TWI765709B - Cutting tool changing device and operating method for cutting tool changing device - Google Patents

Abstract

The present disclosure provides a cutting tool changing device including a frame, a cutting wheel disassembling and assembling module, and a nut disassembling and assembling module. The cutting wheel disassembling and assembling module is disposed at the frame and includes a first rotating set, an old cutting wheel holding member and a new cutting wheel holding member. The first rotating set has a first rotating axis and includes an axial connecting member. The old cutting wheel holding member is located at one side of the axial connecting member and has a first holding central line. The new cutting wheel holding member is located at the other side of the axial connecting member and has a second holding central line. The nut disassembling and assembling module is disposed at the frame and is aligned with the cutting wheel disassembling and assembling module. The nut disassembling and assembling module has a second rotating axis. The second rotating axis is substantially perpendicular to the first rotating axis and is substantially parallel to the first holding central line and the second holding central line. Therefore, the operating spaces of the cutting wheel disassembling and assembling module and the nut disassembling and assembling module can be effectively reduced.

Description

Tool changer and method of operation of the tool changer

The present invention relates to a tool changer and an operation method of the tool changer, and in particular, to a tool changer and an operation method of the tool changer applied to cutting equipment.

With the advancement of technology, electronic devices are widely used, so the demand for chips used in electronic devices also tends to increase. Generally speaking, a dicing equipment is used to cut a wafer into a plurality of wafers in the process. Therefore, the state of the cutter wheel on the dicing equipment needs to be maintained at a certain sharpness to avoid damage to the product during the cutting process.

According to this, some operators set up a tool changer on the cutting equipment, and through the tool changer, the old cutter wheel is replaced with a new cutter wheel, so as to ensure the yield of the product during cutting. The tool changing device generally includes a transfer module, a tool wheel disassembly module and a nut disassembly module. The tool wheel disassembly module includes a support plate, a new tool wheel clamping part and an old tool wheel clamp. The holding part, wherein the support plate is connected to the clamping part of the new cutter wheel and the clamping part of the old cutter wheel, and the nut disassembly and assembly module, the clamping part of the new cutter wheel and the clamping part of the old cutter wheel are arranged coplanarly. , the support plate is rotated on this plane. In this way, in addition to the movement and setting range of the transfer module itself, the operating range of the cutter wheel disassembly and assembly module and the nut disassembly and assembly module will also be enlarged. Therefore, cutting The equipment must provide more space to set up the tool changer. In this way, in addition to restricting the configuration space of other modules on the cutting equipment, the larger machine will also lead to an increase in cost, and there is room for improvement.

According to an embodiment of the present invention, a tool changing device is provided for disassembling and assembling a tool device of a cutting device. The tool changing device includes a frame body, at least one tool wheel disassembly and assembly module, and at least one nut disassembly and assembly module. , the aforementioned at least one cutter wheel disassembly module is arranged on the frame body and includes a first rotating component, an old cutter wheel clamping part and a new cutter wheel clamping part. The first rotation component has a first rotation axis and includes an axial connection part; the clamping part of the old cutter wheel is located on one side of the axial connection part and has a first clamping centerline, and the first clamping centerline is connected to the first clamping centerline. A rotation axis is almost vertical, the old cutter wheel clamping part is used to disassemble an old cutter wheel from the cutter device; the new cutter wheel clamping part is located on the other side of the axial connection part and has a second clamping centerline, The second clamping center line is approximately perpendicular to the first rotation axis, and the new cutter wheel clamping portion is used for installing a new cutter wheel on the cutter device. The at least one nut disassembly and assembly module and the at least one cutter wheel disassembly and assembly module are arranged side by side on the frame body, the at least one nut disassembly and assembly module is used for disassembling and assembling a nut on the cutter device, and the at least one nut The disassembly and assembly module has a second rotation axis. Wherein, the second rotation axis of the at least one nut disassembly and assembly module is substantially perpendicular to the first rotation axis of the at least one cutter wheel disassembly and assembly module, and the second rotation axis of the at least one nut disassembly and assembly module is perpendicular to The first clamping centerline and the second clamping centerline of the at least one cutter wheel disassembly and assembly module are substantially parallel.

In this way, through the arrangement of the second rotation axis perpendicular to the first rotation axis and parallel to the first clamping centerline and the second clamping centerline, it is possible to effectively reduce the time between the cutter wheel disassembly and assembly module and the nut disassembly and assembly module. range of action.

According to the tool changing device of the foregoing embodiment, the old tool wheel clamping portion of the at least one tool wheel disassembly and assembly module can include at least two first sliding blocks and at least two old tool wheel clamping arms, and each old tool wheel clamping arm is provided with In each of the first sliding blocks, each of the old cutter wheel clamping arms is driven by each of the first sliding blocks to be positioned at an old cutter wheel clamping position or an old cutter wheel releasing position. The new cutter wheel clamping portion of the aforementioned at least one cutter wheel disassembly and assembly module may include at least two second sliders and at least two new cutter wheel clamping arms, each new cutter wheel clamping arm is arranged on each second slider, and each new cutter wheel clamping arm. The clamping arm is driven by each of the second sliding blocks to be positioned at a new cutter wheel clamping position or a new cutter wheel releasing position.

According to the tool changing device of the aforementioned embodiment, wherein, the old tool wheel clamping part of the at least one tool wheel disassembly and assembly module can include at least two old tool wheel bearing surfaces and at least two old tool wheel limit grooves, and the at least two old tool wheel The tool wheel bearing surfaces are respectively located on the at least two old tool wheel clamping arms, and the aforesaid at least two old tool wheel limiting grooves are respectively located on the at least two old tool wheel clamping arms. The new cutter wheel clamping portion of the at least one cutter wheel disassembly and assembly module may include at least two new cutter wheel bearing surfaces and at least two new cutter wheel limit grooves, and the aforementioned at least two new cutter wheel bearing surfaces are respectively located on the aforementioned at least two new cutter wheel bearing surfaces. In the cutter wheel clamping arm, the at least two new cutter wheel limiting grooves are respectively located in the at least two new cutter wheel clamping arms.

According to the tool changing device of the foregoing embodiment, the at least one nut disassembly and assembly module may include a second rotating component and a nut fitting sleeve. The second rotating component is disposed on the frame body, and the nut fitting sleeve is connected and driven by the second rotating component and used for fitting into the nut. Wherein, when the second rotating component rotates, the nut fitting sleeve tightens or loosens the nut.

According to the tool changing device of the aforementioned embodiment, the number of the at least one cutter wheel disassembly and assembly module and the aforementioned at least one nut disassembly and assembly module can be two, one cutter wheel disassembly and assembly module and one nut disassembly and assembly module It is arranged on a first side of the frame body, and another cutter wheel disassembly and assembly module and another nut disassembly and assembly module are arranged at a second side of the frame body.

The tool changing device according to the foregoing embodiment may further include a mechanical arm, which is connected to the driving frame body.

According to another embodiment of the present invention, a method for operating a tool changer is provided, which is used for disassembling and assembling a tool device of a cutting device. The method for operating the tool changer includes a step of detaching a nut, a step of detaching an old cutter wheel, and A new tool wheel installation steps. In the step of detaching the nut, a mechanical arm of a tool changing device is moved, so that a nut disassembling and assembling module of the tool changing device is aligned with the tool device, and the nut disassembling and assembling module is driven to remove a Unscrew the nut, and then move the robotic arm to take the nut away from a spindle of the tool device. In the step of disassembling the old cutter wheel, move the mechanical arm to align an old cutter wheel clamping part of the cutter wheel disassembly module with the cutter device, and drive the old cutter wheel clamping part to hold an old cutter wheel of the cutter device. , and then move the robotic arm to take the old tool wheel away from the spindle. In the step of installing the new cutter wheel, a first rotating component of the cutter wheel disassembly and assembly module is driven, so that the clamping part of the new cutter wheel of the cutter wheel disassembly and assembly module is aligned with the cutter device, and the new cutter wheel is moved by moving the mechanical arm. A new cutter wheel on the clamping part is inserted into the spindle, and the clamping part of the new cutter wheel is driven to release the new cutter wheel.

According to the operation method of the tool changer according to the foregoing embodiment, in the step of detaching the old cutter wheel, the moving mechanical arm drives the frame of the tool changer to exit a cavity of the cutting device, and after the frame is rotated 180 degrees, The moving mechanical arm drives the frame to enter the cutting equipment again.

Please refer to FIG. 1, FIG. 2 and FIG. 3, wherein FIG. 1 shows a three-dimensional schematic diagram of a tool changing device 10 applied to a cutting device 20 according to an embodiment of the present invention, and FIG. 2 shows the first FIG. 3 is a schematic partial perspective view of the tool changing device 10 according to the embodiment of FIG. 1 , and FIG. 3 is a partial front schematic view of the tool changing device 10 according to the embodiment of FIG. 1 . The tool changing device 10 is used for disassembling and assembling a tool device 21 of a cutting device 20 (shown in FIG. 6 ). The tool changing device 10 includes a frame body 100 , at least one tool wheel disassembly and assembly module 300 and at least one nut disassembly and assembly unit 100 . Assembly module 400.

The aforementioned at least one cutter wheel disassembly and assembly module 300 is disposed on the frame body 100 and includes a first rotating assembly 330 , an old cutter wheel clamping portion 310 and a new cutter wheel clamping portion 320 . The first rotation component 330 has a first rotation axis I11 and includes an axial connection portion 331 ; the old cutter wheel clamping portion 310 is located at one side of the axial connection portion 331 and has a first clamping centerline I21, the first The clamping center line I21 is approximately perpendicular to the first rotation axis I11. The old cutter wheel clamping portion 310 is used to remove an old cutter wheel 21A (shown in FIG. 6) from the cutter device 21; the new cutter wheel clamping portion 320 is located on the other side of the axial connection portion 331 and has a second clamping centerline I22, the second clamping centerline I22 is substantially perpendicular to the first rotation axis I11, and the new cutter wheel clamping portion 320 is used for the cutter A new cutter wheel (not shown) is installed on the device 21 .

The aforementioned at least one nut disassembly module 400 and the aforementioned at least one cutter wheel disassembly module 300 are arranged side by side on the frame body 100, and the aforementioned at least one nut disassembly module 400 is used for dismounting a nut ( not shown), the aforementioned at least one nut disassembly and assembly module 400 has a second rotation axis I12. Wherein, the second rotation axis I12 of the at least one nut disassembly and assembly module 400 is substantially perpendicular to the first rotation axis I11 of the at least one cutter wheel disassembly and assembly module 300, and the at least one nut disassembly and assembly module 400 has a vertical axis. The second rotation axis I12 is substantially parallel to the first clamping center line I21 and the second clamping center line I22 of the at least one cutter wheel disassembly and assembly module 300 .

In this way, through the arrangement that the second rotation axis I12 is perpendicular to the first rotation axis I11 and is parallel to the first clamping center line I21 and the second clamping center line I22, the cutter wheel disassembly and assembly module 300 and nuts can be effectively reduced. The movement range of the disassembly and assembly module 400 . Details of the tool changer 10 will be described later.

As shown in FIG. 1 , the tool changing device 10 may further include a robotic arm 200 connected to the driving frame 100 . In this way, the cutter wheel disassembly and assembly module 300 and the nut disassembly and assembly module 400 can be driven to be positioned on the cutter device 21 through the movement of each joint axis of the robotic arm 200 to perform the cutter change work. In addition, the tool changing device 10 of the present invention can be independent of the cutting device 20, and when there is a need to change the tool, the tool wheel disassembly and assembly module 300 and the nut disassembly and assembly module 400 are driven into the cutting device 20. Therefore, the cutting device 20 does not need to provide a space for disposing the tool changing device 10, and the tool changing device 10 can be moved between a plurality of cutting devices 20 and a warehouse storing the tool wheels, which can further improve the flexibility of the tool changing device 10. .

As shown in FIG. 2 and FIG. 3 , the number of the at least one cutter wheel disassembly and assembly module 300 and the foregoing at least one nut disassembly and assembly module 400 may be two, wherein one cutter wheel disassembly and assembly module 300 and one of the screw The cap disassembly and assembly module 400 is disposed on a first side of the frame body 100 , and another cutter wheel disassembly and assembly module 300 and another nut disassembly and assembly module 400 are disposed on a second side of the frame body 100 . The frame body 100 can be substantially rectangular and includes two long sides and two short sides, the two cutter wheel disassembly and assembly modules 300 are arranged along one of the long sides, and the first clamping center line I21 and the second clamping center line I22 is parallel to the long side, the two nut disassembling modules 400 are arranged along the other long side, and each cutter wheel disassembling module 300 and each nut disassembling module 400 are side by side on each short side.

Please refer to FIG. 4 and FIG. 2 together, wherein FIG. 4 is an exploded schematic view of the nut disassembly and assembly module 400 of the tool changing device 10 according to the embodiment of FIG. 1 . The nut disassembly and assembly module 400 may include a second rotating component 420 and a nut fitting sleeve 410 . The second rotating component 420 is disposed on the frame body 100 , and the nut fitting sleeve 410 is connected and driven by the second rotating component 420 and used for fitting into the nut. Wherein, when the second rotating assembly 420 rotates, the nut fitting sleeve 410 tightens or loosens the nut. The second rotating component 420 may have a motor structure to drive the nut fitting sleeve 410 to rotate. The nut disassembling and assembling module 400 may further include an adapter plate 430 connected to the second rotating component 420 and the nut fitting sleeve 410, and the nut fitting sleeve 410 can include a fitting groove 411 and a plurality of pins 412. When the fitting groove 411 is fitted into the nut, the pins 412 can protrude into the nut, so the second rotating component 420 When rotating, the nut fitting sleeve 410 can be linked to drive the nut to rotate. In addition, in order to facilitate positioning, the tool changing device 10 may further include an alignment module 500. The alignment module 500 and the nut disassembly module 400 are arranged along the long side of the frame body 100, but the present invention does not use this. limited.

Please refer to FIG. 5 and FIG. 3 together, wherein FIG. 5 is an exploded schematic view of the tool wheel disassembly and assembly module 300 of the tool changing device 10 according to the embodiment of FIG. 1 . The old cutter wheel clamping portion 310 of the cutter wheel disassembly and assembly module 300 may include at least two first sliding blocks 315 and at least two old cutter wheel clamping arms 311 , and each old cutter wheel clamping arm 311 is disposed on each first sliding block 315 . Each old tool wheel clamping arm 311 is driven by each first sliding block 315 to be positioned at an old tool wheel clamping position or an old tool wheel releasing position. The new cutter wheel clamping portion 320 of the cutter wheel disassembly and assembly module 300 may include at least two second sliding blocks 325 and at least two new cutter wheel clamping arms 321 , and each new cutter wheel clamping arm 321 is disposed on each second sliding block 325 . Each new tool wheel clamping arm 321 is driven by each second sliding block 325 to be positioned at a new tool wheel clamping position or a new tool wheel releasing position.

Specifically, the first rotating component 330 has a motor structure, the axial connecting portion 331 is a plate-like structure, and the cutter wheel disassembly and assembly module 300 may further include an adapter (not shown) connected to the first rotating component 330 and the between the axial connection parts 331 . The old cutter wheel clamping part 310 may include an old cutter wheel driving cylinder 312 connected to a surface of the axial connection part 331 , and the new cutter wheel clamping part 320 may include a new cutter wheel driving cylinder 322 connected to the axial connection part 331 the other surface. The number of the aforementioned at least two first sliding blocks 315 and the aforementioned at least two old tool wheel clamping arms 311 are both three, and the three first sliding blocks 315 are connected and driven by the old tool wheel driving cylinder 312, and can be clamped in a direction perpendicular to the first The direction of the center line I21 is located at the clamping position of the old cutter wheel or the release position of the old cutter wheel; similarly, the number of the aforementioned at least two second sliding blocks 325 and the aforementioned at least two new cutter wheel clamping arms 321 is three, and the third The two sliding blocks 325 are connected and driven by the new cutter wheel driving cylinder 322, and can be positioned at the new cutter wheel clamping position or the new cutter wheel releasing position along the direction perpendicular to the second clamping center line I22.

The old cutter wheel clamping portion 310 may include three old cutter wheel bearing surfaces 313 and three old cutter wheel limit grooves 314, each old cutter wheel bearing surface 313 is located on each old cutter wheel clamping arm 311, and each old cutter wheel is limited. The position grooves 314 are respectively located at the clamping arms 311 of the old cutter wheels, and there is a step difference between the bearing surfaces 313 of the old cutter wheels and the limiting grooves 314 of the old cutter wheels. Similarly, the new tool wheel clamping portion 320 may include three new tool wheel bearing surfaces 323 and three new tool wheel limiting grooves 324, each new tool wheel bearing surface 323 is respectively located on each new tool wheel clamping arm 321, and each new tool wheel The cutter wheel limiting grooves 324 are respectively located on the new cutter wheel clamping arms 321 , and there is a step difference between each new cutter wheel bearing surface 323 and each new cutter wheel limiting slot 324 .

Please refer to FIG. 6 together with FIGS. 1 to 5 , wherein FIG. 6 is a schematic diagram of the operation of the cutter wheel disassembly and assembly module 300 of the embodiment of FIG. 1 applied to the cutter device 21 . As shown in FIGS. 1 to 6 , the robotic arm 200 drives the old cutter wheel clamping portion 310 to approach the old cutter wheel 21A, and each old cutter wheel clamping arm 311 is positioned at the old cutter wheel release position. The leaning surface 313 will first abut against the surface of the old cutter wheel 21A to ensure that the old cutter wheel 21A is in close contact with the cutter seat surface. In the clamping position of the old cutter wheel, the cutting edge of the old cutter wheel 21A can enter the limiting groove 314 of the old cutter wheel, thereby preventing the old cutter wheel 21A from coming off.

Please refer to FIG. 7 together with FIGS. 1 to 6 , wherein FIG. 7 illustrates a block flow diagram of a method 30 for operating a tool changer according to another embodiment of the present invention. The operation method 30 of the tool changer is used to disassemble and assemble a tool device 21 of a cutting device 20. The operation method 30 of the tool changer includes a nut detachment step S01, an old tool wheel detachment step S02 and a new tool wheel installation step S03.

In the nut detaching step S01 , a robotic arm 200 of a tool changing device 10 is moved, so that a nut disassembling and assembling module 400 of the tool changing device 10 is aligned with the tool device 21 , and the nut disassembling and assembling module 400 is driven. , to loosen a nut of the cutter device 21 , and then move the robotic arm 200 to take the nut away from a spindle 21B of the cutter device 21 .

In the step S02 of disassembling the old cutter wheel, the robotic arm 200 is moved, so that an old cutter wheel clamping portion 310 of the cutter wheel disassembly and assembly module 300 is aligned with the cutter device 21, and the old cutter wheel clamping portion 310 is driven to hold the cutter. An old cutter wheel 21A of the device 21 is moved, and the robotic arm 200 is moved to take the old cutter wheel 21A away from the main shaft 21B.

In the new cutter wheel installation step S03, a first rotating component 330 of the cutter wheel disassembly and assembly module 300 is driven, so that a new cutter wheel clamping portion 320 of the cutter wheel disassembly and assembly module 300 is aligned with the cutter device 21 and moved. The robotic arm 200 inserts a new cutter wheel on the new cutter wheel clamping portion 320 into the spindle 21B, and drives the new cutter wheel clamping portion 320 to release the new cutter wheel.

In detail, after the tool changing device 10 receives the central control command, the robotic arm 200 moves to a warehouse first, takes the new tool wheel with the new tool wheel clamping part 320, and then moves to the cutting where the tool needs to be changed. After the equipment 20 and the cutting equipment 20 open the splash-proof cover, the mechanical arm 200 is actuated to make the frame body 100 , the cutter wheel disassembly and assembly module 300 and the nut disassembly and assembly module 400 enter the cavity of the cutting equipment 20 . Next, step S01 of detaching the nut is carried out, and the two nut disassembly and assembly modules 400 are respectively detached from the two nuts of the two cutter devices 21 , and then, the step S02 of disassembling the old cutter wheel is carried out, and the moving mechanical arm 200 drives the frame body 100 exits the cavity of the cutting device 20, and after the frame body 100 is rotated 180 degrees, the mobile robotic arm 200 drives the frame body 100 to enter the cutting device 20 again, so that the second-old cutter wheel clamping part 310 removes the second-old cutter wheel 21A respectively. Subsequently, the new cutter wheel installation step S03 is performed, and the first rotating assembly 330 is rotated by 180 degrees, so that the new cutter wheel clamping portion 320 faces the cutter device 21 to replace the new cutter wheel. Finally, lock the nut back to complete the tool change.

Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be determined by the scope of the appended patent application.

10: Tool changer 20: Cutting Equipment 21: Tool device 21A: Old cutter wheel 21B: Spindle 30: Operation method of tool changer 100: Frame 200: Robotic Arm 300: Tool wheel disassembly module 310: Old cutter wheel clamping part 311: Old Tool Wheel Clamp Arm 312: Old cutter wheel drive cylinder 313: Old cutter wheel bearing surface 314: old cutter wheel limit slot 315: First Slider 320: New cutter wheel clamping part 321:New cutter wheel clamp arm 322: New cutter wheel drive cylinder 323: New tool wheel bearing surface 324: New cutter wheel limit slot 325: Second Slider 330: First Rotation Assembly 331: Axial connection 400: Nut disassembly module 410: Nut fitting sleeve 411: Fitting groove 412: Pins 420: Second Rotary Assembly 430: Adapter plate 500: Alignment Module I11: The first axis of rotation I12: Second axis of rotation I21: The first clamping center line I22: Second clamping centerline S01: Nut removal steps S02: Steps of dismantling the old cutter wheel S03: New cutter wheel installation steps

FIG. 1 is a three-dimensional schematic diagram of a tool changing device applied to a cutting equipment according to an embodiment of the present invention; FIG. 2 shows a partial perspective view of the tool changing device according to the embodiment of FIG. 1; Fig. 3 is a schematic front view of a part of the tool changing device according to the embodiment of Fig. 1; FIG. 4 is an exploded schematic view of the nut disassembly and assembly module of the tool changer according to the embodiment of FIG. 1; Fig. 5 is an exploded schematic view of the disassembly and assembly module of the cutter wheel of the cutter changing device according to the embodiment of Fig. 1; FIG. 6 is a schematic diagram illustrating the operation of the disassembly and assembly module of the cutter wheel according to the embodiment of FIG. 1 applied to the cutter device; and FIG. 7 is a block flow diagram of a method for operating a tool changer according to another embodiment of the present invention.

100: Frame

300: Tool wheel disassembly module

310: Old cutter wheel clamping part

330: First Rotation Assembly

400: Nut disassembly module

410: Nut fitting sleeve

420: Second Rotary Assembly

500: Alignment Module

I11: The first axis of rotation

I12: Second axis of rotation

I21: The first clamping center line

Claims (8)

A tool changing device for disassembling and assembling a tool device of a cutting equipment, the tool changing device comprises: a body; At least one cutter wheel disassembly module is arranged on the frame and includes: a first rotation component having a first rotation axis and including an axial connecting portion; An old cutter wheel clamping part is located on one side of the axial connection part and has a first clamping centerline, the first clamping centerline is substantially perpendicular to the first rotation axis, and the old cutter wheel clamps is used to remove an old cutter wheel from the cutter unit; and A new tool wheel clamping part is located on the other side of the axial connection part and has a second clamping center line, the second clamping center line is approximately perpendicular to the first rotation axis, the new tool wheel clamping part a holder for mounting a new cutter wheel on the cutter unit; and At least one nut disassembly and assembly module is arranged on the frame side by side with the at least one cutter wheel disassembly and assembly module, and the at least one nut disassembly and assembly module is used for disassembling and assembling a nut on the cutter device, the at least one The nut disassembly and assembly module has a second rotation axis; Wherein, the second rotation axis of the at least one nut disassembly and assembly module is substantially perpendicular to the first rotation axis of the at least one cutter wheel disassembly and assembly module, and the second rotation axis of the at least one nut disassembly and assembly module The rotation axis is substantially parallel to the first clamping centerline and the second clamping centerline of the at least one cutter wheel disassembly and assembly module. The tool changer as claimed in claim 1, wherein, The old cutter wheel clamping part of the at least one cutter wheel disassembly module includes: at least two first sliders; and At least two old tool wheel clamping arms, each of which is disposed on each of the first sliders, and each of the old tool wheel clamping arms is driven by each of the first sliders to be positioned at an old tool wheel clamping position or an old wheel release position; and The new cutter wheel clamping part of the at least one cutter wheel disassembly module includes: at least two second sliders; and At least two new tool wheel clamping arms, each new tool wheel clamping arm is disposed on each of the second sliders, and each new tool wheel clamping arm is driven by each of the second sliders to be positioned at a new tool wheel clamping position or A new wheel release position. The tool changer as claimed in claim 2, wherein, The old cutter wheel clamping part of the at least one cutter wheel disassembly module includes: At least two old tool wheel bearing surfaces, respectively located on the at least two old tool wheel clamping arms; and At least two old cutter wheel limit grooves, respectively located in the at least two old cutter wheel clamping arms; and The new cutter wheel clamping part of the at least one cutter wheel disassembly module includes: at least two new tool wheel bearing surfaces, respectively located on the at least two new tool wheel clamping arms; and At least two new cutter wheel limit grooves are respectively located on the at least two new cutter wheel clamping arms. The tool changing device according to claim 1, wherein the at least one nut disassembly module comprises: a second rotating component disposed on the frame body; and a nut fitting sleeve, connected and driven by the second rotating component and used for fitting in the nut; Wherein, when the second rotating component rotates, the nut fitting sleeve tightens or loosens the nut. The tool changing device as claimed in claim 1, wherein the number of the at least one cutter wheel disassembly and assembly module and the at least one nut disassembly and assembly module is two, one for the cutter wheel disassembly and assembly module and one for the nut The disassembling and assembling module is arranged on a first side of the frame body, and the other disassembling and assembling module of the cutter wheel and the other nut disassembling and assembling module are arranged on a second side of the frame body. The tool changing device as claimed in claim 1, further comprising: A mechanical arm is connected to drive the frame body. An operation method of a tool changer for disassembling and assembling a tool device of a cutting device, the operation method of the tool changer comprising: In a step of disassembling the nut, a mechanical arm of a tool changing device is moved, so that a nut disassembling and assembling module of the tool changing device is aligned with the tool device, and the nut disassembling and assembling module is driven to drive the tool. A nut of the device is loosened, and then the mechanical arm is moved to take the nut away from a main shaft of the tool device; In a step of disassembling the old cutter wheel, the mechanical arm is moved to make an old cutter wheel clamping part of the cutter wheel disassembly and assembly module align with the cutter device, and the old cutter wheel clamping part is driven to hold the cutter device. an old tool wheel, and then moving the robotic arm to take the old tool wheel away from the spindle; and A new cutter wheel installation step, driving a first rotating component of the cutter wheel disassembly and assembly module, so that a new cutter wheel clamping part of the cutter wheel disassembly and assembly module is aligned with the cutter device, moving the mechanical arm to A new cutter wheel on the clamping part of the new cutter wheel is inserted into the spindle, and the clamping part of the new cutter wheel is driven to release the new cutter wheel. The method for operating a tool changer as claimed in claim 7, wherein, in the step of detaching the old tool wheel, moving the robotic arm drives a frame of the tool changer to exit a cavity of the cutting device, so that the frame After the body rotates 180 degrees, move the mechanical arm to drive the frame body to enter the cutting device again.

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