CN110961963A - Automatic tool changing structure - Google Patents
Automatic tool changing structure Download PDFInfo
- Publication number
- CN110961963A CN110961963A CN201811135239.4A CN201811135239A CN110961963A CN 110961963 A CN110961963 A CN 110961963A CN 201811135239 A CN201811135239 A CN 201811135239A CN 110961963 A CN110961963 A CN 110961963A
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- China
- Prior art keywords
- tool
- tool changing
- lifting
- main shaft
- driving assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
Abstract
The invention relates to the technical field of machining equipment, in particular to an automatic tool changing structure. The device comprises a tool changing rack, a main shaft, a CCD camera, a transfer driving assembly and a lifting driving assembly; the main shaft is arranged on the tool changing frame; the CCD camera is used for identifying and acquiring the position information of the cutter; the output end of the transfer driving assembly is fixedly connected with the tool changing rack; the shifting driving assembly drives the tool changing rack to move according to the position information, so that the main shaft is aligned with the tools on the tool magazine; the lifting driving assembly is arranged on the tool changing rack, and the output end of the lifting driving assembly is connected with the main shaft; after the clamping jaw of the main shaft loosens the abandoned tool, the lifting driving assembly drives the main shaft to lift according to the position information, so that the main shaft can take the tool. The position of the tool magazine and the state information of the tool magazine do not need to be judged manually, and tool setting efficiency is high.
Description
Technical Field
The invention relates to the technical field of machining equipment, in particular to an automatic tool changing structure.
Background
Along with the improvement of the requirement of customers on the production efficiency of products, the requirement on the automation degree of the numerical control machine tool equipment is higher and higher. At present, numerical control machine tool equipment adopts a single-spindle tool changing mechanism, the position of a tool magazine and state information of the tool magazine need to be judged manually, then the single-spindle tool changing mechanism is controlled manually to move to the outer side of the tool magazine, and due to low precision, the position of the single-spindle tool changing mechanism needs to be adjusted for multiple times, a spindle can be aligned to a tool on the tool magazine, and tool setting efficiency is low.
Disclosure of Invention
The invention aims to provide an automatic tool changing structure to solve the problem of low tool setting efficiency of a single-spindle tool changing mechanism in the prior art.
The purpose of the invention is realized by the following technical scheme:
the invention provides an automatic tool changing structure, which comprises a tool changing rack, a main shaft, a CCD camera, a transfer driving assembly and a lifting driving assembly, wherein the main shaft is arranged on the tool changing rack; the main shaft is arranged on the tool changing frame; the CCD camera is used for identifying and acquiring the position information of the cutter; the output end of the transfer driving assembly is fixedly connected with the tool changing rack; the shifting driving assembly drives the tool changing rack to move according to the position information, so that the main shaft is aligned with a tool on the tool magazine; the lifting driving assembly is arranged on the tool changing rack, and the output end of the lifting driving assembly is connected with the main shaft; and the lifting driving component drives the main shaft to lift according to the position information, so that the main shaft can take the tool.
Preferably, the number of the main shafts is two; the two main shafts are arranged in parallel.
Preferably, one of the main shafts is fixed on the output end of the lifting driving component; an adjusting driving piece is fixed on the output end of the lifting driving component; the output end of the adjusting driving piece is fixedly connected with the other main shaft so as to adjust the distance between the two main shafts.
Preferably, the transfer device further comprises a platform arranged outside the transfer driving component; the CCD camera is fixed on the output end of the lifting driving assembly and used for reading the center distance of two holes cut on the platform by the cutters on the two main shafts.
Preferably, the tool changer further comprises a sensor arranged on the tool changing machine frame, and the sensor is used for identifying the tool on the main shaft.
Preferably, the sensor is a fibre optic sensor.
Preferably, the automatic transfer device further comprises a tool magazine arranged outside the transfer driving assembly; the tool magazine comprises a lifting platform for loading tools and a lifting driving piece for driving the lifting platform to perform lifting movement.
Preferably, a waste material box for collecting waste cutting tools is arranged on the lifting platform.
Preferably, the jaws of the spindle are used to release or grip a tool.
Preferably, the lifting driving assembly comprises a lifting driving motor arranged on the tool changing rack, a screw rod fixed on an output shaft of the lifting driving motor, a lifting block in threaded connection with the screw rod, a guide rail arranged on the tool changing rack, and a mounting plate in sliding connection with the guide rail; the mounting plate is fixedly connected with the lifting block; the mounting plate is connected with the main shaft.
According to the technical scheme, the invention has the advantages and positive effects that: the main shaft is connected to the output end of the lifting driving assembly, the lifting driving assembly is fixed on the tool changing rack, the tool changing rack is fixed on the output end of the transferring driving assembly, and the CCD camera is used for recognizing and acquiring the position information of the tool. The shifting driving assembly drives the tool changing rack to move according to the position information, so that the main shaft is aligned with the tools on the tool magazine; after the clamping jaw of the main shaft loosens the abandoned tool, the lifting driving assembly drives the main shaft to lift according to the position information, so that the main shaft can take the tool. The position of the tool magazine and the state information of the tool magazine are judged without manpower, automatic tool setting can be completed, tool setting efficiency is high, and downtime is greatly reduced.
Drawings
For the purpose of easy explanation, the present invention will be described in detail with reference to the following preferred embodiments and the accompanying drawings.
FIG. 1 is a schematic structural view of a preferred embodiment of an automatic tool changing mechanism of the present invention;
FIG. 2 is a front view of the automatic tool changing mechanism shown in FIG. 1;
fig. 3 is a schematic view showing a structure of a lifting driving assembly of the automatic tool changing structure shown in fig. 1.
Description of reference numerals: 1. a CCD camera; 2. a transfer drive assembly; 21. a transfer rack; 22. a transfer drive motor; 23. a transfer guide rod; 3. a tool changing machine frame; 4. a lift drive assembly; 41. a lifting drive motor; 42. a guide rail; 43. mounting a plate; 44. adjusting the driving member; 5. a main shaft; 6. a sensor; 7. a tool magazine; 71. a support; 72. a lifting drive member; 73. a lifting platform; 74. a waste material box; 75. a cushion washer; 8. a carrier assembly; 81. a base plate; 82. a carrying unit; 821. a loading drive motor; 822. a slide rail; 823. a platform; 8231. calibrating a part; 824. and a fixing member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention provides an automatic tool changing structure which is used for improving the production efficiency and tool setting efficiency.
Referring to fig. 1 and 2, in the present embodiment, the automatic tool changing structure includes a control assembly, a transfer driving assembly 2 electrically connected to the control assembly, a tool changing frame 3 fixed to an output end of the transfer driving assembly 2, a lifting driving assembly 4 fixed to the tool changing frame 3, a spindle 5 connected to an output end of the lifting driving assembly 4, a sensor 6 connected to an output end of the lifting driving assembly 4, a CCD camera 1 connected to an output end of the lifting driving assembly 4, a tool magazine 7 disposed outside the transfer driving assembly 2, and a carrying assembly 8 disposed outside the transfer driving assembly 2. The CCD camera 1, the transfer driving component 2, the lifting driving component 4, the spindle 5, the sensor 6, the tool magazine 7 and the carrying component 8 are all electrically connected with the control component.
Referring to fig. 3, specifically, the lifting driving assembly 4 includes a lifting driving motor 41 disposed on the tool changer frame 3, a lifting screw fixed on an output shaft of the lifting driving motor 41, a lifting block screwed on the lifting screw, a guide rail 42 disposed on the tool changer frame 3, an installation plate 43 slidably connected on the guide rail 42, and an adjusting driving member 44 fixed on a front surface of the installation plate 43. The back of mounting panel 43 is connected fixedly with the elevator, and the lift lead screw parallels with guide rail 42, and lift driving motor 41 and regulation driving piece 44 all are connected with control assembly electric. The adjustment drive 44 is implemented as a rodless cylinder. The mounting plate 43 is fixedly connected to the CCD camera 1. The guide rails 42 are vertically arranged, the number of the guide rails 41 is two, and the two guide rails 41 are arranged in parallel at intervals.
The number of the main shafts 5 is two, the two main shafts 5 are arranged in parallel, and the two main shafts 5 are flush with each other. One of the spindles 5 is fixed to the front surface of the mounting plate 43, and the other spindle 5 is connected to the output end of the adjustment drive 44. The output end of the adjustment drive 44 is movable laterally, i.e. in a direction perpendicular to the output shaft of the lifting drive motor 41, to adjust the distance between the two spindles 5.
The number of the sensors 6 is two, the two sensors 6 are fixed on the front surface of the mounting plate 43, the two sensors 6 are flush with the clamping jaws of the two spindles 5, and the two sensors 6 correspondingly identify whether the tools on the clamping jaws of the two spindles 5 exist or not. Of course, the sensor 6 may also be fixed to the tool changer frame 3, as long as it is possible to recognize that the tools on the jaws of the two spindles 5 have no function. The sensor 6 is a fiber optic sensor.
The carrier assembly 8 comprises a base plate 81 fixed to an external support and two carrier units 82 fixed to the base plate 81, the two carrier units 82 being arranged side by side. Each loading unit 82 includes a slide rail 822 fixed to the base plate 81, a platform 823 slidably connected to the slide rail 822, a loading driving motor 821 fixed to the base plate 81, a loading screw fixed to an output shaft of the loading driving motor 821, a loading moving block screwed to the loading screw, and a fixing member 824 fixed to the platform 823. The carrying moving block is fixedly connected with the platform 823, and the carrying lead screw is parallel to the sliding rail 822. The fixture 824 is used for mounting a workpiece to be processed. The fixing member 824 is located below the main shaft 5. The two loading driving motors 821 are electrically connected to the control module. Two slide rails 822 are adopted in each carrier unit 82, and the two slide rails 822 are arranged in parallel at intervals. The flat plate 823 is provided with a calibration portion 8231, and the calibration portion 8231 and the fixing member 824 are arranged at intervals along the extending direction of the sliding rail 822.
The transfer unit includes a transfer frame 21 fixed to an external support, a transfer drive motor 22 fixed to the transfer frame 21, a transfer screw fixed to an output shaft of the transfer drive motor 22, and a transfer guide rod 23 fixed to the transfer frame 21. The transfer guide rod 23 is parallel to the transfer screw rod, and the transfer guide rod 23 is perpendicular to the slide rail 822. The tool changing machine frame 3 is in threaded connection with the transferring screw rod and is in sliding connection with the transferring guide rod 23. The transfer driving motor 22 is electrically connected to the control component.
Referring to fig. 1 to 3, two tool magazines 7 are provided, and the two tool magazines 7 are disposed outside the transfer driving assembly 2, specifically, the two tool magazines 7 are disposed on two opposite sides of the bottom plate 81, and the two tool magazines 7 are both located below the main shaft 5, and the two tool magazines 7 are disposed at intervals along the extending direction of the transfer guide bar 23. Each magazine 7 includes a bracket 71 fixed to an external support, a lifting driving member 72 fixed to the bracket 71, a lifting table 73 fixed to an output end of the lifting driving member 72, and a waste box 74 provided on the lifting table 73. The top surface of the elevating table 73 is used for loading the cutter, and the waste bin 74 is used for collecting the waste cutter. The lifting driving member 72 is electrically connected to the control assembly, and the lifting driving member 72 employs a sliding table cylinder. It should be mentioned that a cushion washer 75 is disposed on the top surface of the lifting platform 73, and the cushion washer 75 is sleeved on the cutter. The two lifting drives 72 are controlled by the control assembly.
Referring to fig. 1 to fig. 3, the working principle of the present embodiment is as follows: the control assembly drives the loading driving motor 821 to work, so that the platform 823 moves along the sliding rail 822 to the working range of the spindle 5. The control component drives the transfer driving motor 22 to work, so that the spindle 5 moves to the position above the calibration position 8231 of the platform 823. The user can set the center distance of the two main shafts 5 according to the sizes of the two workpieces to be processed. After receiving a command for adjusting the center distance between the two main shafts 5, which is input by a user, the control assembly drives the adjusting driving member 44 to operate, so that one of the main shafts 5 moves transversely to a designated position to adjust the center distance between the two main shafts 5. The control assembly drives the lifting driving assembly 4 to work, after the cutters of the two main shafts 5 descend to cut two holes on the calibration position 8231, the CCD camera 1 accurately reads the center distance of the two holes and feeds the center distance back to the control assembly, and therefore the actual center distance of the two main shafts 5 is obtained. The control module drives the loading driving motor 821 to work, so that the fixing member 824 moves along the sliding rail 822 to the working range of the main shaft 5, and thus the two main shafts 5 can simultaneously process two workpieces to be processed in the fixing member 824.
In the initial state, the two lifting tables 73 are both located at the lower end positions of the strokes of the two lifting driving members 72, which is beneficial for the CCD camera 1 to identify the two tool magazines 7. When the tool needs to be replaced, the CCD camera 1 confirms that the tools are installed on the two tool magazines 7, identifies and acquires the position information of the tools of the two tool magazines 7, and converts the optical signals into electric signals to be transmitted to the control assembly. The control component drives the transfer driving component 2 to work, so that the tool changing rack 3 moves to the position above one of the tool magazines 7, the lifting driving component 72 of the tool magazine 7 drives the lifting table 73 to ascend to a set position, at the moment, one of the main shafts 5 is positioned right above the waste material box 74, and the control component drives the main shaft 5 to loosen the tools, so that the waste tools can freely fall into the waste material box 74. After the sensor 6 corresponding to the spindle 5 recognizes that the spindle 5 has completed the tool losing action, the control component drives the transfer driving component 2 to work again, so that the clamping jaws of the spindle 5 are aligned with the tool on the tool magazine 7, the lifting driving component 4 drives the spindle 5 to descend, and the spindle 5 drives the clamping jaws to descend to abut against the buffer washers 75 to grasp the tool. The main shaft 5 drives the clamping jaws to lift with the tool, and the lifting driving assembly 4 drives the main shaft 5 to lift back to the original position.
After the corresponding sensor 6 identifies that the main shaft 5 takes the tool, the control component drives the transfer driving component 2 to work, so that the tool changing rack 3 moves to the upper part of another tool magazine 7, the lifting driving component 72 of the tool magazine 7 drives the lifting platform 73 to ascend to a set position, the other main shaft 5 is located right above the waste material box 74, and similarly, the control component drives the main shaft 5 to loosen the tool, so that the waste tool can freely fall into the waste material box 74. After the sensor 6 corresponding to the spindle 5 recognizes that the spindle 5 has completed the tool losing action, the control component drives the transfer driving component 2 to work again, so that the clamping jaws of the spindle 5 are aligned with the tool on the tool magazine 7, the lifting driving component 4 drives the spindle 5 to descend, and the spindle 5 drives the clamping jaws to descend to abut against the buffer washers 75 to grasp the tool. The main shaft 5 drives the clamping jaws to lift with the tool, and the lifting driving assembly 4 drives the main shaft 5 to lift back to the original position. After the corresponding sensor 6 identifies that the main shaft 5 takes the tool, the control component drives the transfer driving component 2 to work, so that the tool changing machine frame 3 moves to a working position. Thereby, the automatic tool exchange of the two spindles 5 is completed.
The invention has at least the following advantages:
first, the main shaft 5 is connected to the output end of the lifting drive assembly 4, the lifting drive assembly 4 is fixed to the tool changer frame 3, the tool changer frame 3 is fixed to the output end of the transfer drive assembly 2, and the CCD camera 1 is used for recognizing and acquiring the position information of the tool. The transfer drive component 2 drives the tool changing rack 3 to move according to the position information, so that the main shaft 5 is aligned with the tool on the tool magazine 7; after the clamping jaws of the spindle 5 release the waste tool, the lifting driving assembly 4 drives the spindle 5 to lift according to the position information, so that the spindle 5 can take the tool. The position of the tool magazine 7 and the state information of the tool magazine 7 do not need to be judged manually, tool setting efficiency is high, and downtime is greatly reduced.
Secondly, sensor 6 can discern whether the cutter has on main shaft 5 to the completion result of the action of losing the sword of inspection main shaft 5 and getting the sword action feeds back the information of discernment to the control assembly, and other subassemblies of being convenient for make next step action, have improved the reliability of automatic tool changing structure.
Moreover, the two main shafts 5 can simultaneously process two workpieces, so that the production efficiency is greatly improved.
In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic tool changing structure, comprising:
a tool changing machine frame;
the main shaft is arranged on the tool changing frame;
the CCD camera is used for identifying and acquiring the position information of the cutter;
the output end of the transfer driving component is fixedly connected with the tool changing rack; the shifting driving assembly drives the tool changing rack to move according to the position information, so that the main shaft is aligned with a tool on the tool magazine;
the lifting driving assembly is arranged on the tool changing rack, and the output end of the lifting driving assembly is connected with the main shaft; and the lifting driving component drives the main shaft to lift according to the position information, so that the main shaft can take the tool.
2. The automatic tool changing structure according to claim 1, wherein the number of the main shafts is two; the two main shafts are arranged in parallel.
3. The automatic tool changing mechanism of claim 2 wherein one of the spindles is fixed to the output end of the lift drive assembly;
an adjusting driving piece is fixed on the output end of the lifting driving component; the output end of the adjusting driving piece is fixedly connected with the other main shaft so as to adjust the distance between the two main shafts.
4. The automatic tool changing structure of claim 2, further comprising a platform disposed outside the transfer drive assembly;
the CCD camera is fixed on the output end of the lifting driving assembly and used for reading the center distance of two holes cut on the platform by the cutters on the two main shafts.
5. The automatic tool changer of claim 1, further comprising a sensor on the tool changer housing for identifying a tool on the spindle.
6. The automatic tool changing structure of claim 5, wherein the sensor is an optical fiber sensor.
7. The automatic tool changing structure according to claim 1, further comprising a tool magazine disposed outside the transfer drive assembly; the tool magazine comprises a lifting platform for loading tools and a lifting driving piece for driving the lifting platform to perform lifting movement.
8. The automatic tool changing structure of claim 7, wherein a waste magazine for collecting waste tools is provided on the lifting table.
9. The automatic tool changing mechanism of claim 1, wherein the jaws of the spindle are used to release or grasp a tool.
10. The automatic tool changing structure of claim 1, wherein the lifting drive assembly comprises a lifting drive motor arranged on the tool changing frame, a screw rod fixed on an output shaft of the lifting drive motor, a lifting block in threaded connection with the screw rod, a guide rail arranged on the tool changing frame, and a mounting plate in sliding connection with the guide rail; the mounting plate is fixedly connected with the lifting block; the mounting plate is connected with the main shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135239.4A CN110961963A (en) | 2018-09-28 | 2018-09-28 | Automatic tool changing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135239.4A CN110961963A (en) | 2018-09-28 | 2018-09-28 | Automatic tool changing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110961963A true CN110961963A (en) | 2020-04-07 |
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ID=70026661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811135239.4A Pending CN110961963A (en) | 2018-09-28 | 2018-09-28 | Automatic tool changing structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110961963A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021253728A1 (en) * | 2020-06-18 | 2021-12-23 | 苏州维嘉科技股份有限公司 | Tool magazine device, dust suction device for depaneling machine and depaneling machine |
| CN116475815A (en) * | 2023-05-17 | 2023-07-25 | 广州里工实业有限公司 | Automatic tool changing method, system and device of numerical control machine tool and storage medium |
-
2018
- 2018-09-28 CN CN201811135239.4A patent/CN110961963A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021253728A1 (en) * | 2020-06-18 | 2021-12-23 | 苏州维嘉科技股份有限公司 | Tool magazine device, dust suction device for depaneling machine and depaneling machine |
| CN116475815A (en) * | 2023-05-17 | 2023-07-25 | 广州里工实业有限公司 | Automatic tool changing method, system and device of numerical control machine tool and storage medium |
| CN116475815B (en) * | 2023-05-17 | 2023-12-15 | 广州里工实业有限公司 | Automatic tool changing method, system and device of numerical control machine tool and storage medium |
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