CN206296712U - Tool replacing apparatus - Google Patents
Tool replacing apparatus Download PDFInfo
- Publication number
- CN206296712U CN206296712U CN201621094649.5U CN201621094649U CN206296712U CN 206296712 U CN206296712 U CN 206296712U CN 201621094649 U CN201621094649 U CN 201621094649U CN 206296712 U CN206296712 U CN 206296712U
- Authority
- CN
- China
- Prior art keywords
- tool
- storage room
- instrument
- unit
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Numerical Control (AREA)
Abstract
The utility model provides a kind of tool replacing apparatus, and it possesses：Can be to the revolving tool storage room of the main shaft handling instrument of lathe；The spinning movement of the tool storage room and the tool changing control unit of the instrument tripping action to main shaft are controlled, the tool replacing apparatus possess the setup unit of the rotatable scope for setting the tool storage room, also, the tool changing control unit has：Judgement unit, whether the instruction anglec of rotation that it differentiates tool storage room rotation instruction is in the rotatable scope set by the setup unit；And by the judgement unit be determined as be the instruction anglec of rotation outside rotatable scope when, make tool changing act stop unit.
Description
Technical field
The utility model is related to a kind of tool replacing apparatus of lathe, and it possesses the rotary activated tool for keeping multiple instruments
Storehouse.
Background technology
In the tool replacing apparatus for possessing revolving tool storage room, possess multiple Tool graspers on the periphery of tool storage room
Portion (tool cover tool pot) is held, instrument can be kept in each instrument grasping part, throw storehouse is come to holding tools position
Put and indexed, installation, extracting tool on the main shaft of lathe.
Develop it is various from tool storage room take out instrument when etc., take out instrument will not with other parts produce interference work
Tool more changing device (with reference to Japanese Unexamined Patent Publication 05-228767 publications, Japanese Unexamined Patent Publication 2013-205975 publications etc.).
In addition, disclosing a kind of tool replacing apparatus in Japanese Unexamined Patent Publication 8-118181 publications, it is by making instrument
Storehouse inclines relative to main-shaft axis, in the rotary course of tool storage room, will receive between instrument within the library and other objects
Interference is suppressed to Min..
Various instruments are received in tool storage room, tool storage room rotates when being indexed to instrument, so
Have the danger that the instrument received when tool storage room rotates is disturbed with other objects.Therefore, it is necessary in the rotation of tool storage room
Storage instrument is set not disturbed with other objects such as the part or fixture of lathe in turning.In existing tool replacing apparatus
In, define in tool storage room receive instrument tool length or tool shape, so as to when tool storage room is rotated no matter
Which disturbed all without with other parts in 360 degree of phases.
But, restriction can be accommodated in the instrument in tool storage room, can limit the machining function of lathe, therefore undesirable.
Utility model content
Therefore, the purpose of this utility model is to provide a kind of instrument for being not limited in and being received in tool storage room, and prevents hair
Interference between raw storage instrument and other objects is so as to the tool replacing apparatus that can be used safely.
A kind of tool replacing apparatus of lathe, it possesses：Can be to the revolving instrument of the main shaft handling instrument of lathe
Storehouse；Control the spinning movement of the tool storage room and the tool changing control unit of the instrument tripping action to main shaft, the instrument
More changing device is characterised by possessing the setup unit of the rotatable scope for setting the tool storage room, also, the tool changing
Control unit has：Judgement unit, whether the instruction anglec of rotation that it differentiates tool storage room rotation instruction is single by the setting
In the rotatable scope of unit's setting；And being determined as by the judgement unit be the instruction anglec of rotation outside rotatable scope
When, tool changing is acted the unit for stopping.
In addition, the tool changing control unit is the instruction outside rotatable scope being determined as by the judgement unit
During the anglec of rotation, the instruction of the action of the lathe is temporarily ceased to the control device output of the control lathe.
In addition, by the rotatable range set of the tool storage room set by the setup unit to make tool storage room be revolved to forward direction
The upper limit angle and the lower limit angle of reverse rotation for turning, the judgement unit also differentiate rotatable direction, and the instrument is more
Changing control unit makes the tool storage room be rotated to the rotatable direction determined by the judgement unit, so that the instrument
Storehouse rotates to and rotates the commanded instruction anglec of rotation of instruction by tool storage room.
The tool changing control unit and setup unit, control are provided with the control device for controlling the lathe
The control device of lathe also serves as tool changing control unit.
Also, by the procedure for controlling the control device of the lathe to pre-read lathe, the judgement unit is based on
Rotate instruction by pre-reading the tool storage room that obtains, the discrimination instruction anglec of rotation whether in rotatable scope, be determined as be can
During the instruction anglec of rotation outside rotating range, the action of the lathe is temporarily ceased to the control device output for controlling the lathe
Instruction.
In addition, controlling the control device of the lathe to possess the Programmable detection unit for detecting procedure, the differentiation list
Unit when Programmable detection is carried out by described program detection unit differentiate tool storage room rotation instruction the instruction anglec of rotation whether
In rotatable scope, when it is the instruction anglec of rotation outside rotatable scope to be determined as, the control device of the lathe is being controlled
Display unit in display be outside rotatable scope rotation instruction purport.
Used as the replacement of the setup unit of the rotatable scope for setting the tool storage room, the tool changing control is single
Unit has：Data storage cell, the interference region of its storage tool storage room corresponding with the tool length data of instrument or can revolve
Turn the data of scope；And according to the length of the instrument installed in tool storage room, and based on being deposited in the data storage cell
The data of storage come calculate and setting means storehouse rotatable scope unit.
In addition, tool replacing apparatus of the present utility model also set up display unit, by the tool changing control unit
By the judgement unit be determined as be the instruction anglec of rotation outside rotatable scope when, by the display unit to user
Notify the purport.
The utility model by limiting the rotatable scope of tool storage room, in the past due to may be with other when tool storage room rotates
The tool length or the instrument of tool shape that object occurs interference and cannot use are not disturbed, it is possible to safely making
With.
Brief description of the drawings
Following examples are illustrated by referring to accompanying drawing, of the present utility model above-mentioned and other purposes and spy
Levying becomes clear and definite.In the drawings：
Fig. 1 is the synoptic diagram of the lathe for having possessed tool replacing apparatus, and wherein tool replacing apparatus have the utility model
An implementation method rotary activated tool storehouse.
Fig. 2 is the synoptic diagram of the control system of the lathe and tool replacing apparatus that control the implementation method.
Fig. 3 A, Fig. 3 B are the explanatory diagrams that interference occurs.
Fig. 4 is the explanatory diagram of the setting of the rotatable scope of tool storage room.
Fig. 5 is the rotatable model when the holding tools that will be disturbed are to each instrument grasping part in the present embodiment
The explanatory diagram enclosed.
Fig. 6 is the explanatory diagram for having a case that a certain degree of surplus to set rotatable scope.
Fig. 7 A, Fig. 7 B are the explanatory diagrams disturbed with the direction of rotation of tool storage room, wherein, Fig. 7 A represent what is rotated forward
Situation, Fig. 7 B represent the situation of reverse rotation.
Fig. 8 is the flow chart of the rotation processing algorithm in representational tool storehouse.
Fig. 9 A, Fig. 9 B are the examples that tool length data and interference range data are mapped.
Figure 10 be received in tool storage room it is multiple disturb instrument when rotatable scope explanatory diagram.
Figure 11 is the flow chart of the setting processing algorithm for representing the rotatable scope based on tool length data.
Specific embodiment
Hereinafter, it is explained with reference to implementation method of the present utility model.
Fig. 1 is the synoptic diagram of the lathe for having possessed tool replacing apparatus, and wherein tool replacing apparatus have present embodiment
In revolving tool storage room.In addition, Fig. 2 is the synoptic diagram of the control system for controlling the lathe and tool replacing apparatus.Work
Tool more changing device 1 possesses tool storage room 11, the tool changing being made up of the processor and memory etc. of the drive control tool storage room 11
Control unit 12, the display unit 13 being made up of liquid crystal or CRT for being connected with the tool changing control unit 12 etc., by for defeated
Enter the input block 14 of the compositions such as the keyboard of various setting values.Tool changing control unit 12 and the control for controlling machine tool main body 3
Device 2 is connected.In this embodiment, using CNC (computer numerical control device) as the control device.CNC2 passes through
Procedure etc. controls machine tool main body 3 to be processed machined object.If in addition, CNC2 reads work from the procedure etc.
Tool changes instruction, then send the instruction to the tool changing control unit 12 of tool replacing apparatus 1.
Tool changing control unit 12 receives tool changing instruction and carrys out drive control tool storage room 11, and carries out tool storage room 11
Tool interface control and the main shaft of lathe between.
Tool storage room 11 circumferentially possesses multiple instrument grasping parts.In the present embodiment, every the anglec of rotation 45 degree possess
The 8 instrument grasping parts represented with symbol A~H.Each instrument grasping part A~H possesses instrument grasping unit 20 respectively, for keeping
Various instruments 22.Illustrate in Fig. 1 and instrument is received in instrument grasping part C, H, and installed on the main shaft 21 of machine tool main body 3
The example of the instrument 22 received in the A of instrument grasping part.In the memory of tool changing control unit 12, store in work
For the anglec of rotation using certain phase as the tool storage room of benchmark indexed to instrument grasping part when tool is changed, in this reality
Apply in mode, the phase angle is referred to as the angle of instrument grasping part A~H.In addition, using the cental axial position of main shaft 21 as base
Level puts 100, as shown in figure 1, instrument grasping part A to be located at the state of the reference position 100 as the phase angle of tool storage room 11
The origin 0 of degree.Tool storage room 11 can positive, counter-rotating, set in Fig. 1 it is clockwise rotate to be rotatings forward (+), counterclockwise just
To rotate to be reversion (-).
The angle of each instrument grasping part A~H is from the origin (instrument for making reference position 100 and the phase angle of tool storage room
The position of grasping part A) overlap state (state of Fig. 1) start, untill each instrument grasping part is overlapped with reference position
Move angle.Therefore, the angle of instrument grasping part A is 0, and the angle of instrument grasping part B is to rotate forward tool storage room 11
Since 45 degree positioned at the reference position 100 at 45 degree, similarly instrument grasping part C be when tool storage room 11 rotated forward into 90 degree from
Start 90 degree positioned at reference position 100.In addition, the angle of instrument grasping part H be by tool storage room 11 anti-(-) to 45 degree of rotation when
- 45 degree since positioned at reference position 100.The angle of each instrument grasping part A~H is as described below.In addition, the instrument is grasped
The angle-data of portion A~H is logged in the memory of tool changing control unit.
Instrument grasping part A=0 degree
Instrument grasping part B=+45 degree
Instrument grasping part C=+90 degree
Instrument grasping part D=+135 degree
Instrument grasping part E=± 180 degrees
Instrument grasping part F=-135 degree
Instrument grasping part G=-90 degree
Instrument grasping part H=-45 degree
When have input tool changing from CNC2 to tool replacing apparatus 1 and instruct, tool changing control unit 12 is by main shaft
The instrument 22 installed on 21 gives the instrument grasping part 20 of tool storage room 11, and the Tool grasper where reading next instrument for using
The angle-data in portion is held, tool storage room 11 is rotated to the Tool grasper of reading since the angle of the instrument grasping part indexed before changing
Untill the angle of the angle-data for holding portion, so that instrument grip portion degree where the instrument that will be used is to main spindle's (base
Level is put).Then, the instrument 22 to be used is joined from instrument grasping part to main shaft 21.
For example, in instrument of the tool changing from instrument grasping part C for instrument grasping part E, because instrument grasping part C
Angle is+90 degree and the angle of instrument grasping part E is+180 degree, so tool changing control unit 12 makes tool storage room 11 from 90 degree
(instrument grasping part C is located at reference position, and the anglec of rotation of tool storage room is 90 degree of state), to 180 degree, rotates forward mobile rotation
Rotary angle of 90 DEG, so as to instrument grasping part E is indexing into main spindle's (reference position), and hands over from instrument grasping part E to main shaft 21
Bonding tool 22.
On the other hand, in the rotary course of tool storage room 11, the one of the instrument 22 and lathe being accommodated in tool storage room 11 is had
Part contact, situation about disturbing.As shown in Fig. 3 A, Fig. 3 B, at one of the instrument grasping part 20 of tool storage room 22 and lathe 3
In the case of dividing the distance between 301 to be L, when instrument 22 of the tool length more than L has been received in tool storage room 11, such as Fig. 3 B
Shown, instrument 22 is contacted with a part 301 for lathe, the interference of generating tool and machinery.Therefore, making for instrument is limited in the past
With, and can only the use of tool length be the instrument of below L.
Therefore, structure, allocation position of tool storage room that the utility model passes through lathe etc., even if received in tool storage room
Instrument is due to when its tool length or shape are disturbed with other objects, it is also possible to use the instrument.
In the present embodiment, the rotatable scope in setting means storehouse 11, makes tool storage room 11 in the rotatable scope of setting
Interior rotation.On rotatable scope, the interference of generating tool when the user of lathe confirms which phase tool storage room 11 be located in advance,
Phase based on the confirmation sets rotatable scope using parameter P1~Pn by input block 14, and by the rotatable scope
In storing the memory in tool changing control unit 12.In the present embodiment by input block 14 and memory come structure
Into the setup unit of rotatable scope.
As the establishing method based on parameter P1~Pn, the lower and upper limit of the phase of tool storage room, rotatable model are used
Angle and the amplitude of angle for enclosing etc..For example, as shown in figure 4, in the benchmark phase by rotatable scope relative to tool storage room
When position is set as that -140 degree~+140 are spent, lower limit -140, the upper limit+140 are set as parameter.But, because the tool storage room 11
The angle of 0 degree~180 degree=- 180 degree~0 degree is set, so when more than 180 degree, as corresponding with the angle inverse
The angle of symbol.
Fig. 5 is before having received in any one in instrument grasping part A~H shown in explanatory diagram 4 since the center line
The explanatory diagram of 40 degree of rotatable scopes when turning into the instrument 22 of interference range (forbidding rotating range) afterwards, rotatable scope is as follows
It is described, additionally, representing interference range in parantheses.
A：- 140~0~+140 degree (degree of+140~+180=-180~-140)
B：The degree of -95~0~+180=-180~-175 (- 175~-95 degree)
C：The degree of -50~0~+180=-180~-130 (- 130~-50 degree)
D：The degree of -5~0~+180=-180~-85 (- 85~-5 degree)
E：The degree of+40~+180=-180~-40 (- 40~0~+40 degree)
F：The degree of+85~+185=-180~0~+5 (+5~+85 degree)
G：+ 130~+180=-180~0~+50 (+50~+130 degree)
H：The degree of+175~+180=-180~0~+95 (+95~+175 degree)
When the situation that instrument 22 has been received in the C of instrument grasping part is illustrated as an example, instrument grasping part C
In the state of reference position 100, the phase of tool storage room 11 is+90 degree, can rotate forward+140 degree, reversely rotation from the angle
Turn -140 degree, so when Monitoring lower-cut is reversely rotated, detecting 90-140=-50 degree.On the other hand, rotating forward
It is 90+140=230 degree during upper limit of detection, but detected value detects -130 degree (230-360=-130).That is, revolved in forward direction
When turning to detect the negative anglec of rotation, it is meant that more than 180 degree, now, the scope comprising 180 degree turns into rotatable scope, under
Limit -50 degree, the upper limit -130 spend, rotatable scope be -50~0,0~+180=-180~-130, as shown in Figure 5 into
It is -50~-130.
In addition, the setting on rotatable scope, sets with a certain degree of surplus.As shown in fig. 6, working as tool storage room
11 phase instrument in the range of from -155 degree to -180 degree, from+155 degree to+180 degree is disturbed with others objects
When, the lower limit of rotatable scope is set to -145 degree by estimating a certain degree of surplus, the upper limit is set to+145 degree.
When the instrument that a multiple parts with machinery are disturbed is received in tool storage room 11, will common rotatable scope
In maximum region (the maximum region in the range of in addition to interference range) be set as rotatable scope.For example, such as
Shown in Fig. 4, when instrument has been received in the A of instrument grasping part, in the work of the rotatable scope will with -140 degree of degree~+140
In the case that tool is received into instrument grasping part A and C, as shown in figure 5, because relative with the instrument of instrument grasping part A is rotatable
The lower limit of scope is that -140, upper limit is+140, the lower limit of the rotatable scope relative with the instrument of instrument grasping part C is -50,
The upper limit is -130 (=+ 230), so it is+140 that the lower limit of common rotatable range areas is -50, upper limit.
As described above, the upper limit of the rotatable scope of measured in advance, lower limit set rotatable scope, but can also set
The angle of rotational steps and the rotational steps, compensates to receiving the angle of instrument grasping part of the instrument
(Offset).Now, tool changing control unit 12 can carry out following computing, obtain the upper limit, the lower limit of rotatable scope
To be set and be stored.
The angle of the upper limit of rotatable scope=+ (setting rotational steps/2)+setting angle+instrument grasping part
The angle of the lower limit of rotatable scope=- (setting rotational steps/2)+setting angle+instrument grasping part
For example, in the example shown in Figure 4, when 280 degree of 0 degree of angle and the anglec of rotation is set as, because Tool grasper
It is 0 to hold the angle in portion, so turning into：
The upper limit of rotatable scope=+ (280/2)+0+0=+140
The lower limit of rotatable scope=- (280/2)+0+0=-140.
Also, be not to be received into instrument grasping part A but when being received into instrument grasping part C because instrument grasping part
Angle is 90 degree, so the upper limit of rotatable scope is+(280/2)+0+90=+230, or the upper limit of rotatable scope be+
(280/2)+0+90=+230=-130, lower limit=- (280/2)+0+90=-50 (reference picture 5) of rotatable scope.
In addition, (in fig. 4, a part 301 for lathe is not matched somebody with somebody when angle 90 and rotational steps 280 are set as
Put on the top of tool storage room 11, but configure in fig. 4 at the right side of tool storage room), by holding tools to instrument grasping part A
In in the case of, the upper limit of rotatable scope, lower limit are：
The upper limit of rotatable scope=+ (280/2)+90+0=+230=-130,
The lower limit of rotatable scope=- (280/2)+90+0=-50.
In the case of by holding tools to instrument grasping part G, the upper limit of rotatable scope, lower limit are：
The upper limit of rotatable scope=+ (280/2)+90-90=+140,
The lower limit of rotatable scope=- (280/2)+90-90=-140.
Rotatable scope can not also be set and otherwise non-rotatable interference range is set.
And it is possible to pass through tool changing control unit 12, rotatable scope is obtained from the interference range of the setting.
As described above, setting the upper of the rotatable scope of storage tool storage room in the memory of tool changing control unit
Limit, lower limit.
In addition, the generation of the interference between instrument and other objects on being carried in tool storage room, according to tool storage room
11 direction of rotation, occurs not occur sometimes sometimes.As shown in Figure 7 A, 7 B, received and lathe when in the A of instrument grasping part
A part 301 disturb instrument 22 when, due to since the state that instrument grasping part D is located at reference position 100, will be
The instrument kept in the F of the instrument grasping part is installed on main shaft, therefore in the situation for making instrument grasping part F move to reference position
Under, when tool storage room 11 is rotated forward, as shown in Figure 7 A, instrument is disturbed with a part 301 for machinery.But, such as scheme
Shown in 7B, if reversely rotated, can not occur intrusively to make instrument grasping part F move to reference position 100.
When being illustrated by the explanatory diagram of the rotatable scope of explanation shown in Fig. 5, protected in the instrument that will be disturbed
Hold in the A of instrument grasping part, and when being that -140 degree~+140 are spent by its rotatable range set, in the state of Fig. 7 A, instrument
Storehouse 11 is located at 135 degree of position (position of symbol P in Fig. 5), the target anglec of rotation -135 (position of the symbol Q in Fig. 5) bag
It is contained in rotatable scope.But, when being rotated to the position of -135 degree the position since+135 degree, when
+ 140 degree can only be rotated to when rotating forward, and -135 degree (+225) cannot be rotated to.But, anti-(-) to can rotate to+
135 degree of position.
Fig. 8 is performed by the processor of the tool changing control unit 12 of the tool replacing apparatus 1 for representing present embodiment
Tool storage room rotation processing algorithm flow chart.
The processor of the tool changing control unit 12 of tool replacing apparatus 1 is receiving work from the control device 2 of lathe
When tool changes instruction, the tool storage room rotation processing shown in Fig. 8 is performed.
Whether the angle of the target tool grasping part (instrument) that judgement is instructed by tool changing instruction can what is set
In rotating range (step S1), when not in rotatable scope, tool changing action is temporarily ceased.Also, to the control of lathe
The output of device processed 2 stops the instruction (step S8) of machine tool action.In addition, carrying out sending alarm or rotatable in display unit 13
The display (step S9) of the purport of rotation instruction outside scope etc., and terminate the treatment.
On the other hand, when be judged in step sl the angle of target tool grasping part setting rotatable scope in
When, rotate forward tool storage room to determine whether to reach angle on target before setting upper limit angle is reached, or make instrument
Storehouse reversely rotates to determine whether to reach angle on target (step S2) before setting lower limit angle is reached.If by figure
Example shown in 7A, Fig. 7 B illustrates, then instrument grasping part D (angle+135) positioned at reference position state (symbol in Fig. 5
The angle of P) under, it is the replacing instruction to the instrument of grasping in instrument grasping part F (angle -135) in tool changing instruction
In the case of, when positive movement is carried out from the phase angle+135 of tool storage room to phase angle -135, it is necessary to come more than 180 degree
Move, because rotatable scope sets upper limit angle as 140 degree, be judged as cannot forward rotation.But, such as
Anti- (-) direction of fruit is rotated, then be judged to be arrived before the setting lower limit angle -140 for reaching rotatable scope is spent
Up to angle on target -135 (angle of symbol Q in Fig. 5).
Then, when being judged to be rotated to the one party in forward and reverse in step s 2, judgement can revolve
It is positive or reverse (step S3) to turn direction, if forward direction, then rotates forward tool storage room, the angle on target that will be instructed
Tool holder navigate to reference position 100 (step S4), then terminate instrument rotation processing.In addition, if being judged to anti-
To, then reversely rotate tool storage room, the tool holder of the angle on target of instruction is navigated into (the step of reference position 100
S5), tool storage room rotation processing is then terminated.
In addition, when be judged in step s 2 can forward and reverse direction rotate when, obtain untill moving to angle on target rotate
The direction (step S6) of the few side of amount, makes tool storage room be rotated to the direction, the tool holder of the angle on target that will be instructed
Reference position 100 (step S7) is navigated to, terminates tool storage room rotation processing.
In the above-described embodiment, by the rotatable of the setup unit setting means storehouse that is made up of input block 14 etc.
Scope, but the setup unit can also be substituted, make tool changing control unit automatic when instrument is mounted with tool storage room
The mobile range in setting means storehouse.
Now, the tool changing control unit of tool replacing apparatus stores each instrument in tool storage room in memory in advance
The tool length data of the instrument installed in grasping part and interference region corresponding with the tool length or rotatable region
Data (hereinafter referred to as interference range data).As shown in Fig. 9 A, Fig. 9 B, in the memory of tool changing control unit 12, will
Tool length with the instrument of the tool length is installed in the instrument grasping part A of the phase origin of tool storage room 11, and by the instrument
Interference range when grasping part A navigates to reference position 100 is mapped carries out setting storage.Then, pacify in tool storage room 11
Holding tool, and the rotating range setting instruction for passing through the input tool storehouse of input block 14, the treatment of tool changing control unit 12
Device starts the treatment of Figure 11.Index i is set to 1 (step T1) first, the instrument installed in i-th instrument grasping part is read
Length (step T2), differentiated according to the interference range data for storing in memory for read tool length whether set
Interference range (step T3) is determined.Advance to step T5 when without setting interference range.When having set, according to the interference model
Data are enclosed to calculate due to the interference range of tool storage room caused by the instrument installed in the i-th instrument grasping part.On this
The calculating of interference range, the upper limit, lower limit for the interference range relative with tool length are added the angle of i-th instrument grasping part
Spend to compensate, so as to obtain interference range and be stored (step T4).
Then, add 1 (step T5) to index i, judge whether index i exceedes the number of the instrument grasping part 20 of tool storage room 11
Amount N (step T6), when being not above, return to step T2 performs the treatment of step T2~T6, and instrument grasping part is exceeded in index i
Quantity N when, the instrument for whole instrument grasping parts is discriminated whether with interference range data, and with interference model
When enclosing data, after calculating and storing the interference range, advance to step T7, by the interference model obtained in step t 4
Enclose, obtain the rotatable scope in simultaneously setting means storehouse 11.
For example, setting interference range, and the peace on the C of instrument grasping part for tool length as shown in Fig. 9 A, Fig. 9 B
When having filled the instrument of tool length 150mm, interference range is -160~160 degree (- 160~-180=+180~+160) of degree,
Because the angle of instrument grasping part C is 90 degree, the interference range of the instrument of the instrument grasping part C for obtaining in step t 4
It is -70 (=- 160+90)~-110 (=+ 160+90=250).In the instrument tool installed only on the C of the instrument grasping part
When having interference range, in step T7, the region that will eliminate the interference range obtained is set as rotatable scope.That is, energy
Untill tool storage room 11 reverse (- direction) is rotated to lower limit angle -70, when tool storage room 11 positive (+direction) is rotated,
Untill upper limit angle -110 being rotated to.
In addition, as shown in Figure 10, having been read in instrument from the data storage of the interference range relative with tool length
The interference range θ a of the reference position of the instrument installed on the A of grasping part are -130~+130 degree, are installed on the C of instrument grasping part
Instrument reference position interference range θ c be -160~+160 degree data when because the angle of instrument grasping part A be 0,
So in step t 4, the interference range of the instrument installed on the A of instrument grasping part is stored as into -130~+130 degree, in addition
Because the angle of instrument grasping part C is 90 degree, the interference range of the instrument installed on the C of instrument grasping part turns into -70
(=- 160+90)~-110 (=+ 160+90=250), store the interference range.
As a result, in step T7, the θ 1 after the two interference regions (- 130 degree of degree~-110) and θ 2 (- 70 is eliminated
The degree of degree~+130) region turn into rotatable scope, by the θ 2 in maximum of which region (- 70 degree of degree~+130), being set as can
Rotating range.
In the above-described embodiment, tool changing control unit is provided with tool replacing apparatus, it is also possible to by this
Tool changing control unit is arranged in the control device (CNC) of control lathe.That is, the control device (CNC) of control lathe is simultaneous
There is tool changing control unit, input block or display unit can also be using for controlling the control device (CNC) of lathe to have
Some input blocks or display unit.Also, by controlling the processor of the control device (CNC) of lathe, instrument can be performed
The rotating range setting processing of storehouse rotation processing and tool storage room.Now, the control device (CNC) of control lathe pre-reads if possessed
The function of procedure, then can judge the mesh that the rotation of the tool storage room for tool changing is instructed by pre-reading procedure
Whether the mark anglec of rotation is in rotatable scope (treatment of the step S1 in Fig. 8), and it is dynamic that machinery is temporarily ceased when outside scope
Make.Therefore, it is possible to safely avoid interference.
In addition, in the Programmable detection function of controlling the control device (CNC) of lathe with procedure, in program inspection
During survey, for tool storage room rotation instruction come judge the rotation instruction angle on target whether in the rotating range of tool storage room,
When rotation outside for rotatable scope is instructed, the display of the purport that carry out generation interference and cannot rotate then can be in lathe
Before starting to perform processing, the confirmation whether acquirement is disturbed.
In the above-described embodiment, illustrate when tool storage room is rotated, in tool storage room receive instrument and other
Object disturb in the case of, limit the rotating range of tool storage room, but except prevent the instrument and other objects it
Between disturb purpose beyond, the utility model can be also applied in the case where the rotating range of tool storage room is not limited.
Claims (8)
1. a kind of tool replacing apparatus of lathe, it possesses：Can be to the revolving tool storage room of the main shaft handling instrument of lathe；Control
Make the spinning movement of the tool storage room and the tool changing control unit of the instrument tripping action to main shaft, it is characterised in that
Possess the setup unit of the rotatable scope for setting the tool storage room,
Also, the tool changing control unit has：
Judgement unit, whether its instruction anglec of rotation for differentiating tool storage room rotation instruction can what is set by the setup unit
In rotating range；And
By the judgement unit be determined as be the instruction anglec of rotation outside rotatable scope when, make tool changing act stop
Unit.
2. tool replacing apparatus according to claim 1, it is characterised in that
The tool changing control unit is the instruction anglec of rotation outside rotatable scope being determined as by the judgement unit
When, the instruction of the action of the lathe is temporarily ceased to the control device output of the control lathe.
3. tool replacing apparatus according to claim 1 and 2, it is characterised in that
By the rotatable range set of the tool storage room set by the setup unit to make the upper limit of tool storage room forward rotation
Angle and the lower limit angle of reverse rotation, the judgement unit also differentiate rotatable direction, and the tool changing control is single
Unit makes the tool storage room be rotated to the rotatable direction determined by the judgement unit, so that the tool storage room is rotated to
The commanded instruction anglec of rotation of instruction is rotated by tool storage room.
4. tool replacing apparatus according to claim 1 and 2, it is characterised in that
The tool changing control unit and setup unit are provided with the control device for controlling the lathe.
5. tool replacing apparatus according to claim 4, it is characterised in that
By the procedure for controlling the control device of the lathe to pre-read lathe, the judgement unit is based on by pre-reading
Whether the tool storage room rotation instruction arrived, the discrimination instruction anglec of rotation is being determined as being outside rotatable scope in rotatable scope
The instruction anglec of rotation when, the instruction of the action of the lathe is temporarily ceased to the control device output for controlling the lathe.
6. tool replacing apparatus according to claim 4, it is characterised in that
The control device of the lathe is controlled to possess the Programmable detection unit for detecting procedure, the judgement unit is by institute
Whether state Programmable detection unit differentiate during Programmable detection the instruction anglec of rotation of tool storage room rotation instruction in rotatable scope
It is interior, when it is the instruction anglec of rotation outside rotatable scope to be determined as, in the display unit of the control device for controlling the lathe
Middle display is the purport of the rotation instruction outside rotatable scope.
7. tool replacing apparatus according to claim 1 and 2, it is characterised in that
As the replacement of the setup unit of the rotatable scope for setting the tool storage room, the tool changing control unit tool
Have：
Data storage cell, the interference region or rotatable model of its storage tool storage room corresponding with the tool length data of instrument
The data enclosed；And
According to the length of the instrument installed in tool storage room, and calculated based on the data stored in the data storage cell
And the unit of the rotatable scope in setting means storehouse.
8. tool replacing apparatus according to claim 1 and 2, it is characterised in that
The tool replacing apparatus possess display unit,
The tool changing control unit is the instruction anglec of rotation outside rotatable scope being determined as by the judgement unit
When, informed the user by the display unit be the instruction anglec of rotation outside rotatable scope purport.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-190887 | 2015-09-29 | ||
| JP2015190887 | 2015-09-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296712U true CN206296712U (en) | 2017-07-04 |
Family
ID=59202194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621094649.5U Withdrawn - After Issue CN206296712U (en) | 2015-09-29 | 2016-09-29 | Tool replacing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296712U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553075A (en) * | 2015-09-29 | 2017-04-05 | 发那科株式会社 | Tool replacing apparatus |
-
2016
- 2016-09-29 CN CN201621094649.5U patent/CN206296712U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553075A (en) * | 2015-09-29 | 2017-04-05 | 发那科株式会社 | Tool replacing apparatus |
| US10189129B2 (en) | 2015-09-29 | 2019-01-29 | Fanuc Corporation | Tool replacement apparatus |
| CN106553075B (en) * | 2015-09-29 | 2019-05-28 | 发那科株式会社 | Tool replacing apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106553075B (en) | Tool replacing apparatus | |
| JP6538503B2 (en) | Geometrical error identification method for machine tool and geometric error identification program | |
| CN104597891B (en) | Information processing unit and information processing method | |
| CN107995885A (en) | A kind of coordinate system scaling method, system and device | |
| CN103913137B (en) | Coordinate measuring set and its control method | |
| CN108732994B (en) | Control system for machine tool | |
| CN105196311B (en) | A kind of zero point quick calibrating method of six-joint robot | |
| JP2017159376A (en) | Machine accuracy measuring method and device in machine tool | |
| FR2583671A1 (en) | MOVEMENT PROGRAM FOR THE WITHDRAWAL AND RETURN OF AUTOMATIC TOOL IN RESPONSE TO A LOSS OF QUALITY THRESHOLD | |
| US20030189567A1 (en) | Viewing controller for three-dimensional computer graphics | |
| CN206296712U (en) | Tool replacing apparatus | |
| CN105856216A (en) | Workpiece taking out robot system and workpiece taking out method | |
| JP6442861B2 (en) | Machine tool and interpretation execution program | |
| JP2012084011A (en) | Operation history management method and operation history management device | |
| CN108139730A (en) | Robot off-line programming method and use its device | |
| CN106416240A (en) | Remote control of a pivotable stereoscopic camera | |
| CN110285754A (en) | Workpiece localization method, device, system and storage medium based on laser scanning | |
| JP5273091B2 (en) | 3D shape measuring apparatus and 3D shape measuring method | |
| CN111142477B (en) | Quick reset system of machine tool | |
| CN104764758A (en) | Method for achieving neutron diffraction measurement of crystal interior texture by utilizing mechanical arm | |
| JP5167788B2 (en) | Machine tool interference detection device | |
| CN214795685U (en) | Processing equipment | |
| Florussen et al. | Verifying the accuracy of five-axis machine tool focused on kinematic ISO tests using a torus-shaped test work piece | |
| CN109521802A (en) | Method, apparatus and equipment for tracing of the movement | |
| CN208438358U (en) | Robot anticollision device, collision-prevention device and the robot for using the device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170704 Effective date of abandoning: 20190528 |