CN117340662A - Tool changing device, tool changing method, machining equipment and machining method - Google Patents

Abstract

The present disclosure provides a tool changing device, a tool changing method, a processing apparatus, and a processing method, the tool changing device including: the mobile tool magazine is used for responding to the tool configuration request, moving from the waiting position to the tool changing position, providing or withdrawing the tool corresponding to the tool configuration request according to the tool configuration request, and sending a tool changing signal; and the robot is used for detecting and receiving the tool changing signal, and executing tool changing action according to the tool changing signal to finish tool changing. The processing equipment comprises: the tool changing device and the industrial personal computer are used for generating a tool configuration request and machining parameters according to the machining task; and the machining workbench is used for fixing the element to be machined. The device, the equipment and the method can realize automatic storage and replacement of the cutter in the composite machining process, and compared with the traditional cutter changing device, the device has the advantages of simple structure, small occupied area and large cutter capacity, improves the cutter changing efficiency and the composite machining efficiency of the robot, saves the working space of machining and reduces the production cost.

Description

Tool changing device, tool changing method, machining equipment and machining method

Technical Field

The present disclosure relates to the field of robotics, and more particularly, to a tool changing device, a tool changing method, a processing apparatus, and a processing method.

Background

With the complexity and diversification of robot processing requirements, for the processing of some complex parts and parts with concentrated procedures, frequent tool changing is required to meet the modern robot processing requirements. The type and the quantity of the tools to be equipped for the composite machining are more, the traditional tool changing device usually adopts a fixed hydraulic back-changing tool changing device, the tool changing speed is low, the tool changing time is long, the occupied area is large, the degree of freedom and the working space of the robot machining are severely limited, and the traditional tool changing mode cannot meet the composite machining requirement of the traditional robot.

Because the number of cutters, the degree of freedom of the robot and the working space are limited, the traditional robot cutter changing and processing method can only complete a fixed single processing scheme, and cannot meet the digital composite processing requirement, so that the processing efficiency of complex parts is lower.

Disclosure of Invention

In view of the above, the present disclosure provides a tool changing device, a tool changing method, a processing apparatus, and a processing method.

According to a first aspect of the present disclosure, there is provided a tool changing device comprising:

the tool changer is used for responding to a tool configuration request, moving from a waiting position to a tool changing position, providing or withdrawing a tool corresponding to the tool configuration request according to the tool configuration request, and sending a tool changing signal;

and the robot is used for detecting and receiving the tool changing signal, and executing tool changing action according to the tool changing signal to complete tool changing.

According to an embodiment of the present disclosure, the mobile magazine includes:

the AGV transport vehicle is used for responding to the cutter configuration request and moving from the waiting position to the cutter changing position;

the tool magazine is fixedly connected to the AGV transport vehicle, and is used for providing or withdrawing the tools corresponding to the tool configuration request according to the tool configuration request and sending a tool changing signal.

According to an embodiment of the present disclosure, the robot includes:

the tail end clamp is used for executing the tool changing action to complete tool changing in an opening and closing mode;

the detection system is used for detecting and receiving the tool changing signal and controlling the opening and closing actions of the tail end clamp according to the tool changing signal;

the tool changing action comprises a tool-less new tool changing action, an old tool changing action and a tool unloading action of the tail end clamp.

According to an embodiment of the present disclosure, the tool magazine includes:

the tool rest is used for storing the tools and comprises N clamping positions, and each clamping position corresponds to one tool; wherein N is an integer greater than or equal to 1;

the dividing plate is used for rotating a clamping position corresponding to the cutter configuration request to a preset angle according to the cutter configuration request to send out the in-place signal, providing or withdrawing a cutter corresponding to the cutter configuration request, the rotating disc end of the dividing plate is fixedly connected with the cutter rest, and the main shaft end of the dividing plate is rotationally connected to the AGV;

the tool setting mechanism is used for taking and putting the tools rotated to the clamping positions of the preset angles according to the in-place signals and sending tool changing signals, and the tool changing signals are used for controlling the robot to complete tool changing actions; the tool setting mechanism is rotationally connected to the AGV transport cart, two tool setting devices are symmetrically arranged at two ends of the tool setting mechanism and used for determining the relative positions of the tools and the tail end clamp of the robot and assisting the robot to finish tool changing actions.

A second aspect of the present disclosure provides a tool changing method based on the tool changing device, including:

moving from a waiting position to a tool changing position in response to the tool configuration request through the movable tool magazine, providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request, and sending a tool changing signal;

and detecting and receiving the tool changing signal by the robot, and executing tool changing action according to the tool changing signal to finish tool changing.

According to an embodiment of the present disclosure, the tool configuration request includes a bladeless change tool configuration request, the providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request includes:

and rotating a new knife clamping position corresponding to the no-knife new knife changing configuration request to a preset angle through the dividing plate according to the no-knife new knife changing configuration request so as to provide a new knife corresponding to the no-knife new knife changing configuration request, and grabbing the new knife corresponding to the no-knife new knife changing configuration request through a knife setting device at one end of the knife setting mechanism and turning the new knife to the outer side of the movable knife magazine.

According to an embodiment of the present disclosure, the tool configuration request further includes an old tool changing new tool configuration request, the providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request further includes:

rotating a new knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing plate according to the old knife changing and new knife configuration request so as to provide a new knife corresponding to the old knife changing and new knife configuration request, grabbing a new knife corresponding to the old knife changing and new knife configuration request through a knife setting device at one end of the knife setting mechanism, and grabbing an old knife corresponding to the old knife changing and new knife configuration request by a knife setting device at the other end of the knife setting mechanism;

the tool setting device at one end, which grabs the new tool, and the tool setting device at the other end, which grabs the old tool, are rotated and exchanged through tool setting;

and rotating an old knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing disc according to the old knife changing and new knife configuration request so as to retract the old knife corresponding to the old knife changing and new knife configuration request, wherein the other end knife setting device of the knife setting mechanism places the grabbed old knife on the old knife clamping position.

According to an embodiment of the present disclosure, the tool configuration request further includes a tool unloading old tool configuration request, and the providing or retrieving, according to the tool configuration request, a tool corresponding to the tool configuration request further includes:

and rotating an old knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing plate according to the old knife unloading and old knife configuration request so as to retract the old knife corresponding to the old knife unloading and old knife configuration request, grabbing the old knife corresponding to the old knife unloading and old knife configuration request through a knife setting device at one end of the knife setting mechanism, turning to the inner side of the movable knife magazine, and placing the old knife into the old knife clamping position corresponding to the old knife changing and new knife configuration request.

A third aspect of the present disclosure provides a processing apparatus comprising:

the industrial personal computer is used for generating a cutter configuration request and machining parameters according to the machining task;

the tool changing device according to claim 1, wherein the tool changing device is used for responding to the tool configuration request, providing a tool corresponding to the tool configuration request according to the tool configuration request, and executing a tool changing action to complete tool changing after transporting the tool corresponding to the tool configuration request in place; the tool changing device is used for executing the processing task according to the processing parameters after finishing the tool changing;

and the machining workbench is used for fixing the element to be machined.

A fourth aspect of the present disclosure provides a processing method based on the above processing apparatus, including:

operation S1: generating a cutter configuration request according to the processing task through the industrial personal computer;

operation S2: moving the cutter from a waiting position to a cutter changing position in response to the cutter configuration request through the movable cutter magazine, providing a cutter corresponding to the cutter configuration request according to the cutter configuration request, transporting the cutter corresponding to the cutter configuration request in place and sending a cutter changing signal;

operation S3: detecting and receiving the tool changing signal by the robot, and executing tool changing action according to the tool changing signal to complete tool changing;

operation S4: generating processing parameters according to the processing tasks through the industrial personal computer, and controlling the robot after finishing tool changing to finish the processing tasks according to the processing parameters;

operation S5: judging whether machining tasks to be executed exist, if so, repeatedly executing the operation S4 until all the machining tasks to be executed are completely executed, and sending out an end signal;

operation S6: and responding to the ending signal through the movable tool magazine, controlling the movable tool magazine to retract the tool on the robot according to the ending signal, and moving the tool from the tool changing position to the waiting position.

According to the tool changing device, the tool changing method, the processing equipment and the machining method provided by the embodiment of the disclosure, the tool changing device at least comprises the following beneficial effects:

the tool changing device disclosed by the invention realizes automatic storage and replacement of the tool in the composite machining process by matching the movable tool magazine with the robot, has a simple structure, small occupied area and large tool capacity compared with the traditional tool changing device, improves the tool changing efficiency and the composite machining efficiency of the robot, saves the working space of machining and reduces the production cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates a block diagram of a tool changing device provided according to an embodiment of the present disclosure;

fig. 2 schematically illustrates a block diagram of a mobile magazine provided according to an embodiment of the present disclosure;

fig. 3 schematically illustrates a block diagram of a robot provided according to an embodiment of the present disclosure;

fig. 4 schematically illustrates a block diagram of a tool magazine provided according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a flow chart of a tool changing method provided in accordance with an embodiment of the present disclosure;

FIG. 6 schematically illustrates an overall block diagram of a processing apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 7 schematically illustrates a flow chart of a method of processing provided in accordance with an embodiment of the present disclosure;

fig. 8 schematically illustrates a flow chart of a processing method provided in accordance with another embodiment of the present disclosure.

In the drawings, the reference numerals specifically have the following meanings:

100-moving a tool magazine;

110-AGV;

120-tool magazine;

121-a tool holder;

122-dividing disc;

123-tool setting mechanism;

200-robot;

210-end clamps;

220-a detection system;

300-industrial personal computer.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

Embodiments of the present disclosure provide a tool changing device including: the mobile tool magazine and the robot move from the waiting position to the tool changing position in response to the tool configuration request through the mobile tool magazine 100, tools required for machining are provided for the robot, and the robot executes tool changing actions to complete tool changing after the mobile tool magazine moves in place.

By adopting the tool changing device provided by the embodiment of the disclosure, the tool is provided or retracted by responding to the tool configuration request by moving the tool magazine and matching with the robot, so that automatic tool changing is realized, and the tool changing efficiency is improved.

Fig. 1 schematically illustrates a block diagram of a tool changing device provided according to an embodiment of the present disclosure.

As shown in fig. 1, the tool changing apparatus may include a mobile tool magazine 100 and a robot 200.

The mobile magazine 100 is used for responding to the cutter configuration request, moving from the waiting position to the cutter changing position, providing or withdrawing the cutter corresponding to the cutter configuration request according to the cutter configuration request, and sending a cutter changing signal.

The robot 200 is configured to detect and receive the tool changing signal, and perform a tool changing operation according to the tool changing signal to complete tool changing.

For example, the mobile magazine 100 is connected to the system in a manner including one of bluetooth or WiFi. And inputting the machining task into a system, and matching corresponding cutters according to the machining task by the system to complete the machining task. The system generates a tool configuration request according to the processing task, wherein the tool configuration request comprises: tool specification and type corresponding to a machining task, the tool configuration request corresponding to the machining task. The system transmits a cutter configuration request of a workpiece to be machined to the mobile cutter magazine 100 in a Bluetooth or WiFi mode, and the mobile cutter magazine 100 carrying the corresponding cutter moves from a waiting position to a cutter changing position after receiving the cutter configuration request and sends a cutter changing signal to prompt the next cutter changing action so as to prepare a foundation for cutter changing. The robot 200 detects and receives the tool changing signal and then automatically executes the tool changing action to complete the tool changing action.

The movable tool magazine of the tool changing device is matched with the robot, the movable tool magazine provides tools corresponding to the tool configuration request for the robot, the robot automatically executes tool changing actions, manual participation is not needed in the whole process, the arrangement of the movable tool magazine is compared with that of a conventional fixed tool magazine, multiple types of tools can be provided for the robot, automatic storage and replacement of the tools are achieved, the combined machining requirement of frequent tool changing of the robot is met, and the tool changing device has the advantages of being large in tool capacity and small in occupied area, and tool changing efficiency of the robot is improved.

Fig. 2 schematically illustrates a block diagram of a mobile magazine provided according to an embodiment of the present disclosure.

As shown in fig. 2, the mobile magazine 100 includes: an AGV transport 110 and a magazine 120.

The AGV 110 is configured to move from a waiting position to a tool changing position in response to a tool configuration request.

The tool magazine 120 is fixedly connected to the AGV transporter 110, and the tool magazine 120 is configured to provide or retract tools corresponding to the tool configuration request according to the tool configuration request and send a tool changing signal.

Fig. 3 schematically illustrates a structural diagram of a robot provided according to an embodiment of the present disclosure.

As shown in fig. 3, the robot 200 includes: an end clamp 210 and a detection system 220.

The end clamp 210 is used for executing tool changing actions to complete tool changing in an opening and closing mode.

The detecting system 220 is configured to detect and receive the tool changing signal, and control the opening and closing actions of the end clamp 210 according to the tool changing signal.

The tool changing actions include a no-tool changing action, an old-tool changing action, and a tool unloading action of the end clamp 210.

Fig. 4 schematically illustrates a block diagram of a tool magazine provided according to an embodiment of the present disclosure.

As shown in fig. 4, the magazine 120 includes: a tool post 121, an index plate 122, and a tool setting mechanism 123.

A tool holder 121 for storing tools, the tool holder 121 comprising N bits, one for each tool; wherein N is an integer greater than or equal to 1.

The dividing disc 122 is configured to rotate the clamping position corresponding to the tool configuration request to a preset angle according to the tool configuration request to send the in-place signal, provide or retract the tool corresponding to the tool configuration request, and the turntable end of the dividing disc 122 is fixedly connected with the tool rest 121, and the spindle end of the dividing disc 122 is rotatably connected to the AGV transporter 110.

The tool setting mechanism 123 is configured to pick and place the tool on the clamping position rotated to the preset angle according to the in-place signal, and send a tool changing signal, where the tool changing signal is used to control the robot 200 to complete a tool changing action. The tool setting mechanism 123 is rotatably connected to the AGV transporter 110, and two tool setting devices are symmetrically disposed at two ends of the tool setting mechanism 123, and the tool setting devices are used for determining the relative positions of the tool and the end fixture 210 of the robot 200, so as to assist the robot 200 in completing the tool changing operation.

The tool setting device can realize accurate positioning in the tool changing process of the robot and improve tool changing precision.

The above-described tool changer will be described in detail with reference to specific embodiments.

For example, a plurality of tool storage locations may be provided on the tool post 121, and the plurality of locations may be numbered 1 to N, respectively, while tools placed on the locations numbered 1 to N are also provided with the same number, respectively. The orderly storage of the cutters can be realized by the mode that the clamping positions and the corresponding cutters are respectively corresponding to the numbers, the clamping positions and the cutters are in one-to-one correspondence, and the phenomenon of disordered cutter changing is avoided.

The knife configuration request comprises a knife-free new knife configuration request, an old knife new knife configuration request and a knife-unloading old knife configuration request. Wherein the no-blade new-blade configuration request corresponds to the moving-blade magazine 100 providing a new-blade action, the old-blade new-blade configuration request corresponds to the unloading of the old blade and the recovery of the old blade and the providing of a new-blade action, and the blade unloading of the old blade configuration request corresponds to the unloading of the old blade and the recovery of the old blade.

When the mobile magazine 100 receives the bladeless new blade changing configuration request, the index plate 122 rotates a corresponding preset angle according to the bladeless new blade changing configuration request to prepare for the bladeless new blade changing action, and the tool setting mechanism 123 grabs the tool to provide the tool to the robot 200 performing the tool changing action.

The old blade change configuration request may include a first old blade change configuration request and a second old blade change configuration request. During this old blade change, a first old blade change configuration request corresponds to the mobile magazine 100 unloading the old blade and retrieving the old blade, and a second old blade change configuration request corresponds to the mobile magazine 100 providing a new blade.

When the mobile tool magazine 100 receives the old tool changing and new tool setting request, the index plate 122 rotates the clamping position of the unloaded tool by a corresponding preset angle according to the first old tool changing and new tool setting request to prepare for unloading the old tool in the old tool changing and new tool setting action, and the tool setting mechanism 123 unloads the old tool on the robot 200 and then places the old tool on the clamping position of the unloaded tool to complete the old tool recovery action. The index plate 122 rotates the clamping position of the new knife corresponding to the second new knife changing configuration request to a preset angle according to the second old knife changing configuration request, so as to prepare for clamping the new knife in the new knife changing action of the old knife, and the knife setting mechanism 123 grabs the knife so as to provide the knife for the robot 200 executing the knife changing action.

When the mobile tool magazine 100 receives the old tool unloading configuration request, the index plate 122 rotates the clamping position of the unloaded tool by a corresponding preset angle according to the new tool unloading configuration request to prepare for the old tool unloading action of the loaded tool, the tool setting mechanism 123 grabs the tool on the robot 200, unloads the tool and then places the tool on the clamping position of the loaded tool, and the old tool unloading action of the loaded tool is completed.

The tool changing device can realize automatic storage and replacement of tools, can provide tools of various types and numbers, meets the requirement of frequent tool changing in the machining of complex parts and parts needing to be concentrated, and improves tool changing efficiency. The tool changing device can save the occupied area, provide sufficient working space for the robot, meet the digital composite processing requirement, and avoid the defects of low tool changing efficiency and large occupied area in the related technology.

Based on the tool changing device, the embodiment of the disclosure also provides a tool changing method.

Fig. 5 schematically illustrates a flow chart of a tool changing method provided in accordance with an embodiment of the present disclosure.

As shown in fig. 5, the tool changing method may include, for example, operations S10 to S20 as follows.

In operation S10, a tool corresponding to the tool configuration request is provided or retrieved according to the tool configuration request by moving the tool magazine 100 from the waiting position to the tool changing position in response to the tool configuration request, and a tool changing signal is issued.

In operation S20, a tool changing signal is detected and received by the robot 200, and a tool changing operation is performed according to the tool changing signal to complete tool changing.

According to an embodiment of the present disclosure, the tool configuration request includes a tool-less new tool configuration request, and the providing or retrieving of the tool corresponding to the tool configuration request according to the tool configuration request in operation S10 includes operation S11.

In operation S11, the new knife clamping position corresponding to the no-knife changing new knife configuration request is rotated to a preset angle by the index plate 122 according to the no-knife changing new knife configuration request, so as to provide a new knife corresponding to the no-knife changing new knife configuration request, and the new knife corresponding to the no-knife changing new knife configuration request is grabbed by the knife setting device at one end of the knife setting mechanism 123 and turned to the outside of the mobile magazine 100.

According to an embodiment of the present disclosure, the tool configuration request further includes an old tool changing new tool configuration request, and the providing or retrieving of the tool corresponding to the tool configuration request according to the tool configuration request in operation S10 further includes operations S12 to S14.

In operation S12, the new knife clamping position corresponding to the old knife changing new knife configuration request is rotated to a preset angle by the index plate 122 according to the old knife changing new knife configuration request so as to provide a new knife corresponding to the old knife changing new knife configuration request, the new knife corresponding to the old knife changing new knife configuration request is grabbed by the knife setting device at one end of the knife setting mechanism 123, and the old knife corresponding to the old knife changing new knife configuration request is grabbed by the knife setting device at the other end of the knife setting mechanism 123;

in operation S13, rotating and exchanging the position of the one end tool setting device which grabs the new tool and the other end tool setting device which grabs the old tool by tool setting;

in operation S14, the old knife clamping position corresponding to the old knife changing and new knife configuration request is rotated to a preset angle by the index plate 122 according to the old knife changing and new knife configuration request, so as to retract the old knife corresponding to the old knife changing and new knife configuration request, and the other end knife setting device of the knife setting mechanism 123 places the gripped old knife on the old knife clamping position.

According to an embodiment of the present disclosure, the tool configuration request further includes a tool unloading old tool configuration request, and the tool corresponding to the tool configuration request is provided or retrieved according to the tool configuration request in operation S10, further including operation S15.

In operation S15, the old knife clamping position corresponding to the old knife changing and new knife configuration request is rotated to a preset angle by the index plate 122 according to the old knife unloading and old knife configuration request, so as to be ready for retrieving the old knife corresponding to the old knife unloading and old knife configuration request, the old knife corresponding to the old knife unloading and old knife configuration request is grasped by the knife aligning device at one end of the knife aligning mechanism 123 and is turned to the inner side of the mobile knife magazine 100, and the old knife is placed in the old knife clamping position corresponding to the old knife changing and new knife configuration request.

Based on the tool changing device, the embodiment of the disclosure also provides processing equipment.

Fig. 6 schematically illustrates an overall structure diagram of a processing apparatus provided according to an embodiment of the present disclosure.

As shown in fig. 6, the processing apparatus may include:

the industrial personal computer 300 is configured to generate a tool configuration request and machining parameters according to a machining task.

The tool changing device is used for responding to the tool configuration request, providing a tool corresponding to the tool configuration request according to the tool configuration request, transporting the tool corresponding to the tool configuration request in place, and then executing tool changing action to complete tool changing; the tool changing device is used for executing processing tasks according to the processing parameters after finishing the tool changing. The structure of the tool changer is the same as that shown in fig. 1 to 4, and specific details are described in the foregoing description about the detecting device, which is repeated here.

And the machining workbench is used for fixing the element to be machined.

Based on the processing equipment, the embodiment of the disclosure also provides a processing method.

Fig. 7 schematically illustrates a flow chart of a processing method provided in accordance with an embodiment of the present disclosure.

As shown in fig. 7, the processing method may include operations S1 to S6, for example.

In operation S1: generating a cutter configuration request according to the processing task through the industrial personal computer 300;

in operation S2: moving the tool magazine 100 from the waiting position to the tool changing position in response to the tool configuration request, providing a tool corresponding to the tool configuration request according to the tool configuration request, transporting the tool corresponding to the tool configuration request in place, and sending a tool changing signal;

in operation S3: detecting and receiving a tool changing signal by the robot 200, and executing a tool changing action according to the tool changing signal to complete tool changing;

in operation S4: generating machining parameters according to the machining task through the industrial personal computer 300, and controlling the robot 200 after finishing tool changing to finish the machining task according to the machining parameters;

in operation S5: judging whether machining tasks to be executed exist, if so, repeating the operation S4 until all the machining tasks to be executed are completely executed, and sending out an end signal;

in operation S6: the movable magazine 100 is controlled to retract the tool on the robot 200 according to the end signal by the movable magazine 100 in response to the end signal, and to move from the tool changing position to the waiting position.

Fig. 8 schematically illustrates a flow chart of a processing method provided in accordance with another embodiment of the present disclosure.

As shown in fig. 8, the processing method specifically includes the following steps.

Step one, the system generates a cutter configuration request according to a processing task, for example: and if the machining task is the grinding of the parts, the system generates a corresponding grinding tool configuration request.

Step two, the mobile tool magazine 100 moves to a preset position according to the tool configuration request, and provides the robot 200 with the required tools.

Step three, the system determines whether a tool is loaded on the robot 200. If the robot 200 has a tool loaded thereon as a result of the determination, the following step four is performed; if the robot 200 is not loaded with a tool as a result of the determination, the following step five is performed.

Step four, recovering the loaded old tool by moving the tool magazine 100, and providing the robot 200 with a new tool corresponding to the tool configuration request;

step five, a new tool corresponding to the tool configuration request is directly provided to the robot 200 by moving the tool magazine 100.

Step six, executing the processing task by the robot 200 loaded with the new tool, and judging whether the new processing task is not executed after the processing task is completed. If the judging result is that a new processing task to be executed is still needed, executing the fourth step; and if the judging result is that no new processing task exists, executing the following step seven.

Step seven, the old tools on the robot 200 are recovered by moving the tool magazine 100, and the moving tool magazine 100 is controlled to return to the waiting position, so that the processing task is completed.

According to the machining method, a plurality of types and quantity of cutters are provided for machining tasks through the movable cutter magazine, so that the requirement of frequent cutter changing in machining of complex parts and parts with concentrated working procedures is met, the cutter changing efficiency is improved, the occupied area of the mode is small, sufficient working space is provided for a robot, the digital composite machining requirement is met, and the machining efficiency is improved.

Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be combined in various combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims (10)

1. A tool changing device comprising:

the tool changer is used for responding to a tool configuration request, moving from a waiting position to a tool changing position, providing or withdrawing a tool corresponding to the tool configuration request according to the tool configuration request, and sending a tool changing signal;

and the robot is used for detecting and receiving the tool changing signal, and executing tool changing action according to the tool changing signal to complete tool changing.

2. The tool changing device of claim 1, wherein the mobile magazine comprises:

the AGV transport vehicle is used for responding to the cutter configuration request and moving from the waiting position to the cutter changing position;

the tool magazine is fixedly connected to the AGV transport vehicle, and is used for providing or withdrawing the tools corresponding to the tool configuration request according to the tool configuration request and sending a tool changing signal.

3. The tool changing device of claim 1, wherein the robot comprises:

the tail end clamp is used for executing the tool changing action to complete tool changing in an opening and closing mode;

the detection system is used for detecting and receiving the tool changing signal and controlling the opening and closing actions of the tail end clamp according to the tool changing signal;

the tool changing action comprises a tool-less new tool changing action, an old tool changing action and a tool unloading action of the tail end clamp.

4. A tool changing apparatus according to claim 3, wherein the tool magazine comprises:

the tool rest is used for storing the tools and comprises N clamping positions, and each clamping position corresponds to one tool; wherein N is an integer greater than or equal to 1;

the dividing plate is used for rotating a clamping position corresponding to the cutter configuration request to a preset angle according to the cutter configuration request to send out the in-place signal, providing or withdrawing a cutter corresponding to the cutter configuration request, the rotating disc end of the dividing plate is fixedly connected with the cutter rest, and the main shaft end of the dividing plate is rotationally connected to the AGV;

the tool setting mechanism is used for taking and putting the tools rotated to the clamping positions of the preset angles according to the in-place signals and sending tool changing signals, and the tool changing signals are used for controlling the robot to complete tool changing actions; the tool setting mechanism is rotationally connected to the AGV transport cart, two tool setting devices are symmetrically arranged at two ends of the tool setting mechanism and used for determining the relative positions of the tools and the tail end clamp of the robot and assisting the robot to finish tool changing actions.

5. A tool changing method based on the tool changing device of claim 1, comprising:

moving from a waiting position to a tool changing position in response to the tool configuration request through the movable tool magazine, providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request, and sending a tool changing signal;

and detecting and receiving the tool changing signal by the robot, and executing tool changing action according to the tool changing signal to finish tool changing.

6. The tool changing method of claim 5, wherein the tool configuration request comprises a no-tool changing new tool configuration request, the providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request comprising:

and rotating a new knife clamping position corresponding to the no-knife new knife changing configuration request to a preset angle through the dividing plate according to the no-knife new knife changing configuration request so as to provide a new knife corresponding to the no-knife new knife changing configuration request, and grabbing the new knife corresponding to the no-knife new knife changing configuration request through a knife setting device at one end of the knife setting mechanism and turning the new knife to the outer side of the movable knife magazine.

7. The tool changing method according to claim 5, wherein the tool configuration request further includes an old tool changing new tool configuration request, the providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request further includes:

rotating a new knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing plate according to the old knife changing and new knife configuration request so as to provide a new knife corresponding to the old knife changing and new knife configuration request, grabbing a new knife corresponding to the old knife changing and new knife configuration request through a knife setting device at one end of the knife setting mechanism, and grabbing an old knife corresponding to the old knife changing and new knife configuration request by a knife setting device at the other end of the knife setting mechanism;

the tool setting device at one end, which grabs the new tool, and the tool setting device at the other end, which grabs the old tool, are rotated and exchanged through tool setting;

and rotating an old knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing disc according to the old knife changing and new knife configuration request so as to retract the old knife corresponding to the old knife changing and new knife configuration request, wherein the other end knife setting device of the knife setting mechanism places the grabbed old knife on the old knife clamping position.

8. The tool changing method according to claim 5, wherein the tool configuration request further includes a tool unloading old tool configuration request, the providing or retrieving a tool corresponding to the tool configuration request according to the tool configuration request further includes:

and rotating an old knife clamping position corresponding to the old knife changing and new knife configuration request to a preset angle through the dividing plate according to the old knife unloading and old knife configuration request so as to retract the old knife corresponding to the old knife unloading and old knife configuration request, grabbing the old knife corresponding to the old knife unloading and old knife configuration request through a knife setting device at one end of the knife setting mechanism, turning to the inner side of the movable knife magazine, and placing the old knife into the old knife clamping position corresponding to the old knife changing and new knife configuration request.

9. A processing apparatus comprising:

the industrial personal computer is used for generating a cutter configuration request and machining parameters according to the machining task;

the tool changing device according to claim 1, wherein the tool changing device is used for responding to the tool configuration request, providing a tool corresponding to the tool configuration request according to the tool configuration request, and executing a tool changing action to complete tool changing after transporting the tool corresponding to the tool configuration request in place; the tool changing device is used for executing the processing task according to the processing parameters after finishing the tool changing;

and the machining workbench is used for fixing the element to be machined.

10. A processing method based on the processing apparatus of claim 9, comprising:

operation S1: generating a cutter configuration request according to the processing task through the industrial personal computer;

operation S2: moving the cutter from a waiting position to a cutter changing position in response to the cutter configuration request through the movable cutter magazine, providing a cutter corresponding to the cutter configuration request according to the cutter configuration request, transporting the cutter corresponding to the cutter configuration request in place and sending a cutter changing signal;

operation S3: detecting and receiving the tool changing signal by the robot, and executing tool changing action according to the tool changing signal to complete tool changing;

operation S4: generating processing parameters according to the processing tasks through the industrial personal computer, and controlling the robot after finishing tool changing to finish the processing tasks according to the processing parameters;

operation S5: judging whether machining tasks to be executed exist, if so, repeatedly executing the operation S4 until all the machining tasks to be executed are completely executed, and sending out an end signal;

operation S6: and responding to the ending signal through the movable tool magazine, controlling the movable tool magazine to retract the tool on the robot according to the ending signal, and moving the tool from the tool changing position to the waiting position.