CN115070482B - Servo tool magazine control method and system and electronic equipment - Google Patents
Servo tool magazine control method and system and electronic equipment Download PDFInfo
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- CN115070482B CN115070482B CN202210873213.XA CN202210873213A CN115070482B CN 115070482 B CN115070482 B CN 115070482B CN 202210873213 A CN202210873213 A CN 202210873213A CN 115070482 B CN115070482 B CN 115070482B
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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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15503—Processes characterized by special sequencing of operations or the like, e.g. for optimizing tool changing time or capacity in tool storage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The application relates to the technical field of numerical control systems, in particular to a servo tool magazine control method, a servo tool magazine control system and electronic equipment. The servo tool magazine control method comprises the steps of sending an instruction for learning a first tool to a tool magazine motor so that the tool magazine motor can determine the position of the first tool; judging whether the knife compartment motor determines the position of the first knife; and after the cutter bin motor determines the position of the first cutter, sending a cutter changing instruction to the ATC motor so that the ATC motor finishes cutter changing operation. The application has the effect of solving the problem of driver resource waste.
Description
Technical Field
The application relates to the technical field of numerical control systems, in particular to a servo tool magazine control method, a servo tool magazine control system and electronic equipment.
Background
The numerical control machine tool is a highly electromechanical integrated product, the tool magazine is a device for storing and changing tools required in an automatic machining process, the automatic tool changing mechanism can store a plurality of tools, the traditional man-made tool changing mode is changed, the numerical control system is used for controlling, and various machining requirements can be met.
At present, a driver is required to control a cutter bin motor, an ATC motor and an oil pump motor in a cutter magazine control device respectively, so that resource waste of the driver is caused.
Disclosure of Invention
In order to solve the problem of driver resource waste, the application provides a servo tool magazine control method, a servo tool magazine control system and electronic equipment.
In a first aspect of the present application, a servo tool magazine control method is provided.
A servo tool magazine control method is applied to a numerical control machine tool and comprises the following steps:
transmitting an instruction for learning the first handle to the cutter bin motor so that the cutter bin motor determines the position of the first handle;
judging whether the knife compartment motor determines the position of the first knife;
and after the cutter bin motor determines the position of the first cutter, sending a cutter changing instruction to the ATC motor so that the ATC motor finishes cutter changing operation.
By adopting the technical scheme, after the servo tool magazine is started to operate, an instruction for learning the first handle of the tool is sent to the tool magazine motor. At this time, the cutter bin motor starts to operate, and after the cutter bin motor learns the first cutter and determines the position of the first cutter, a cutter changing instruction is sent to the ATC motor. Thereafter, the ATC motor starts to operate until the tool changing operation is completed. The two motors are controlled by switching the two motors in different time periods of the driver, so that the two motors are controlled by one shaft opening of one driver, the driver resource is saved, and the user cost is reduced.
Optionally, if the position of the first handle is not at the preset position, rotating the first handle to the preset position, wherein the preset position is a position where the ATC motor is tangential to the cutter bin motor;
and rotating the first handle to the preset position, and determining the position of the first handle.
By adopting the technical scheme, after the cutter bin motor acquires the position of the first cutter, whether the position of the first cutter is in a preset position range is determined. If the position of the first handle is at a position where the ATC motor is tangential to the magazine motor, the position of the first handle is determined directly. If the position of the first handle is not at a position where the ATC motor is tangential to the magazine motor, then the first handle needs to be rotated to a position where the ATC motor is tangential to the magazine motor. The quick tool changing operation is facilitated by determining the position of the first handle.
Optionally, the dual-axis driver obtains a clockwise rotation angle and a counterclockwise rotation angle of the first handle to a preset position;
comparing the magnitude of the clockwise rotation angle and the counterclockwise rotation angle;
if the clockwise rotation angle is smaller than the anticlockwise rotation angle, the first handle knife is rotated to a preset position in a clockwise rotation mode;
And if the clockwise rotation angle is larger than the anticlockwise rotation angle, rotating the first handle to a preset position in an anticlockwise rotation mode.
By adopting the technical scheme, if the position of the first cutter is not in the preset position, the first cutter needs to be rotated to the position where the ATC motor is tangential to the cutter bin motor, and a certain time is needed to be spent on rotating the first cutter to the position where the ATC motor is tangential to the cutter bin motor. Because the bin of the storage cutters on the cutter bin motor is circular, the first cutter can be rotated to the cutter reversing position in a clockwise or anticlockwise rotation mode. At this time, it is necessary to calculate the angles of the clockwise rotation and the counterclockwise rotation and compare the magnitudes of the two angles. And selecting a rotation mode with a smaller rotation angle to rotate the first handle. The rotation mode with smaller rotation angle is selected for rotation, so that the time for learning the position of the first cutter is shortened, and the overall cutter changing time is further shortened.
Optionally, the double-shaft driver determines the position of a second handle on the motor of the cutter bin according to the position of the first handle;
and storing the cutter number of the second cutter and the position of the second cutter.
By adopting the technical scheme, the position corresponding to the second handle knife is determined according to the position of the first handle knife, namely, the initial state knife is not required, and the method has better applicability and flexibility.
Optionally, the dual-shaft driver acquires a cutter number of a second cutter on the cutter bin motor and an association relation between the cutter number of the first cutter and the cutter number of the second cutter;
obtaining an interval angle between the second handle and the first handle according to the cutter number of the second handle and the association relation, wherein the interval angle is obtained by taking the first handle as a starting position and the second handle as an ending position and rotating clockwise;
and determining the position of the second handle according to the interval angle and the position of the first handle.
By adopting the technical scheme, the clockwise interval angle between the second handle knife and the first handle knife is further obtained through the association relationship between the knife number of the second handle knife and the knife number of the first handle knife. Since the position of the first handle is determined, the position of the second handle can be determined based on the position of the first handle and the clockwise angular separation of the second handle from the first handle. The calculation amount for confirming the position of the second cutter is saved, and the time for learning the positions of all cutters on the cutter bin motor is shortened.
Optionally, the dual-shaft driver judges whether the distance between the position of the second handle knife and the position of the knife buckling point reaches a preset pre-loosening distance threshold, wherein the position of the knife buckling point is the position for pre-loosening the knife, and the second handle knife is a knife to be replaced on the knife bin motor;
if the distance between the position of the second handle cutter and the position of the cutter buckling point reaches a preset cutter loosening distance threshold value, executing cutter loosening operation, wherein the cutter loosening operation is used for loosening the second handle cutter;
and when the position of the second handle knife reaches the position of the knife buckling point, controlling to execute the knife loosening operation so as to finish the knife changing operation.
By adopting the technical scheme, after the double-shaft driver confirms that the ATC motor receives the cutter changing signal, an instruction for carrying out the pre-loosening operation is sent to the ATC motor. And calculating whether the distance reaches a distance threshold of the pre-loosening cutter according to the distance between the position of the second cutter and the position of the cutter buckling point. And if the distance threshold value of the pre-loosening tool is reached, continuously operating the ATC motor to enable the position of the replacement tool to coincide with the position of the tool buckling point.
At this time, the position of the second handle in the ATC motor reaches the position of the cutter buckling point, and then an instruction of cutter loosening operation is executed, so that cutter loosening operation is completed. Through just carrying out the operation of pre-loosening the sword when the second handle sword has not reached the pine sword point yet, be favorable to shortening pine sword time, and then shorten the tool changing time, be favorable to promoting tool changing efficiency.
Optionally, the dual-shaft driver judges whether the distance between the position of the main shaft knife-tightening position and the position of the knife-returning point reaches a preset pre-tightening knife distance threshold value, wherein the knife-returning point is the position for pre-tightening the knife;
if the distance between the position of the main shaft tightening tool and the position of the tool returning point reaches a preset pre-tightening tool distance threshold value, controlling a main shaft tightening device to execute pre-tightening tool operation, wherein the pre-tightening tool operation is used for pre-tightening the second handle tool;
and when the position of the main shaft knife-tightening position reaches the knife returning point position, controlling the main shaft knife-tightening device to execute knife-tightening operation so as to facilitate the second knife to be transferred from the knife bin motor to the main shaft, thereby completing knife changing operation.
By adopting the technical scheme, after the cutter loosening operation is completed, the second cutter is required to be placed in the main shaft to realize the cutter changing operation, so that the cutter tightening operation is required to be further performed. And when the distance between the position of the second handle knife and the position of the knife returning point reaches a preset pre-tightening knife distance threshold value, controlling the spindle tightening device to execute the pre-tightening knife operation.
And after the operation of the pre-tightening cutter is finished, continuously operating the ATC motor to enable the position of the second cutter to coincide with the position of the cutter returning point. Judging whether the pressure value in the BC shaft tightening device reaches a preset tightening pressure threshold value at the moment, and if so, sending a command for tightening the cutter to the spindle tightening device. Through carrying out the operation of pretension sword when the second hand (hold) sword has not reached tight sword point yet, be favorable to shortening tight sword time, and then shorten the tool changing time, be favorable to promoting tool changing efficiency.
Optionally, the dual-axis driver receives a pressure value fed back by the BC-axis tensioner;
if the pressure value in the BC shaft tightness device does not reach the preset knife tightening pressure threshold value, controlling a second knife to wait at zero speed at the knife return point;
and when the pressure value in the BC shaft tightening device reaches a preset knife tightening pressure threshold value, controlling the spindle tightening device to execute knife tightening operation.
By adopting the technical scheme, before the tight knife operation is executed, if the pressure value in the BC shaft tightness device does not reach the preset tight knife pressure threshold value, the ATC motor is required to be controlled to place the second knife at the knife return point and wait at zero speed until the pressure value in the BC shaft tightness device reaches the preset tight knife pressure threshold value. And then controlling the main shaft tightness device to execute knife tightening operation. When the pressure value does not reach the preset pressure threshold value, the second cutter is controlled to wait at zero speed at the cutter return point, so that misoperation of the cutter is avoided, and efficiency of the cutter is improved.
In a second aspect of the application, a servo tool magazine control system is provided.
The servo tool magazine control system comprises a server, a server and a control module, wherein the server comprises an acquisition module, a processing module and a sending module;
The acquisition module is used for acquiring the information of the position of the first handle determined by the cutter bin motor;
the processing module is used for enabling the cutter bin motor to determine the position of a first cutter and judging whether the cutter bin motor determines the position of the first cutter or not, so that the ATC motor finishes cutter changing operation;
the sending module is used for sending a first cutter learning instruction to the cutter bin motor and sending a cutter changing instruction to the ATC motor.
Through adopting above-mentioned technical scheme, the instruction of learning first sword is sent to the sword storehouse motor to the sending module, drives the sword storehouse motor and confirms the position of first sword. And meanwhile, judging whether the cutter bin motor determines the position of the first cutter or not through the processing module. If the acquisition module has acquired the information of the position of the first cutter determined by the cutter bin motor, a cutter changing instruction is sent to the ATC motor through a sending instruction so as to realize cutter changing operation. The command is sent by the tool setting bin motor and the ATC motor, so that one driver of the numerical control machine tool can drive the two motors at different times, and resources and cost can be saved.
In a third aspect the application provides an electronic device comprising a processor, a memory and a computer program stored in the memory;
The memory is used for storing instructions;
the processor is used for executing the instructions stored in the memory;
the computer program is configured to perform a servo tool magazine control method as claimed in any one of the preceding claims by the processor.
In summary, the application has the following beneficial technical effects:
1. the control of the two motors by one driver of the numerical control machine tool is facilitated by sending instructions to the tool magazine motor and the ATC motor at different times, and driver resources are saved.
2. The operation of the position corresponding to the cutter number of the second cutter on the cutter head is confirmed by learning the first cutter, so that flexibility is realized, and the time for learning the position of the second cutter is shortened.
3. Through the operation of pre-loosening and pre-tightening the cutter, the cutter loosening time is shortened, the cutter changing time is shortened, and the cutter changing efficiency is improved.
Drawings
Fig. 1 and 2 are system connection diagrams of embodiments of the present application.
Fig. 3 is a flowchart of a servo tool magazine control method according to an embodiment of the application.
FIG. 4 is a flowchart illustrating another method for controlling a servo tool magazine according to an embodiment of the present application.
Fig. 5 is a flowchart of another method for controlling a servo tool magazine according to an embodiment of the application.
FIG. 6 is a schematic block diagram of a servo tool magazine control system according to an embodiment of the present application.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals illustrate: 1. an acquisition module; 2. a processing module; 3. a transmitting module; 1000. an electronic device; 1001. a processor; 1002. a communication bus; 1003. A user interface; 1004. a network interface; 1005. a memory.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments.
In describing embodiments of the present application, words such as "exemplary," "such as" or "for example" are used to mean serving as examples, illustrations or explanations. Any embodiment or design described herein as "illustrative," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "illustratively," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.
In the description of embodiments of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the indicated technical characteristics. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In this embodiment, referring to fig. 1 and 2, the servo tool magazine entity device mainly comprises a numerically controlled machine tool system, a biaxial driver, a tool magazine control box, an ATC motor, a tool magazine motor and a hydraulic station. The numerical control machine tool system end realizes instruction transmission and data interaction with the biaxial driver in an IO signal or bus mode, and is specifically an EHERCAT bus in the embodiment. One shaft port of the MAS-D2-43P7-43P7 double-shaft driver is connected with the tool magazine control box in an RS485 communication mode, and the tool magazine control box judges and drives the ATC motor or the tool magazine motor according to the instruction sent by the driver. Meanwhile, the other shaft opening of the driver is directly connected with an encoder signal line and a power line of the hydraulic station motor.
The tool magazine control box is provided with a singlechip, and particularly, the switching of the motor is controlled through an output port of the singlechip. Switching of the motors corresponds to switching with two relays, each of which controls the output of one motor. For example, when the numerical control machine sends an instruction of "A2-00" to the driver, the relay controlling the operation of the magazine motor is controlled to be turned on, thereby controlling the operation of the magazine motor.
An encoder is also arranged on the tool magazine control box, but no circuit is arranged on the encoder. Each encoder receives an independent RS485 signal. The singlechip is equivalent to two independent serial ports for receiving data, for example, according to whether the instruction sent by the driver parameter set A2 is 00 or 01, further judging whether the cutter bin motor or the ATC motor is driven, and further processing corresponding encoder data. In this embodiment, the default 00 instruction is a cartridge motor, and the 01 instruction is an ATC motor. The tool magazine control box receives the sent instruction, judges and controls the tool magazine motor or the ATC motor according to the instruction, and processes the data of the corresponding encoder.
The encoder position values in the embodiment are all obtained by absolute value encoders, the absolute value encoders are arranged on the cutter bin motors, and encoder data values are transmitted to the driver through the cutter bin transfer box. The motor control algorithm of the driver is full-closed loop vector control, and the corresponding relation between the encoder data value and the motor in each rotation, namely 360 degrees, is calculated through an internal decoding chip.
The embodiment of the application discloses a servo tool magazine control method.
Referring to fig. 3, a servo tool magazine control method includes steps S100 to S300.
Step S100: and sending an instruction for learning the first handle to the cutter bin motor so that the cutter bin motor can determine the position of the first handle.
The method comprises the following steps: the numerical control machine sends instructions to a double-shaft driver, and the double-shaft driver drives a tool magazine control box. The tool magazine control box selectively controls the tool magazine motor according to the instruction of the double-shaft driver. And sending an instruction for learning the first cutter to the cutter bin motor so as to determine the encoder position value of the first cutter, so that the encoder position values of all cutters on the cutter bin motor can be determined later.
Step S200: and judging whether the knife bin motor determines the position of the first handle.
Referring to fig. 4, step S200 further includes steps S210 to S220.
Step S210: and if the position of the first handle is not at the preset position, rotating the first handle to the preset position.
Step S210 further includes steps S211 to S214.
Step S211: and acquiring a clockwise rotation angle and a counterclockwise rotation angle from the first cutter to a tangential position of the ATC motor and the cutter bin motor.
Step S212: the magnitude of the clockwise rotation angle and the magnitude of the counterclockwise rotation angle are compared.
Step S213: if the clockwise rotation angle is smaller than the anticlockwise rotation angle, the first knife is rotated to a preset position in a clockwise rotation mode.
Step S214: if the clockwise rotation angle is larger than the anticlockwise rotation angle, the first handle is rotated to a preset position in an anticlockwise rotation mode.
The method comprises the following steps: and judging the encoder position information of the first handle and confirming whether the encoder position of the first handle is at a preset position. In this embodiment, the preset position range is specifically a tangential position of the cutter bin motor and the ATC motor. If the encoder position of the first handle is at a position where the magazine motor and the ATC motor are tangential, the magazine motor completes the confirmation of the position of the first handle.
If the encoder position of the first handle is not at the tangential position of the magazine motor and the ATC motor, then the first handle needs to be rotated to the tangential position of the magazine motor and the ATC motor by means of clockwise rotation or counter-clockwise rotation. For example, the clockwise rotation angle of the position of the first handle knife tangential to the knife compartment motor and the ATC motor is 20 degrees, the counterclockwise rotation angle is 160 degrees, and then the clockwise rotation mode is selected to rotate the first handle knife to the position tangential to the knife compartment motor and the ATC motor, so that the confirmation of the position of the first handle knife by the knife compartment motor is completed.
Step S220: and determining the positions corresponding to the cutter numbers of other cutters on the cutter bin motor according to the positions of the first handle.
Step S220 further includes steps S221 to S223.
Step S221: and acquiring the cutter numbers of other cutters on the cutter bin motor and the association relation between the cutter number of the first cutter and the cutter numbers of other cutters.
Step S222: and obtaining the interval angle between the other cutters and the first cutter according to the cutter numbers and the association relation of the other cutters, wherein the interval angle is obtained by taking the first cutter as a starting position and the other cutters as end positions and rotating clockwise.
Step S223: the positions of the other cutters are determined according to the spacing angle and the position of the first handle cutter.
The method comprises the following steps: after the encoder position value of the first handle is obtained, the encoder position values of other cutters on the cutter bin motor need to be confirmed. And calculating the angle interval between the other cutters and the first handle according to the cutter number difference between the cutter numbers of the other cutters and the cutter number of the first handle. And obtaining the encoder position values of other cutters according to the calculated different angle intervals and the encoder position values of the first cutter. For example, in the present embodiment, the number of cutters is twelve, then the spacing angle between the cutters of adjacent cutter numbers is 30 degrees, the cutter number difference between the cutter number three and the first cutter is two, and then the spacing angle between the cutter number three and the cutter number one is 60 degrees. If the encoder position value of the first handle is A2-01, the encoder position value corresponding to the cutter number of the third cutter is A2-03 according to the clockwise rotation mode.
Step S300: and after the cutter bin motor determines the position of the first cutter, sending a cutter changing instruction to the ATC motor so as to enable the ATC motor to complete cutter changing operation.
Referring to fig. 5, step S300 further includes steps S310 to S330.
Step S310: the double-shaft driver judges whether the distance between the position of the replaced cutter and the position of the cutter buckling point reaches a preset pre-loosening distance threshold value, wherein the position of the cutter buckling point is the position for loosening the cutter.
Step S320: and if the distance between the position of the replaced tool and the position of the tool buckling point reaches a preset pre-loosening distance threshold value, executing pre-loosening operation on the replaced tool.
Step S330: and when the position of the replaced cutter reaches the position of the cutter buckling point, controlling to execute cutter loosening operation so as to finish cutter changing operation.
The method comprises the following steps: when the tool changing operation is needed, firstly, the tool number of the tool to be replaced on the tool magazine motor is obtained, and the position value of the encoder of the corresponding tool to be replaced is confirmed according to the tool number of the tool. For example, in the present embodiment, the replaced tool is a No. three tool. The driver is switched to drive the ATC motor to send operation instructions of three times of tool reversing to the ATC motor so as to confirm the tool changing operation for multiple times.
Firstly, performing cutter loosening operation, and judging whether the distance between the position of an encoder of the cutter III and the position point of the cutter loosening reaches a preset pre-cutter loosening threshold value. In this embodiment, the preset pre-cutter loosening distance threshold and the preset cutter loosening pressure threshold are both determined by the analog quantity characteristics of the input analog quantity travel switch in the spindle tightness device. If the distance does not reach the preset pre-loosening threshold, further controlling the ATC motor to run until the distance between the third cutter and the position of the cutter buckling point reaches the preset pre-loosening threshold.
And when the distance reaches a preset pre-loosening threshold value, performing pre-loosening operation. And meanwhile, the ATC motor is further controlled to run until the position of the encoder of the third cutter coincides with the position of the encoder for loosening the cutter. At this time, the knife loosening operation is performed. For example, in this embodiment, the point of the pre-loosening blade is A2-74 and the point of the loosening blade is A2-76.
Referring to fig. 5, step S300 further includes steps S340 to S360.
Step S340: judging whether the distance between the position of the main shaft knife-tightening and the position of the knife-returning point reaches a preset pre-tightening knife distance threshold value, wherein the position of the knife-returning point is the position for pre-tightening the knife.
Step S350: and if the distance between the position of the main shaft tightening knife and the position of the knife returning point reaches a preset pre-tightening knife distance threshold value, controlling the main shaft tightening device to execute pre-tightening knife operation.
Step S360: when the position of the main shaft knife-tightening position reaches the knife returning point position, the main shaft tightness device is controlled to execute knife-tightening operation, so that the third knife is conveniently transferred from the knife bin motor to the main shaft, and knife changing operation is completed.
Step S360 further includes steps S361 to S363.
Step S361: the double-shaft driver receives the pressure value fed back by the BC shaft loosening and tightening device;
step S362: and if the pressure value in the BC shaft tightness device does not reach the preset knife tightening pressure threshold value, controlling the ATC motor to wait at zero speed at the knife return point.
Step S363: and when the pressure value in the BC shaft tightening device reaches a preset tightening tool pressure threshold value, controlling the spindle tightening device to execute tightening tool operation.
The method comprises the following steps: after the tool loosening operation is finished, the third tool is required to be placed on the main shaft, and then the tool changing operation is finished. And judging whether the distance between the position of the encoder of the third cutter and the position point of the cutter to be tightened reaches a preset pre-tightening cutter threshold value or not. In this embodiment, the preset pre-tightening tool distance threshold and the preset tightening tool pressure threshold are both determined by the analog quantity characteristics of the input analog quantity travel switch in the spindle tightness device. If the distance does not reach the preset pre-tightening cutter threshold, further controlling the ATC motor to run until the distance reaches the preset pre-tightening cutter distance threshold.
When the distance reaches a preset pre-tightening cutter distance threshold value, the spindle tightness device is controlled to perform pre-tightening cutter operation. And meanwhile, the ATC motor is further controlled to run until the position of the encoder of the third cutter coincides with the position of the encoder for tightly cutting the cutter. At this time, according to the real-time pressure value fed back to the driver by the BC axle tightness device again, whether the real-time pressure value reaches the preset tight cutter pressure threshold value or not is judged. And if the preset knife tightening pressure threshold is reached, controlling the main shaft tightness device to perform knife tightening operation. If the pressure value at the moment does not reach the preset tight cutter pressure threshold, the ATC motor is controlled to wait at zero speed at the position point of the encoder of the tight cutter until the real-time pressure value of the BC shaft tightness device reaches the preset tight cutter pressure threshold, then the spindle tightness device is controlled to perform tight cutter operation, and when the ATC motor runs to the proximity switch and the position is cleared, cutter replacement is completed, so that replacement of the cutter is realized. For example, in the present embodiment, the position point of the pre-tightening knife is A2-78, and the position point of the tightening knife is A2-80.
In another embodiment, the position confirmation of the first knife of the knives in the knife compartment motor has been completed and the encoder position values of all knives on the knife compartment motor are obtained. In this case, if the tool changing operation is to be performed, the operation of confirming the position of the first handle with respect to the magazine motor is not required. The distance difference between the replacement of the cutter in the cutter bin and the position of the cutter for tightness is judged, whether the real-time pressure value of the BC shaft tightness device reaches a preset pressure value is judged, whether the cutter for tightness needs to be operated is further obtained, and then the cutter changing operation is realized. The specific implementation is identical to the implementation in the above embodiment, and will not be described here again.
In yet another embodiment, a tool is present on the spindle, and the spindle takeup device is required to perform a tool releasing operation first, and store the tool on the spindle in the magazine motor. And then, carrying out operations of pre-tightening and tightening on the cutters replaced in the cutter bin motor. The specific implementation of the operation of the pre-tightening knife and the tightening knife is identical to that of the above embodiment, and will not be described here again.
The embodiment of the application discloses a servo tool magazine control system.
Referring to fig. 6, a servo tool magazine control system includes an acquisition module 1, a processing module 2, and a transmission module 3.
The acquisition module 1 is used for acquiring information of the position of the first handle of knife determined by the knife compartment motor. The processing module 2 is used for enabling the cutter bin motor to determine the position of the first cutter and judging whether the cutter bin motor determines the position of the first cutter or not, so that the ATC motor finishes cutter changing operation. The sending module 3 is used for sending a first cutter learning instruction to the cutter bin motor and sending a cutter changing instruction to the ATC motor.
In one embodiment, the acquisition module 1 is further configured to acquire information that the position of the first handle is not at a preset position. The processing module 2 is also adapted to rotate the first handle to a preset position, determining the position of the first handle.
In one embodiment, the acquisition module 1 is further configured to acquire a clockwise rotation angle and a counterclockwise rotation angle from the first knife to a position where the ATC motor is tangential to the knife compartment motor. The processing module 2 is further configured to compare the magnitude of the clockwise rotation angle and the counterclockwise rotation angle, and is further configured to select a rotation mode with a smaller angle to rotate the first handle.
In one embodiment, the processing module 2 is further configured to determine a position corresponding to a knife number of the other knife on the motor of the knife magazine according to the position of the first handle knife, and further is configured to store the position corresponding to the knife number of the other knife.
In one embodiment, the obtaining module 1 is further configured to obtain a blade number of the second blade on the motor of the blade magazine, and an association between the blade number of the first blade and the blade number of the second blade. The processing module 2 is further configured to obtain a spacing angle between the second handle and the first handle according to the number and the association relation of the second handle, and determine the position of the second handle according to the spacing angle and the position of the first handle.
In one embodiment, the obtaining module 1 is further configured to obtain information about the position of the button point at the position of the second handle. The processing module 2 is further configured to determine whether a distance between the position of the second handle and the position of the tool fastening point reaches a preset pre-loosening distance threshold, and is further configured to perform a pre-loosening operation, and is further configured to control performing a loosening operation so as to complete a tool changing operation.
In one embodiment, the obtaining module 1 is further configured to obtain a signal that a distance between a position of the spindle tight cutter and a position of the return point reaches a preset pre-tight cutter distance threshold value, and is further configured to obtain a signal that the position of the spindle tight cutter reaches the position of the return point. The processing module 2 is further configured to determine whether a distance between the position of the second cutter and the position of the cutter returning point reaches a preset pre-tightening cutter distance threshold, and is further configured to control the spindle tightening device to perform pre-tightening cutter operation, and is further configured to control the spindle tightening device to perform tightening cutter operation, so that the second cutter is transferred from the cutter bin motor to the spindle.
In one embodiment, the acquisition module 1 is also used to acquire pressure values in the BC shaft tensioner. The processing module 2 is also used for controlling the ATC motor to wait at zero speed at the cutter return point when the pressure value in the BC shaft tightness device does not reach the preset cutter tightening pressure threshold value; and the device is also used for controlling the main shaft tightness device to execute the knife tightening operation when the pressure value in the BC shaft tightness device reaches a preset knife tightening pressure threshold value so as to complete the knife changing operation.
The implementation principle of the servo tool magazine control system provided by the embodiment of the application is as follows: the processing module 2 sends an instruction for learning the first handle to the cutter bin motor, so that the position of an encoder of the first handle is determined, and the learning of the cutter in the cutter bin motor is realized. After the acquiring module 1 acquires the information of the position of the first cutter determined by the cutter bin motor, the transmitting module 3 transmits a cutter changing instruction to the ATC motor so that the ATC motor can finish operations of pre-loosening, pre-tightening and tightening the cutters. So as to realize the operation of driving two motors by one shaft opening of the double-shaft driver and realize the operation of changing the cutter.
It should be noted that: in the system provided in the above embodiment, when implementing the functions thereof, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the system and method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the system and method embodiments are detailed in the method embodiments, which are not repeated herein.
Referring to fig. 7, a schematic structural diagram of an electronic device 1000 according to an embodiment of the present application is provided. As shown in fig. 5, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, at least one communication bus 1002.
Wherein the communication bus 1002 is used to enable connected communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may further include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 1001 may include one or more processing cores. The processor 1001 connects various parts within the entire server using various interfaces and lines, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Alternatively, the processor 1001 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1001 may integrate one or a combination of several of a central processor 1001 (Central Processing Unit, CPU), an image processor 1001 (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 1001 and may be implemented by a single chip.
The Memory 1005 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory 1005 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 1005 may also optionally be at least one storage device located remotely from the processor 1001. As shown in fig. 7, an operating system, a network communication module, a user interface 1003 module, and an application program of a servo tool magazine control method may be included in a memory 1005 as a computer storage medium.
In the electronic device 1000 shown in fig. 7, the user interface 1003 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 1001 may be configured to invoke an application program in the memory 1005 that stores a servo tool magazine control method that, when executed by the one or more processors 1001, causes the electronic device 1000 to perform the method as described in one or more of the embodiments above.
An electronic device 1000 readable storage medium, the electronic device 1000 readable storage medium storing instructions. The execution by the one or more processors 1001 causes the electronic device 1000 to perform the method as described in one or more of the embodiments above.
It will be clear to a person skilled in the art that the solution according to the application can be implemented by means of software and/or hardware. "Unit" and "module" in this specification refer to software and/or hardware capable of performing a specific function, either alone or in combination with other components, such as Field programmable gate arrays (Field-ProgrammaBLE Gate Array, FPGAs), integrated circuits (Integrated Circuit, ICs), etc.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed system may be implemented in other ways. For example, the system embodiments described above are merely illustrative, such as the division of the elements, merely a logical functional division, and there may be additional divisions of actual implementation, such as multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not implemented. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, system or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory, and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be performed by hardware associated with instructions in a program that may be stored in a computer readable memory, where the memory 1005 may include: flash disk, read-only memory, random access memory, magnetic or optical disk, etc.
The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.
Claims (7)
1. The servo tool magazine control method is characterized by being applied to a double-shaft driver, wherein the double-shaft driver is used for switching control of a tool magazine motor and an ATC motor in different time periods, and comprises the following steps:
Transmitting an instruction for learning the first handle to the cutter bin motor so that the cutter bin motor can determine the position of the first handle;
if the position of the first handle is not in the preset position, the first handle is rotated to the preset position, wherein the preset position is a position where the ATC motor is tangent to the cutter bin motor;
rotating the first handle to the preset position, and determining the position of the first handle;
after the cutter bin motor determines the position of the first cutter, sending a cutter changing instruction to the ATC motor so that the ATC motor finishes cutter changing operation;
and if the position of the first handle is not at the preset position, rotating the first handle to the preset position, wherein the method specifically comprises the following steps of:
the double-shaft driver obtains a clockwise rotation angle and a counterclockwise rotation angle of the first handle to a preset position;
comparing the magnitude of the clockwise rotation angle and the counterclockwise rotation angle;
if the clockwise rotation angle is smaller than the anticlockwise rotation angle, the first handle knife is rotated to a preset position in a clockwise rotation mode;
if the clockwise rotation angle is larger than the anticlockwise rotation angle, the first handle knife is rotated to a preset position in an anticlockwise rotation mode;
The determining the position of the first handle specifically further comprises:
the double-shaft driver determines the position of a second handle on the motor of the cutter bin according to the position of the first handle;
and storing the cutter number of the second cutter and the position of the second cutter.
2. The method of claim 1, wherein the dual axis drive determines the position of the second handle on the motor of the magazine based on the position of the first handle, and comprising:
the double-shaft driver acquires the cutter number of the second cutter on the cutter bin motor and the association relation between the cutter number of the first cutter and the cutter number of the second cutter;
obtaining an interval angle between the second handle and the first handle according to the cutter number of the second handle and the association relation, wherein the interval angle is obtained by taking the first handle as a starting position and the second handle as an ending position and rotating clockwise;
and determining the position of the second handle according to the interval angle and the position of the first handle.
3. The method for controlling a servo tool magazine according to claim 1, wherein after the position of the first handle is determined by the tool magazine motor, a tool changing command is sent to the ATC motor, so that the ATC motor completes a tool changing operation, specifically comprising:
The double-shaft driver judges whether the distance between the position of the second cutter and the position of the cutter buckling point reaches a preset cutter pre-loosening distance threshold value, wherein the position of the cutter buckling point is the position for pre-loosening the cutter, and the second cutter is a cutter to be replaced on the cutter bin motor;
if the distance between the position of the second handle cutter and the position of the cutter buckling point reaches a preset cutter loosening distance threshold value, executing cutter loosening operation, wherein the cutter loosening operation is used for loosening the second handle cutter;
and when the position of the second handle knife reaches the position of the knife buckling point, controlling to execute the knife loosening operation so as to finish the knife changing operation.
4. The method for controlling a servo tool magazine according to claim 3, wherein after the position of the first handle is determined by the tool magazine motor, a tool changing command is sent to the ATC motor, so that the ATC motor completes a tool changing operation, and specifically further comprising:
the double-shaft driver judges whether the distance between the position of the main shaft knife-tightening and the position of the knife-returning point reaches a preset pre-tightening knife distance threshold value, wherein the position of the knife-returning point is the position for pre-tightening the knife;
if the distance between the position of the main shaft tightening tool and the position of the tool returning point reaches a preset pre-tightening tool distance threshold value, controlling a main shaft tightening device to execute pre-tightening tool operation, wherein the pre-tightening tool operation is used for pre-tightening the second handle tool;
And when the position of the main shaft knife-tightening position reaches the knife returning point position, controlling the main shaft knife-tightening device to execute knife-tightening operation so as to facilitate the second knife to be transferred from the knife bin motor to the main shaft, thereby completing knife changing operation.
5. The method for controlling a servo tool magazine according to claim 4, wherein said controlling said spindle tension device to perform a tension operation specifically comprises:
the double-shaft driver receives a pressure value fed back by the BC shaft loosening and tightening device;
if the pressure value in the BC shaft tightness device does not reach the preset knife tightening pressure threshold value, controlling the ATC motor to wait at zero speed at the knife return point;
and when the pressure value in the BC shaft tightening device reaches a preset knife tightening pressure threshold value, controlling the spindle tightening device to execute knife tightening operation.
6. A servo tool magazine control system, characterized in that the servo tool magazine control method according to any one of the preceding claims 1-5 is applied to the servo tool magazine control system, the system comprising an acquisition module (1), a processing module (2) and a sending module (3);
the acquisition module (1) is used for acquiring information of the position of the first handle of knife determined by the knife compartment motor;
The processing module (2) is used for enabling the cutter bin motor to determine the position of a first cutter, if the position of the first cutter is not in a preset position, the first cutter is rotated to the preset position, wherein the preset position is a tangential position of the ATC motor and the cutter bin motor, the first cutter is rotated to the preset position, the position of the first cutter is determined, and the ATC motor finishes cutter changing operation;
the sending module (3) is used for sending a first cutter learning instruction to the cutter bin motor and sending a cutter changing instruction to the ATC motor;
the processing module (2) is further used for acquiring a clockwise rotation angle and a counterclockwise rotation angle of the first handle knife to a preset position through the double-shaft driver;
comparing the magnitude of the clockwise rotation angle and the counterclockwise rotation angle;
if the clockwise rotation angle is smaller than the anticlockwise rotation angle, the first handle knife is rotated to a preset position in a clockwise rotation mode;
and if the clockwise rotation angle is larger than the anticlockwise rotation angle, rotating the first handle to a preset position in an anticlockwise rotation mode.
7. An electronic device (1000), characterized by comprising a processor (1001), a memory (1005) and a computer program stored in the memory (1005);
the memory (1005) is configured to store instructions;
the processor (1001) is configured to execute instructions stored in the memory (1005);
the computer program is configured to be executed by the processor (1001) for a servo tool magazine control method as claimed in any one of claims 1-5.
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| CN202210873213.XA CN115070482B (en) | 2022-07-23 | 2022-07-23 | Servo tool magazine control method and system and electronic equipment |
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