CN106289056B - A kind of dise knife library tool-changing mechanical arm device for detecting performance and method - Google Patents
A kind of dise knife library tool-changing mechanical arm device for detecting performance and method Download PDFInfo
- Publication number
- CN106289056B CN106289056B CN201610607531.6A CN201610607531A CN106289056B CN 106289056 B CN106289056 B CN 106289056B CN 201610607531 A CN201610607531 A CN 201610607531A CN 106289056 B CN106289056 B CN 106289056B
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- CN
- China
- Prior art keywords
- laser displacement
- displacement sensor
- manipulator
- tool magazine
- knife handle
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Manipulator (AREA)
Abstract
A kind of disc tool magazine manipulator device for detecting performance and method, belong to numerically-controlled machine tool functional component performance detection field.Disc tool magazine and manipulator knife-changing system are mounted on pedestal top, and required cutter is sent to preparation tool change position by motor driven by disc tool magazine, then is overturn by electrical control broach shell, and knife handle is parked in tool change position.Meanwhile motor driven tool-changing mechanical arm acts, and manipulator is parked in preparation tool change position.When knife handle and manipulator all reach tool change position, it is mounted on five near tool change position laser displacement sensors and measures five position numerical value, knife handle center of circle horizontal direction position, manipulator clamping central horizontal direction position and manipulator bottom surface vertical position are calculated by industrial personal computer.Knife handle center of circle horizontal direction position and manipulator clamping central horizontal direction position are compared, judges the registration at two centers.The present invention provides experiment basis for the reliability of research disc tool magazine and manipulator, and provides factory testing for disc tool magazine production firm.
Description
Technical field
The present invention is a kind of disc tool magazine manipulator device for detecting performance and method, belongs to numerically-controlled machine tool functional component performance
Detection field.
Background technique
Tool magazine and its automatic tool changer are to provide required storage knife and a kind of dress of tool changing demand in automation process
It sets, is the core component of numerical control machining center.Its automatic tool changer and cutter store function change tradition taking human as main
Production method reduces the non-cutting time, improves processing efficiency, reduces production cost.It is controlled tool magazine by computer program,
It can complete a variety of different process requirements, such as drilling, milling, tapping, bore hole.The movement that tool magazine and manipulator execute is more,
Speed is fast, to positioning accuracy request height.During complex parts processing, need frequently to replace cutter, this allows for knife
Library and its automatic tool changer become the weak link for influencing machining center reliability.
Tool magazine and automatic tool changer mainly include tool magazine, manipulator tool changing device and driving device etc..The effect of tool magazine
It is the various cutters of storage, and under the control of digital control system, knife function is selected in realization, and cutter to be changed is sent to specified knife position.It is domestic
Outer more commonly used tool magazine has disc type tool magazine, bamboo hat type tool holder, magazine and rotary type tower tool magazine etc..Disc type tool magazine structure
Simply, compact, easy to control, using than wide.Manipulator is the main execution unit of automatic tool changer, and main function is real
Automatic between main shaft and tool magazine of existing cutter exchanges.Driving device is then driving tool magazine and manipulator behavior, realizes its function
Mechanism, have three ways, such as hydraulic, motor, cylinder.
Currently, tool magazine and its manipulator automatic tool changer, still rely primarily on import.External tool magazine and manipulator are set
Meter, manufacture and context of detection have had more mature technology, and occupy most of market.Similar detection system is made
Valence is high and structure is complicated, and it is pure manually to detect that inspection of the domestic tool magazine factory before disc tool magazine factory is then mostly.
In terms of the in-placing precision of knife handle and manipulator, country's detection needs special knife handle and tool, and detection process is cumbersome and takes
When it is laborious, and whether such detection mode substantially judgement precision can only meet the requirements and be unable to obtain specific precision information.
Therefore a kind of tool magazine and manipulator device for detecting performance are highly desirable to.
Summary of the invention
In order to solve current domestic disc tool magazine factory performance detection by pure manual type and precise information cannot be obtained
With the problem of external this kind of detection system cost is high, structure is complicated, the present invention provides a kind of disc tool magazine knife-changing systems
It can detection device.The technical solution taken is as described below:
Required cutter is sent to preparation tool change position by motor driven by disc tool magazine, then is overturn by electrical control broach shell,
Knife handle is parked in tool change position.Meanwhile motor driven tool-changing mechanical arm acts, and manipulator is parked in preparation tool change position.Work as knife
When handle and manipulator all reach tool change position, five laser displacement sensors are started to work, and measure five high precision position setting values,
Numerical value sends industrial personal computer to by capture card, then knife handle center of circle horizontal direction position, manipulator clamping is calculated by industrial personal computer
Central horizontal direction position and manipulator bottom surface vertical position.Further compare knife handle center of circle horizontal direction position and machinery
Hand Clamping Center horizontal direction position, judges the registration at two centers.
The disc tool magazine automatic tool changer performance detecting system includes mechanical structure module and signal acquisition module.
The mechanical structure module of the system includes disc tool magazine, knife handle, cutter-exchange mechanism for manipulator, first level bracket,
Two horizontal brackets and vertical support frame.
The signal acquisition module of the system includes laser displacement sensor A1, laser displacement sensor A2, laser displacement biography
Sensor B1, laser displacement sensor B2, laser displacement sensor C, data collecting card, industrial personal computer and display screen.
According to disc tool magazine knife-changing system device for detecting performance and method described in technical solution, it is characterised in that: disc type
Tool magazine is bolted on the mounting plane for being mounted on pedestal top, and upper welded plate, the first water are welded below tool change position
Flat bracket and the second horizontal bracket are bolted on welded plate.Welded plate is equipped with groove, first level bracket and second
Horizontal bracket can be moved forward and backward in groove, be convenient for trim locations.Vertical support frame is bolted in first level bracket
Middle and lower part.Laser displacement sensor A1 is mounted on first level frame upper platform, laser displacement sensor B1 by bolt
It is mounted on first level mid-stent platform by bolt, laser displacement sensor C is vertically installed at vertical support frame by bolt
On, laser displacement sensor A2 is mounted on the second horizontal bracket upper brace by bolt, and laser displacement sensor B2 passes through spiral shell
Bolt is mounted on the second horizontal bracket middle deck.By finely tuning installation site, guarantee mounting plane is horizontal, projecting light path is vertical,
And the optical path intersection point of laser displacement sensor A1 and laser displacement sensor A2 transmitting is located at using knife handle center as center of circle radius 1mm
In range, the optical path intersection point of laser displacement sensor B1 and laser displacement sensor B2 transmitting, which is located at manipulator clamping center, is
Within the scope of the radius 1mm of the center of circle, laser displacement sensor C light projector face is horizontal.
According to disc tool magazine knife-changing system device for detecting performance and method described in technical solution, it is characterised in that: laser
Displacement sensor A1, laser displacement sensor A2, laser displacement sensor B1, laser displacement sensor B2 and laser displacement sensing
Device C passes through capture card and signal is transferred to industrial personal computer, then by display screen output test result.
According to disc tool magazine knife-changing system device for detecting performance and method described in technical solution, it is characterised in that: bracket
Upper installation is there are five laser displacement sensor, and detection knife handle outer round surface range sensor is thrown in the horizontal plane for two of them setting
The distance of smooth surface can calculate the position in the knife handle center of circle accordingly；Two setting in the horizontal plane inspecting manipuator outer surface away from
With a distance from sensor light projector face, the position at manipulator clamping center can be calculated accordingly；One setting is in vertical direction, inspection
Survey distance of the manipulator bottom away from sensor light projector face.
Of the invention is a little:
(1) the present invention provides a kind of disc tool magazine knife-changing system device for detecting performance and methods, to disc tool magazine tool changing
When knife handle and the in-placing precision of manipulator detected, the reliability for research disc tool magazine and manipulator provides experiment basis,
And factory testing can be provided for disc tool magazine production firm, guarantee tool magazine quality.
(2) the specific in-placing precision of the present invention detectable knife handle and manipulator, by high precision laser displacement sensor its
Detection accuracy can reach micron order, compared with the passability measurement method of previous tool magazine factory, can get more accurate precision
Information, conducive to manufacturing enterprise deeper into the performance state for understanding current bamboo hat type tool holder.
(3) present invention detects the in-placing precision of knife handle and manipulator simultaneously, by calculated center registration, determines essence
Whether degree is qualified.Ensure manipulator can quickly, accurately clamp knife handle, avoid hitting knife phenomenon.
Detailed description of the invention
Fig. 1 detection device schematic diagram
Fig. 2 welded plate, first level bracket and vertical support frame assembly schematic diagram
Fig. 2-1 first level bracket normal axomometric drawing
Fig. 2-2 second horizontal bracket normal axomometric drawing
Fig. 2-3 vertical support frame normal axomometric drawing
Fig. 2-4 welded plate normal axomometric drawing
Fig. 3 sensor assembly normal axomometric drawing
Fig. 3-1 sensor mounting location is laid out main view
Fig. 3-2 sensor mounting location is laid out right view
Fig. 3-3 sensor mounting location is laid out top view
In figure, 1 --- disc tool magazine, 2 --- knife handle, 3 --- manipulator, 4 --- laser displacement sensor A1,5 ---
Laser displacement sensor B1,6 --- laser displacement sensor C, 7 --- first level bracket, 8 --- vertical support frame, 9 ---
Two horizontal brackets, 10 --- laser displacement sensor A2,11 --- laser displacement sensor B2,12 --- welded plate, 13 ---
Pedestal, 14 --- capture card, 15 --- industrial personal computer, 16 --- display screen.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings:
Fig. 1 is detection device schematic diagram.Detection device is made of mechanical structure module and signal acquisition module two parts.Its
Middle mechanical structure module include disc tool magazine (1), knife handle (2), manipulator (3), first level bracket (7), vertical support frame (8),
Second horizontal bracket (9), welded plate (12) and pedestal (13).Signal acquisition module includes laser displacement sensor A1 (4), laser
Displacement sensor A2 (10), laser displacement sensor B1 (5), laser displacement sensor B2 (11), laser displacement sensor C (6),
Data collecting card (14), industrial personal computer (15) and display screen (16).
Pedestal (13) is the benchmark of entire detection device, and disc tool magazine (1) is mounted on the mounting plane of pedestal top, is changing
Pass through welding erecting and welding plate (12) on pedestal below cutter position.Fig. 2 is welded plate, first level bracket and vertical support frame dress
Ligand schematic diagram, Fig. 2-1 are first level bracket normal axomometric drawing, and Fig. 2-2 is the second horizontal bracket normal axomometric drawing, and Fig. 2-3 is vertical
Straight bracket normal axomometric drawing, Fig. 2-4 are welded plate normal axomometric drawing.First level bracket (7) and the second horizontal bracket (9) pass through bolt
It is connected on welded plate (12).Welded plate (12) is equipped with groove, and first level bracket (7) and the second horizontal bracket (9) can be
It is moved forward and backward in groove, is convenient for trim locations.Vertical support frame (8) is bolted in the middle and lower part of first level bracket (7).
Laser displacement sensor C (6) is vertically installed on vertical support frame (8) by bolt, laser displacement sensor A2
(10) the second horizontal bracket (9) upper brace is mounted on by bolt, laser displacement sensor B2 (11) is mounted on by bolt
Second horizontal bracket (9) middle deck.By finely tuning installation site, guarantee that mounting plane is horizontal, projecting light path is vertical, and laser
The optical path intersection point of displacement sensor A1 (4) and laser displacement sensor A2 (10) are located at using knife handle center as center of circle radius 1mm model
In enclosing, the optical path intersection point of laser displacement sensor B1 (5) and laser displacement sensor B2 (11) are located at using manipulator folder as the center of circle
Within the scope of radius 1mm, laser displacement sensor C (6) light projector face water.
Fig. 3 is sensor assembly normal axomometric drawing, and Fig. 3-1 is that sensor mounting location is laid out main view, and Fig. 3-2 is sensing
Device installation site is laid out right view, and Fig. 3-3 is that sensor mounting location is laid out top view.Test device is established by sensor
One using laser displacement sensor B1 (5) and laser displacement sensor B2 (11) light beam intersection point as the rectangular coordinate system of origin, and
Using two optical paths as two reference axis.The optical path of laser displacement sensor C transmitting is vertical reference axis.When knife handle (2) and manipulator
(3) when all reaching tool change position, the light beam intersection point position of laser displacement sensor A1 (4) and laser displacement sensor A2 (10) transmitting
A bit in vertical coordinate axis positive direction.Laser displacement sensor A1 (4) and laser displacement sensor A2 (10) detects knife handle outer circle table
The distance in face range sensor light projector face, accordingly available knife handle outer circle coordinate value；Laser displacement sensor B1 (5) and laser
The distance in displacement sensor B2 (11) inspecting manipuator outer surface range sensor light projector face, accordingly available manipulator exterior measuring
Coordinate value；Distance of the laser displacement sensor C inspecting manipuator bottom away from sensor light projector face, available manipulator (3) are perpendicular
Histogram to position precision.
Laser displacement sensor A1 (4), laser displacement sensor A2 (10), laser displacement sensor B1 (5), laser displacement
Signal is transferred to industrial personal computer (15) by capture card (14) by sensor B2 (11) and laser displacement sensor C (6), then by showing
Display screen (16) output test result.
Claims (3)
1. a kind of disc tool magazine knife-changing system device for detecting performance, device is by mechanical structure module and signal acquisition module two parts
It constitutes；It is characterized by:
Wherein mechanical structure module includes disc tool magazine (1), knife handle (2), manipulator (3), first level bracket (7), vertical branch
Frame (8), the second horizontal bracket (9), welded plate (12) and pedestal (13)；Pedestal (13) is the benchmark of entire detection device, disc type
Tool magazine (1) is mounted on the mounting plane of pedestal top, passes through welding erecting and welding plate (12) on the pedestal below tool change position；
First level bracket (7) and the second horizontal bracket (9) are bolted on welded plate (12)；Welded plate (12) is equipped with recessed
Slot, first level bracket (7) and the second horizontal bracket (9) can be moved forward and backward in groove, be convenient for trim locations；Vertical support frame
(8) middle and lower part in first level bracket (7) is bolted；The signal acquisition module includes laser displacement sensor
A1 (4), laser displacement sensor A2 (10), laser displacement sensor B1 (5), laser displacement sensor B2 (11), laser displacement
Sensor C (6), data collecting card (14), industrial personal computer (15) and display screen (16)；Laser displacement sensor C (6) is perpendicular by bolt
It is directly mounted on vertical support frame (8), laser displacement sensor A2 (10) is mounted on the second horizontal bracket (9) upper flat by bolt
Platform, laser displacement sensor B2 (11) are mounted on the second horizontal bracket (9) middle deck by bolt；By finely tuning installation position
It sets, guarantees that mounting plane is horizontal, projecting light path is vertical, and laser displacement sensor A1 (4) and laser displacement sensor A2 (10)
The optical path intersection point of transmitting is located at using knife handle center as within the scope of the radius 1mm of the center of circle, laser displacement sensor B1 (5) and laser displacement
The optical path intersection point of sensor B2 (11) transmitting is located at using manipulator clamping center as within the scope of the radius 1mm of the center of circle, and laser displacement passes
Sensor C (6) light projector face is horizontal；Laser displacement sensor A1 (4), laser displacement sensor A2 (10), laser displacement sensor B1
(5), signal is transferred to industry control by capture card (14) by laser displacement sensor B2 (11) and laser displacement sensor C (6)
Machine (15), then by display screen (16) output test result.
2. disc tool magazine knife-changing system device for detecting performance described in accordance with the claim 1, it is characterised in that: the disk type cutter
Library (1) is controlled using PLC.
3. the method for application device as claimed in claim 1 or 2, it is characterised in that: laser displacement sensor A1 (4) and laser position
Displacement sensor A2 (10) measures knife handle (2) centre coordinate value, laser displacement sensor B1 (5) and laser displacement sensor B2 (11)
Measure manipulator (3) Clamping Center coordinate value；It is calculated by industrial personal computer, compares two coordinate values, judge knife handle (2) center and machinery
The registration of hand (3) Clamping Center, registration can accurately grab knife within the scope of ± 0.5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607531.6A CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607531.6A CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289056A CN106289056A (en) | 2017-01-04 |
| CN106289056B true CN106289056B (en) | 2019-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607531.6A Expired - Fee Related CN106289056B (en) | 2016-07-28 | 2016-07-28 | A kind of dise knife library tool-changing mechanical arm device for detecting performance and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106289056B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283142B (en) * | 2017-06-30 | 2021-08-13 | 北京兴信易成机电工程有限公司 | Method for installing, adjusting and detecting seventh shaft of robot |
| CN108381258B (en) * | 2018-02-27 | 2019-05-21 | 北京理工大学 | A kind of large area micro-structure cutting midway cutter replacing method based on film thickness measuring in place |
| CN109108731B (en) * | 2018-06-08 | 2021-06-11 | 南京理工大学 | Method for measuring motion precision of chain type tool magazine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507228A (en) * | 2011-09-28 | 2012-06-20 | 南京理工大学 | Disc tool magazine reliability testing device and method |
| CN103100936A (en) * | 2013-02-23 | 2013-05-15 | 北京工业大学 | Device and method for testing tool turnover location accuracy in tool magazine |
| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
| CN105573251A (en) * | 2016-03-07 | 2016-05-11 | 吉林大学 | Disc-type tool magazine and automatic tool-changing system comprehensive performance detection platform |
| CN105643365A (en) * | 2016-03-29 | 2016-06-08 | 青海机数控机床有限责任公司 | Tool magazine and manipulator comprehensive performance detection method and platform |
-
2016
- 2016-07-28 CN CN201610607531.6A patent/CN106289056B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507228A (en) * | 2011-09-28 | 2012-06-20 | 南京理工大学 | Disc tool magazine reliability testing device and method |
| CN103100936A (en) * | 2013-02-23 | 2013-05-15 | 北京工业大学 | Device and method for testing tool turnover location accuracy in tool magazine |
| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
| CN105573251A (en) * | 2016-03-07 | 2016-05-11 | 吉林大学 | Disc-type tool magazine and automatic tool-changing system comprehensive performance detection platform |
| CN105643365A (en) * | 2016-03-29 | 2016-06-08 | 青海机数控机床有限责任公司 | Tool magazine and manipulator comprehensive performance detection method and platform |
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| Publication number | Publication date |
|---|---|
| CN106289056A (en) | 2017-01-04 |
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