TW202003137A - Multi-axis tool change system and method thereof comprises a stationary tool racket that comprises multiple racket bodies each having multiple tool holders for holding tools and a first movable tool racket - Google Patents

Abstract

A spindle tool change system of a multi-axis machine tool is disclosed. The multi-axis machine tool comprises a chassis and multiple spindles mounted on the chassis. Each of the spindles is movable to a tool change position for changing a tool. The multi-axis tool change system comprises: a stationary tool racket and a first movable tool racket. The stationary tool racket comprises multiple racket bodies and each racket body is provided with multiple tool holders for holding tools of the spindles. The first movable tool racket comprises a bar that is movable in the directions of a three-dimensional space and the bar is provided with a pick-and-place unit. The pick-and-place unit has a moving path that includes a stationary-tool-racket position for picking a tool from the stationary tool racket, a tool-change waiting position, and tool changing position. The present invention also includes a multi-axis tool change method that is applicable to the above multi-axis tool change system to change tools of multiple spindles in a safe and high efficiency manner.

Description

Multi-spindle tool replacement system and method

The invention relates to a spindle tool replacement system and method of a processing machine tool, and particularly relates to a multi-spindle tool replacement system and a replacement method applied to a multi-axis processing machine tool.

Existing processing machine tools, such as the tool change system of CNC milling machines, can be divided into tool arm type, clamp arm type, bucket type, row tool type, etc. according to the type of tool magazine. According to the processing attributes and performance of the machine tool, it will be correspondingly Various tool change systems are configured, but these tool change systems are all for single spindle replacement, which means that this spindle is in a one-to-one situation when performing tool changes, and it cannot be a one-to-many situation. Generally, in the case of more than 2 spindles and multiple spindles, I have never seen a CNC milling machine with a tool change system. Without a tool change system, it takes a lot of manpower to change the tool during processing. Replacing each knife is more prone to operation hazards when manually changing the knife manually, resulting in work safety problems due to personal injury.

It can be seen from the above examples that the one-to-one tool change system for single spindles has shown a very mature and stable trend, but there is no relatively complete tool change system solution for the tool change in a multi-spindle environment. For customers, the efficiency will be greatly discounted, and it can not show the advantages of multiple spindles to complete several single products at the same time.

The purpose of the present invention is to solve the risk of manual tool change of a multi-spindle tool of a multi-spindle processing machine tool and the problem of low multi-spindle machining efficiency due to poor tool change efficiency.

In order to achieve the objective of the above system, the present invention provides a multi-spindle tool changing system, which is suitable for being installed on a multi-axis machining machine tool. The multi-axis machining machine tool includes a machine, a plurality of spindles arranged on the machine, and each spindle It can be moved to a tool change position for tool replacement. The multi-spindle tool replacement system includes: a fixed tool holder, which has multiple rows of rack bodies, and each row of rack bodies is provided with multiple tool holder seats for tool clamping; And a first movable tool holder, which includes a first moving mechanism with three-dimensional spatial movement capability, and a rod body disposed on the first moving mechanism, and a plurality of first tool holders are provided on the rod body, Each first tool picking base can grip or release a tool, and each first tool picking base moving path includes the position of each tool holder base, a waiting tool changing position, and a tool changing position.

In one embodiment, the number of the tool holder seats of each row of the fixed tool of the present invention is the same as the number of the first tool holders.

In an embodiment, each first tool taking seat provided on the first movable knife holder of the present invention can be adjusted to be located at the installation position of the first movable knife holder. Each knife holder seat provided in each row of rack bodies of the fixed knife holder can be individually adjusted to the installation position of the row rack body.

In one embodiment, the first tool holders of the first movable tool holder are composed of a plurality of groups of first movement mechanisms for three-dimensional space movement, and each group of first movement mechanisms is driven by a servo motor with a screw mechanism Or the gear is driven by a servo motor and then actuated by a rack transmission mechanism.

In one embodiment, the present invention further includes a second movable tool holder, which includes a plurality of second tool holders with three-dimensional space movement capabilities. Each second tool holder can grip or release a tool, and each first The moving path of the second tool holder includes the position of each tool holder base, the waiting tool change position and the tool change position.

Another object of the present invention is to solve the high-efficiency, automatic replacement method of multi-spindle tools.

To achieve the purpose of the above method, the present invention provides a multi-spindle tool replacement method, the steps of which include: providing a multi-spindle tool replacement system as described in item 1 of the patent application scope; setting these based on the information of the multi-axis machining machine tool The number of the first tool holders; and according to the number of the first tool holders, corresponding to the number of tools held by the tool holder seats on each row of the fixed tool holder; move the first tools The tool holder is moved to the corresponding tool holder seats and the tools are taken out, and the first tool holders include a first tool holder empty space that does not hold the tool, and the first tool holders and the clamps are moved The tool moves to the position for waiting for tool change; when the spindle moves into the tool change position, the tool to be changed of the spindle is received by the first tool holder empty position, and then the first tool holders holding the tool are moved, so that One of the tools is aligned with the spindle, and the spindle is moved to the tool change position again to pick up the tool; and when any spindle does not change the tool to be changed, the first tool taking seats and their clamping are moved The tool returns to the waiting position for tool change.

In an embodiment, the information of the multi-axis processing machine tool of the present invention includes: the number of spindles of the multi-axis processing machine tool, the spacing between the spindles, and the tool size used.

In an embodiment, when the tools on the first tool-taking bases have all been replaced, and any spindle has not replaced the tool to be changed, the first tool-taking bases are moved to the tool-holder bases for replacement Tool, and then move the first tool holders back to the waiting tool change position.

The characteristics of the present invention are: the present invention provides a complete tool change system solution, providing customers with a system and method for multi-spindle machining occasions where tool change can be performed, which reduces the operation of personnel on the machine tool and reduces the processing time, increasing production Efficiency shows part of the advantages of multi-spindle machining and reduces the risk of personnel operations. The invention can design the setting positions of the tool taking seat (the first tool taking seat and the second tool taking seat) and the tool holder base to be adjustable, so even if there are multiple (such as 3) tool taking seats on each spindle When forming a group, each group of tool holders can be adjusted according to the relative position between the spindle and the main shaft, and the grid distance of each group of tool holders is mainly based on the width of each spindle itself, so that the tool holder can be arranged On the movable tool holder, it is convenient for tool replacement, and according to the above design of the tool holder, multiple tools can be taken at one time for tool replacement, saving the time of tool replacement. The invention can add a group of movable knife holders (second movable knife holders), when one of the movable knife holders has finished changing the knife, the other knife holder can then wait for the knife change, so as not to fix the knife The tool change time on the rack is too long, which causes the machining to stop and wait, and its operation process is almost the same as that of a single movable tool holder. After the mobile tool holder replaces all the above tools, it moves to the fixed tool holder tool change position At the same time, it was moved to the tool change waiting point to wait for the tool change at the same time to move to the tool change waiting point under the other movable tool that has finished taking the tool, and improve the tool change efficiency. The design of the tool change system of the present invention is not limited to multi-spindles. The tool change system of the present invention can also be used in the environment of a single spindle, which can reflect a tool change system with a larger number of tools than the general row type . Furthermore, the rack body of each row of the fixed knife holder of the present invention can be used as a detachable structure, and the pick and place unit of the pick and place tool can use the rack body picker to remove the single row rack body , In order to reduce the probability of tool picking failure when picking tools from multiple tool picking batches individually.

1,1’‧‧‧Multi-axis machining machine

11‧‧‧machine

12‧‧‧spindle

2,2’‧‧‧Multi-spindle tool change system

21‧‧‧Fixed knife holder

211,211’‧‧‧frame

212‧‧‧Knife holder

22‧‧‧ First mobile tool holder

221‧‧‧ First mobile mechanism

222‧‧‧rod

223‧‧‧ pick and place unit

2231‧‧‧First tool holder

2232‧‧‧frame pick and place device

23,23’‧‧‧Servo motor

24‧‧‧ Second mobile tool holder

241‧‧‧ Second mobile mechanism

242‧‧‧rod

2421‧‧‧Second tool holder

a,b,c,d,e,f‧‧‧moving path

a’,b’,c’,d’,e’,f’‧‧‧moving path

L1‧‧‧Tool change position

L2‧‧‧Position of tool holder

Corresponding position of L2’‧‧‧frame

L3‧‧‧Waiting for tool change position

S‧‧‧Cutter

S1‧‧‧To be changed

X‧‧‧horizontal axis

Y‧‧‧Vertical coordinate axis

Z‧‧‧ Height coordinate axis

Steps S10~S15‧‧‧‧Multi-spindle tool replacement method for a single movable tool holder

Steps S20~S24‧‧‧‧Multi-spindle tool replacement method with two movable tool holders

Steps S30~S35‧‧‧‧Multi-spindle tool replacement method with frame pick and place device

[FIG. 1] A perspective view of an embodiment of a multi-spindle tool changing system with a single movable tool holder of the present invention; [FIG. 2] A perspective view of another embodiment of the embodiment of FIG. 1; [FIG. 3] A schematic view 1 front view of the embodiment; [FIG. 4] shows a right side view of the embodiment of FIG. 1; [FIG. 4A] shows a plurality of first tool holders of the first mobile tool holder pick-and-place unit of FIG. 1 to A side view of a fixed tool holder with multiple tools removed; [FIG. 4B] A perspective view of another embodiment of a multi-spindle tool changing system with a single movable tool holder of the present invention [FIG. 4C] FIG. 4B shows an implementation of FIG. 4B Example of a side view of the first mobile tool holder pick-and-place unit of the rack body picker to the fixed tool holder to remove the rack with multiple cutters; [Figure 5] shows the invention has two A perspective view of an embodiment of a multi-spindle tool changing system of a movable tool holder; [FIG. 6] A perspective view showing another perspective of the embodiment of FIG. 5; [FIG. 7] A front view of the embodiment of FIG. 5. [FIG. 8] The right side view of the embodiment of FIG. 5 is shown.

[FIG. 9] A flowchart showing steps of an embodiment of a multi-spindle tool replacement method with a single movable tool holder of the present invention; [FIG. 10] A method of a multi-spindle tool replacement method with double movable tool holders of the present invention Step flowchart of the embodiment.

[Fig. 11] A step flow chart of an embodiment of a method for replacing a multi-spindle tool including a plurality of tools with a rack pick and place device according to the present invention.

The embodiments of the present invention are described in detail in conjunction with the drawings as follows. The accompanying drawings are mainly simplified schematic diagrams and only illustrate the basic structure of the present invention in a schematic manner. Therefore, in these drawings, only elements related to the present invention are marked. In addition, the components shown are not drawn with the number, shape, size ratio, etc. in the implementation. The actual implementation of the specifications is actually a selective design, and the layout of the components may be more complicated.

Please refer to FIGS. 1 to 4 and FIG. 4A, which is a perspective view of an embodiment of a multi-spindle tool changing system with a single-side movable tool holder of the present invention. The multi-spindle tool change system 2 of this embodiment is suitable for being installed on a multi-axis machining machine 1. The multi-axis machining machine 1 includes a machine 11, a plurality of spindles 12 provided on the machine 11, and each spindle 12 It can be moved to a tool change position L1 for replacing the tools of the spindle 12, the multi-spindle tool change system 2 includes: a fixed tool holder 21, which has a plurality of rows of body 211, each row of body 211 is provided with a plurality of A tool holder base 212 for inserting the tool S; and a first movable tool holder 22, which includes a first moving mechanism 221 having a three-dimensional spatial direction (XYZ axis direction as shown in the figure) movement capability, and a A rod body 222 on the first moving mechanism 221, the rod body 222 is provided with at least one pick-and-place unit 223, and the pick-and-place unit 223 is interlocked by moving the rod body 222, so that the pick-and-place unit 223 is removed and disposed on the The cutters S on the fixed blade holder 21 (the entire row of rack bodies 211 can be taken out to the pick-and-place unit 223 at one time, and the cutters S on the rack body 211 can be taken out at once, or to the cutters on the rack body 211 The pedestal 212 takes out the tools one by one to the pick and place unit 223), and the moving path of the pick and place unit 223 includes the corresponding position L2' of each frame body of the fixed tool holder 21, a change near the multi-axis machining machine 1 The tool position L1 is a waiting tool change position L3 and one of the multi-axis machining machine tools 1 is a tool change position L1.

Please refer to FIG. 4A. In the above embodiment, the pick-and-place unit 223 includes a plurality of first tool holders 2231 disposed on the rod body 222, and each first tool holder 2231 can grip or release the tool S Each moving path of the first tool holder 2231 includes the tool change position L1 (that is, the corresponding position L2′ corresponding to the above-mentioned frame body), the position L2 of each tool holder base, and a waiting change near the tool change position L1 Knife position L3. The number of tool holder seats 212 provided on each row of rack bodies 211 is the same as the number of the first tool holders 2231 provided on the rod body 222. Each of the first tool holders 2231 provided on the rod body 222 can be individually adjusted to the installation position on the rod body 222 to facilitate fine adjustment to correspond to the arrangement of each row of frame bodies 211 of the fixed knife holder 21 The position of each of the tool holder bases 212 achieves the purpose that the tool holder bases 212 can grab multiple tools S in one operation of picking a knife. Of course, each knife holder seat 212 provided in each row of rack bodies 211 of the fixed knife holder 21 can be individually adjusted to the placement position of the row of rack bodies 211, making it easy to take the first position on the rod body 222 The blade holders 2231 are aligned with each other.

Furthermore, the above-mentioned second moving mechanism 241 with the ability to move in the three-dimensional space is mainly for moving the rod body 222 so that each of the first tool-taking seats 2231 includes the tool-changing position L1, the position of each tool holder base L2 and It moves between the waiting tool change position L3 close to the tool change position L1. In this embodiment, the second moving mechanism 241 is composed of three sets of servo motors 23 and screw mechanism groups, combined with slide rails and sliders. The first set of servo motors 23 and screw mechanism groups carry the first Two sets of servo motors 23 and screw mechanism groups, the second set of servo motors 23 and screw mechanism groups carry the third set of servo motors 23 and screw mechanism groups on their sliders, and the third set of servo motors 23 and screw mechanism groups The slider carries the rod body 222. The first group of servo motors 23 drives the screw mechanism forward and reverse to move forward and backward along the vertical coordinate axis Y of the rectangular coordinate system shown in FIG. 1; the second group of servo motors drives the screw mechanism forward and reverse to move along The height coordinate axis Z of the rectangular coordinate system as shown in FIG. 1 moves up and down; the third group of servo motors drives the screw mechanism to rotate forward and backward to move along the horizontal coordinate axis X of the rectangular coordinate system as shown in FIG. 1, In addition to the servo motor driving the screw mechanism, the first moving mechanism can also be driven by the servo motor to drive the gear through the rack transmission mechanism. The design of the first and second moving mechanisms (221,241) in this three-dimensional space direction is changed. , Which can be understood and applied by those skilled in the art of the present invention, and will not be repeated here.

Please refer to FIGS. 4B and 4C again. In another embodiment of the present invention, the multi-axis machining machine 1 adopts a manner of taking out the entire frame body 221' (including all the tools S on the tool holder base 212 of the frame body 211'). The multi-spindle tool exchange system 2 of this embodiment also includes the multi-axis machining machine 1, the fixed tool holder 21, the first movable tool holder 22 and other components of the foregoing embodiment.

However, the frame bodies 211' of the fixed blade holder 21 are detachably fixed to the fixed blade holder 21, and the pick-and-place unit 223 includes a frame pick-and-place device 2232 disposed on the rod body 222, The rack pick-and-place device 2232 can grip one of the rack bodies 211' on which the multiple cutters S are placed on the fixed tool holder 21 by the movement of the rod body 222 The frame body 211' of the tool S to be replaced returns to the fixed tool holder 21. As shown in FIG. 4B, in this embodiment, the rack pick-and-place 2232 can grip or release the entire row of racks 211' carrying a plurality of cutters S, and the movement path of the rack pick-and-place 2232 includes the tool change position L1 (that is, corresponding to the above-mentioned corresponding position L2' of the frame body), the position L2' of each frame body, and a waiting tool change position L3 close to the tool change position L1.

In a modified embodiment, as shown in FIGS. 5-8. In this embodiment, on the basis of a single mobile tool holder, a group of mobile tool holders is added to form a multi-spindle tool replacement system 2'with two mobile tool holders, which is mainly on the first mobile tool holder 22 On the other side of the machine table 11, a second movable tool holder 24 is provided, which includes a second moving mechanism 241 having a three-dimensional space moving capability, and a rod body 242 provided on the second moving mechanism 241. A plurality of second tool taking seats 2421 are provided on the rod body 242, each second tool taking seat 2421 can clamp or release the tool S, and the moving path of each second tool taking seat 2421 includes the tool change position L1, Position L2 and the waiting tool change position L3.

Next, please refer to FIG. 9 and compare with FIG. 4A. This embodiment is a multi-spindle tool replacement method for a single movable tool holder. The steps include: Step S10: Provide the foregoing multi-spindle tool replacement system 2 for a single movable tool holder ; Step S11: Initialize the settings, set this based on the information of the multi-axis machining machine 1 (the information includes: the number of spindles 12 of the multi-axis machining machine 1, the spacing between each spindle 12 and the size of the tool S used), The number of the first tool holders 2231; and according to the number of the first tool holders 2231, corresponding to the number of tools S held by the tool holder seat 212 on each row of the frame body 211 of the fixed tool holder 21 ; Step S12: wait for the replacement of the tool pick, move the first tool pick seats 2231 to the position L2 of the tool holder base, make the corresponding tool holder seats 212 and take out the tools originally installed on the tool holder seats 212; S, wherein the first tool picking seats 2231 include a first tool picking seat that does not hold any tool S, and move the first tool picking seats 2231 and the holding tool S to the waiting tool change position L3 ( The sequential movement paths a, b, c, d as shown by the arrows in FIG. 4A, of course, the Z axis and the Y axis can also be moved at the same time during the movement, rather than a single axial sequential movement); Step S13: Spindle replacement tool When the spindle 12 needs to change its tool S1 to be changed, the spindle 12 first moves into the tool change position L1, and then receives the tool S1 to be changed of the spindle 12 with the first tool holder empty position, and then moves to hold The first tool taking seats 2231 of the tool S align one of the tools S with the spindle 12 and move the spindle 12 to the tool change position L1 again, so that the spindle 12 picks up the tool S (as shown in FIG. 4A) The moving path e) shown by the arrow; Step S14: When any spindle 12 has not replaced the tool S1 to be replaced, move the first tool-receiving seat 2231 and its holding tool S back to the waiting tool-change position L3 ( As shown in the moving path f) of the arrow in FIG. 4A, and jump back to the spindle tool replacement step (ie, step S13), the spindle 12 that has not been changed has its tool S1 to be replaced replaced.

In addition, in one embodiment, the method further includes step S15. When the tools S on the first tool holders 2231 have all been replaced, and any spindle 12 has not replaced the tool S1 to be replaced, first move the first A tool taking base 2231 to the tool holder bases 212 is used to replace the tool S, and then the first tool taking base 2231 and the tool S are moved back to the step of waiting for the tool change position L3.

Referring again to FIG. 10, and referring to FIGS. 4A and 4B, this embodiment is a multi-spindle tool replacement method with two single movable tool holders, and its steps include: Step S20: providing as many as two movable tool holders Spindle tool change system 2'; Step S21: Initialize the settings based on the information of the multi-axis machining machine 1'(the information includes: the number of spindles 12 of the multi-axis machining machine 1', the spacing between the spindles 12 and their use The size of the tool S), set the number of the first tool holders 2231 and the second tool holders 2421; and according to the number of the first tool holders 2231, the second tool holders 2421, set the corresponding The number of tools S clamped by the tool holder base 212 on each row of the holder body 211 of the fixed tool holder 21; Step S22: wait for the tool replacement to move, and move the first tool holder 2231 and the second tool holder 2421 respectively Go to the corresponding tool holder bases 212 and take out the tools S on the tool holder bases 212, and the first tool extracting bases 2231 include a first tool holder empty space that does not hold the tool S, and move the Some of the first tool-taking seat 2231 and its clamping tool S to the waiting tool-changing position L3; Step S23: The spindle changes the tool, when the spindle 12 moves into the tool-changing position L1, the first tool-taking seat is vacantly received The tool S1 of the spindle 12 to be changed, and then move the first tool holders 2231 holding the tool S, align one of the tools S with the spindle 12, and move the spindle 12 to the tool change position L1 again, to The spindle 12 picks up the tool S, and at the same time, after the first tool picking seats 2231 move out of the waiting tool change position L3, the second tool picking seats 2421 and their holding tools S are moved to the waiting tool change position L3 (these second tool-taking seats 2421 have already replaced the tool S1 of the spindle 12 to be replaced by the first tool-taking seat and installed a new tool S, first to grab the tool S at the position L2 of the tool holder base), In order to replace the first tool-taking base 2231 and the second tool-taking base 2421 with the tools S1 to be changed corresponding to different spindles 12 to be replaced; Step S24: When any spindle 12 does not replace the tools S1 to be changed , Move the first tool holder 2231 or the second tool holder 2421 back to the waiting tool change position L3, and return to the spindle tool replacement step (ie step S23), to wait for the spindle 12 without tool change For the replacement of the tool changer S1, when the tool S on the first tool picking seats 2231 has been replaced, and any spindle 12 has not replaced the tool S1 to be replaced, first move the first tool picking seats 2231 to the The tool holder bases 212 replace the tool S (ie, move to the position L2 of the tool holder base), and then move the first tool holders and their tools back to the waiting tool change position.

Next, please refer to FIG. 11 and compare with FIG. 4, this embodiment is a single movable tool holder and a multi-spindle tool replacement method that grabs the entire holder body. The steps include: Step S30: Provide the aforementioned holder holder Multi-spindle tool change system 2 of 2232; Step S31, initial setting, according to the information of the multi-axis machining machine 1', set the number of the multi-row frame bodies 211' of the fixed tool holders 21 and each row of frame bodies The number of tools S held by the tool holder seat of 211'; Step S32, wait for the replacement of the tool pick, move the holder pick-and-place 2232 to the corresponding position L2' of the holder, and take out the holder 211', and The tool holder bases 212 of the frame 211' include an empty space where the tool S is not clamped, and move the frame 211' to the waiting tool change position L3 (as shown by the arrows 4C in the sequential movement path a ',b',c',d', of course, the Z-axis and Y-axis can also move at the same time instead of a single axial sequential movement); Step S33, the spindle 12 replaces the tool, when the spindle 12 moves into the tool change At position L1, the tool holder seat 212 is used to catch the tool S1 of the spindle 12 to be replaced, and then move the tool holder seats 212 holding the tool S, so that one of the tool S is aligned with the spindle 12, and again Move the spindle 12 to the tool change position L1 to pick up the tool S (movement path e'shown by the arrow in FIG. 4C); Step S34, when any spindle 12 does not replace the tool S1 to be changed, move The tool holder bases 212 and their clamping tools S return to the waiting tool change position L3 (moving path f'shown by the arrow in FIG. 4C), and return to the spindle replacing tool step (step S33), to The non-tool-changing spindle 12 performs replacement of the tool S1 to be replaced.

In addition, an embodiment further includes: Step S35, when the tools S on the tool holder bases 212 have all been replaced, and any spindle 12 has not replaced the tool S1 to be replaced, first move the holder to pick and place Step 2232 to the fixed tool holder 21 replaces another shelf body 211' in which the tool S is inserted, and then moves the holder body 211' and its tool S back to the step of waiting for the tool change position L3.

In the above method, when one of the mobile tool holders has finished changing the tool, the other mobile tool holder can then wait for the tool change, so as not to take too long to take the tool change on the fixed tool holder, causing the processing to stop and wait , And the procedure of the tool change procedure of the double mobile tool holder is almost the same as that of the single mobile tool holder, and there is no learning curve to adapt.

The above-mentioned embodiments only exemplarily illustrate the principles, characteristics and effects of the present invention, and are not intended to limit the scope of the invention. Anyone who is familiar with this skill can do the above without departing from the spirit and scope of the present invention. The embodiment is modified and changed. Any equivalent changes and modifications made using the disclosure of the present invention should still be covered by the following patent applications. Therefore, the scope of protection of the rights of the present invention should be as listed in the scope of patent application.

1‧‧‧Multi-axis machining machine

11‧‧‧machine

12‧‧‧spindle

2‧‧‧Multi-spindle tool change system

21‧‧‧Fixed knife holder

211‧‧‧frame

212‧‧‧Knife holder

22‧‧‧ First mobile tool holder

221‧‧‧ First mobile mechanism

222‧‧‧rod

223‧‧‧ pick and place unit

2231‧‧‧First tool holder

23‧‧‧Servo motor

S‧‧‧Cutter

X‧‧‧horizontal axis

Y‧‧‧Vertical coordinate axis

Z‧‧‧ Height coordinate axis

Claims (14)

A multi-spindle tool replacement system is suitable for being installed on a multi-axis machining machine tool. The multi-axis machining machine tool includes a machine table and a plurality of spindles arranged on the machine table, and each spindle can be moved to a tool changer for tool replacement. Position, the multi-spindle tool change system includes: a fixed tool holder with multiple rows of rack bodies, each row of rack bodies is provided with a plurality of tool holders for tool clamping; and a first movable tool holder, which It includes a first moving mechanism with three-dimensional space direction moving ability, and a rod body provided on the first moving mechanism, the rod body is provided with at least one pick-and-place unit, and the pick-and-place unit is linked by moving the rod body, In order for the pick-and-place unit to take or replace the tools provided on the fixed tool holder, the movement path of the pick-and-place unit includes the corresponding position of each frame body of the fixed tool holder, a multi-axis processing The waiting tool change position of the machine tool change position and one of the multi-axis machining machine tool change positions. The multi-spindle tool replacement system as described in item 1 of the patent application range, wherein the pick-and-place unit is a plurality of first tool-taking seats provided on the rod body, and each first tool-taking seat can grip or release a tool, The movement path of each first tool taking seat includes the position of each tool holder base, a waiting tool change position and a tool changing position. The number of tool holder seats of each row of rack bodies is consistent with the number of the first tool holders provided on the rod body. The multi-spindle tool replacement system as described in item 2 of the patent application scope, wherein each first tool-taking seat provided on the rod body can adjust its setting position. The multi-spindle tool replacement system as described in Item 3 of the patent application range, wherein each tool holder seat provided in each row of the fixed tool holder can be individually adjusted to the installation position of the row of holders. The multi-spindle tool change system as described in item 2 of the patent application range, wherein the first moving mechanism is driven by a screw motor driven by a servo motor or a gear driven by a servo motor and then driven by a rack transmission mechanism. The multi-spindle tool changing system as described in item 2 of the patent application scope further includes: a second movable tool holder, which includes a second moving mechanism with a three-dimensional space moving capability, and is disposed on the second moving mechanism A rod body with a plurality of second tool holders, each second tool holder can clamp or release a tool, each second tool holder movement path includes the position of each tool holder seat, the waiting for replacement The knife position and the tool change position. The multi-spindle tool replacement system as described in item 1 of the patent application scope, wherein the rack systems are detachably fixed to the fixed tool holder, and the pick-and-place unit is a rack body pick-and-place device provided on the rod body , The rack body pick-and-place device can grip or release one of the rack bodies on which the multiple cutters are placed on the fixed knife holder by the movement of the rod body, or put the rack body back to the fixed type Knife holder. The multi-spindle tool changing system as described in item 2 of the patent application scope further includes: a second movable tool holder, which includes a second moving mechanism with a three-dimensional space moving capability, and is disposed on the second moving mechanism A rod body with a plurality of second tool holders, each second tool holder can clamp or release a tool, each second tool holder movement path includes the position of each tool holder seat, the waiting for replacement The knife position and the tool change position. A multi-spindle tool replacement method, the steps of which include: providing a multi-spindle tool replacement system as described in item 2 of the patent application scope; initializing settings, and setting the number of the first tool holders according to the information of the multi-axis machining machine tool , And according to the number of the first tool holders, corresponding to the number of tools clamped by the tool holder seats on each row of the fixed tool holder; wait for the replacement of the tool holder, move the first tool holders Go to the corresponding tool holder seats and remove the tools, and the first tool holders include a first tool holder empty space that does not hold the tool, and move the first tool holders and their holding tools to The waiting tool change position; the spindle changes the tool, when the spindle moves into the tool change position, the first tool holder is used to catch the tool to be changed of the spindle, and then move the first tool holder , Align one of the tools with the spindle, and move the spindle to the tool change position again to pick up the tool; and when any spindle does not change the tool to be changed, move the first tool holder and its Clamp the tool back to the position for waiting for tool change, and return to the step of changing the tool of the spindle, so as to replace the tool to be changed on the spindle that has not been changed. The multi-spindle tool replacement method as described in item 9 of the patent application scope, wherein the information of the multi-axis machining machine tool includes: the number of spindles of the multi-axis machining machine tool, the spacing between the spindles and the tool size used. The multi-spindle tool replacement method as described in item 9 of the patent application scope further includes: when the tools on the first tool holders have been replaced, and any spindle has not replaced the tool to be replaced, first move the tool Steps of replacing the first tool holder with the first tool holder to replace the tool holder, and then moving the first tool holder and the tool back to the position to be changed. A multi-spindle tool replacement method, the steps of which include: providing a multi-spindle tool replacement system as described in item 6 of the patent application scope; initializing settings, setting the first tool holders and the The number of the second tool holders, and according to the number of the first tool holders and the second tool holders, corresponding to the number of tools held by the tool holder seats on each row of the fixed tool holder ; Wait for the replacement of the tool pick, move the first and second tool pick seats to the corresponding tool holder seats and take out the tools respectively, and the first tool pick seats include a first tool pick that does not hold the tool Vacant seat, and move the first tool holders and their clamping tools to the waiting tool change position; when the spindle replaces the tool, when the spindle moves into the tool change position, the first tool holder seat is used to catch the spindle To change the tool, move the first tool holders holding the tool, align one of the tools with the spindle, and move the spindle to the tool change position again to pick up the tool. At the same time, After the first tool-taking base moves out of the waiting-for-tool-changing position, the second tool-taking bases and their clamping tools are moved to the waiting-for-tool-changing position, so that the first tool-taking bases and the second tool-taking bases Rotate the tools to be changed corresponding to different spindles for replacement; and when any spindle does not change the tools to be changed, move the first or second tool-receiving seats back to the waiting tool-change position and return to the spindle The tool replacement step is to replace the tool to be replaced on the spindle that has not been replaced. When the tools on the first tool holder have been replaced, and any spindle has not replaced the tool to be replaced, first move these Change the tools from the first tool holder to the tool holder bases, and then move the first tool holders and their tools back to the position to be changed. A multi-spindle tool replacement method, the steps include: providing a multi-spindle tool replacement system as described in item 7 of the patent application scope; initializing settings, setting the fixed tool holders according to the information of the multi-axis machining machine tool The number of multi-row racks and the number of tools held by the knife holder of each row of racks; take the knife to wait for replacement, move the rack picker to the corresponding rack and remove the rack, and the The tool holder seats of the rack body include an empty space where the tool is not clamped, and move the holder body to the waiting tool change position; the spindle replaces the tool, when the spindle moves into the tool change position, the empty seat of the tool holder seat is used Pick up the tool to be replaced by the spindle, move the tool holders holding the tool, align one of the tools with the spindle, and move the spindle to the tool change position again to pick up the tool; and when available When any spindle does not change the tool to be changed, move the tool holder base and the clamping tool to return to the position of waiting for tool change, and return to the step of changing the tool of the spindle, so as to perform the tool to be changed on the spindle that has not been changed. replace. The multi-spindle tool replacement method described in item 13 of the patent application scope further includes: when the tools on the tool holder seats have been replaced, and any spindle has not replaced the tool to be replaced, first move the frame body The pick-and-place device replaces the fixed blade holder with the frame body into which the tool is inserted, and then moves the frame body and the tool back to the position to be changed.

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