CN110052876A - A kind of servo tool magazine and its tool change control method - Google Patents
A kind of servo tool magazine and its tool change control method Download PDFInfo
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- CN110052876A CN110052876A CN201910341735.3A CN201910341735A CN110052876A CN 110052876 A CN110052876 A CN 110052876A CN 201910341735 A CN201910341735 A CN 201910341735A CN 110052876 A CN110052876 A CN 110052876A
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- tool magazine
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 36
- 238000012790 confirmation Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 11
- 230000007547 defect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The present invention relates to a kind of servo tool magazine and its tool change control methods, it is characterized by: servo tool magazine includes: tool magazine ontology, cam mechanism, tool arm structure, ATC shield, ATC cutter-exchange mechanism, ATC speed reducer, ATC servo motor, cam position sensor, tool magazine speed reducer fixing seat, tool magazine speed reducer, tool magazine servo motor, control box, tool magazine rear shield, disc type cutterhead unit, origin sensor, tool magazine front protection cover, the air cylinder group of falling knife, the microswitch of falling knife, cutterhead mandrel, knife sleeve structure, the positioning seat of falling knife, servo-driver, it is to be able to achieve cutter to be used to finish cutter from the external tool magazine of immigration again from realization use while removal in tool magazine by primary rotate of control box drive mechanism realization, both the replacement error of artificial substitute mode had been avoided, it takes time and effort, security threat, energy again The defect for avoiding range of applicability existing for mechanical substitute mode narrow guarantees replacement precision by the accurate detection of multiple position detecting devices.
Description
Technical field
The present invention relates to a kind of magazine tool structure and its control methods, and in particular to a kind of servo tool magazine and its tool change control side
Method.
Background technique
In existing precision machinery molding process, the process of single component be often related to boring, milling,
It a variety of processing technologys, the cutter of single kind such as cuts, cut, boring and tending not to the use demand for meeting a variety of processing type techniques,
Thus generally require to make the cutter of processing timely replacement adjustment in the process of single component, in the prior art one
As include artificial substitute mode and mechanical two kinds of substitute mode, for artificial substitute mode, although replacement effect is accurate, lead
The mismachining tolerance of cause is small, but replacement takes time and effort, and replacement requires manually to carry out position detection, individual labour variance every time
Greatly, and to unskilled operator the security threat constituted is larger, and for mechanical substitute mode, although time saving province
Power, the precision realized after replacement is higher, but applicability is poor, can not can carry out identical tool changing for per a cutter
And positioning operation, narrow application range；For existing circular tool magazine, ATC tool-changing mechanism and disc type cutterhead unit
All lack metastable control mould group and realizes its course of work.
Summary of the invention
In order to overcome the deficiencies in the prior art and defect, the present invention provides a kind of servo tool magazine and its tool changing controls
Method processed.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of servo tool magazine, it is characterised in that: the servo tool magazine includes: tool magazine ontology, cam mechanism, tool arm structure, ATC shield
Cover, ATC cutter-exchange mechanism, ATC speed reducer, ATC servo motor, cam position sensor, tool magazine speed reducer fixing seat, tool magazine slow down
Machine, tool magazine servo motor, control box, tool magazine rear shield, disc type cutterhead unit, origin sensor, tool magazine front protection cover, the gas of falling knife
Cylinder group, the microswitch of falling knife, cutterhead mandrel, knife sleeve structure, the positioning seat of falling knife, servo-driver；Wherein, the cam mechanism is set
It is placed in the rear portion of the tool magazine ontology, the cam position sensor is set to the rear portion of the tool magazine ontology and is located at described convex
The top of mechanism is taken turns, the tool magazine ontology is sequentially connected by the cam mechanism and the disc type cutterhead unit, the knife
Arm configuration is set to the lower section of the disc type cutterhead unit and the center through hole of the tool arm structure is coated at the ATC tool changing
The tool arm structure is enabled to rotate on driving mandrel below mechanism around the driving mandrel, the ATC servo motor is set
It is placed in the top of the ATC cutter-exchange mechanism and is connect with the ATC speed reducer drive, the ATC shield is set to the ATC and changes
The periphery of cutter mechanism, the tool magazine speed reducer fixing seat are set to the upside of the tool magazine ontology, the tool magazine speed reducer installation
Tool magazine servo motor, the control are provided with above the top of the tool magazine speed reducer fixing seat, the tool magazine speed reducer
Box is set to the side of the tool magazine speed reducer fixing seat and the tool magazine speed reducer, the client in the outside of the servo tool magazine
Servo-driver is additionally provided on the Electric Appliance Cabinet of lathe, the servo-driver is electric with ATC servo motor and tool magazine servo respectively
Machine connection, the disc type cutterhead unit are installed on the tool magazine ontology by the cutterhead mandrel of the tool magazine rear shield, institute
State and be additionally provided with tool magazine front protection cover on front side of disc type cutterhead unit, the disc type cutterhead unit and the tool magazine front protection cover it
Between be additionally provided with the air cylinder group of falling knife and the microswitch of falling knife, also set between the air cylinder group of falling knife and the microswitch of falling knife
It is equipped with origin sensor, several knife sleeve structures and knife are evenly arranged in the cutterhead circumferential direction of the disc type cutterhead unit
Positioning seat；Tool arm predetermined angle monitoring encoder is provided in the ATC servo motor, the side of the ATC cutter-exchange mechanism is set
It is equipped with tool arm actual angle monitoring encoder.
Further, the tool magazine speed reducer is set to the sky surrounded between the tool magazine rear shield and the ATC shield
Between in.
Further, the diameter of the tool magazine front protection cover is less than the diameter of the tool magazine rear shield.
Further, the lower section setting of the tool magazine rear shield is jagged.
Further, the tool magazine ontology is internally provided with the mounting groove for accommodating the cam mechanism.
Further, instrument window is also provided on the ATC shield.
Further, the present invention also provides a kind of tool change control methods of servo tool magazine, it is characterised in that: including following step
It is rapid:
(1) cutterhead selects knife: after confirmation knife sleeve structure is in horizontality, starting tool magazine servo motor, knife by servo-driver
Library servo motor driving cam means, and rotation is carried out by the cutterhead in cam mechanism driving disc type cutterhead unit and selects knife,
Cam per revolution in cam mechanism, cutterhead rotate a knife position；
(2) knife is fallen:
(2.1) control box assigns tool changing instruction, executes the movement of falling knife, and the microswitch of falling knife is opened and controls the air cylinder group of falling knife driving
Knife sleeve structure is rotated by 90 ° from the position parallel with the cutterhead plane to the position vertical with the cutterhead plane；
(2.2) when knife sleeve structure abuts positioning with the positioning seat of falling knife realization, confirming the completion of falling knife, the microswitch of falling knife is closed,
The air cylinder group of falling knife stopping movement；
(3) driving mandrel positioning: driving mandrel rises to tool change position, and completes the direction positioning of driving mandrel；
(4) tool arm tool changing: servo-driver control ATC servo motor driving ATC cutter-exchange mechanism causes the tool arm of tool arm structure to turn
It is dynamic, until when cam position sensor detects that cam moves to predeterminated position, control of the ATC servo motor in servo-driver
The lower stalling braking of system, waits the further instruction of box to be controlled；
(4.1) detain knife: the tool arm below ATC servo motor driving ATC cutter-exchange mechanism is rotated to button cutter position, when confirmation reaches button
ATC servo motor is braked after cutter position；
(4.2) draw sword and tool changing: after the loose knife for executing machine tool chief axis acts and does and confirm, the cutter claw of confirmation tool arm structure grabs knife
The cutter to be recycled in cutter and machine tool chief axis to be used in nested structure, tool arm move downward pre-determined distance and rotate simultaneously
180 ° rise pre-determined distance again, to complete Tool changeover, tool arm stops at predeterminated position；
(4.3) return: after the lock knife for executing machine tool chief axis acts and does and confirm, starting ATC cutter-exchange mechanism driving tool arm structure is returned
Position, after origin sensor detects that tool arm structure returns to initial position, confirmation tool arm structure is located at origin position；
(5) return knife: after current cutter use, cutterhead rotates to the knife position of next cutter to be used, repeats the above steps
(1) to the operation of step (4), to realize the recycling and the lower exchange cutter to be used that have currently used cutter.
Further, the tool arm of ATC cutter-exchange mechanism drives the cutter claw drop-down after crawl cutter default in the step (4.3)
Distance executes 180 ° of rotation after drawing sword movement and rises identical pre-determined distance again, and the pre-determined distance is 115mm.
Further, the use being transferred to below cutterhead finishes to be set in cutter and cutterhead circumferential direction in the disc type cutterhead unit
The knife sleeve structure set is in one-to-one relationship.
Further, the use being transferred to below cutterhead finishes to be set in cutter and cutterhead circumferential direction in the disc type cutterhead unit
The knife sleeve structure set is in non-one-to-one relationship.
The beneficial effects of the present invention are:
(1) realize that primary rotation is able to achieve what cutter to be used was removed from tool magazine by control box drive mechanism
It realizes that use finishes cutter and moves into tool magazine again from external simultaneously, had both avoided replacement error, the time-consuming of artificial substitute mode
Effort, security threat, and it is avoided that the narrow defect of range of applicability existing for mechanical substitute mode, it is filled by multiple position detections
The accurate detection set guarantees replacement precision.
(2) ATC servo motor and tool magazine servo motor are controlled by using servo-driver realization, so that disk
Formula cutterhead unit starting, rotation, braking are stablized, cutter-exchange mechanism the operation is stable；The tool arm being arranged in ATC servo motor simultaneously is pre-
If angle monitor encoder is practical to the tool arm of the detection of the default rotation angle of tool arm and the side setting of ATC cutter-exchange mechanism
The detection of angle monitor encoder rotation angle practical to tool arm compares the default rotation angle of tool arm and knife by servo-driver
Whether within a preset range error between the practical rotation angle of arm, to be adjusted in time, guarantees that tool changing is accurate and effective.
(3) use being specifically transferred to below setting cutterhead finishes sets up in cutterhead week in cutter and disc type cutterhead unit
Knife sleeve structure be in one-to-one relationship, so that the cutter after guaranteeing use can be accommodated in again and one is a pair of
In the broach shell answered, avoid because mismatched between cutter and broach shell and caused by it is stuck, squeeze, damage the defects of.
(4) use being specifically transferred to below setting cutterhead finishes sets up in cutterhead week in cutter and disc type cutterhead unit
Knife sleeve structure be in non-one-to-one relationship, so that the cutter after guaranteeing use can be accommodated in next knife again
In set, avoid because between cutter and broach shell one-to-one matching relationship and need cutterhead go to corresponding position and into
The detection of matching degree between row cutter and broach shell and the time spent and power.
Detailed description of the invention
Fig. 1 is a kind of Structure explosion diagram of servo tool magazine of the present invention；
Fig. 2 is a kind of structure top view of servo tool magazine of the present invention；
Fig. 3 is a kind of structure front view of servo tool magazine of the present invention；
Fig. 4 is a kind of structural side view of servo tool magazine of the present invention；
Fig. 5 is a kind of step flow chart of the tool change control method of servo tool magazine of the present invention.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in Figs 1-4, a kind of servo tool magazine, servo tool magazine include: tool magazine ontology 1, cam mechanism 2, tool arm structure 3,
ATC shield 4, ATC cutter-exchange mechanism 5, ATC speed reducer 52, ATC servo motor 53, cam position sensor 6, tool magazine speed reducer are solid
Reservation 7, tool magazine speed reducer 8, tool magazine servo motor 81, control box 9, tool magazine rear shield 10, disc type cutterhead unit 11, origin pass
Sensor 12, tool magazine front protection cover 13, the air cylinder group of falling knife 14, the microswitch of falling knife 15, cutterhead mandrel 16, knife sleeve structure 17, the knife that falls are fixed
Position seat 18, servo-driver 19；Wherein, cam mechanism 2 is set to the rear portion of tool magazine ontology 1, and cam position sensor 6 is set to
The rear portion of tool magazine ontology 1 and the top for being located at cam mechanism 2, tool magazine ontology 1 pass through cam mechanism 2 and disc type cutterhead unit 11
Transmission connection, tool arm structure 3 is set to the lower section of disc type cutterhead unit 11 and the center through hole of tool arm structure 3 is coated at ATC
On the driving mandrel 51 of 5 lower section of cutter-exchange mechanism tool arm structure 3 is rotated around driving mandrel 51, ATC servo motor 53 is set
It is placed in the top of ATC cutter-exchange mechanism 5 and is sequentially connected with ATC speed reducer 52, ATC shield 4 is set to the outer of ATC cutter-exchange mechanism 5
Week, tool magazine speed reducer fixing seat 7 are set to the upside of tool magazine ontology 1, and tool magazine speed reducer 8 is installed on tool magazine speed reducer fixing seat 7
Top, the top of tool magazine speed reducer 8 is provided with tool magazine servo motor 81, control box 9 be set to tool magazine speed reducer fixing seat 7 and
The side of tool magazine speed reducer 8 is additionally provided with servo-driver 19 on the Electric Appliance Cabinet of client's lathe of the outside of servo tool magazine, watches
It takes driver 19 to connect with ATC servo motor 53 and tool magazine servo motor 81 respectively, after disc type cutterhead unit 11 passes through tool magazine
The cutterhead mandrel 16 of shield 10 is installed on tool magazine ontology 1, is additionally provided with tool magazine front protection cover 13 on front side of disc type cutterhead unit 11,
It is additionally provided with the air cylinder group of falling knife 14 and the microswitch of falling knife 15 between disc type cutterhead unit 11 and tool magazine front protection cover 13, is falling
Origin sensor 12 is additionally provided between knife air cylinder group 14 and the microswitch of falling knife 15, in the cutterhead week of disc type cutterhead unit 11
It is evenly arranged with several knife sleeve structures 17 and the positioning seat of falling knife 18 upwards；Tool arm preset angle is provided in ATC servo motor 53
Degree monitoring encoder, the side of ATC cutter-exchange mechanism 5 are provided with tool arm actual angle monitoring encoder 54；Pass through control box driving
Mechanical structure and then the primary rotation of realization are to be able to achieve while cutter to be used is removed from tool magazine to realize that use finishes cutter
It is moved into tool magazine again from external, had not only avoided the replacement error of artificial substitute mode, taken time and effort, security threat, but also can keep away
Exempt from the narrow defect of range of applicability existing for mechanical substitute mode, replacement is guaranteed by the accurate detection of multiple position detecting devices
Precision；ATC servo motor and tool magazine servo motor are controlled by using servo-driver realization, so that disc type cutterhead
Unit starting, rotation, braking are stablized, cutter-exchange mechanism the operation is stable；The tool arm predetermined angle being arranged in ATC servo motor simultaneously
Encoder is monitored to supervise the tool arm actual angle of the detection of the default rotation angle of tool arm and the side setting of ATC cutter-exchange mechanism
The detection for surveying encoder rotation angle practical to tool arm compares the default rotation angle of tool arm by servo-driver and tool arm is practical
Whether within a preset range error between rotation angle, to be adjusted in time, guarantees that tool changing is accurate and effective.
Specifically, tool magazine speed reducer 8 is set in the space surrounded between tool magazine rear shield 10 and ATC shield 4, thus will
Tool magazine deceleration 8 is positioned at the position between tool magazine rear shield 10 and ATC shield 4, reduces tool magazine speed reducer 8 and is touched by exotic
Possibility is hit, while reducing the influence of dust and impurity as far as possible.
Specifically, the diameter of tool magazine front protection cover 13 is less than the diameter of tool magazine rear shield 10, so that origin sensor 12,
The air cylinder group of falling knife 14, the microswitch of falling knife 15 are located inside the radial extension of tool magazine front protection cover 13, and make several broach shell knots
Structure 17 is located at outside the radial extension of tool magazine front protection cover 13, to guarantee going on smoothly for each step of tool changing.
Specifically, the lower section setting jagged 101 of tool magazine rear shield 10, consequently facilitating tool arm structure 3 is in exchanging knives process
It moves to 101 position of notch and realizes tool changing.
Specifically, the mounting groove 1a for being internally provided with receiving cam mechanism 2 of tool magazine ontology 1 slows down to pass through tool magazine
8 driving cam means 2 of machine drive disc type cutterhead unit 11 to operate by transmission connection in turn.
Specifically, it is also provided with instrument window 41 on ATC shield 4, consequently facilitating from staff carries out from outside.
Specifically, as shown in figure 5, the present invention also provides a kind of tool change control methods of servo tool magazine, comprising the following steps:
(1) cutterhead selects knife: after confirmation knife sleeve structure is in horizontality, starting tool magazine servo motor, knife by servo-driver
Library servo motor driving cam means, and rotation is carried out by the cutterhead in cam mechanism driving disc type cutterhead unit and selects knife,
Cam per revolution in cam mechanism, cutterhead rotate a knife position；
(2) knife is fallen:
(2.1) control box assigns tool changing instruction, executes the movement of falling knife, and the microswitch of falling knife is opened and controls the air cylinder group of falling knife driving
Knife sleeve structure is rotated by 90 ° from the position parallel with the cutterhead plane to the position vertical with the cutterhead plane；
(2.2) when knife sleeve structure abuts positioning with the positioning seat of falling knife realization, confirming the completion of falling knife, the microswitch of falling knife is closed,
The air cylinder group of falling knife stopping movement；
(3) driving mandrel positioning: driving mandrel rises to tool change position, and completes the direction positioning of driving mandrel；
(4) tool arm tool changing: servo-driver control ATC servo motor driving ATC cutter-exchange mechanism causes the tool arm of tool arm structure to turn
It is dynamic, until when cam position sensor detects that cam moves to predeterminated position, control of the ATC servo motor in servo-driver
The lower stalling braking of system, waits the further instruction of box to be controlled；
(4.1) detain knife: the tool arm below ATC servo motor driving ATC cutter-exchange mechanism is rotated to button cutter position, when confirmation reaches button
ATC servo motor is braked after cutter position；
(4.2) draw sword and tool changing: after the loose knife for executing machine tool chief axis acts and does and confirm, the cutter claw of confirmation tool arm structure grabs knife
The cutter to be recycled in cutter and machine tool chief axis to be used in nested structure, tool arm move downward pre-determined distance and rotate simultaneously
180 ° rise pre-determined distance again, to complete Tool changeover, tool arm stops at predeterminated position；
(4.3) return: after the lock knife for executing machine tool chief axis acts and does and confirm, starting ATC cutter-exchange mechanism driving tool arm structure is returned
Position, after origin sensor detects that tool arm structure returns to initial position, confirmation tool arm structure is located at origin position；
(5) return knife: after current cutter use, cutterhead rotates to the knife position of next cutter to be used, repeats the above steps
(1) to the operation of step (4), to realize the recycling and the lower exchange cutter to be used that have currently used cutter.
Specifically, in the step (4.3) tool arm of ATC cutter-exchange mechanism drive the cutter claw drop-down after crawl cutter default away from
Rise identical pre-determined distance again from, execution 180 ° of rotation after movement of drawing sword, and the pre-determined distance is 115mm, this is apart from mistake
Short to be unfavorable for being kept completely separate for cutter and knife sleeve structure, this influences the job stability and precisely of tool arm structure apart from too long
Degree, thus the distance is determined by the specific size of broach shell, cutter and tool arm simultaneously.
Specifically, the use being transferred to below cutterhead finishes to be set up in cutterhead week in cutter and the disc type cutterhead unit
Knife sleeve structure be in one-to-one relationship, so that the cutter after guaranteeing use can be accommodated in again and one is a pair of
In the broach shell answered, avoid because mismatched between cutter and broach shell and caused by it is stuck, squeeze, damage the defects of.
Specifically, the use being transferred to below cutterhead finishes to be set up in cutterhead week in cutter and the disc type cutterhead unit
Knife sleeve structure be in non-one-to-one relationship, so that the cutter after guaranteeing use can be accommodated in next knife again
In set, avoid because between cutter and broach shell one-to-one matching relationship and need cutterhead go to corresponding position and into
The detection of matching degree between row cutter and broach shell and the time spent and power.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of servo tool magazine, it is characterised in that: the servo tool magazine includes: tool magazine ontology (1), cam mechanism (2), tool arm knot
Structure (3), ATC shield (4), ATC cutter-exchange mechanism (5), ATC speed reducer (52), ATC servo motor (53), cam position sensor
(6), tool magazine speed reducer fixing seat (7), tool magazine speed reducer (8), tool magazine servo motor (81), control box (9), tool magazine rear shield
(10), disc type cutterhead unit (11), origin sensor (12), tool magazine front protection cover (13), the air cylinder group of falling knife (14), the fine motion of falling knife
Switch (15), cutterhead mandrel (16), knife sleeve structure (17), the positioning seat of falling knife (18), servo-driver (19)；Wherein, described convex
Wheel mechanism (2) is set to the rear portion of the tool magazine ontology (1), and the cam position sensor (6) is set to the tool magazine ontology
(1) rear portion and the top for being located at the cam mechanism (2), the tool magazine ontology (1) by the cam mechanism (2) with it is described
Disc type cutterhead unit (11) transmission connection, the tool arm structure (3) are set to the lower section of the disc type cutterhead unit (11)
And the center through hole of the tool arm structure (3) is coated on the driving mandrel (51) below the ATC cutter-exchange mechanism (5) so that institute
Stating tool arm structure (3) can rotate around the driving mandrel (51), and the ATC servo motor (53) is set to the ATC tool changing
It the top of mechanism (5) and is sequentially connected with the ATC speed reducer (52), the ATC shield (4) is set to the ATC tool changing machine
The periphery of structure (5), the tool magazine speed reducer fixing seat (7) are set to the upside of the tool magazine ontology (1), the tool magazine speed reducer
(8) it is installed on the top of the tool magazine speed reducer fixing seat (7), is provided with tool magazine servo above the tool magazine speed reducer (8)
Motor (81), control box (9) are set to the side of the tool magazine speed reducer fixing seat (7) and the tool magazine speed reducer (8),
Servo-driver (19), the servo-driver are additionally provided on the Electric Appliance Cabinet of client's lathe of the outside of the servo tool magazine
(19) it is connect respectively with ATC servo motor (53) and tool magazine servo motor (81), the disc type cutterhead unit (11) passes through institute
The cutterhead mandrel (16) for stating tool magazine rear shield (10) is installed on the tool magazine ontology (1), the disc type cutterhead unit (11)
Front side is additionally provided with tool magazine front protection cover (13), between the disc type cutterhead unit (11) and the tool magazine front protection cover (13) also
It is provided with the air cylinder group of falling knife (14) and the microswitch of falling knife (15), in the air cylinder group of falling knife (14) and the microswitch of falling knife
(15) it is additionally provided with origin sensor (12) between, is evenly arranged in the cutterhead circumferential direction of the disc type cutterhead unit (11)
Several knife sleeve structures (17) and the positioning seat of falling knife (18)；Tool arm predetermined angle prison is provided in the ATC servo motor (53)
Encoder is surveyed, the side of the ATC cutter-exchange mechanism (5) is provided with tool arm actual angle monitoring encoder (54).
2. a kind of servo tool magazine according to claim 1, it is characterised in that: the tool magazine speed reducer (8) is set to described
In the space surrounded between tool magazine rear shield (10) and the ATC shield (4).
3. a kind of servo tool magazine according to claim 1, it is characterised in that: the diameter of the tool magazine front protection cover (13) is less than
The diameter of the tool magazine rear shield (10).
4. a kind of servo tool magazine according to claim 1, it is characterised in that: the lower section of the tool magazine rear shield (10) is arranged
Jagged (101).
5. a kind of servo tool magazine according to claim 1, it is characterised in that: tool magazine ontology (1) is internally provided with
Accommodate the mounting groove (1a) of the cam mechanism (2).
6. a kind of servo tool magazine according to claim 1, it is characterised in that: be also provided with instrument on the ATC shield (4)
Window (41).
7. a kind of tool change control method of servo tool magazine, it is characterised in that: the following steps are included:
(1) cutterhead selects knife: after confirmation knife sleeve structure is in horizontality, starting tool magazine servo motor, knife by servo-driver
Library servo motor driving cam means, and rotation is carried out by the cutterhead in cam mechanism driving disc type cutterhead unit and selects knife,
Cam per revolution in cam mechanism, cutterhead rotate a knife position；
(2) knife is fallen:
(2.1) control box assigns tool changing instruction, executes the movement of falling knife, and the microswitch of falling knife is opened and controls the air cylinder group of falling knife driving
Knife sleeve structure is rotated by 90 ° from the position parallel with the cutterhead plane to the position vertical with the cutterhead plane；
(2.2) when knife sleeve structure abuts positioning with the positioning seat of falling knife realization, confirming the completion of falling knife, the microswitch of falling knife is closed,
The air cylinder group of falling knife stopping movement；
(3) driving mandrel positioning: driving mandrel rises to tool change position, and completes the direction positioning of driving mandrel；
(4) tool arm tool changing: servo-driver control ATC servo motor driving ATC cutter-exchange mechanism causes the tool arm of tool arm structure to turn
It is dynamic, until when cam position sensor detects that cam moves to predeterminated position, control of the ATC servo motor in servo-driver
The lower stalling braking of system, waits the further instruction of box to be controlled；
(4.1) detain knife: the tool arm below ATC servo motor driving ATC cutter-exchange mechanism is rotated to button cutter position, when confirmation reaches button
ATC servo motor is braked after cutter position；
(4.2) draw sword and tool changing: after the loose knife for executing machine tool chief axis acts and does and confirm, the cutter claw of confirmation tool arm structure grabs knife
The cutter to be recycled in cutter and machine tool chief axis to be used in nested structure, tool arm move downward pre-determined distance and rotate simultaneously
180 ° rise pre-determined distance again, to complete Tool changeover, tool arm stops at predeterminated position；
(4.3) return: after the lock knife for executing machine tool chief axis acts and does and confirm, starting ATC cutter-exchange mechanism driving tool arm structure is returned
Position, after origin sensor detects that tool arm structure returns to initial position, confirmation tool arm structure is located at origin position；
(5) return knife: after current cutter use, cutterhead rotates to the knife position of next cutter to be used, repeats the above steps
(1) to the operation of step (4), to realize the recycling and the lower exchange cutter to be used that have currently used cutter.
8. a kind of tool change control method of servo tool magazine according to claim 7, it is characterised in that: the step (4.2)
Cutter claw after the tool arm drive crawl cutter of middle ATC cutter-exchange mechanism pulls down pre-determined distance, executes and rotates 180 ° after drawing sword movement again
It is secondary to rise identical pre-determined distance, and the pre-determined distance is 115mm.
9. a kind of tool change control method of servo tool magazine according to claim 7, it is characterised in that: be transferred to below cutterhead
It the use of finish the knife sleeve structure set up in cutterhead week in cutter and the disc type cutterhead unit is in one-to-one relationship.
10. a kind of tool change control method of servo tool magazine according to claim 7, it is characterised in that: be transferred to below cutterhead
Use finish the knife sleeve structure set up in cutterhead week in cutter and the disc type cutterhead unit in non-one-to-one pass
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111251074A (en) * | 2020-03-27 | 2020-06-09 | 北京博鲁斯潘精密机床有限公司 | Double-spindle double-turntable high-precision vertical machining center |
| CN111251038A (en) * | 2020-03-27 | 2020-06-09 | 北京博鲁斯潘精密机床有限公司 | Efficient double-tool magazine structure |
| CN111604710A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Device and method for detecting motion precision of output shaft of automatic tool changer |
| CN112959119A (en) * | 2021-03-03 | 2021-06-15 | 冈田精机丹阳有限公司 | Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof |
| CN116475842A (en) * | 2023-05-09 | 2023-07-25 | 冈田智能(江苏)股份有限公司 | Cutter sleeve outer circle section deviation detection device and method and chain type cutter magazine |
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Application publication date: 20190726 |