CN114147521A - Control method for automatic feeding and discharging of machine tool and machine tool - Google Patents
Control method for automatic feeding and discharging of machine tool and machine tool Download PDFInfo
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- CN114147521A CN114147521A CN202111504263.2A CN202111504263A CN114147521A CN 114147521 A CN114147521 A CN 114147521A CN 202111504263 A CN202111504263 A CN 202111504263A CN 114147521 A CN114147521 A CN 114147521A
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- 238000007599 discharging Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 58
- 239000000463 material Substances 0.000 claims abstract description 56
- 238000004140 cleaning Methods 0.000 claims description 35
- 238000011010 flushing procedure Methods 0.000 claims description 19
- 238000003754 machining Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 abstract description 6
- 238000012840 feeding operation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 6
- 102100038208 RNA exonuclease 4 Human genes 0.000 description 5
- 238000005406 washing Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000002173 cutting fluid Substances 0.000 description 2
- 101150073729 Rexo4 gene Proteins 0.000 description 1
- 101100290680 Schizosaccharomyces pombe (strain 972 / ATCC 24843) med1 gene Proteins 0.000 description 1
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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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0075—Devices for removing chips for removing chips or coolant from the workpiece after machining
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a control method for automatic feeding and discharging of a machine tool and the machine tool, wherein the control method for automatic feeding and discharging comprises the following steps: the controller sends a first inquiry command to the feeding and discharging machine and receives a complete preparation signal returned by the feeding and discharging machine; opening an automatic side door of the machine tool through a first electromagnetic valve, and sending a feeding and discharging state signal to an upper discharging machine; judging whether a clamp of the machine tool has materials or not; if so, sending a blanking instruction to an upper blanking machine; if not, sending a loading instruction to an upper loading machine; and acquiring a feeding instruction completion signal of the feeding and discharging machine, and closing an automatic side door of the machine tool through a first electromagnetic valve. According to the technical scheme provided by the invention, the matched automatic feeding and discharging scheme is arranged for the machine tool, so that the working efficiency is improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of display, in particular to a control method for automatic feeding and discharging of a machine tool and the machine tool.
Background
Along with the development of industrial process in China, unmanned and automatic production and processing become a necessary trend. Therefore, various solutions have appeared for realizing unattended automatic machining production of machine tool equipment. The existing automatic feeding and discharging scheme comprises six-axis robot feeding and discharging, truss manipulator feeding and discharging, an automatic material rack and the like.
But the unloading equipment on lathe is through only can simple snatching or unclamping at present, and the action is single to the workstation work that can not match the lathe well still needs the manual work to carry out auxiliary operation and control, can't realize full automation process, work efficiency is not high.
Disclosure of Invention
The embodiment of the invention provides a control method for automatic feeding and discharging of a machine tool and the machine tool, and aims to set a matched automatic feeding and discharging scheme for the machine tool, improve the working efficiency and reduce the labor cost.
In a first aspect, an embodiment of the present invention provides a method for controlling automatic loading and unloading of a machine tool, including:
the controller sends a first inquiry instruction to an upper feeding machine and receives a ready signal returned by the upper feeding machine and the lower feeding machine;
opening an automatic side door of the machine tool through a first electromagnetic valve, and sending a feeding and discharging state signal to a feeding and discharging machine;
judging whether a clamp of the machine tool has materials or not; if yes, sending a blanking instruction to the feeding and blanking machine; if not, sending a loading instruction to the loading and unloading machine;
and acquiring a feeding instruction completion signal of the feeding and discharging machine, and closing an automatic side door of the machine tool through the first electromagnetic valve.
In a second aspect, the embodiment of the invention further provides a machine tool, wherein at least one automatic side door is arranged on the side surface of the workbench of the machine tool; the automatic side door is controlled by a first electromagnetic valve; the machine tool includes:
at least one set of communication interfaces; the communication interface is used for connecting the machine tool and a corresponding feeding and discharging machine;
a controller; the controller is used for executing the control method for automatic loading and unloading of the machine tool provided by any embodiment of the invention.
In the invention, an automatic side door is arranged on the side surface of a workbench of a machine tool, free interaction between the machine tool and a feeding and discharging machine is realized, a controller of the machine tool can automatically execute continuous operation and interaction between the machine tool and the feeding and discharging machine, concretely, the controller sends a first inquiry command to the feeding and discharging machine and receives a complete preparation signal returned by the feeding and discharging machine, so as to establish communication between the controller and the feeding and discharging machine, the controller opens the automatic side door of the machine tool through a first electromagnetic valve and informs the feeding and discharging machine of allowable feeding and discharging through a feeding and discharging state signal, the controller is also used for judging whether materials exist on a clamp, if the materials exist, the controller sends a discharging command to the feeding and discharging machine and executes feeding operation, if the materials do not exist, the controller sends a feeding command to the feeding and discharging machine and executes discharging operation, and after the feeding operation is finished, the automatic side door is closed, the subsequent machine tool can conveniently execute the processing operation. This embodiment realizes the lathe and goes up the continuous interaction between the unloading machine, and the automatic execution material loading operation and unloading operation do not need artifical the operation of assisting in, improve work efficiency, reduce the cost of labor. In addition, the lathe is provided with automatic side door in this implementation, can effectively cooperate the operation of going up unloading to open and close, gets into the lathe for going up the unloading machine and provides the passageway.
Drawings
FIG. 1 is a schematic diagram of a PS-type machine tool according to the prior art;
fig. 2 is a schematic flow chart of a control method for automatic loading and unloading of a machine tool according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a machine tool according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of another control method for automatic loading and unloading of a machine tool according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of automatic loading and unloading according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another machine tool according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the process of implementing the invention, the inventor finds that the following reasons exist for hindering automation of the feeding and discharging process: firstly, the access passage of the machine tool has priority, and automatic loading and unloading are not easy to form, as shown in fig. 1, fig. 1 is a schematic structural diagram of a PS-type machine tool in the prior art, and the PS machine tool only has one main door 12 ' for inputting a material to be processed into a machine tool clamp platform 11 ' and outputting the processed material on the clamp platform 11 '. That is, in the case of a main door 12', after only one workpiece is loaded, the main door returns to the end part to obtain the next workpiece to be loaded again, in one machining operation, a plurality of workpieces need to be machined, the loading time is too long, and the machine tool utilization rate is extremely low; second, the simple snatching and loosening can only be accomplished to current last unloading equipment, can further reduce material loading and unloading efficiency, can increase the cost of labor moreover.
This embodiment sets up the lathe, reply and go up unloading machine, through install PMC2 function additional in lathe FANUC system the inside, the development is applicable to lathe and the unloading control system that goes up of robot, for example, to PS type lathe, can independently develop the PMC2 software program of PS lathe side automatically-controlled gate and automatic unloading, realize the coordinated control of lathe and mainstream brand's unloading machine etc. of going up, PMC2 software program can form continuous and complicated unloading action on the chronogenesis, thereby realize automatic unloading function of going up.
Specifically, an embodiment of the present invention provides a method for controlling automatic loading and unloading of a machine tool, and fig. 2 is a schematic flow chart of the method for controlling automatic loading and unloading of the machine tool provided by the embodiment of the present invention, as shown in fig. 2, the method of this embodiment includes the following steps:
s101, the controller sends a first inquiry instruction to the feeding and discharging machine and receives a complete preparation signal returned by the feeding and discharging machine.
Before the controller controls the feeding and discharging machine to complete the automatic feeding and discharging process, communication needs to be established with the feeding and discharging machine, a first inquiry instruction is sent to the feeding and discharging machine, the feeding and discharging machine receives the first inquiry instruction, and if the feeding and discharging machine is in a ready state, a complete preparation signal is fed back to the controller of the machine tool, so that connection between the controller and the feeding and discharging machine is completed.
S102, opening an automatic side door of the machine tool through a first electromagnetic valve, and sending a feeding and discharging state signal to an upper discharging machine.
As shown in fig. 3, fig. 3 is a schematic structural diagram of a machine tool according to an embodiment of the present invention, the machine tool in this embodiment may further include an automatic side door 11 in addition to a main door 12 of the machine tool, and the loading and unloading machine may complete a loading and unloading process through the automatic side door 11. And open and close through first solenoid valve control automatic side door 11, prepare at the controller and finish, and go up the back that unloading machine prepared, the controller control automatic side door is opened to send the unloading state signal to the unloading machine, inform the unloading machine of going up, the lathe is in the state that allows unloading.
S103, judging whether a clamp of the machine tool has a material or not; if yes, go to step S104; if not, step S105 is executed, and then step S106 is executed.
And judging whether the clamp on the clamp platform 13 has materials, if so, indicating that the machine tool finishes processing the materials and needs to perform blanking operation on a feeding and blanking machine, and if not, indicating that the machine tool is not used and needs to perform feeding operation.
And S104, sending a blanking instruction to an upper blanking machine.
And S105, sending a feeding instruction to an upper feeding and discharging machine.
S106, a feeding instruction completion signal of the feeding and discharging machine is obtained, and an automatic side door of the machine tool is closed through the first electromagnetic valve.
When the material is arranged on the clamp, the controller sends a blanking instruction to the upper blanking machine to execute blanking operation, and after the blanking operation is completed, the controller can control the upper blanking machine to execute the feeding operation again, so that the material is prevented from reaching the clamp, and the machine tool can process the material subsequently. If there is not the material on the anchor clamps, then directly carry out the material loading operation, after the material loading operation is accomplished to the robot, can send material loading instruction and accomplish signal to controller, the automatic side door of lathe is closed to the first solenoid valve of accessible behind the controller, and the lathe of being convenient for is processed the material, effectively avoids the cutting bits to splash to the lathe outside.
Exemplarily, optionally, obtaining a feeding instruction completion signal of the feeding and discharging machine, and after closing an automatic side door of the machine tool through the first electromagnetic valve, the method may further include: and starting the machining operation and sending a machining state signal to the upper blanking machine. After the feeding operation is completed by the feeding and discharging machine, the machine tool is loaded with materials, the machining operation can be started to machine the materials at the moment, and a machining state signal is sent to the feeding and discharging machine so as to inform the feeding and discharging machine that the machine tool is in a machining state and not in a feeding and discharging state, and the feeding and discharging machine does not perform the feeding and discharging operation at the moment.
In the embodiment of the invention, an automatic side door is arranged on the side surface of a workbench of a machine tool, free interaction between the machine tool and a feeding and discharging machine is realized, a controller of the machine tool can automatically execute continuous operation and interaction between the machine tool and the feeding and discharging machine, concretely, the controller sends a first inquiry command to the feeding and discharging machine and receives a complete preparation signal returned by the feeding and discharging machine, so as to establish communication between the controller and the feeding and discharging machine, the controller opens the automatic side door of the machine tool through a first electromagnetic valve and informs the feeding and discharging machine of allowable feeding and discharging through a feeding and discharging state signal, the controller is also used for judging whether materials exist on a clamp, if the materials exist, the controller sends a discharging command to the feeding and discharging machine and executes feeding operation, if the materials do not exist, the controller sends a feeding command to the feeding and discharging machine and executes discharging operation, and after the feeding operation is finished, and the automatic side door is closed, so that the subsequent machine tool can conveniently execute processing operation. This embodiment realizes the lathe and goes up the continuous interaction between the unloading machine, and the automatic execution material loading operation and unloading operation do not need artifical the operation of assisting in, improve work efficiency, reduce the cost of labor. In addition, the lathe is provided with automatic side door in this implementation, can effectively cooperate the operation of going up unloading to open and close, gets into the lathe for going up the unloading machine and provides the passageway.
The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
As shown in fig. 4, fig. 4 is a schematic flow chart of another control method for automatic loading and unloading of a machine tool according to an embodiment of the present invention, because in the loading and unloading process, there is a case that a fixture needs to be cleaned due to customer requirements or restrictions of a machining environment, specifically, the control method for automatic loading and unloading of a machine tool specifically includes the following steps:
s201, the controller sends a first inquiry instruction to the feeding and discharging machine and receives a complete preparation signal returned by the feeding and discharging machine.
S202, opening an automatic side door of the machine tool through a first electromagnetic valve, and sending a feeding and discharging state signal to an upper discharging machine.
S203, judging whether a clamp of the machine tool has a material or not; if yes, go to step S204, and then go to step 205; if not, step S209 is executed.
Optionally, judge whether there is the material on the anchor clamps of lathe, can include: acquiring the surface pressure of the clamp through a gas detection device arranged on the clamp; and when the surface pressure of the clamp is greater than a first set threshold value, judging that the clamp is filled with the material. This embodiment can set up the gas detection device in anchor clamps and material contact's place, when anchor clamps press from both sides tight material, can produce surface pressure to the gas detection device on anchor clamps surface, when anchor clamps surface pressure is greater than first settlement threshold value, can judge that there is the material on the anchor clamps, when anchor clamps surface pressure is little first settlement threshold value, can judge that anchor clamps do not have the material.
And S204, sending a blanking instruction to an upper blanking machine.
S205, obtaining a blanking instruction completion signal of the feeding and blanking machine.
Optionally, after sending the blanking instruction to the upper blanking machine, before acquiring the blanking instruction completion signal of the upper blanking machine, the method may further include: detecting that a feeding and discharging machine enters an automatic side door, and forbidding processing operation; receiving a clamp loosening request sent by a feeding and discharging machine, and executing clamp loosening operation; and detecting that the feeding and discharging machine leaves the automatic side door. The specific process of the feeding and discharging machine for feeding operation comprises the following steps: the automatic side door control method comprises the steps of entering a machine tool, prohibiting machining operation after a machine tool controller detects that a feeding and discharging machine enters the automatic side door, preventing damage to the machine tool or the feeding and discharging machine, sending a clamp loosening request to the machine tool after the feeding and discharging robot is in place, executing clamp loosening operation by the machine tool, enabling the feeding and discharging robot to leave the machine tool after obtaining materials, and detecting that the feeding and discharging robot leaves the automatic side door by the machine tool controller.
Optionally, performing a clamp release operation may include: setting a plurality of output orders of loosening instructions according to the types of the clamps; and sequentially outputting loosening instructions according to the output sequence of the loosening instructions to finish the operation of loosening the clamp. Because the clamp has a plurality of types, the material is clamped at a plurality of positions, when the material is loosened, the clamp outputs a plurality of loosening instructions to gradually loosen the material, different output sequences of the loosening instructions can be set according to the types of the clamp, and the controller sequentially outputs the loosening instructions according to the output sequences to finish the loosening operation of the clamp of the corresponding type.
S206, judging whether a clamp flushing instruction input by a user is received; if yes, go to step S207; if not, step S209 is executed.
Optionally, the method for controlling automatic loading and unloading of the machine tool may further include: acquiring a blanking instruction completion signal of a feeding and blanking machine, and judging whether a clamp flushing instruction input by a user is received; if yes, then according to judging whether this anchor clamps wash need close automatic side door, anchor clamps wash the mode and divide into two kinds: the first cleaning is performed by closing the automatic side door to prevent cutting fluid from splashing outside the machine tool when the clamp is washed and opened, and the second cleaning is performed without closing the automatic side door, wherein the cleaning process needs to be matched with a feeding and discharging machine; if not, sending a loading instruction to the upper discharging machine, then acquiring a loading instruction completion signal of the upper discharging machine, and closing an automatic side door of the machine tool through the first electromagnetic valve, so that the machine tool can conveniently process materials subsequently.
S207, judging whether the clamp is cleaned and the automatic side door needs to be closed, if so, executing a step S208, and then executing a step S209; if not, go to step S210.
If the clamp is cleaned and the automatic side door needs to be closed, closing the automatic side door through a first electromagnetic valve, executing a door closing cleaning process, and then sending a feeding instruction to an upper discharging machine; if the clamp is cleaned without closing the automatic side door, a feeding instruction is sent to an upper discharging machine, the upper discharging machine enters a machine tool, and the controller is matched with the robot to request to execute a door opening cleaning process.
And S208, closing the automatic side door through the first electromagnetic valve, and executing a door closing cleaning process.
Optionally, the door closing cleaning process is executed, and may include: starting the clamp cleaning device through a second electromagnetic valve to flush the clamp; after the clamp is washed for a set time, closing the clamp cleaning device; and opening the automatic side door of the machine tool through the first electromagnetic valve. The setting time may be set according to the user requirement and the material characteristic, and may be set to 10s or 20s, for example, which is not particularly limited in this embodiment. Before opening the jig cleaning device, the automatic side door is closed, and after closing the jig cleaning device, the automatic side door of the machine tool is opened, and then the feeding operation is continued.
S209, sending a feeding instruction to the feeding and blanking machine, and then executing S211.
And S210, sending a feeding instruction to an upper feeding and discharging machine, and executing a door opening cleaning process.
Optionally, the executing of the door opening cleaning process may include: receiving a flushing starting request sent by a loading and unloading machine; starting the clamp cleaning device through a second electromagnetic valve to flush the clamp; and receiving a flushing closing request sent by the feeding and discharging machine, and closing the clamp cleaning device. For the open-door cleaning process, the opening and closing of the clamp cleaning device are controlled by a request sent by the loading and unloading machine.
S211, acquiring a feeding instruction completion signal of the feeding and discharging machine, and closing an automatic side door of the machine tool through a first electromagnetic valve.
After sending the material loading instruction to the supreme unloading machine, before the material loading instruction completion signal of getting the material loading machine, still include: detecting that the feeding and discharging machine enters an automatic side door; receiving a clamp clamping request sent by a feeding and discharging machine, and executing clamp clamping operation; and detecting that the feeding and discharging machine leaves the automatic side door. The concrete process of going up the unloading machine and carrying out material loading operation includes: the automatic side door clamping device comprises a machine tool, a machine tool controller, a clamp clamping request and a material loading and unloading robot, wherein the machine tool is used for entering the machine tool, the machine tool controller detects that the material loading and unloading robot enters the automatic side door, the clamp clamping request is sent to the machine tool after the material loading and unloading robot is in place, the machine tool executes clamp clamping operation, the material loading and unloading robot leaves the machine tool after the clamp acquires materials, and the machine tool controller detects that the material loading and unloading robot leaves the automatic side door.
In this embodiment, not only increased anchor clamps after the unloading is accomplished and washd the flow, anchor clamps wash the flow and can include the washing flow that opens the door that goes on under the condition of opening the automatic side door, also can include the washing flow that closes that goes on under the condition of closing the automatic side door to adapt to different customer and wash the requirement. Furthermore, a clamping sequence action of the clamps during the feeding process and a clamping sequence action of the clamps during the discharging process are provided, wherein the clamping sequence actions can realize multiple steps, for example 12 steps, so as to adapt to the use of different types of working clamps. This embodiment provides continuous, complicated automatic unloading process of going up, can realize the execution of longer, continuous action under the condition of liberation manpower, promotes work efficiency.
On the basis of the foregoing embodiments, this embodiment provides a specific example of a loading and unloading process, as shown in fig. 5, fig. 5 is a schematic flow chart of automatic loading and unloading provided by an embodiment of the present invention, and fig. 5 takes a robot as a loading and unloading machine, for example, a six-axis robot, and includes the following specific steps:
s301, judging whether the machine tool returns to a third reference point, if so, executing a step S303; if not, step S302 is executed, and then step S303 is executed.
And S302, moving the machine tool to a third reference point.
The machine tool returning to the third reference point means that the machine tool is moved to the loading and unloading position. For example, the end of the machine tool and the right side of the machine tool, which may be provided with at least one automatic side door as shown in fig. 3, may serve as a third reference point for loading and unloading.
S303, judging whether the robot is ready, if not, executing a step S304, and then executing a step S305; if yes, step S305 is pointed to. The machine tool and the robot can input an IO signal RBHLY through a cable to confirm that the 6-axis robot is in a ready state.
S304, waiting for the robot to be ready.
S305, opening the automatic side door. The machine tool can output an IO signal SL130B-R through a cable, and the pneumatic solenoid valve SL130B is switched on to open the automatic door.
S306, allowing the machine tool to feed and discharge. The machine tool can output an IO signal ACSOK to the 6-axis robot through a cable, and the machine tool is allowed to go up and down a workpiece until the allowance condition is canceled.
S307, judging whether the clamp is filled with materials or not, if so, executing a step S308; if not, go to S326.
The clamp on the machine tool can be provided with a gas detection tool, and whether a workpiece exists on the clamp of the machine tool is judged by inputting an IO signal LS 2781; if the clamp is provided with the workpiece, the machine tool outputs an IO signal WULDQ communication through a cable to send a command for taking the workpiece off the clamp to the robot; if no workpiece exists on the clamp, the machine tool outputs an IO signal WLDRQ through a cable to communicate and sends a workpiece loading command to the robot.
And S308, the machine tool sends a blanking request to the robot.
S309, enabling the robot to enter an automatic side door.
When the machine tool sends a workpiece taking-off request command to the robot, the robot enters the machine tool, when the machine tool receives an input IO signal RBINT through a cable, the machine tool confirms that the 6-axis robot enters the machine tool, and the machine tool can be prohibited from moving due to safety problems.
And S310, the robot sends out a clamp releasing request. The machine tool receives the input IO signal FUCRQ of the robot through the cable, and confirms that the robot sends a clamp releasing request when the input IO signal FUCRQ is in an ON state.
And S311, the machine tool sends out a clamp release signal.
The machine tool realizes various different clamp loosening requirements through a PMC2 software program, and according to the clamps required by customers, the machine tool outputs IO signals SL2801, SL2802, SL2803, SL20804, SL2805 and SL2806 to execute different sequence actions, the machine tool finishes the clamp loosening action and outputs IO signals FUCFN to the robot through cables to communicate, and the machine tool clamp loosening is finished.
And S312, the machine tool detects that the robot leaves the automatic side door. And the robot takes the workpiece OFF and leaves the machine tool, the machine tool receives an input IO signal RBINT through a cable, the state of the RBINT is OFF, and the robot is confirmed to leave the machine tool.
And S313, the robot sends a blanking completion signal. The machine tool receives an input IO signal WULDQ of the robot through the cable to confirm that the robot completes blanking.
S314, judging whether a clamp flushing instruction is received, if so, executing a step S315; if not, go to step S326.
According to the requirements of customers, when no clamp is washed, the machine tool directly sends a feeding request instruction to the robot through a cable output IO signal WLDRQ; when a customer demands the clamp to be washed, the machine tool outputs an IO signal SL1801 through a cable to switch on a hydraulic solenoid valve SL1801, and the clamp is opened to be washed.
S315, judging whether the clamp is flushed and the automatic side door needs to be closed, if so, executing S316; if not, go to S320.
And S316, closing the automatic side door.
And S317, starting the clamp cleaning device.
And S318, after flushing for 10S, closing the clamp cleaning device. In this embodiment, the example of flushing 10s is taken as an example for illustration, and other flushing time may be selected in this embodiment, which is not particularly limited in this embodiment.
S319, opening the automatic side door. After that, step S326 is performed.
When a customer uses the fixture for washing, the fixture is divided into two control flows during washing according to the requirements of the customer workpiece fixture, wherein the first control flow is as follows: the machine tool is connected with a pneumatic solenoid valve SL130A through a cable output IO signal SL130A-R to close the automatic valve, so that cutting fluid is prevented from splashing outside the machine tool when the clamp is flushed and opened; the machine tool outputs an IO signal SL1801 through a cable to switch on a hydraulic solenoid valve SL1801, opens the clamp for flushing, and closes the clamp for flushing after the clamp is flushed for 10 seconds; the machine tool outputs an IO signal SL130B-R through a cable to switch on a pneumatic solenoid valve SL130B to open the automatic door again; the machine tool outputs an IO signal WLDRQ to the robot through a cable to send a feeding request instruction, and the robot starts to enter the machine tool; when the state of an input IO signal RBINT received by the machine tool through a cable is ON, the robot is confirmed to enter the machine tool, and the machine tool is forbidden to move due to safety problems.
And S320, the machine tool sends a feeding request to the robot.
S321, enabling the robot to enter an automatic side door.
And S322, the robot sends a washing starting request.
And S323, starting the clamp cleaning device.
And S324, the robot sends a flushing closing request.
S325, the jig cleaning device is closed, and then step S328 is executed.
According to the requirement of a client workpiece clamp, the second clamp flushing process comprises the following steps: the machine tool outputs an IO signal WLDRQ to the robot through a cable to send a feeding request instruction, and the robot starts to enter the machine tool; when the state of an input IO signal RBINT received by the machine tool through a cable is ON, the robot is confirmed to enter the machine tool, and the machine tool is forbidden to move due to the safety problem; the machine tool receives an input signal FLSON of the robot through a cable and confirms that the clamp is to be opened for cleaning; the machine tool is controlled by software, an IO signal SL1801 is output to be in an ON state, a hydraulic solenoid valve SL1801 is switched ON, and the clamp is opened for flushing; the machine tool receives an input signal FLSON of the robot through a cable and confirms that the clamp is closed to clean; the machine tool is controlled by software, the output IO signal SL1801 is in an OFF state, the hydraulic electromagnetic valve SL1801 is closed, and the clamp flushing is closed.
And S326, the machine tool sends a feeding request to the robot.
S327, the robot enters the automatic side door.
And S328, sending a clamp clamping request by the robot. The machine tool receives the input IO signal FCLRQ of the robot through the cable, and confirms that the robot sends a clamp clamping request when the input IO signal FCLRQ is in an ON state.
And S329, sending a clamp releasing signal by the machine tool. The machine tool realizes various different clamp clamping requirements through a PMC2 software program, and according to a clamp which is set by a customer, the machine tool outputs IO signals SL2801, SL2802, SL2803, SL20804, SL2805 and SL2806 to execute different sequence actions, the machine tool finishes clamp clamping actions, and outputs IO signals FCLFN to the robot through a cable to communicate, and the machine tool clamp clamping is finished.
S330, the robot leaves the automatic side door. And the robot puts down the workpiece and leaves the machine tool, the machine tool receives an input IO signal RBINT through a cable, the state of the RBINT is OFF, and the robot is confirmed to leave the machine tool.
And S331, the robot sends a feeding completion signal. The machine tool receives an input IO signal WLDRQ of the robot through a cable to confirm that the robot is finished in loading.
And S332, closing the automatic side door. The machine tool closes the automatic door by turning on the pneumatic solenoid valve SL130A through the cable output IO signal SL 130A-R.
And S333, starting a machining program by the machine tool.
And S334, sending a machining state signal. The machine tool starts a workpiece machining program to start machining, and outputs an IO signal MCRUN through a cable to inform the robot that the machine tool is in machining.
The embodiment of the invention also provides a machine tool. As shown in fig. 6, fig. 6 is a schematic structural diagram of another machine tool provided in an embodiment of the present invention, a side surface of a workbench of the machine tool provided in the embodiment of the present invention is provided with at least one automatic side door 11; the automatic side door is controlled by a first electromagnetic valve; the machine tool includes: at least one set of communication interfaces 14; the communication interface 14 is used for connecting the machine tool and a corresponding feeding and discharging machine; a controller; the controller is used for executing the control method for automatic loading and unloading of the machine tool provided by any embodiment of the invention. The machine tool in this embodiment includes the technical features of the control method for automatic loading and unloading of the machine tool provided in any embodiment of the present invention, and has the beneficial effects possessed by corresponding features, which are not described in detail in this embodiment.
On the basis of the embodiment, the automatic side door can be opened and closed through the first electromagnetic valve; the machine tool may further include: a jig cleaning device; the clamp cleaning device is started and closed through a second electromagnetic valve; the first electromagnetic valve is a pneumatic electromagnetic valve; the second solenoid valve is a hydraulic solenoid valve.
Optionally, the feeding and discharging machine can be a six-axis robot, a tray exchange system, a rack system or a truss manipulator system, the machine tool of the embodiment provides a communication interface 14, and six-axis robots, tray exchange systems, rack systems or truss manipulator systems of different brands and different models can be configured according to customer demands, so that automatic production of the machine tool is realized, and labor cost is effectively saved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method for automatic feeding and discharging of a machine tool is characterized by comprising the following steps:
the controller sends a first inquiry instruction to an upper feeding machine and receives a ready signal returned by the upper feeding machine and the lower feeding machine;
opening an automatic side door of the machine tool through a first electromagnetic valve, and sending a feeding and discharging state signal to a feeding and discharging machine;
judging whether a clamp of the machine tool has materials or not; if yes, sending a blanking instruction to the feeding and blanking machine; if not, sending a loading instruction to the loading and unloading machine;
and acquiring a feeding instruction completion signal of the feeding and discharging machine, and closing an automatic side door of the machine tool through the first electromagnetic valve.
2. The method for controlling automatic loading and unloading of a machine tool according to claim 1, wherein after a loading command completion signal of the loading and unloading machine is obtained and an automatic side door of the machine tool is closed by the first electromagnetic valve, the method further comprises:
and starting the machining operation and sending a machining state signal to the feeding and discharging machine.
3. The method for controlling automatic loading and unloading of a machine tool according to claim 1, further comprising:
acquiring a blanking instruction completion signal of the feeding and blanking machine, and judging whether a clamp flushing instruction input by a user is received; if yes, judging whether the clamp needs to be cleaned or not to close the automatic side door; if not, sending a loading instruction to the loading and unloading machine;
if the automatic side door needs to be closed during the clamp cleaning, closing the automatic side door through the first electromagnetic valve, executing a door closing cleaning process, and then sending a feeding instruction to the feeding and discharging machine; and if the clamp is cleaned without closing the automatic side door, sending a feeding instruction to the feeding and discharging machine, and executing a door opening cleaning process.
4. The method for controlling automatic loading and unloading of a machine tool according to claim 3, wherein a door closing cleaning process is performed, comprising:
starting a clamp cleaning device through a second electromagnetic valve, and flushing the clamp;
after the clamp is washed for a set time, closing the clamp cleaning device;
opening an automatic side door of the machine tool through a first electromagnetic valve;
executing a door opening cleaning process, comprising:
receiving a flushing starting request sent by the feeding and discharging machine;
starting a clamp cleaning device through a second electromagnetic valve, and flushing the clamp;
and receiving a flushing closing request sent by the feeding and discharging machine, and closing the clamp cleaning device.
5. The method for controlling automatic loading and unloading of a machine tool according to claim 1, wherein after sending the unloading command to the loading and unloading machine and before obtaining the unloading command completion signal of the loading and unloading machine, the method further comprises:
detecting that the feeding and discharging machine enters the automatic side door, and forbidding processing operation;
receiving a clamp loosening request sent by the feeding and discharging machine, and executing clamp loosening operation;
detecting that the loading and unloading machine leaves the automatic side door;
send material loading instruction to after going up the unloading machine, acquire before the material loading instruction completion signal of going up the unloading machine, still include:
detecting that the feeding and discharging machine enters the automatic side door;
receiving a clamp clamping request sent by the feeding and discharging machine, and executing clamp clamping operation;
and detecting that the feeding and discharging machine leaves the automatic side door.
6. The method for controlling automatic loading and unloading of a machine tool according to claim 1, wherein judging whether the material is on the clamp of the machine tool comprises:
acquiring the surface pressure of the clamp through a gas detection device arranged on the clamp;
and when the surface pressure of the clamp is greater than a first set threshold value, judging that the clamp is filled with materials.
7. The method for controlling automatic loading and unloading of a machine tool according to claim 5, wherein the clamp releasing operation is performed and comprises:
setting a plurality of output orders of loosening instructions according to the types of the clamps;
sequentially outputting the loosening instructions according to the output sequence of the loosening instructions to finish the operation of loosening the clamp;
performing a clamp gripping operation comprising:
setting the output sequence of a plurality of clamping instructions according to the type of the clamp;
and sequentially outputting the clamping instructions according to the output sequence of the clamping instructions to finish the clamping operation of the clamp.
8. A machine tool is characterized in that the side surface of a workbench of the machine tool is provided with at least one automatic side door; the automatic side door is controlled by a first electromagnetic valve; the machine tool includes:
at least one set of communication interfaces; the communication interface is used for connecting the machine tool and a corresponding feeding and discharging machine;
a controller; the controller is used for executing the control method for the automatic loading and unloading of the machine tool as claimed in any one of claims 1 to 7.
9. The machine tool of claim 8, wherein the automatic side door is opened and closed by a first solenoid valve;
the machine tool further includes: a jig cleaning device; the clamp cleaning device is started and closed through a second electromagnetic valve;
the first electromagnetic valve is a pneumatic electromagnetic valve; the second electromagnetic valve is a hydraulic electromagnetic valve.
10. The machine tool of claim 8, wherein the loading and unloading machine is a six-axis robot, a pallet exchange system, a stack system, or a truss robot system.
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