shaft
Clamping and movement.
Further, the matrix form tool magazine further includes transmitting window, cutter transmitting for carrying out tool changing and going back the cutter of knife
Window is arranged on knife-carrier, and the tool changing component setting is on cutter transmitting window.
It further, further include for controlling the X-axis driving structure, the Y-axis that take blade insert to move in tri- axis directions of X, Y, Z
Driving structure and Z axis driving structure, the control system control X-axis driving structure, Y-axis driving structure and Z axis respectively and drive
Dynamic structure.
Further, described to take blade insert to take knife manipulator.
Further, the tool changing component is tool changing mechanical arm
Further, the control system includes PLC and control computer.
A kind of matrix form tool magazine cutter replacing method, includes the following steps：
A, when control system receives first for knife signal, B is gone to step, control system receives first when going back knife signal,
Go to step I；
B, it takes blade insert crawl first to be placed on tool changing component for target tool corresponding to knife signal, goes to step C；
C, control system judges whether to receive reset signal, if receiving reset signal, goes to step D, if not receiving
To reset signal, F is gone to step；
D, when control system receives second for knife signal, E is gone to step, control system receives second when going back knife signal,
Go to step J；
E, control system judge first for target tool corresponding to knife signal whether with second for corresponding to knife signal
Target tool is identical, if they are the same, goes to step F, if it is different, going to step G；
F, after control system receives tool changing signal, by first on tool changing component for target tool corresponding to knife signal
It changes on main shaft；
G, it takes and first is placed on knife-carrier for target tool corresponding to knife signal on blade insert clamping tool changing component, and
Clamping second is placed on tool changing component for target tool corresponding to knife signal, goes to step H；
H, after control system receives tool changing signal, by second on tool changing component for target tool corresponding to knife signal
It changes on main shaft；
I, old knife thereon is placed on tool changing component by main shaft, is taken the old knife on blade insert clamping tool changing component and is stored
Onto knife-carrier；
J, control system judges knife of whether haveing been friends in the past on main shaft, if haveing been friends in the past knife, old cutter holder thereon is got tool changing portion by main shaft
On part, takes the old knife on blade insert clamping tool changing component and first be stored in knife-carrier for target tool corresponding to knife signal
On, if there is no old knife on main shaft, takes and first be stored on blade insert clamping tool changing component for target tool corresponding to knife signal
On knife-carrier.
Further, the step F changes to first on tool changing component on main shaft for target tool corresponding to knife signal
The specific steps are：Control system judge on main shaft whether the old knife of replacement in need；If haveing been friends in the past knife, main shaft is by old knife thereon
It is placed on tool changing component and clamps on tool changing component first for target tool corresponding to knife signal, blade insert is taken to clamp tool changing
Old knife on component is simultaneously stored on knife-carrier；If not having old knife on main shaft, main shaft clamps first on tool changing component for knife letter
Target tool corresponding to number.
Further, the step H changes to second on tool changing component on main shaft for target tool corresponding to knife signal
The specific steps are：Control system judge on main shaft whether the old knife of replacement in need；If haveing been friends in the past knife, main shaft is by old knife thereon
It is placed on tool changing component and clamps on tool changing component second for target tool corresponding to knife signal, blade insert is taken to clamp tool changing
Old knife on component is simultaneously stored on knife-carrier；If not having old knife on main shaft, main shaft clamps second on tool changing component for knife letter
Target tool corresponding to number.
Further, in the step B-J, if control system receives a key also knife signal, take blade insert will be picked up
Tool storage to knife-carrier on.
The beneficial effects of the invention are as follows：A kind of matrix form tool magazine knife-changing system that the present invention uses, including it is provided with multilayer
The matrix form tool magazine and control system of knife-carrier, matrix form tool magazine can store a large amount of cutter, compact-sized, can satisfy big
Type machine tooling demand, at the same by control system in matrix form tool magazine cutter and cutter on main shaft moved and replaced
It changes, realizes intelligent tool changing；
A kind of matrix form tool magazine cutter replacing method of the invention, has the function of standby knife, if disruption occurs after standby knife,
Control system can judge whether needs again for knife according to new received control signal, if desired again for knife, then control and be
Whether selected target tool is consistent before and after system judges terminal, when there is inconsistency, replacement processing can be quickly made, if not
It needs again for knife, control system can use the operator of matrix form tool magazine of the invention by tool storage into tool magazine
Physical operation it is identical as the tool changing operation of traditional numerically-controlled machine tool, but intelligent tool changing may be implemented in the present invention, facilitates use
Family operates on the spot.
Detailed description of the invention
The invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is a kind of structure chart of matrix form tool magazine of the present invention；
Fig. 2 is a kind of schematic diagram of matrix form tool magazine knife-changing system of the present invention；
Fig. 3 is a kind of flow chart of the tool changing process of matrix form tool magazine cutter replacing method of the present invention；
Fig. 4 is that a kind of present invention matrix form tool magazine cutter replacing method does not go back knife flow chart in the case of knife；
Fig. 5 is that a kind of present invention matrix form tool magazine cutter replacing method goes back knife flow chart in the case of knife；
Fig. 6 is a kind of flow chart of a key also knife of matrix form tool magazine cutter replacing method of the present invention.
Specific embodiment
A kind of matrix form tool magazine knife-changing system of the invention includes matrix form tool magazine 1, main shaft 2 and control system 3, control
System 3 controls main shaft 2 and carries out exchanging for cutter with matrix form tool magazine 1, realizes intelligent tool changing and goes back knife, matrix form tool magazine 1
Specific structure is shown referring to Fig.1, including 3 stratification knife rests 11, and knife-carrier 11 is layered structure from top to bottom, can store more
Cutter, further include tool changing component 13 and taking blade insert 12, taking blade insert 12 is to take knife manipulator, and tool changing component 13 is tool changing machine
Tool arm, as soon as wherein a cutter transmitting window 14 is provided on knife-carrier 11 in middle level, the setting of tool changing component 13 is in cutter biography
It passs at window 14, tool changing component 13 plays the role of intermediary, and the cutter on cutter and knife-carrier 11 on main shaft 2 is required to lead to
Cross be arranged in cutter transmitting window 14 tool changing component 13 transmitted, in order to make it easy to understand, the needs on main shaft 2 are deposited below
The cutter being put on knife-carrier 11 is known as old knife, is known as target tool for the cutter on main shaft 2 is needed replacing on knife-carrier 11,
It can control tool changing component 13 by control system 3, take the movement and clamping of blade insert 12 and main shaft 2, in tool changing component 13
Upper setting is there are two clamping part, and for clamping cutter, being arranged that two clamping parts are advantageous in that can be simultaneously on tool changing component 13
There are old knife and target tool, main shaft 2 when old knife is returned matrix form tool magazine 1 can faster from another clamping part
Target tool is clamped, tool changing efficiency is improved.
It takes blade insert 12 to move on each stratification knife rest 11 for convenience, X-axis driving structure is provided in matrix form tool magazine 1
15, Y-axis driving structure 16 and Z axis driving structure 17, control system 3 can be driven by control X-axis driving structure 15, Y-axis
Structure 16 and Z axis driving structure 17 driving takes movement of the blade insert 12 on tri- directions X, Y, Z, thereby may be ensured that no matter
Which position target tool is located at, and takes blade insert 12 that can clamp to obtain.
Tool changing component 13 includes two clamping parts, and the tail portion of two clamping parts connects, and clamping part can be rotated by axis of tail portion,
When carrying out tool changing, the clamping part with cutter be can rotate at cutter transmitting window 14, facilitate carry out tool changing.
Referring to matrix form tool magazine knife-changing system shown in Fig. 2, control system 3 can control tool changing component 13, take blade insert
12 and main shaft 2 movement and clamping, when carrying out tool changing, control system 3 control takes blade insert 12 by target tool clamping arrive
On the clamping part of tool changing component 13, then controls main shaft 2 and get old cutter holder on another clamping part of tool changing component 13, and simultaneously
It controls main shaft 2 to clamp the target tool on tool changing component 13, the cutter on main shaft 2 has replaced completion, control system 3 at this time
Finally control takes blade insert 12 to take the old cutter holder on tool changing component 13 and is stored on knife-carrier 11, and knife process is gone back in completion.
Specifically, control system 3 includes PLC and control computer.
Matrix form tool magazine cutter replacing method of the invention, including tool changing and two key steps of knife are gone back, referring to shown in Fig. 3
Tool changing process, when needing to replace target tool onto main shaft 2, control system 3 receives first for knife signal, determines first
After target tool corresponding to standby knife signal, control takes the clamping first of blade insert 12 for target tool corresponding to knife signal, and
Target tool is placed on tool changing component 13, so far standby knife process is completed for the first time.
After the completion of standby knife process for the first time, control system 3 determines whether the reset signal of extraneous triggering, if control
System 3 is not received by reset signal, then can directly execute tool changing process, when executing tool changing process, first determines whether main shaft 2
Upper to whether there is old knife, if haveing been friends in the past knife on main shaft 2, control system 3 first control tool changing component 13 and rotates, so that first for knife signal
Corresponding target tool turns at cutter transmitting window 14, then controls main shaft 2 and clamps target tool, completes tool changing；If
Original knife of having had been friends in the past, control system 3 control main shaft 2 and first get old cutter holder on tool changing component 13, return by old knife on main shaft 2
Afterwards, control system 3 controls the target tool on the clamping tool changing component 13 of main shaft 2, completes tool changing, while taking blade insert 12 by tool changing
Old cutter holder on component 13 takes and is stored on knife-carrier 11.
The above-mentioned tool changing for control system 3 when being not received by reset signal after first time is for knife, works as user
First for knife after need interruption of work or need again for knife when, user can press the reset key of numerically-controlled machine tool, when
After control system 3 receives reset signal, it is first determined whether needing again for knife, i.e., control system 3 is to second received
Standby knife signal judged, if second for target tool corresponding to knife signal and first for target tool corresponding to knife signal
It is identical, then it does not need again for knife, directly the target tool according to corresponding to standby knife signal for the first time carries out tool changing, specifically changes
Knife process is consistent with tool changing process when being not received by reset signal.
If second is different for target tool corresponding to knife signal from first for target tool corresponding to knife signal, need
Re-start standby knife, but since first aim cutter, the only there are two clamping part, can not be clamped on tool changing component 13 simultaneously
Two objects cutter and old knife, so when carrying out again for knife, by taking blade insert 12 first will be existing on tool changing component 13
First removes for the corresponding target tool of knife signal and stores into knife-carrier 11, then takes blade insert 12 again by second for knife signal
In corresponding target tool clamping to tool changing component 13, complete second of standby knife process, exchanging knives process hereafter with do not receive
Exchanging knives process when to reset signal is consistent, and difference is that changed cutter is second for target tool corresponding to knife signal.
Tool changing process of the invention includes three parts, is tool changing when not receiving reset signal respectively, receives reset
Signal for first for knife signal tool changing and receive reset signal for second for knife signal tool changing, the above two
The target tool changed is first for cutter corresponding to knife signal, and the target tool that last one is changed is second for knife signal
Corresponding cutter can make cutter replacing method of the invention more due to increasing for whether receiving the judgement of reset signal
Add intelligence, even tool changing can still be completed by occurring to interrupt.
A kind of matrix form tool magazine cutter replacing method of the invention goes back knife process comprising two large divisions is directly right respectively
Old knife on main shaft 2 go back occur after knife and standby knife to interrupt carried out go back knife, referring to it is shown in Fig. 4 not for knife in the case of
Go back knife, when control system 3, which receives, directly goes back knife signal, control system 3 controls main shaft 2 and old knife is put into tool changing component 13
On, then control takes blade insert 12 to clamp the old knife on tool changing component 13 and is stored on knife-carrier 11, and knife process is gone back in completion.
First, which goes back knife signal, as goes back knife signal received by control system 3 not for knife.
Referring to Figure 5 go back knife for knife, when control system 3 receives standby knife signal, take knife portion
Part 12 clamps target tool and is placed on tool changing component 13, and standby knife is completed, when control system 3 receives reset signal, standby knife
It interrupts, after standby knife interrupts, control system 3 can receive two kinds of signals, the first is second for knife signal, i.e., above-mentioned tool changing
Process, second is to go back knife signal, after control system 3 receives and goes back knife signal, first determines whether knife of whether haveing been friends in the past on main shaft 2,
When have been friends in the past on main shaft 2 knife when, control system 3 first controls main shaft 2 and gets old cutter holder on tool changing component 13, then control take knife portion
Part 12 by tool changing component 13 target tool and old knife successively clamp and be stored on knife-carrier 11, knife is gone back in completion；When main shaft 2
On when not having knife, take blade insert 12 directly to clamp the target tool on tool changing component 13 and be stored on knife-carrier 11, complete also
Knife.
Second, which goes back knife signal, has as gone back knife signal received by control system 3 for knife.
Knife process is gone back by above-mentioned, intelligence may be implemented and go back knife, it, can also be by tool changing component even if occurring after interrupting
In all tool storages to knife-carrier 11 on 13.
Specifically, matrix form tool magazine cutter replacing method of the invention further includes a key also knife process, and one is provided on lathe
The key of key also knife can trigger the instruction of a key also knife by pressing next key also knife, referring to shown in Fig. 6, when standby knife process or
When malfunctioning in exchanging knives process, after assigning a key also knife order, control system 3 judges to take the number of the cutter on blade insert 12, and
It controls the tool storage for taking blade insert 12 to be clamped it to return on knife-carrier 11 on its corresponding tool apron, completes a key also knife, it can
To guarantee to realize reset function when the error occurs in system fault or artificial selection.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of matrix form tool magazine knife-changing system, it is characterised in that：Including for storing knifes matrix form tool magazine (1), be used for
The main shaft (2) that clamping cutter is processed and the control system (3) for controlling tool changing, the matrix form tool magazine (1) include
Blade insert (12) and tool changing component are taken for one layer or more of knife-carrier (11) of storing knifes, for clamp cutter
(13), the tool changing component (13) includes more than two for clamping the clamping part of cutter；The main shaft (2) will be disposed thereon
Old knife be placed on tool changing component (13), it is described that blade insert (12) is taken to clamp the target knife needed replacing from knife-carrier (11)
Tool is placed on tool changing component (13), and is clamped the old knife on tool changing component (13) and be stored on knife-carrier (11), the main shaft
(2) target tool on tool changing component (13) is clamped；Control system (3) control tool changing component (13) takes blade insert (12)
And the clamping and movement of main shaft (2).
2. a kind of matrix form tool magazine knife-changing system according to claim 1, it is characterised in that：The matrix form tool magazine (1)
It further include for carrying out tool changing and going back cutter transmitting window (14) of knife, cutter transmits window (14) and is arranged in knife-carrier (11)
On, tool changing component (13) setting is in cutter transmitting window (14).
3. a kind of matrix form tool magazine knife-changing system according to claim 1, it is characterised in that：It further include taking knife for controlling
X-axis driving structure (15), Y-axis driving structure (16) and the Z axis driving knot that component (12) moves in tri- axis directions of X, Y, Z
Structure (17), the control system (3) control X-axis driving structure (15), Y-axis driving structure (16) and Z axis driving structure respectively
(17)。
4. a kind of matrix form tool magazine knife-changing system according to claim 1, it is characterised in that：Control system (3) packet
Include PLC and control computer.
5. a kind of matrix form tool magazine knife-changing system according to claim 1, it is characterised in that：It is described to take the blade insert (12) to be
Take knife manipulator.
6. a kind of matrix form tool magazine knife-changing system according to claim 1, it is characterised in that：The tool changing component (13) is
Tool changing mechanical arm.
7. a kind of matrix form tool magazine cutter replacing method using any matrix form tool magazine knife-changing system of claim 1-6, special
Sign is：Include the following steps：
A, when control system (3) receives first for knife signal, B is gone to step, control system (3) receives first and goes back knife signal
When, go to step I；
B, it takes blade insert (12) crawl first to be placed on tool changing component (13) for target tool corresponding to knife signal, goes to step
C；
C, control system (3) judges whether to receive reset signal, if receiving reset signal, goes to step D, if being not received by
Reset signal goes to step F；
D, when control system (3) receives second for knife signal, E is gone to step, control system (3) receives second and goes back knife signal
When, go to step J；
E, control system (3) judge first for target tool corresponding to knife signal whether with second for mesh corresponding to knife signal
It is identical to mark cutter, if they are the same, F is gone to step, if it is different, going to step G；
F, after control system (3) receives tool changing signal, by first on tool changing component (13) for target corresponding to knife signal
Cutter is changed on main shaft (2)；
G, it takes and first is placed into knife-carrier in blade insert (12) clamping tool changing component (13) for target tool corresponding to knife signal
(11) it on, and clamps second and is placed on tool changing component (13) for target tool corresponding to knife signal, go to step H；
H, after control system (3) receives tool changing signal, by second on tool changing component (13) for target corresponding to knife signal
Cutter is changed on main shaft (2)；
I, old knife thereon is placed on tool changing component (13) by main shaft (2), is taken in blade insert (12) clamping tool changing component (13)
Old knife and be stored on knife-carrier (11)；
J, control system (3) judges knife of whether haveing been friends in the past on main shaft (2), if haveing been friends in the past knife, old cutter holder thereon is got and changed by main shaft (2)
On blade insert (13), take the old knife and first in blade insert (12) clamping tool changing component (13) for target corresponding to knife signal
In tool storage to knife-carrier (11), if no old knife on main shaft (2), take first in blade insert (12) clamping tool changing component (13)
Target tool corresponding to standby knife signal is stored on knife-carrier (11).
8. a kind of matrix form tool magazine cutter replacing method according to claim 7, it is characterised in that：The step F is by tool changing portion
On part (13) first for target tool corresponding to knife signal change on main shaft (2) the specific steps are：Control system (3) is sentenced
On disconnected main shaft (2) whether the old knife of replacement in need；If haveing been friends in the past knife, old knife thereon is placed into tool changing component by main shaft (2)
(13) on and first is clamped on tool changing component (13) for target tool corresponding to knife signal, and blade insert (12) is taken to clamp tool changing portion
Old knife on part (13) is simultaneously stored on knife-carrier (11)；If no old knife on main shaft (2), main shaft (2) clamps tool changing component
(13) on first for target tool corresponding to knife signal.
9. a kind of matrix form tool magazine cutter replacing method according to claim 7, it is characterised in that：The step H is by tool changing portion
On part (13) second for target tool corresponding to knife signal change on main shaft (2) the specific steps are：Control system (3) is sentenced
On disconnected main shaft (2) whether the old knife of replacement in need；If haveing been friends in the past knife, old knife thereon is placed into tool changing component by main shaft (2)
(13) on and second is clamped on tool changing component (13) for target tool corresponding to knife signal, and blade insert (12) is taken to clamp tool changing portion
Old knife on part (13) is simultaneously stored on knife-carrier (11)；If no old knife on main shaft (2), main shaft (2) clamps tool changing component
(13) on second for target tool corresponding to knife signal.
10. a kind of matrix form tool magazine cutter replacing method according to claim 7, it is characterised in that：In the step B-J,
If control system (3) receives a key also knife signal, take blade insert (12) will be on picked up tool storage to knife-carrier (11).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007849.6A CN108857524A (en) | 2018-08-31 | 2018-08-31 | A kind of matrix form tool magazine knife-changing system and its method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007849.6A CN108857524A (en) | 2018-08-31 | 2018-08-31 | A kind of matrix form tool magazine knife-changing system and its method |
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| CN108857524A true CN108857524A (en) | 2018-11-23 |
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| CN201811007849.6A Pending CN108857524A (en) | 2018-08-31 | 2018-08-31 | A kind of matrix form tool magazine knife-changing system and its method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109396915A (en) * | 2018-12-12 | 2019-03-01 | 上海西格码机床有限公司 | A kind of tool changing processing method of the big pocket knife of machining center |
| CN110153788A (en) * | 2019-05-21 | 2019-08-23 | 华安钢宝利高新汽车板加工(娄底)有限公司 | Cutter automatic cleaning equipment |
| CN110625422A (en) * | 2019-09-24 | 2019-12-31 | 科益展智能装备有限公司 | CNC tool magazine tool changing control method and device, storage medium and tool changing equipment |
| CN111015359A (en) * | 2019-12-02 | 2020-04-17 | 珠海格力智能装备有限公司 | Reset method and device of tool magazine |
| CN113579818A (en) * | 2021-08-12 | 2021-11-02 | 珠海格力电器股份有限公司 | Tool magazine control method and machining equipment |
| CN113843645A (en) * | 2021-11-29 | 2021-12-28 | 沈阳机床(集团)有限责任公司 | Tool changing control method and control system for robot tool magazine |
| US11512764B2 (en) * | 2019-08-28 | 2022-11-29 | Chen Sound Industrial Co., Ltd. | Tool changing system with rigidity improved belt moving mechanism |
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