CN112959119A - Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof - Google Patents
Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof Download PDFInfo
- Publication number
- CN112959119A CN112959119A CN202110232717.9A CN202110232717A CN112959119A CN 112959119 A CN112959119 A CN 112959119A CN 202110232717 A CN202110232717 A CN 202110232717A CN 112959119 A CN112959119 A CN 112959119A
- Authority
- CN
- China
- Prior art keywords
- tool
- cutter
- atc
- tool magazine
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
- B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
- B23Q3/15722—Rotary discs or drums
-
- 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
- B23Q3/16—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine controlled in conjunction with the operation of the tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The invention relates to a servo tool magazine and a tool changing control method thereof, which are characterized in that: the servo tool magazine includes: tool magazine body, cam mechanism, tool arm structure, ATC guard shield, ATC tool changing mechanism, ATC speed reducer, ATC servo motor, cam positioning sensor, tool magazine speed reducer fixing base, tool magazine speed reducer, tool magazine servo motor, control box, guard shield, disc type blade disc unit, origin sensor, preceding guard shield of tool magazine, the cylinder group of falling the sword, the micro-gap switch of falling the sword, blade disc dabber, sword cover structure, the positioning seat of falling the sword, servo driver behind the tool magazine, high definition pinhole camera and X-ray pinhole camera are installed to ATC guard shield rear, are used for right the tongs portion carries out optical image and X-ray image and shoots. The machine vision technology of comparing the optical images and the X-ray images of the position detection devices with the standard images accurately detects the position, and the cutter replacement precision is guaranteed. Meanwhile, a neural network model is established, and the ATC servo motor is controlled to operate in real time through image recognition, so that the position control of the tool arm is more intelligent and accurate.
Description
Technical Field
The invention relates to a tool magazine structure and a control method thereof, in particular to a servo tool magazine based on machine vision tool arm positioning and a tool changing control method thereof.
Background
In the existing precision mechanical forming process, a single part machining process usually involves multiple machining processes such as boring, milling, cutting, drilling and the like, a single type of cutter often cannot meet the use requirements of multiple machining type processes, so the machined cutter often needs to be replaced and adjusted in time in the single part machining process, the prior art generally comprises two manual replacement modes and a mechanical replacement mode, for the manual replacement mode, although the replacement effect is accurate, the machining error caused by the replacement is small, the replacement consumes time and labor, in addition, the position detection is not required to be carried out manually during each replacement, the individual manual difference is large, the safety threat to skilled operators is large, for the mechanical replacement mode, time and labor are saved, the precision achieved after the replacement is higher, but the applicability is poor, and the same cutter changing and positioning operation can not be carried out for each type of cutter, the application range is narrow; meanwhile, for the existing disc tool magazine, the ATC tool changing structure and the disc type cutter head unit lack a relatively stable control module to realize the working process.
Two problems of particular concern during this operation affect the smooth operation of the tool exchange: due to the inertia of the rotation of the motor, even if the corresponding start-stop operation is carried out after receiving a control command, the motor cannot be prevented from continuously rotating by a small angle; the tool arm has three fixed positions when changing the cutter, do respectively: the knife handle (the knife buckling position) of the knife is grasped, the knife exchange is completed, the knife is placed (the knife inserting position) and the knife arm rotates back to the original position (the original position), and at the position points, the knife arm may generate the knife beating result when the knife arm grasps the knife handle and the knife exchange is placed due to the inertia of the rotation of the motor. The problem is solved by three rotation actions of the ATC tool changing mechanism, wherein one action is that the tool arm rotates a specific angle from the original position to the position of the tool fastening point to fasten the tool, the other action is that the tool arm rotates 180 degrees after the tool is pulled out and the tool is placed, and the other action is that the tool arm reversely rotates after the tool is placed to return to the original position. The three rotating actions require that the knife arm can be stopped at a correct position accurately finally, and if the stopping position is inaccurate, the knife catching position is inaccurate, so that the knife beating phenomenon is generated.
Chinese patent document CN204913424U considers five angle signals, all of which are controlled by an induction servo driver to control the output current to the motor, thereby controlling the rotation speed, in order to expect the motor to be precisely positioned to five positions in a segmented manner. Due to the use of the sensing component, the parameter setting of manual multi-section current output can not be separated, and the non-real-time effect is realized. When the knife arm actually rotates, the situation that the operation process is different is considered, and the situation can be predicted, so that the actual requirements of the parameters for manually setting the parameters and the actual knife arm movement are often different, and the position control of the knife arm still has certain uncertainty.
The best solution is to make adjustments in real time as long as the tool arm position is found to be incorrect during tool changing, as is the case with human vision. CN102785126A uses two PSD cameras to detect the motion trail of the point light source on the cutter arm in real time, thereby calculating the three-dimensional coordinates of the light source and finally making the space motion trail of the cutter arm. The tool holder and the tool groove part are calibrated and the image is extracted through an industrial camera, however, only a means for accurately reflecting real-time accurate positioning of the tool magazine and the tool arm is provided, but how to guarantee accurate positioning of tool grasping, tool taking exchange and home position through curves, the tool holder and the tool groove is not specifically described, and the motion curve is complex to calculate, so that a small load is brought to the system.
The prior patent application CN201910341735.3 of the applicant describes a servo tool magazine and a tool changing control system thereof, the tool magazine can be moved out of the tool magazine and the used tool can be moved into the tool magazine again from the outside after the tool is used by driving a mechanical structure through a control box through one-time rotation, the defects of replacement error, time and labor consumption and safety threat of a manual replacement mode and narrow applicability range of a mechanical replacement mode are overcome, and the tool changing position precision is ensured through the precise detection of a plurality of position detection devices.
Disclosure of Invention
In order to solve the problem of accurate positioning of rotation of a tool arm in the prior art, the invention designs a servo tool magazine based on machine vision tool arm positioning and a tool changing control method thereof, and accurate operation of tool taking and tool loading can be realized only by considering the accurate positioning of the tool arm. In order to achieve a precise positioning of the knife arm. Firstly, a servo tool magazine based on machine vision tool arm location is provided, its characterized in that: the servo tool magazine includes: the tool magazine comprises a tool magazine body, a cam mechanism, a tool arm structure, an ATC shield, an ATC tool changing mechanism, an ATC speed reducer, an ATC servo motor, a cam positioning sensor, a tool magazine speed reducer fixing seat, a tool magazine speed reducer, a tool magazine servo motor, a control box, a tool magazine rear shield, a disc type cutter head unit, an origin sensor, a tool magazine front shield, a tool reversing cylinder group, a tool reversing microswitch, a cutter head mandrel, a tool sleeve structure, a tool reversing positioning seat and a servo driver;
the cam mechanism is arranged at the rear part of the tool magazine body, the cam positioning sensor is arranged at the rear part of the tool magazine body and is positioned above the cam mechanism, and the tool magazine body is in transmission connection with the disc type cutter head unit through the cam mechanism;
the cutter arm structure is provided with a driving axle sleeve sleeved outside the driving core shaft and hand grips positioned at two end parts, the cutter arm structure is rotationally symmetrical by 360 degrees about the central axis of the driving core shaft sleeve, and is also provided with a rectangular cutter arm body which is axially symmetrical, and the symmetrical axis and the central axis of the driving core shaft sleeve are intersected at a rotationally symmetrical point; the cutter arm structure is arranged below the disc type cutter head unit, and the driving mandrel enables the cutter arm structure to rotate around the driving mandrel;
the ATC servo motor is arranged above the ATC tool changing mechanism and is in transmission connection with the ATC speed reducer, the ATC shield is arranged at the periphery of the ATC tool changing mechanism, the tool magazine speed reducer fixing seat is arranged at the upper side of the tool magazine body, the tool magazine speed reducer is arranged above the tool magazine speed reducer fixing seat, the tool magazine servo motor is arranged above the tool magazine speed reducer,
the control box is arranged on the tool magazine speed reducer fixing seat and one side of the tool magazine speed reducer, a servo driver is further arranged on an electric appliance cabinet of a client machine tool outside the servo tool magazine, and the servo driver is respectively connected with the ATC servo motor and the tool magazine servo motor;
the disc type cutter head unit is arranged on the cutter base body through a cutter head mandrel of the cutter base rear shield, a cutter base front shield is further arranged on the front side of the disc type cutter head unit, a cutter reversing cylinder group and a cutter reversing microswitch are further arranged between the disc type cutter head unit and the cutter base front shield, an origin sensor is further arranged between the cutter reversing cylinder group and the cutter reversing microswitch, and a plurality of cutter sleeve structures and cutter reversing positioning seats are uniformly arranged in the circumferential direction of a cutter head of the disc type cutter head unit; a tool arm preset angle monitoring encoder is arranged in the ATC servo motor, and a tool arm actual angle monitoring encoder is arranged on one side of the ATC tool changing mechanism;
and a high-definition pinhole camera and an X-ray pinhole camera are arranged behind the ATC shield and used for shooting optical images and X-ray images of the gripper of the tool arm.
Further, the high-definition pinhole camera is installed on a camera barrel of the X-ray pinhole camera, the X-ray pinhole camera further comprises an X-ray emission and reflected ray signal detection and transmission device, and the reflected ray signal detection and transmission device is installed behind the ATC shield.
The control box is connected with a machine tool computer system, and the machine tool further comprises an image acquisition module used for acquiring image data of the high-definition pinhole camera and the X-ray pinhole camera.
Further, the tool magazine speed reducer is arranged in a space enclosed between the tool magazine rear shield and the ATC shield.
Further, the diameter of the front protection cover of the tool magazine is smaller than that of the rear protection cover of the tool magazine.
Further, a notch is arranged below the rear protective cover of the tool magazine.
Further, the interior of tool magazine body is provided with the mounting groove that holds cam mechanism.
Further, an instrument window is further arranged on the ATC protective cover.
Further, the invention also provides a tool changing control method of the servo tool magazine, which is characterized in that: the method comprises the following steps:
(1) calibrating the original point position of the cutter arm structure: setting one point on the hand grip part as a reference point, connecting the reference point with the rotational symmetry point, and making a perpendicular line of the symmetry axis through the reference point to obtain a reference perpendicular line segment between the foot and the reference point; starting an ATC servo motor at a rated rotating speed to drive a tool arm structure to rotate, stopping the ATC servo motor after the ATC servo motor continuously drives the tool arm structure to rotate at the lowest speed of 1r/min for a period of time after an origin sensor detects that the tool arm structure returns to the initial position, then reversing the ATC servo motor at the lowest speed until the origin sensor detects that the tool arm structure returns to the initial position again and stopping the ATC servo motor again, wherein the origin position of the tool arm structure is corrected; shooting standard optical images and standard X-ray images by using the high-definition pinhole camera and the X-ray pinhole camera (the spatial resolution is several microns) as standard images;
preferably, the certain time is 10s-1min, and preferably, the reference point is located in the middle of the grip part.
(2) Knife selection of a cutter head: after confirming that the cutter sleeve structure is in a horizontal state, a servo driver starts a tool magazine servo motor and a tool
The library servo motor drives the cam mechanism and drives the cutter head in the disc type cutter head unit to rotate and select the cutter through the cam mechanism,
the cutter head rotates one cutter position every time a cam in the cam mechanism rotates one circle;
(3) reversing the cutter:
(3.1) the control box gives a tool changing instruction, executes the tool reversing action, and the tool reversing microswitch is started to control the tool reversing cylinder group to drive
The cutter sleeve structure rotates by 90 degrees from a position parallel to the cutter head plane to a position vertical to the cutter head plane;
(3.2) when the tool sleeve structure is abutted and positioned with the reverse tool positioning seat, confirming that the reverse tool is finished, closing the reverse tool micro switch,
the reverse cutter cylinder group stops acting;
(4) positioning a driving mandrel: the driving mandrel rises to a tool changing position, and the directional positioning of the driving mandrel is completed;
(5) tool changing by the tool arm: the servo driver controls the ATC servo motor to drive the ATC tool changing mechanism to enable the tool arm of the tool arm structure to rotate until the cam positioning sensor detects that the cam moves to the preset position, the ATC servo motor stops rotating and brakes under the control of the servo driver, and further instructions of the control box are waited;
(5.1) buckling a knife: the ATC servo motor drives a cutter arm below the ATC cutter changing mechanism to rotate to a cutter buckling position, and the ATC servo motor brakes after the cutter buckling position is confirmed;
(5.2) tool drawing and tool changing: after the tool loosening action of the machine tool spindle is executed and confirmed, the tool claw grabbing tool of the tool arm structure is confirmed
The cutter to be used in the sleeve structure and the cutter to be recovered in the machine tool spindle, the cutter arm moves downwards for a preset distance and rotates 180 degrees at the same time to ascend for the preset distance again, so that cutter exchange is completed, and the cutter arm stops at a preset position;
(5.3) returning: after the tool locking action of the machine tool spindle is executed and confirmed, starting an ATC tool changing mechanism to drive a tool arm structure to return, and confirming that the tool arm structure is located at an original point position after an original point sensor detects that the tool arm structure returns to the original point position;
(6) returning: after the current cutter is used, the cutter head rotates to the cutter position of the next cutter to be used, and the operations from the step (1) to the step (4) are repeated to realize the recovery of the currently used cutter and the exchange of the next cutter to be used;
wherein, the following steps are immediately included after the ATC servo motor braking and 180-degree rotation after the cutter buckling position is confirmed in the steps (5.1) to (5.3) and the three cutter arm structure states of the cutter arm structure at the original position are confirmed:
s1, shooting a first image of optical and X-ray, acquiring first image data through an image acquisition module, transmitting the first image data to a computer system, processing the image through the computer system, performing image superposition processing on the first image and a standard image, calculating the length of a vertical line segment between a tip on the first image and a symmetrical axis on the standard image, representing an angle difference by using a difference value, and setting a first angle difference and a second angle difference which is not larger than the first angle difference; comparing the difference value between the length of the vertical line segment and the length of the reference vertical line segment to obtain a first difference value; setting the angle difference represented by the preset threshold value of the difference value to be 10-20';
s2, when the angle difference represented by the first difference is smaller than a preset threshold value, the cutter arm structure is indicated to be at an accurate position; when the angle difference represented by the first difference reaches a first angle difference, starting the pinhole optical camera, controlling the rotation speed of an ATC servo motor by the control box to reduce the speed by a speed reducer so that the linear speed on the periphery of the driving shaft center sleeve is a millimeter rotation speed (0.2-0.5 mm/S), controlling the image acquisition module by the computer system to acquire a plurality of image images in a pulse acquisition mode, comparing the image images with standard optical images one by one to obtain a plurality of corresponding difference values, and performing S3.1;
(iv) performing step S3.2 when the angle difference represented by the first difference reaches a second angle difference;
s3.1, when the angle difference represented by the corresponding difference value is smaller than the second angle difference when a certain image is compared, the ATC servo motor starts to decelerate to a preset speed (100-;
if the speed is reduced to the preset speed, stopping the driving of the servo motor when the angle difference is found to be smaller than a preset threshold value; acquiring the image once again after the image is completely stopped to obtain the second difference value, finishing control if the angle difference represented by the second difference value is still smaller than a preset threshold value, or performing the step S3.2;
if the speed is reduced to the preset speed and the angle difference is larger than the preset threshold but smaller than the second angle difference, the step S3.2 is carried out;
s3.2, starting the X-ray pinhole imaging machine to convert the linear speed on the periphery of the driving shaft center sleeve into a micron rotating speed (5-100 mu m/S), continuously acquiring images in a pulse mode to obtain a plurality of corresponding difference values, and stopping an ATC servo motor until the angle difference is smaller than a preset threshold value; and after the image acquisition is completely stopped, acquiring the image comparison standard X-ray image again for comparison to obtain a third difference value, finishing control if the angle difference represented by the third difference value is still smaller than the preset threshold, otherwise, controlling the servo motor to perform start-stop operation in a pulse mode at the lowest micron rotating speed until the angle difference represented by the difference value of the image acquired again after each stop is smaller than the preset threshold, and finishing control.
And when the millimeter rotation speed and the micrometer rotation speed are carried out, the ACT servo motor is correspondingly operated according to the exceeding or not reaching conditions so that the knife arm structure is continuously adjusted anticlockwise or clockwise until the angle difference is smaller than a preset threshold value.
Preferably, the deceleration is a linear deceleration a (0.05-0.2mm/s2) or deceleration according to an at/e curve law, where t is time and e is a natural constant.
Further, the angle difference obtained by obtaining the difference in each step S1-S3.2 is averaged with the actual angle difference measured by the actual angle monitoring encoder of the tool arm, and the averaged value is used as a comparison object for adjusting the position of the tool arm.
Further, in the step (5.3), the tool arm of the ATC tool changing mechanism drives the tool claw which grabs the tool to pull down for a preset distance, the tool claw rotates 180 degrees after the tool is pulled out, and the tool claw rises for the same preset distance again, and the preset distance is 115 mm.
Furthermore, a used cutter rotating in from the lower part of the cutter head and a cutter head in the disc type cutter head unit are circumferentially arranged
The knife sleeve structures are in one-to-one correspondence.
Furthermore, a used cutter rotating in from the lower part of the cutter head and a cutter head in the disc type cutter head unit are circumferentially arranged
The knife sleeve structures are in non-one-to-one correspondence.
In one embodiment, for each image acquired in steps (1) and (5.1) - (5.3), and the linear velocity and deceleration used as input parameters, the ATC servo motor control signal is used as output, and an optical homing neural network model and an X-ray homing neural network model are respectively established, so that when the current image is input into the model, the corresponding operation parameters for controlling the ATC servo motor are generated, and the ATC servo motor is accurately controlled to operate in real time. Preferably, the optical homing neural network model and the X-ray homing map neural network model are both based on a convolutional neural network model or a deep learning AlexNet model.
The invention has the beneficial effects that:
(1) the mechanical structure is driven by the control box to rotate once, so that the tool to be used can be moved out of the tool magazine and the tool after being used can be moved into the tool magazine again from the outside, the replacement error, time and labor consumption and safety threats of a manual replacement mode are avoided, the defect of narrow applicability range of a mechanical replacement mode can be avoided, the machine vision technology for comparing optical images and X-ray images of a plurality of position detection devices with standard images is used for accurately detecting, and the tool replacement precision is guaranteed. Meanwhile, a neural network model is established, and the ATC servo motor is controlled to operate in real time through image recognition, so that the position control of the tool arm is more intelligent and accurate.
(2) The ATC servo motor and the tool magazine servo motor are controlled by adopting a servo driver, so that the disc type cutter head unit is stable in starting, rotating and braking, and the tool changing mechanism works stably; meanwhile, the tool arm preset angle monitoring encoder arranged in the ATC servo motor detects the preset rotation angle of the tool arm, the actual angle monitoring encoder arranged on one side of the ATC tool changing mechanism detects the actual rotation angle of the tool arm, and the servo driver compares whether the error between the preset rotation angle of the tool arm and the actual rotation angle of the tool arm is within a preset range, so that adjustment is timely performed, and the tool changing is accurate and effective.
(3) The cutter sleeve structure is arranged on the periphery of the cutter disc in the disc type cutter disc unit and used cutters rotating to the lower portion of the cutter disc are in one-to-one correspondence with the cutter sleeve structures arranged on the periphery of the cutter disc in the disc type cutter disc unit, so that the used cutters can be stored in the cutter sleeves corresponding to the used cutters one to one, and the defects of blocking, extrusion, damage and the like caused by mismatching between the cutters and the cutter sleeves are avoided.
(4) Particularly, a used cutter rotating below the cutter and a cutter in a disc type cutter unit are arranged in the circumferential direction of the cutter
The knife sleeve structure is in non-one-to-one correspondence, thereby ensuring that the knife after use can be stored in the next knife again
In the sleeve, the cutter head is prevented from rotating to the corresponding position and entering the cutter sleeve due to the one-to-one corresponding matching relationship between the cutter and the cutter sleeve
The time and power for detecting the matching degree between the line cutter and the cutter sleeve.
Drawings
FIG. 1 is an exploded view of a servo tool magazine according to the present invention;
FIG. 2 is a top view of a servo tool magazine (tool arm structure is dashed);
FIG. 3 is a front view of a tool arm structure of a servo tool magazine according to the present invention;
FIG. 4 is a flow chart showing steps of a tool changing control method for a servo tool magazine according to the present invention.
Wherein reference numeral 3, a knife arm structure; 31, a driving shaft center sleeve, F, a reflected ray signal detection and transmission device, XNC, a high-definition pinhole camera, an ONC, an X-ray pinhole camera, b, a rectangular blade arm body; n, grip, R, reference point, s1 axis of symmetry, s point of rotational symmetry; l, the distance between the reference point and the rotation centerline; h', the distance between the rotation center and the foot; r, reference vertical line segment length.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in fig. 1 to 4, a servo tool magazine includes: a tool magazine body 1, a cam mechanism 2, a tool arm structure 3,
The automatic tool changer comprises a fixed seat 7, a tool magazine speed reducer 8, a tool magazine servo motor 81, a control box 9, a tool magazine rear shield 10, a disc type cutter head unit 11, an origin sensor 12, a tool magazine front shield 13, a tool reversing cylinder group 14, a tool reversing microswitch 15, a cutter head mandrel 16, a cutter sleeve structure 17, a tool reversing positioning seat 18 and a servo driver 19;
wherein the cam mechanism 2 is arranged at the rear part of the tool magazine body 1, the cam positioning sensor 6 is arranged at the rear part of the tool magazine body 1 and is positioned above the cam mechanism 2, the tool magazine body 1 is in transmission connection with the disc type cutter head unit 11 through the cam mechanism 2,
the cutter arm structure 3 is provided with a driving shaft center sleeve 31 sleeved outside the driving mandrel 51 and hand grips n positioned at two ends, the cutter arm structure 3 is in 360-degree rotational symmetry relative to the central shaft of the driving mandrel sleeve 31, and is also provided with an axisymmetric rectangular cutter arm body b, and a symmetry axis s1 intersects with the central shaft of the driving mandrel sleeve 31 at a rotational symmetry point s; the cutter arm structure 3 is arranged below the disc type cutter head unit, and the driving mandrel enables the cutter arm structure to rotate around the driving mandrel;
the ATC servo motor 53 is arranged above the ATC tool changing mechanism 5 and is in transmission connection with the ATC speed reducer 52, the ATC shield 4 is arranged on the periphery of the ATC tool changing mechanism 5, the tool magazine speed reducer fixing seat 7 is arranged on the upper side of the tool magazine body 1, the tool magazine speed reducer 8 is arranged above the tool magazine speed reducer fixing seat 7, the tool magazine servo motor 81 is arranged above the tool magazine speed reducer 8,
the control box 9 is arranged at one side of the tool magazine speed reducer fixing seat 7 and the tool magazine speed reducer 8, a servo driver 19 is also arranged on an electric appliance cabinet of the client machine tool outside the servo tool magazine, the servo driver 19 is respectively connected with the ATC servo motor 53 and the tool magazine servo motor 81,
the disc type cutter head unit 11 is installed on the cutter base body 1 through a cutter head core 16 of a cutter base rear shield 10, a cutter base front shield 13 is further arranged on the front side of the disc type cutter head unit 11, a cutter reversing cylinder group 14 and a cutter reversing microswitch 15 are further arranged between the disc type cutter head unit 11 and the cutter base front shield 13, an origin sensor 12 is further arranged between the cutter reversing cylinder group 14 and the cutter reversing microswitch 15, and a plurality of cutter sleeve structures 17 and cutter reversing positioning seats 18 are uniformly arranged on the periphery of a cutter head of the disc type cutter head unit 11; a tool arm preset angle monitoring encoder is arranged in the ATC servo motor 53, and a tool arm actual angle monitoring encoder 54 is arranged on one side of the ATC tool changing mechanism 5;
and a high-definition pinhole camera and an X-ray pinhole camera are arranged behind the ATC shield 4 and used for shooting optical images and X-ray images of the gripper part n. The high-definition pinhole camera ONC is installed on a camera barrel of the X-ray pinhole camera XNC, the X-ray pinhole camera XNC further comprises an X-ray emission and reflected ray signal detection and transmission device F, and the reflected ray signal detection and transmission device F is installed behind the ATC shield 4.
The control box 9 is connected with a computer system (not shown) of the machine tool, and the machine tool further comprises an image acquisition module (not shown) for acquiring image data of the high-definition pinhole camera and the X-ray pinhole camera.
The control box 9 is used for driving the mechanical structure to realize one-time rotation, namely, the tool to be used can be moved out of the tool magazine body 1, and the used tool can be moved into the tool magazine from the outside again at the same time, so that the replacement error, time and labor consumption and safety threats of a manual replacement mode are avoided, the defect of narrow applicability range of a mechanical replacement mode is also avoided, and the replacement precision is ensured through the accurate detection of a plurality of position detection devices; the ATC servo motor and the tool magazine servo motor are controlled by adopting a servo driver, so that the disc type cutter head unit is stable in starting, rotating and braking, and the tool changing mechanism works stably; meanwhile, the tool arm preset angle monitoring encoder arranged in the ATC servo motor detects the preset rotation angle of the tool arm, the actual angle monitoring encoder arranged on one side of the ATC tool changing mechanism detects the actual rotation angle of the tool arm, and the servo driver compares whether the error between the preset rotation angle of the tool arm and the actual rotation angle of the tool arm is within a preset range, so that adjustment is timely performed, and the tool changing is accurate and effective.
Specifically, the tool magazine speed reducer 8 is disposed in a space enclosed between the tool magazine rear shield 10 and the ATC shield 4, so that the tool magazine speed reducer 8 is positioned between the tool magazine rear shield 10 and the ATC shield 4, the possibility of collision of foreign objects on the tool magazine speed reducer 8 is reduced, and meanwhile, the influence of dust and impurities is reduced as much as possible.
Specifically, the diameter of the front shield 13 of the tool magazine is smaller than that of the rear shield 10 of the tool magazine, so that the origin sensor 12, the reverse tool cylinder group 14 and the reverse tool microswitch 15 are positioned in the radial range of the front shield 13 of the tool magazine, and the plurality of tool sleeve structures 17 are positioned outside the radial range of the front shield 13 of the tool magazine, thereby ensuring the smooth proceeding of tool changing steps.
Specifically, a notch 101 is arranged below the rear protective cover 10 of the tool magazine, so that the tool arm structure 3 can move to the position of the notch 101 to realize tool changing in the tool changing process.
Specifically, the interior of the magazine body 1 is provided with a mounting groove 1a accommodating the cam mechanism 2, thereby decelerating through the magazine
The machine 8 drives the cam mechanism 2 to drive the disc cutter unit 11 to operate through a transmission connection.
Specifically, the ATC shield 4 is further provided with an instrument window 41, so that the worker can observe the instrument window from the outside conveniently.
Example 2
As shown in fig. 4, the present invention further provides a tool changing control method for a servo tool magazine, comprising the following steps:
(1) calibrating the origin position of the tool arm structure 3: setting a middle point on the gripper part n as a reference point R, connecting the reference point R with the rotational symmetry point s, and taking the reference point R as a perpendicular line of the symmetry axis s1 to obtain a reference perpendicular line segment R between the foot and the reference point; starting the ATC servo motor 53 at a rated rotating speed to drive the tool arm structure 3 to rotate, stopping the ATC servo motor after the origin sensor 12 detects that the tool arm structure 3 returns to the initial position and continuously driving the tool arm 3 structure to rotate at the lowest speed of 1r/min for 30s, then reversing the ATC servo motor 53 at the lowest speed until the origin sensor 12 detects that the tool arm structure 3 returns to the initial position again and then stopping the ATC servo motor 53 again, and at this time, finishing the correction of the origin position of the tool arm structure 3; taking a standard optical image and a standard X-ray image of the high-definition pinhole camera ONC and the X-ray pinhole camera XNC (with the spatial resolution of 2-4 microns) as standard images;
(2) knife selection of a cutter head: after confirming that the cutter sleeve structure is in a horizontal state, a servo driver starts a tool magazine servo motor and a tool
The library servo motor drives the cam mechanism and drives the cutter head in the disc type cutter head unit to rotate and select the cutter through the cam mechanism,
the cutter head rotates one cutter position every time a cam in the cam mechanism rotates one circle;
(3) reversing the cutter:
(3.1) the control box gives a tool changing instruction, executes the tool reversing action, and the tool reversing microswitch is started to control the tool reversing cylinder group to drive
The cutter sleeve structure rotates by 90 degrees from a position parallel to the cutter head plane to a position vertical to the cutter head plane;
(3.2) when the tool sleeve structure is abutted and positioned with the reverse tool positioning seat, confirming that the reverse tool is finished, closing the reverse tool micro switch,
the reverse cutter cylinder group stops acting;
(4) positioning a driving mandrel: the driving mandrel rises to a tool changing position, and the directional positioning of the driving mandrel is completed;
(5) tool changing by the tool arm: the servo driver controls the ATC servo motor to drive the ATC tool changing mechanism to enable the tool arm of the tool arm structure to rotate until the cam positioning sensor detects that the cam moves to the preset position, the ATC servo motor stops rotating and brakes under the control of the servo driver, and further instructions of the control box are waited;
(5.1) buckling a knife: the ATC servo motor drives a cutter arm below the ATC cutter changing mechanism to rotate to a cutter buckling position, and the ATC servo motor brakes after the cutter buckling position is confirmed;
(5.2) tool drawing and tool changing: after the tool loosening action of the machine tool spindle is executed and confirmed, a tool claw of a tool arm structure is confirmed to grab a tool to be used in the tool sleeve structure and a tool to be recovered in the machine tool spindle, the tool arm moves downwards for a preset distance of 115mm and rotates 180 degrees at the same time to ascend for a preset distance again, so that tool exchange is completed, and the tool arm stops at a preset position;
(5.3) returning: after the tool locking action of the machine tool spindle is executed and confirmed, starting an ATC tool changing mechanism to drive a tool arm structure to return, and confirming that the tool arm structure is located at an original point position after an original point sensor detects that the tool arm structure returns to the original point position;
(6) returning: after the current cutter is used, the cutter head rotates to the cutter position of the next cutter to be used, and the operations from the step (1) to the step (4) are repeated to realize the recovery of the currently used cutter and the exchange of the next cutter to be used;
wherein, the following steps are immediately included after the ATC servo motor braking and 180-degree rotation after the cutter buckling position is confirmed in the steps (5.1) - (5.3) and the three cutter arm structure states of the cutter arm structure 3 at the original position are confirmed:
s1, shooting a first image of optical and X-ray, acquiring first image data through an image acquisition module, transmitting the first image data to a computer system, processing the image through the computer system, performing image superposition processing on the first image and a standard image, calculating the length of a vertical line segment between a tip on the first image and a symmetry axis s1 on the standard image, representing an angle difference by using a difference value, and setting a first angle difference h1 to be +/-0.2-1.5 degrees and a second angle h2 not greater than the first angle difference to be +/-0.01-0.2 degrees; comparing the difference value between the length of the vertical line segment and the length of the reference vertical line segment r to obtain a first difference value; setting the angle difference h represented by the difference preset threshold value as 15';
referring to fig. 3, assuming that the distance between the reference point and the rotation center line is l, and the distance between the rotation center and the foot is h, the length r = (l) of the reference vertical line segment is determined2-h’2）1/2Represents a zero angular difference, in which case the angle between l and h is β = [360 °. arccos (h'/l)]When the angle difference is α,/2 pi (1), the vertical line segment length is r ' = l · sin (± α + β) (2), and the difference d = r ' -r (3) represents the angle difference is α, where when α in the formula (2) is a positive sign, d = r ' -r represents that the tip exceeds the reference point position; when the negative sign of alpha is taken, d = r-r', and the reference point position of the grabbing tip is not reached;
s2, when the angle difference represented by the first difference is smaller than a preset threshold h, the tool arm structure 3 is indicated to be at a precise position; when the angle difference represented by the first difference reaches a first angle difference h1, starting the pinhole optical camera, controlling the rotation speed of an ATC servo motor by the control box to enable the linear speed on the periphery of the driving shaft center sleeve to be 0.4mm/S after the rotation speed is reduced by a speed reducer, controlling the image acquisition module to acquire a plurality of image images in a pulse acquisition mode by the computer system, comparing the image images with standard optical images one by one to obtain a plurality of corresponding difference values, and performing S3.1;
step S3.2 is performed when the angle difference represented by the first difference reaches a second angle difference h 2;
s3.1 when comparing a certain image and finding that the angle difference represented by the corresponding difference is smaller than the second angle difference h2, the ATC servo motor starts to decelerate to a preset speed of 180 mu m/S, and the deceleration is linear deceleration a which is 0.1mm/S2During the deceleration period, the image acquisition module still continuously acquires images in a pulse mode, and the computer system acquires a plurality of difference values;
if the speed is reduced to the preset speed, the servo motor 53 is stopped to drive when the angle difference is found to be smaller than a preset threshold h; acquiring the image once again after the image is completely stopped to obtain the second difference, finishing control if the angle difference represented by the second difference is still smaller than a preset threshold h, or performing the step S3.2;
if the speed is reduced to the preset speed and the angle difference is larger than the preset threshold h but smaller than the second angle difference h2, performing the step S3.2;
s3.2, starting an X-ray pinhole imaging machine XNC to convert the linear speed on the periphery of the driving shaft center sleeve 31 into micrometer rotating speed of 40 μm/S, continuously acquiring images by pulse acquisition to obtain a plurality of corresponding difference values, and stopping the ATC servo motor 53 until the angle difference is smaller than a preset threshold value h; and after the image is completely stopped, acquiring the image once again to compare the standard X-ray image to obtain a third difference value, finishing control if the angle difference represented by the third difference value is still smaller than the preset threshold h, otherwise controlling the servo motor 53 to carry out start-stop operation in a pulse mode at the lowest micron rotating speed of 5 mu m/s until the angle difference represented by the difference value of the image acquired again after each stop is smaller than the preset threshold h, and finishing control.
Wherein the difference includes the position of the reference point on the standard image that the grasping tip exceeds clockwise, and the position of the reference point on the standard image that the grasping tip does not reach counterclockwise, and when the millimeter rotation speed and the micrometer rotation speed are performed, the ACT servo motor 53 is operated correspondingly according to the exceeding or not reaching condition, so that the knife arm structure 3 is continuously adjusted counterclockwise or clockwise until the angle difference is smaller than the preset threshold value h.
The used cutters rotating in from the lower part of the cutter head are in one-to-one correspondence with cutter sleeve structures 17 arranged in the circumferential direction of the cutter head in the disc type cutter head unit 11. The used cutters rotating in from the lower part of the cutter head are in non-one-to-one correspondence with the cutter sleeve structures 17 arranged in the circumferential direction of the cutter head in the disc type cutter head unit 11.
Example 3
In the embodiment 2, the angle difference corresponding to each difference obtained in steps S1-S3.2 is averaged with the actual angle difference measured by the tool arm actual angle monitoring encoder 54, and the averaged value is used as a comparison object for adjusting the position of the tool arm.
Example 4
In the embodiment 2 or 3, for each image acquired in the steps (1) and (5.1) - (5.3), the adopted linear velocity and deceleration are used as input parameters, and the ATC servo motor 53 control signal is used as output to respectively establish the optical homing neural network model and the X-ray homing neural network model, so that when the current image is input into the model, the corresponding operation parameters for controlling the ATC servo motor 53 are generated, and the ATC servo motor 53 is accurately controlled to operate in real time. The optical homing neural network model and the X-ray homing map neural network model are both based on a convolutional neural network model.
Claims (10)
1. The utility model provides a servo tool magazine based on machine vision tool arm location which characterized in that: the servo tool magazine includes: the tool magazine comprises a tool magazine body, a cam mechanism, a tool arm structure, an ATC shield, an ATC tool changing mechanism, an ATC speed reducer, an ATC servo motor, a cam positioning sensor, a tool magazine speed reducer fixing seat, a tool magazine speed reducer, a tool magazine servo motor, a control box, a tool magazine rear shield, a disc type cutter head unit, an origin sensor, a tool magazine front shield, a tool reversing cylinder group, a tool reversing microswitch, a cutter head mandrel, a tool sleeve structure, a tool reversing positioning seat and a servo driver;
the cam mechanism is arranged at the rear part of the tool magazine body, the cam positioning sensor is arranged at the rear part of the tool magazine body and is positioned above the cam mechanism, and the tool magazine body is in transmission connection with the disc type cutter head unit through the cam mechanism;
the cutter arm structure is provided with a driving axle sleeve sleeved outside the driving core shaft and hand grips positioned at two end parts, the cutter arm structure is rotationally symmetrical by 360 degrees about the central axis of the driving core shaft sleeve, and is also provided with a rectangular cutter arm body which is axially symmetrical, and the symmetrical axis and the central axis of the driving core shaft sleeve are intersected at a rotationally symmetrical point; the cutter arm structure is arranged below the disc type cutter head unit, and the driving mandrel enables the cutter arm structure to rotate around the driving mandrel;
the ATC servo motor is arranged above the ATC tool changing mechanism and is in transmission connection with the ATC speed reducer, the ATC shield is arranged at the periphery of the ATC tool changing mechanism, the tool magazine speed reducer fixing seat is arranged at the upper side of the tool magazine body, the tool magazine speed reducer is arranged above the tool magazine speed reducer fixing seat, the tool magazine servo motor is arranged above the tool magazine speed reducer,
the control box is arranged on the tool magazine speed reducer fixing seat and one side of the tool magazine speed reducer, a servo driver is further arranged on an electric appliance cabinet of a client machine tool outside the servo tool magazine, and the servo driver is respectively connected with the ATC servo motor and the tool magazine servo motor;
the disc type cutter head unit is arranged on the cutter base body through a cutter head mandrel of the cutter base rear shield, a cutter base front shield is further arranged on the front side of the disc type cutter head unit, a cutter reversing cylinder group and a cutter reversing microswitch are further arranged between the disc type cutter head unit and the cutter base front shield, an origin sensor is further arranged between the cutter reversing cylinder group and the cutter reversing microswitch, and a plurality of cutter sleeve structures and cutter reversing positioning seats are uniformly arranged in the circumferential direction of a cutter head of the disc type cutter head unit; a tool arm preset angle monitoring encoder is arranged in the ATC servo motor, and a tool arm actual angle monitoring encoder is arranged on one side of the ATC tool changing mechanism;
a high-definition pinhole camera and an X-ray pinhole camera are arranged behind the ATC shield and used for shooting optical images and X-ray images of the gripper, the high-definition pinhole camera is arranged on a camera barrel of the X-ray pinhole camera, the X-ray pinhole camera further comprises an X-ray emission and reflected ray signal detection and transmission device, and the reflected ray signal detection and transmission device is arranged behind the ATC shield; and the number of the first and second groups,
the control box is connected with a machine tool computer system, and the machine tool further comprises an image acquisition module used for acquiring image data of the high-definition pinhole camera and the X-ray pinhole camera.
2. The servo tool magazine of claim 1, wherein: the tool magazine speed reducer (8) is arranged in
A space enclosed between the rear tool magazine shield (10) and the ATC shield (4); the diameter of the front tool magazine shield (13) is smaller than that of the rear tool magazine shield (10).
3. The servo tool magazine of claim 1, wherein: the lower part of the rear protective cover (10) of the tool magazine is provided with
Has a notch (101).
4. The servo tool magazine of claim 1, wherein: the interior of the tool magazine body (1) is provided with
A mounting groove (1 a) for accommodating the cam mechanism (2).
5. The servo tool magazine of claim 1, wherein: the ATC shield (4) is also provided with an instrument
A window (41).
6. A tool changing control method of a servo tool magazine is characterized in that: the method comprises the following steps:
(1) calibrating the original point position of the cutter arm structure: setting one point on the hand grip part as a reference point, connecting the reference point with the rotational symmetry point, and making a perpendicular line of the symmetry axis through the reference point to obtain a reference perpendicular line segment between the foot and the reference point; starting an ATC servo motor at a rated rotating speed to drive a tool arm structure to rotate, stopping the ATC servo motor after the ATC servo motor continuously drives the tool arm structure to rotate at the lowest speed of 1r/min for a period of time after an origin sensor detects that the tool arm structure returns to the initial position, then reversing the ATC servo motor at the lowest speed until the origin sensor detects that the tool arm structure returns to the initial position again and stopping the ATC servo motor again, wherein the origin position of the tool arm structure is corrected; shooting standard optical images and standard X-ray images by using the high-definition pinhole camera and the X-ray pinhole camera (the spatial resolution is several microns) as standard images;
(2) knife selection of a cutter head: after confirming that the cutter sleeve structure is in a horizontal state, a servo driver starts a tool magazine servo motor and a tool
The library servo motor drives the cam mechanism and drives the cutter head in the disc type cutter head unit to rotate and select the cutter through the cam mechanism,
the cutter head rotates one cutter position every time a cam in the cam mechanism rotates one circle;
(3) reversing the cutter:
(3.1) the control box gives a tool changing instruction, executes the tool reversing action, and the tool reversing microswitch is started to control the tool reversing cylinder group to drive
The cutter sleeve structure rotates by 90 degrees from a position parallel to the cutter head plane to a position vertical to the cutter head plane;
(3.2) when the tool sleeve structure is abutted and positioned with the reverse tool positioning seat, confirming that the reverse tool is finished, closing the reverse tool micro switch,
the reverse cutter cylinder group stops acting;
(4) positioning a driving mandrel: the driving mandrel rises to a tool changing position, and the directional positioning of the driving mandrel is completed;
(5) tool changing by the tool arm: the servo driver controls the ATC servo motor to drive the ATC tool changing mechanism to enable the tool arm of the tool arm structure to rotate until the cam positioning sensor detects that the cam moves to the preset position, the ATC servo motor stops rotating and brakes under the control of the servo driver, and further instructions of the control box are waited;
(5.1) buckling a knife: the ATC servo motor drives a cutter arm below the ATC cutter changing mechanism to rotate to a cutter buckling position, and the ATC servo motor brakes after the cutter buckling position is confirmed;
(5.2) tool drawing and tool changing: after the tool loosening action of the machine tool spindle is executed and confirmed, the tool claw grabbing tool of the tool arm structure is confirmed
The cutter to be used in the sleeve structure and the cutter to be recovered in the machine tool spindle, the cutter arm moves downwards for a preset distance and rotates 180 degrees at the same time to ascend for the preset distance again, so that cutter exchange is completed, and the cutter arm stops at a preset position;
(5.3) returning: after the tool locking action of the machine tool spindle is executed and confirmed, starting an ATC tool changing mechanism to drive a tool arm structure to return, and confirming that the tool arm structure is located at an original point position after an original point sensor detects that the tool arm structure returns to the original point position;
(6) returning: after the current cutter is used, the cutter head rotates to the cutter position of the next cutter to be used, and the operations from the step (1) to the step (4) are repeated to realize the recovery of the currently used cutter and the exchange of the next cutter to be used;
wherein, the following steps are immediately included after the ATC servo motor braking and 180-degree rotation after the cutter buckling position is confirmed in the steps (5.1) to (5.3) and the three cutter arm structure states of the cutter arm structure at the original position are confirmed:
s1, shooting a first image of optical and X-ray, acquiring first image data through an image acquisition module, transmitting the first image data to a computer system, processing the image through the computer system, performing image superposition processing on the first image and a standard image, calculating the length of a vertical line segment between a tip on the first image and a symmetrical axis on the standard image, representing an angle difference by using a difference value, and setting a first angle difference and a second angle difference which is not larger than the first angle difference; comparing the difference value between the length of the vertical line segment and the length of the reference vertical line segment to obtain a first difference value; setting an angle difference represented by a difference preset threshold;
s2, when the angle difference represented by the first difference is smaller than a preset threshold value, the cutter arm structure is indicated to be at a precise position; when the angle difference represented by the first difference reaches a first angle difference, starting the pinhole optical camera, controlling the rotation speed of an ATC servo motor by the control box to enable the rotation speed of the ATC servo motor to be reduced by a speed reducer, enabling the linear speed on the periphery of the driving shaft center sleeve to be millimeter rotation speed, controlling the image acquisition module to acquire a plurality of image images in a pulse acquisition mode by the computer system, comparing the image images with standard optical images one by one to obtain a plurality of corresponding difference values, and performing S3.1;
(iv) performing step S3.2 when the angle difference represented by the first difference reaches a second angle difference;
s3.1, when the angle difference represented by the corresponding difference value is smaller than the second angle difference when a certain image is compared, the ATC servo motor starts to decelerate to a preset speed, the image acquisition module still continuously acquires images in a pulse mode during deceleration, and the computer system acquires a plurality of difference values;
if the speed is reduced to the preset speed, stopping the driving of the servo motor when the angle difference is found to be smaller than a preset threshold value; acquiring the image once again after the image is completely stopped to obtain the second difference value, finishing control if the angle difference represented by the second difference value is still smaller than a preset threshold value, or performing the step S3.2;
if the speed is reduced to the preset speed and the angle difference is larger than the preset threshold but smaller than the second angle difference, the step S3.2 is carried out;
s3.2, starting the X-ray pinhole imaging machine to convert the linear speed on the periphery of the driving shaft center sleeve into micron rotating speed, continuously and pulse-acquiring images to obtain a plurality of corresponding difference values, and stopping the ATC servo motor until the angle difference is smaller than a preset threshold value; after the image is completely stopped, acquiring an image once again to compare the standard X-ray image, obtaining a third difference value, finishing control if the angle difference represented by the third difference value is still smaller than a preset threshold, otherwise, controlling a servo motor to perform start-stop operation in a pulse mode at the lowest micron rotating speed until the angle difference represented by the difference value of the image acquired again after each stop is smaller than the preset threshold, and finishing control;
and when the millimeter rotation speed and the micrometer rotation speed are carried out, the ACT servo motor is correspondingly operated according to the exceeding or not reaching conditions so that the knife arm structure is continuously adjusted anticlockwise or clockwise until the angle difference is smaller than a preset threshold value.
7. The tool changing control method of the servo tool magazine according to claim 6, wherein: the certain time in the step (1) is 10s-1min, and preferably, the reference point is located in the middle of the gripper part; the first angle difference and the second angle difference which is not more than the first angle difference are respectively +/-0.2-1.5 degrees and +/-0.01-0.2 degrees; the difference value is preset to be 10-20' representing the angle difference; the deceleration is linear deceleration a of 0.05-0.2mm/s2Or decelerating according to an at/e curve rule, wherein t is time, and e is a natural constant; the preset speed is 100-200 mu m/s; the millimeter rotating speed is 0.2-0.5 mm/s; the micron rotating speed is 5-100 mu m/s; in the step S1-S3.2, the angle difference value obtained by obtaining the difference value each time is used as an average value with the actual angle difference value measured by the actual angle monitoring encoder of the tool arm, and the average value is used as a comparison object for newly adjusting the position of the tool arm;
and (5.2) the tool arm of the ATC tool changing mechanism drives the tool claw which grabs the tool to pull down for a preset distance, the tool claw rotates 180 degrees after the tool is pulled out, and the tool claw rises for the same preset distance again, and the preset distance is 115 mm.
8. The tool changing control method of the servo tool magazine according to claim 6 or 7, characterized in that: in the steps (1) and (5.1) - (5.3), for each image collected, the adopted linear velocity and deceleration are used as input parameters, ATC servo motor control signals are used as output, an optical homing neural network model and an X-ray homing neural network model are respectively established, so that when the current image is input into the model, the operation parameters for correspondingly controlling the ATC servo motor are generated to accurately control the ATC servo motor to operate in real time,
preferably, the optical homing neural network model and the X-ray homing map neural network model are both based on a convolutional neural network model or a deep learning AlexNet model.
9. The tool changing control method of the servo tool magazine according to claim 6 or 7, characterized in that: the used cutters rotating in from the lower part of the cutter head are in one-to-one correspondence with cutter sleeve structures arranged in the circumferential direction of the cutter head in the disc type cutter head unit.
10. The tool changing control method of the servo tool magazine according to claim 6 or 7, characterized in that: the used cutters rotating below the cutter disc are in non-one-to-one correspondence with cutter sleeve structures arranged in the circumferential direction of the cutter disc in the disc type cutter disc unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110232717.9A CN112959119B (en) | 2021-03-03 | 2021-03-03 | Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110232717.9A CN112959119B (en) | 2021-03-03 | 2021-03-03 | Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112959119A true CN112959119A (en) | 2021-06-15 |
| CN112959119B CN112959119B (en) | 2021-11-05 |
Family
ID=76276221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110232717.9A Active CN112959119B (en) | 2021-03-03 | 2021-03-03 | Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112959119B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070482A (en) * | 2022-07-23 | 2022-09-20 | 超同步股份有限公司 | Servo tool magazine control method and system and electronic equipment |
| CN116441981A (en) * | 2023-04-18 | 2023-07-18 | 冈田智能(江苏)股份有限公司 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
| CN117840797A (en) * | 2024-03-07 | 2024-04-09 | 宁波海天精工股份有限公司 | Quick detection method for swinging rod type broken knife in chain type tool magazine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699733A (en) * | 2012-06-12 | 2012-10-03 | 大连理工大学 | Method and device for measuring movement locus of automatic tool changing mechanical arm |
| CN106553074A (en) * | 2015-09-30 | 2017-04-05 | Dmg森精机株式会社 | Tool replacing apparatus |
| CN207205945U (en) * | 2017-09-22 | 2018-04-10 | 厦门台匠精密机械有限公司 | A kind of Digit Control Machine Tool tool changing device |
| US20180354085A1 (en) * | 2017-06-08 | 2018-12-13 | Poju Precision Machinery Co., Ltd. | Intellectual automatic tool changer speed moderating system |
| CN110052876A (en) * | 2019-04-26 | 2019-07-26 | 冈田精机丹阳有限公司 | A kind of servo tool magazine and its tool change control method |
-
2021
- 2021-03-03 CN CN202110232717.9A patent/CN112959119B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699733A (en) * | 2012-06-12 | 2012-10-03 | 大连理工大学 | Method and device for measuring movement locus of automatic tool changing mechanical arm |
| CN106553074A (en) * | 2015-09-30 | 2017-04-05 | Dmg森精机株式会社 | Tool replacing apparatus |
| US20180354085A1 (en) * | 2017-06-08 | 2018-12-13 | Poju Precision Machinery Co., Ltd. | Intellectual automatic tool changer speed moderating system |
| CN207205945U (en) * | 2017-09-22 | 2018-04-10 | 厦门台匠精密机械有限公司 | A kind of Digit Control Machine Tool tool changing device |
| CN110052876A (en) * | 2019-04-26 | 2019-07-26 | 冈田精机丹阳有限公司 | A kind of servo tool magazine and its tool change control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070482A (en) * | 2022-07-23 | 2022-09-20 | 超同步股份有限公司 | Servo tool magazine control method and system and electronic equipment |
| CN115070482B (en) * | 2022-07-23 | 2023-09-05 | 超同步股份有限公司 | Servo tool magazine control method and system and electronic equipment |
| CN116441981A (en) * | 2023-04-18 | 2023-07-18 | 冈田智能(江苏)股份有限公司 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
| CN116441981B (en) * | 2023-04-18 | 2023-10-24 | 冈田智能(江苏)股份有限公司 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
| CN117840797A (en) * | 2024-03-07 | 2024-04-09 | 宁波海天精工股份有限公司 | Quick detection method for swinging rod type broken knife in chain type tool magazine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112959119B (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112959119B (en) | Servo tool magazine based on machine vision tool arm positioning and tool changing control method thereof | |
| WO2021164137A1 (en) | Cutting tool state monitoring and control system and method for numerical control machine tool | |
| US10507558B2 (en) | Machine tool system | |
| CN110052876A (en) | A kind of servo tool magazine and its tool change control method | |
| US20170087679A1 (en) | Tool Changer | |
| TW201617166A (en) | Method and device for automatically setting tool correction value of machine tool | |
| WO2020012871A1 (en) | Machine tool | |
| JP7068317B2 (en) | How to control a machine tool | |
| US20180290250A1 (en) | Automatic tool head placement and assembly apparatus for a boring machine | |
| CN110052877A (en) | A kind of circular tool magazine and its tool change control method | |
| JP2007179314A (en) | Machine tool and program conversion method therefor | |
| CN114178594B (en) | System and method for milling inner cavity of deviation-containing cylindrical thin-wall casting | |
| EP2163342B1 (en) | Method and device for monitoring | |
| JP6868147B1 (en) | Machine tools, detection methods, and detection programs | |
| CN111486419A (en) | Method and device for automatically positioning shadowless lamp | |
| CN110052878A (en) | A kind of frequency conversion tool magazine and its tool change control method | |
| JPH05285800A (en) | Automatic machining apparatus | |
| CN211465616U (en) | Frequency conversion tool magazine | |
| Zhang et al. | Intelligent surface-normal adjustment system and application in aeronautical drilling robot | |
| CN115464217A (en) | Tapping device and method of automatic tapping robot based on vision technology | |
| CN112987558B (en) | Motor motion control mechanism and method for stabilizing new classical tearing mold in nuclear fusion device | |
| JPS6243805B2 (en) | ||
| CN112643061B (en) | Objective lens processing device | |
| CN212873274U (en) | Five-axis high-precision positioning control system based on PMAC | |
| JP5014972B2 (en) | Interference confirmation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee after: Okada Intelligent (Jiangsu) Co.,Ltd. Address before: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee before: Okada Intelligent (Jiangsu) Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee after: Okada Intelligent (Jiangsu) Co.,Ltd. Address before: 212300 Huguo Road, Erling Town, Danyang City, Jiangsu Province Patentee before: OKADA SEIKI DANYANG Co.,Ltd. |