CN113635136B - Tool magazine stop control method, device, equipment and storage medium - Google Patents
Tool magazine stop control method, device, equipment and storage medium Download PDFInfo
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- CN113635136B CN113635136B CN202111208753.8A CN202111208753A CN113635136B CN 113635136 B CN113635136 B CN 113635136B CN 202111208753 A CN202111208753 A CN 202111208753A CN 113635136 B CN113635136 B CN 113635136B
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- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
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Abstract
The invention discloses a method, a device, equipment and a storage medium for controlling the accurate stop of a tool magazine, wherein the method comprises the following steps: when a falling edge signal of the tool magazine operation signal is detected, controlling a tool magazine driving motor to stop; when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor; determining the number of feedback pulses according to the number of stop pulses and the number of latching pulses, and determining the number of pulse deviation according to the number of feedback pulses and the preset pulse deviation number; and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number. According to the invention, feedback pulse data is determined according to the number of stop pulses and the number of latching pulses of the driving motor, the pulse deviation number is determined according to the feedback pulse number and the preset pulse deviation number, and the tool magazine driving motor is controlled to drive the tool magazine to the set position according to the pulse deviation number, so that the technical problem of tool magazine damage caused by abnormal control signals in the prior art is solved, and the accuracy of tool magazine stop position control is improved.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a tool magazine accurate stop control method, device, equipment and storage medium.
Background
The tool magazine is more and more generally applied to the machining field, in the control of general tool magazine, the stop position of tool magazine is confirmed by the control signal of host computer and the mechanical braking ability of motor, when the mechanical braking ability of control signal lags behind or the motor is lacked or weakens, the tool magazine can not accurately stop, the final stop position of tool magazine this moment is uncontrollable, if carry out the operation of falling the sword this moment, the tool magazine does not stop at the position of settlement, thereby lead to the card to die or collapse, cause the damage of tool magazine, therefore, how to control the tool magazine and accurately stop at the position of settlement, become the technical problem who awaits the solution urgently.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a tool magazine accurate stop control method, a tool magazine accurate stop control device, tool magazine accurate stop control equipment and a storage medium, and aims to solve the technical problem that the stop position of a tool magazine cannot be accurately controlled in the prior art.
In order to achieve the purpose, the invention provides a tool magazine accurate stop control method, which comprises the following steps:
when a falling edge signal of the tool magazine operation signal is detected, controlling a tool magazine driving motor to stop;
when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor;
determining a feedback pulse number according to the stop pulse number and the latch pulse number, and determining a pulse deviation number according to the feedback pulse number and a preset pulse deviation number;
and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number.
Optionally, before controlling the tool magazine driving motor to stop when the falling edge signal of the tool magazine operation signal is detected, the method further includes:
when a rising edge signal of a tool magazine counting signal is detected, acquiring the number of pulses fed back by a tool magazine driving motor, and setting the number of pulses as a reference pulse number;
controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring a target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position;
and determining a preset pulse offset number according to the target pulse number and the reference pulse number.
Optionally, the controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number includes:
when the pulse deviation number is smaller than a first deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the running direction of the motor rotor according to the absolute value of the pulse deviation number;
and when the pulse deviation number is larger than a second deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the reverse direction of the motor rotor operation according to the pulse deviation number.
Optionally, when a falling edge signal of the tool magazine operation signal is detected, controlling the tool magazine driving motor to stop includes:
and when a falling edge signal of the tool magazine operation signal is detected, stopping sending a driving pulse to the tool magazine driving motor, and sending a braking instruction to a braking device, so that the braking device controls the tool magazine driving motor to stop according to the braking instruction.
Optionally, the controlling, according to a preset mechanical stopping angle, the tool magazine driving motor to drive the tool magazine to stop at a target position, and obtaining a target number of pulses fed back by the tool magazine driving motor when the tool magazine stops at the target position includes:
acquiring a preset mechanical stay angle, and determining the number of driving pulses according to the preset mechanical stay angle;
controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to the driving pulse number, and acquiring the motor feedback pulse number in the operation process of the tool magazine driving motor in real time;
and when the tool magazine stops at the target position, setting the obtained current motor feedback pulse number as the target pulse number.
Optionally, the determining a preset pulse offset number according to the target pulse number and the reference pulse number includes:
and setting the absolute value of the difference between the target pulse number and the reference pulse number as a preset pulse offset number.
Optionally, before controlling the tool magazine driving motor to stop when the falling edge signal of the tool magazine operation signal is detected, the method further includes:
when an effective rising edge signal of a target tool magazine counting signal is detected, acquiring the feedback pulse number of a tool magazine driving motor corresponding to the effective rising edge signal;
and latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed.
In addition, in order to achieve the above object, the present invention further provides a tool magazine stop-register control device, including:
the control module is used for controlling the tool magazine driving motor to stop when a falling edge signal of the tool magazine operation signal is detected;
the acquisition module is used for acquiring the number of stop pulses fed back by the tool magazine driving motor when the tool magazine driving motor finishes stopping;
the determining module is used for determining the number of feedback pulses according to the number of the stop pulses and the number of the latching pulses and determining the pulse deviation number according to the number of the feedback pulses and the preset pulse deviation number;
and the driving module is used for controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number.
In addition, in order to achieve the above object, the present invention further provides a tool magazine stop-and-go control apparatus, including: the system comprises a memory, a processor and a tool magazine stop-and-go control program stored on the memory and operable on the processor, wherein the tool magazine stop-and-go control program is configured to realize the steps of the tool magazine stop-and-go control method.
In addition, in order to achieve the above object, the present invention further provides a storage medium, in which a tool magazine stop-signal control program is stored, and the tool magazine stop-signal control program, when executed by a processor, implements the steps of the tool magazine stop-signal control method described above.
When a falling edge signal of a tool magazine operation signal is detected, the tool magazine driving motor is controlled to stop;
when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor;
determining a feedback pulse number according to the stop pulse number and the latch pulse number, and determining a pulse deviation number according to the feedback pulse number and a preset pulse deviation number; and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number. According to the invention, when the tool magazine driving motor is controlled to complete halt according to the detected falling edge signal of the tool magazine operation signal, the feedback pulse data is determined according to the halt pulse number and the latch pulse number of the driving motor, the pulse deviation number is determined according to the feedback pulse number and the preset pulse deviation number, and the tool magazine driving motor is controlled to drive the tool magazine to the set position according to the pulse deviation number, so that the technical problem of tool magazine damage caused by abnormal control signals or motor mechanical braking capacity loss in the prior art is solved, and the accuracy of tool magazine stopping position control is improved.
Drawings
Fig. 1 is a schematic structural diagram of a tool magazine quasi-stop control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a tool magazine stop-and-go control method according to the present invention;
FIG. 3 is a control comparison diagram of an embodiment of the tool magazine stop-and-go control method of the present invention;
FIG. 4 is a flowchart illustrating a tool magazine stop-and-go control method according to a second embodiment of the present invention;
FIG. 5 is a flowchart illustrating a tool magazine stop-and-go control method according to a third embodiment of the present invention;
fig. 6 is a block diagram of a tool magazine stop-register control device according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a tool magazine stop-and-go control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the tool magazine stop-register control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the tool magazine stop control apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a magazine stop control program.
In the tool magazine stop-and-go control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the tool magazine stop-and-go control device of the present invention may be disposed in the tool magazine stop-and-go control device, and the tool magazine stop-and-go control device calls the tool magazine stop-and-go control program stored in the memory 1005 through the processor 1001, and executes the tool magazine stop-and-go control method provided in the embodiment of the present invention.
An embodiment of the present invention provides a tool magazine accurate stop control method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the tool magazine accurate stop control method according to the present invention.
In this embodiment, the tool magazine stop-accurate control method includes the following steps:
step S10: and when the falling edge signal of the tool magazine operation signal is detected, controlling the tool magazine driving motor to stop.
It should be noted that the execution main body of the embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, or an electronic device, a tool magazine stop-and-go control device, etc. capable of implementing the above functions, and the embodiment and each of the following embodiments are described below by taking the tool magazine stop-and-go control device as an example.
It should be understood that the tool magazine operation signal is a signal for controlling the tool magazine driving motor to drive the tool magazine to operate; the falling edge signal is a signal when the tool magazine operation signal is converted from a high level signal to a low level signal; the tool magazine driving motor may be a motor for providing power for operation of the tool magazine, and in this embodiment, a servo motor is used as the tool magazine driving motor.
It can be understood that the tool magazine drive motor can be controlled to stop in the following manner: (1) controlling the AC contactor to be switched off so as to cut off and stop the tool magazine driving motor; (2) the mechanical braking device of the motor is controlled to work while the alternating current contactor is controlled to be switched off, so that the tool magazine driving motor is stopped, and other modes can be used for controlling the tool magazine driving motor to stop.
In a specific implementation, for example, when the tool magazine quasi-stop control device detects a falling edge signal of a signal for controlling the tool magazine driving motor to drive the tool magazine to operate, the alternating current contactor is controlled to be switched off, and meanwhile, a mechanical braking device of the tool magazine driving motor is controlled to work, so that the tool magazine driving motor is controlled to stop.
Step S20: and when the tool magazine driving motor finishes stopping, acquiring the stopping pulse number fed back by the tool magazine driving motor.
The tool magazine driving motor stops completely, the tool magazine driving motor is a servo motor, the tool magazine driving motor can send out pulses in real time in the operation process, the tool magazine driving motor can send out pulse signals with corresponding number every time the tool magazine driving motor rotates for an angle, and the number of the stop pulses is the total number of the pulse signals fed back when the tool magazine driving motor stops.
In the specific implementation, when the tool magazine driving motor completely stops running, the tool magazine accurate stop control device obtains the total number of pulse signals fed back when the tool magazine driving motor stops running.
Step S30: and determining the number of feedback pulses according to the number of the stop pulses and the number of the latching pulses, and determining the pulse deviation number according to the number of the feedback pulses and the preset pulse deviation number.
It can be understood that the number of latched pulses is the total number of pulse signals fed back by the tool magazine driving motor latched when the rising edge signal of the valid tool magazine counting signal is detected; the effective tool magazine counting signal is a counting signal meeting the tool magazine stop position, for example, if the tool magazine needs to operate 3 tool positions from the stop position to the target position, the 3 rd tool magazine counting signal is an effective tool magazine counting signal.
It should be understood that the feedback pulse number is the total number of the pulse signals of the tool magazine driving motor, which are latched to the total number of the pulse signals fed back by the tool magazine driving motor in the shutdown period of the tool magazine driving motor; the preset pulse offset number is the total number of the pulse signals of the tool magazine driving motor, and the total number of the pulse signals which should be fed back by the tool magazine driving motor when the tool magazine stops at the set position is latched; the pulse deviation number is the difference between the preset pulse deviation number of the tool magazine accurately stopping at the set position and the feedback pulse number of the tool magazine at the actual stopping position.
In a specific implementation, the tool magazine quasi-stop control device determines the feedback pulse number of the tool magazine driving motor according to the total number of the pulse signals fed back when the tool magazine driving motor is stopped and the total number of the pulse signals fed back by the tool magazine driving motor latched when the rising edge signal of the effective tool magazine counting signal is detected, and determines the pulse deviation number according to the feedback pulse number and the preset total number of the tool magazine driving motor pulse signals latched to the total number of the pulse signals which should be fed back by the tool magazine driving motor when the tool magazine is stopped at the set position period.
Step S40: and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number.
It can be understood that the preset position is the position where the tool magazine should stop, and the tool reversing operation is performed at the preset position, so that the problem of jamming or breaking due to the fact that the tool magazine is not in place is solved.
In specific implementation, after the pulse deviation number is determined, the number of pulse signals required for driving the tool magazine from the actual stop position to the set position can be obtained, and the tool magazine driving motor is controlled to drive the tool magazine to stop at the set position according to the number of the pulse signals.
Further, in order to improve the accuracy of controlling the tool magazine stop position, the step S40 includes: when the pulse deviation number is smaller than a first deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the running direction of the motor rotor according to the absolute value of the pulse deviation number; and when the pulse deviation number is larger than a second deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the reverse direction of the motor rotor operation according to the pulse deviation number.
It can be understood that the feedback pulse number is subtracted by the preset pulse offset number to obtain a pulse deviation number, the first deviation threshold value is a preset value which is less than or equal to 0, and when the pulse deviation number is less than the first deviation threshold value, the tool magazine does not reach the set position, that is, the stop position of the tool magazine is before the set position, the tool magazine driving motor needs to be controlled to run along the running direction of the motor rotor so that the tool magazine reaches the set position.
In a specific implementation, for example, the first deviation threshold is set to 0, when the pulse deviation number obtained by subtracting the preset pulse deviation number from the feedback pulse number is less than 0, it indicates that the stop position of the tool magazine does not reach the set position, and the tool magazine quasi-stop control device controls the tool magazine driving motor to rotate in the operation direction according to the pulse deviation number, so as to drive the tool magazine to continue to operate from the current stop position and stop at the set position.
It should be understood that the second deviation threshold is a preset value greater than or equal to 0, and when the pulse deviation number is greater than the second deviation threshold, it indicates that the tool magazine exceeds the set position, i.e. the stop position of the tool magazine is at the set position, and it is necessary to control the tool magazine driving motor to operate in the direction opposite to the motor rotor operation direction, so as to return the tool magazine to the set position.
In a specific implementation, for example, the second deviation threshold is set to 0, when the feedback pulse number minus the preset pulse deviation number obtains a pulse deviation number greater than 0, the stop position of the tool magazine is indicated to exceed the set position, and the tool magazine quasi-stop control device controls the tool magazine driving motor to rotate in the direction opposite to the running direction according to the pulse deviation number, so as to drive the tool magazine to rewind from the current stop position and stop at the set position.
In the specific implementation, referring to fig. 3, for example, taking a tool magazine driving motor to drive a tool magazine to rotate 3 tool positions as an example to compare the technical scheme of this embodiment with a common scheme, a node number 1 indicates that the tool magazine driving motor starts to operate, a counting device in the tool magazine generates a periodic wave, i.e., a tool magazine counting signal, a tool magazine stop-and-go control device reads the tool magazine counting signal and performs delay processing, the tool magazine stop-and-go control device reads each effective rising edge signal of the tool magazine counting signal and latches a pulse fed back by a driving motor corresponding to the rising edge signal, when a 3 rd tool magazine counting signal is read, a falling edge signal of the tool magazine operating signal is detected, (1) the common motor is used as the tool magazine driving motor in an ideal state, and when a falling edge signal 2 of the ideal tool magazine operating signal is detected, the common motor is controlled to stop the tool magazine, the tool magazine can stop at the set position 3; (2) when a falling edge signal 4 of a tool magazine operation signal comes in advance, a common motor is controlled to stop, a stop position 5 of a tool magazine does not reach a set position 3, a servo motor is used as a tool magazine driving motor in the scheme of the embodiment, the pulse deviation number is smaller than 0 at the moment, the tool magazine stops before the set position, and a tool magazine accurate stop control device controls the tool magazine driving motor to rotate along the operation direction according to the pulse deviation number to drive the tool magazine to continue to operate from the current stop position and stop at the set position 3; (3) when the falling edge signal of the tool magazine running signal lags behind, the ordinary motor is controlled to stop, the stopping position 6 of the tool magazine exceeds the set position 3, the servo motor is used as the tool magazine driving motor in the scheme of the embodiment, the pulse deviation number is larger than 0 at the moment, the tool magazine stopping position exceeds the set position, the tool magazine accurate stopping control device controls the tool magazine driving motor to rotate along the reverse direction of the running direction according to the pulse deviation number, and the tool magazine is driven to fall back to the set position 3 from the current stopping position.
Further, after the power of the tool magazine driving motor is cut off, whether the tool magazine driving motor can be controlled to brake in time has a great influence on the stop position of the tool magazine, and in order to improve the accuracy of controlling the stop position of the tool magazine, the step S10 includes: and when a falling edge signal of the tool magazine operation signal is detected, stopping sending a driving pulse to the tool magazine driving motor, and sending a braking instruction to a braking device, so that the braking device controls the tool magazine driving motor to stop according to the braking instruction.
In a specific implementation, when detecting a falling edge signal of a tool magazine operation signal, the tool magazine stop control device stops sending a driving pulse to the tool magazine driving motor, and the tool magazine driving motor is powered off, and simultaneously sends a braking instruction to a braking device, so that the braking device brakes the tool magazine driving motor when receiving the braking instruction, and stops the tool magazine driving motor as soon as possible, wherein the braking device may be an electric braking device.
In the embodiment, when a falling edge signal of the tool magazine operation signal is detected, the tool magazine driving motor is controlled to stop; when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor; determining a feedback pulse number according to the stop pulse number and the latch pulse number, and determining a pulse deviation number according to the feedback pulse number and a preset pulse deviation number; and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number. According to the method and the device, when the tool magazine driving motor is controlled to complete halt according to the detected falling edge signal of the tool magazine operation signal, the feedback pulse data is determined according to the halt pulse number and the latch pulse number of the driving motor, the pulse deviation number is determined according to the feedback pulse number and the preset pulse deviation number, and the tool magazine driving motor is controlled to drive the tool magazine to the set position according to the pulse deviation number, so that the technical problem that the tool magazine is damaged due to control signal lag or motor braking capacity loss in the prior art is solved, and the accuracy of tool magazine stopping position control is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a tool magazine stop-and-go control method according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, before the step S10, the method further includes:
step S01: when a rising edge signal of the tool magazine counting signal is detected, the pulse number fed back by the tool magazine driving motor is obtained, and the pulse number is set as a reference pulse number.
It can be understood that the tool magazine counting signal is a periodic signal with alternating high and low levels generated by counting equipment in the tool magazine in the operation process of the tool magazine; the rising edge signal is a signal when the tool magazine counting signal is converted from a low level signal to a high level signal.
In a specific implementation, when the tool magazine quasi-stop control device detects a rising edge signal of a tool magazine counting signal, the tool magazine quasi-stop control device acquires the number of pulse signals fed back by a tool magazine driving motor at the moment and sets the number as the reference pulse number.
Step S02: and controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring the target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position.
It can be understood that the preset mechanical stop angle is an angle in which the preset tool magazine driving motor operates but the tool magazine is stationary, that is, when the tool magazine driving motor rotates within the preset mechanical stop angle range, the tool magazine is stationary; the preset mechanical stop angle corresponds to the sensing wheel arranged on the tool magazine, and when the sensing wheel enters the sensing interval, the tool magazine enters the mechanical stop angle interval.
It can be understood that the target position is a position determined according to a preset mechanical stop angle, and when a rising edge signal of the tool magazine counting signal is detected, the motor rotor of the tool magazine driving motor is rotated by a certain proportion of the preset mechanical stop angle on the basis of the current position to drive the tool magazine to stop at the target position. For example, if the ratio is set to 0.5, the motor rotor of the tool magazine drive motor rotates by half of the preset mechanical stop angle based on the current position, and drives the tool magazine to the target position.
In a specific implementation, for example, the tool magazine quasi-stop control device controls a motor rotor of the tool magazine driving motor to rotate by half of a preset mechanical stop angle on the basis of the current position, drives the tool magazine to reach a target position, and obtains the total number of pulse signals fed back by the tool magazine driving motor at the moment, namely the target pulse number when the tool magazine reaches the target position.
Step S03: and determining a preset pulse offset number according to the target pulse number and the reference pulse number.
It should be understood that the preset pulse offset number is obtained by subtracting the reference pulse number from the target pulse number.
In the specific implementation, when the tool magazine quasi-stop control device detects a rising edge signal of a tool magazine counting signal, the number of pulses fed back by the tool magazine driving motor acquired at the moment is set as a reference pulse number, a motor rotor of the tool magazine driving motor is controlled to rotate by half of a preset mechanical stop angle on the basis of the current position, the tool magazine is driven to reach a target position, when the tool magazine reaches the target position, the total amount of pulse signals fed back by the tool magazine driving motor acquired at the moment is the target pulse number, and the target pulse number is subtracted from the reference pulse number to obtain a pulse offset number.
Further, in order to determine an accurate pulse offset number, the determining a preset pulse offset number according to the target pulse number and the reference pulse number includes: and setting the absolute value of the difference between the target pulse number and the reference pulse number as a preset pulse offset number.
Further, in order to improve the accuracy of the number of target pulses, the step S02 includes: acquiring a preset mechanical stay angle, and determining the number of driving pulses according to the preset mechanical stay angle; controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to the driving pulse number, and acquiring the motor feedback pulse number in the operation process of the tool magazine driving motor in real time; and when the tool magazine stops at the target position, setting the obtained current motor feedback pulse number as the target pulse number.
It can be understood that the tool magazine driving motor receives 1 pulse signal and rotates a certain angle, and the angle of the tool magazine driving motor required to rotate can be determined according to the preset mechanical stop angle, so that the corresponding driving pulse number is determined.
In the embodiment, when a rising edge signal of a tool magazine counting signal is detected, the number of pulses fed back by a tool magazine driving motor is obtained, and the number of pulses is set as a reference pulse number; controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring a target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position; and determining a preset pulse offset number according to the target pulse number and the reference pulse number. According to the embodiment, when the rising edge signal of the tool magazine counting signal is detected, the acquired pulse number fed back by the driving motor is set as the reference pulse number, the tool magazine driving motor is controlled to drive the tool magazine to the target position according to the preset mechanical stop angle to obtain the target pulse number, the preset pulse offset number is determined according to the target pulse number and the reference pulse number, the position where the tool magazine should stop can be accurately converted into the pulse signals with the corresponding number, and the accuracy of controlling the stop position of the tool magazine is improved.
Referring to fig. 5, fig. 5 is a schematic flow chart of a tool magazine stop-and-go control method according to a third embodiment of the present invention.
Based on the foregoing embodiments, in this embodiment, before the step S10, the method further includes:
step S1: and when an effective rising edge signal of the counting signal of the target tool magazine is detected, acquiring the feedback pulse number of the tool magazine driving motor corresponding to the effective rising edge signal.
It should be understood that the target tool magazine count signal may be determined by: if the tool magazine needs to rotate N tool positions, the tool magazine counting signal corresponding to the nth tool position is the target tool magazine counting signal, for example, if the tool magazine needs to rotate 3 tool positions, the tool magazine counting signal corresponding to the 3 rd tool position is the target tool magazine counting signal.
It can be understood that interference pulses exist in the target tool magazine counting signal, and the effective rising edge signal is a rising edge signal obtained after the interference pulses in the target tool magazine counting signal are filtered.
Step S2: and latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed.
It can be understood that the target rotating speed is a rotating speed lower than the current rotating speed, the target rotating speed can be set in advance in the opening parameters of the tool magazine stop-and-go control equipment, and when the rotating speed of the tool magazine driving motor is controlled to be switched, the target rotating speed can be directly read from the opening parameters; the target rotation speed may also be determined according to the current rotation speed of the tool magazine driving motor, for example, the current rotation speed of the tool magazine driving motor is obtained, and the current rotation speed is multiplied by a preset coefficient to obtain the target rotation speed, where the preset coefficient is a natural number greater than 0 and less than 1, and this embodiment does not limit this.
In the specific implementation, when the tool magazine quasi-stop control device detects an effective rising edge signal of a target tool magazine counting signal, the tool magazine driving motor feedback pulse number corresponding to the effective rising edge signal is latched to obtain a latching pulse number, the current rotating speed of the tool magazine driving motor is obtained, the current rotating speed is multiplied by a preset coefficient to obtain a target rotating speed, and the rotating speed of the tool magazine driving motor is switched from the current rotating speed to the target rotating speed.
In the embodiment, when an effective rising edge signal of a target tool magazine counting signal is detected, the feedback pulse number of a tool magazine driving motor corresponding to the effective rising edge signal is obtained; and latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed. The technical problem of the too fast rotational speed when having solved among the prior art tool magazine driving motor and shutting down can reduce the mechanical shock when tool magazine driving motor shuts down.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a tool magazine stop-signal control program, and the tool magazine stop-signal control program, when executed by a processor, implements the steps of the tool magazine stop-signal control method described above.
Referring to fig. 6, fig. 6 is a block diagram illustrating a first embodiment of the tool magazine stop-and-go control apparatus according to the present invention.
As shown in fig. 5, the tool magazine stop-register control device according to the embodiment of the present invention includes: a control module 10, an acquisition module 20, a determination module 30, and a drive module 40.
The control module 10 is used for controlling the tool magazine driving motor to stop when a falling edge signal of the tool magazine operation signal is detected;
the obtaining module 20 is configured to obtain a number of stop pulses fed back by the tool magazine driving motor when the tool magazine driving motor completes a stop;
the determining module 30 is configured to determine a feedback pulse number according to the stop pulse number and the latch pulse number, and determine a pulse deviation number according to the feedback pulse number and a preset pulse deviation number;
and the driving module 40 is used for controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number.
In the embodiment, when a falling edge signal of the tool magazine operation signal is detected, the tool magazine driving motor is controlled to stop; when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor; determining a feedback pulse number according to the stop pulse number and the latch pulse number, and determining a pulse deviation number according to the feedback pulse number and a preset pulse deviation number; and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number. According to the embodiment, when the tool magazine driving motor is controlled to complete halt according to the detected falling edge signal of the tool magazine operation signal, feedback pulse data are determined according to the number of halt pulses and the number of latching pulses of the driving motor, the pulse deviation number is determined according to the feedback pulse number and the preset pulse deviation number, and the tool magazine driving motor is controlled to drive the tool magazine to the set position according to the pulse deviation number, so that the technical problem that the tool magazine is damaged due to control signal lag or motor mechanical braking capacity loss in the prior art is solved, and the accuracy of tool magazine stopping position control is improved.
Based on the first embodiment of the tool magazine stop-and-go control device of the present invention, a second embodiment of the tool magazine stop-and-go control device of the present invention is provided.
In this embodiment, the driving module 40 is further configured to control the tool magazine driving motor to drive the tool magazine to stop at a set position along the direction in which the motor rotor runs according to the absolute value of the pulse deviation number when the pulse deviation number is smaller than a first deviation threshold; and when the pulse deviation number is larger than a second deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the reverse direction of the motor rotor operation according to the pulse deviation number.
The control module 10 is further configured to stop sending a driving pulse to the tool magazine driving motor and send a braking instruction to the braking device when a falling edge signal of the tool magazine operation signal is detected, so that the braking device controls the tool magazine driving motor to stop according to the braking instruction.
The control module 10 is further configured to, when a rising edge signal of the tool magazine counting signal is detected, obtain a number of pulses fed back by the tool magazine driving motor, and set the number of pulses as a reference number of pulses; controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring a target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position; and determining a preset pulse offset number according to the target pulse number and the reference pulse number.
The determining module 30 is further configured to set an absolute value of a difference between the target pulse number and the reference pulse number as a preset pulse offset number.
The control module 10 is further configured to obtain a preset mechanical staying angle, and determine the number of driving pulses according to the preset mechanical staying angle; controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to the driving pulse number, and acquiring the motor feedback pulse number in the operation process of the tool magazine driving motor in real time; and when the tool magazine stops at the target position, setting the obtained current motor feedback pulse number as the target pulse number.
The control module 10 is further configured to, when an effective rising edge signal of a target tool magazine counting signal is detected, obtain a feedback pulse number of a tool magazine driving motor corresponding to the effective rising edge signal; and latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed.
Other embodiments or specific implementation manners of the tool magazine accurate stop control device of the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A tool magazine accurate stop control method is characterized by comprising the following steps:
when a rising edge signal of a tool magazine counting signal is detected, acquiring the number of pulses fed back by a tool magazine driving motor, and setting the number of pulses as a reference pulse number;
controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring a target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position;
determining a preset pulse offset number according to the target pulse number and the reference pulse number;
when an effective rising edge signal of a target tool magazine counting signal is detected, acquiring the feedback pulse number of a tool magazine driving motor corresponding to the effective rising edge signal;
latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed;
when a falling edge signal of the tool magazine operation signal is detected, controlling a tool magazine driving motor to stop;
when the tool magazine driving motor finishes stopping, acquiring the number of stopping pulses fed back by the tool magazine driving motor;
determining a feedback pulse number according to the stop pulse number and the latch pulse number, and determining a pulse deviation number according to the feedback pulse number and a preset pulse deviation number;
and controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number.
2. The method of claim 1, wherein said controlling said tool magazine drive motor to stop at a set position based on said number of pulse deviations comprises:
when the pulse deviation number is smaller than a first deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the running direction of the motor rotor according to the absolute value of the pulse deviation number;
and when the pulse deviation number is larger than a second deviation threshold value, controlling the tool magazine driving motor to drive the tool magazine to stop at a set position along the reverse direction of the motor rotor operation according to the pulse deviation number.
3. The method of claim 1, wherein controlling the tool magazine drive motor to stop upon detecting a falling edge signal of the tool magazine run signal comprises:
and when a falling edge signal of the tool magazine operation signal is detected, stopping sending a driving pulse to the tool magazine driving motor, and sending a braking instruction to a braking device, so that the braking device controls the tool magazine driving motor to stop according to the braking instruction.
4. The method as claimed in claim 1, wherein the controlling the tool magazine driving motor to drive the tool magazine to stop at the target position according to the preset mechanical stop angle and obtaining the target number of pulses fed back by the tool magazine driving motor when the tool magazine stops at the target position comprises:
acquiring a preset mechanical stay angle, and determining the number of driving pulses according to the preset mechanical stay angle;
controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to the driving pulse number, and acquiring the motor feedback pulse number in the operation process of the tool magazine driving motor in real time;
and when the tool magazine stops at the target position, setting the obtained current motor feedback pulse number as the target pulse number.
5. The method of claim 4, wherein said determining a preset number of pulse offsets based on said number of target pulses and said number of reference pulses comprises:
and setting the absolute value of the difference between the target pulse number and the reference pulse number as a preset pulse offset number.
6. A tool magazine stop register apparatus, the apparatus comprising:
the control module is used for controlling the tool magazine driving motor to stop when a falling edge signal of the tool magazine operation signal is detected;
the acquisition module is used for acquiring the number of stop pulses fed back by the tool magazine driving motor when the tool magazine driving motor finishes stopping;
the determining module is used for determining the number of feedback pulses according to the number of the stop pulses and the number of the latching pulses and determining the pulse deviation number according to the number of the feedback pulses and the preset pulse deviation number;
the driving module is used for controlling the tool magazine driving motor to drive the tool magazine to stop at a set position according to the pulse deviation number;
the control module is also used for acquiring the pulse number fed back by the tool magazine driving motor when the rising edge signal of the tool magazine counting signal is detected, and setting the pulse number as the reference pulse number; controlling the tool magazine driving motor to drive the tool magazine to stop at a target position according to a preset mechanical stop angle, and acquiring a target pulse number fed back by the tool magazine driving motor when the tool magazine stops at the target position; determining a preset pulse offset number according to the target pulse number and the reference pulse number;
the control module is further used for acquiring the feedback pulse number of the tool magazine driving motor corresponding to the effective rising edge signal when the effective rising edge signal of the target tool magazine counting signal is detected; and latching the feedback pulse number to obtain a latched pulse number, and controlling the tool magazine driving motor to switch the rotating speed of the motor from the current rotating speed to the target rotating speed.
7. A tool magazine stop register apparatus, the apparatus comprising: memory, a processor and a tool magazine stop register control program stored on the memory and executable on the processor, the tool magazine stop register control program being configured to implement the steps of the tool magazine stop register control method according to any of claims 1 to 5.
8. A storage medium having a tool magazine stop register control program stored thereon, the tool magazine stop register control program, when executed by a processor, implementing the steps of the tool magazine stop register control method according to any one of claims 1 to 5.
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| CN202111208753.8A CN113635136B (en) | 2021-10-18 | 2021-10-18 | Tool magazine stop control method, device, equipment and storage medium |
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| CN202111208753.8A CN113635136B (en) | 2021-10-18 | 2021-10-18 | Tool magazine stop control method, device, equipment and storage medium |
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| CN115421443A (en) * | 2022-10-31 | 2022-12-02 | 陕西诺贝特自动化科技股份有限公司 | Machine tool workbench positioning method and system and grinding machine |
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| CN113635136A (en) | 2021-11-12 |
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