CN207992792U - Tool servo control system - Google Patents
Tool servo control system Download PDFInfo
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- CN207992792U CN207992792U CN201721467578.3U CN201721467578U CN207992792U CN 207992792 U CN207992792 U CN 207992792U CN 201721467578 U CN201721467578 U CN 201721467578U CN 207992792 U CN207992792 U CN 207992792U
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Abstract
The utility model is related to Tool Servo control systems, including：Host controller, to send movement instruction；Driver instructs to receive the movement instruction transmitted by the host controller and send drive motion according to movement instruction；Motor with encoder, motor are instructed to receive by the drive motion transmitted by driver；Tool magazine has much knives tool；The angle information of motor instantly is communicated back to driver by encoder, driver transmits angle information to host controller, host controller obtains current knife number according to angle information, and corresponds to current knife number according to target knife number and obtain the required angle rotated, send out correct movement instruction, make motor according to movement instruction and required rotational angle, rotation drives the cutter in tool magazine until required cutter reaches designated position；Using serial form mechanism, host controller is made to carry out going deep into control to servo-driver, obtains the feedback of the various information and encoder of servo-driver.
Description
Technical field
The utility model is related to a kind of Tool Servo control systems, belong to the control system technical field of work mechanism.
Background technology
Currently, in work mechanism industry, pipe lathe or milling machine, do not there is the demand for replacing cutter.In order to promote tool changing speed
It spends, much knives are existed simultaneously on work mechanism, and there is its necessity, tool magazine just therefore to generate.In general, only have when processing
One cutter is contacted with workpiece, and other cutters are then to rest in tool magazine to await orders, and until needing replacing cutter, tool magazine will
Rotation is mobile, and target tool is allowed to reach positioning.
Its power resources of the rotary-type tool magazine of early stage are hydraulic motors, are coordinated using cam mechanism and tool magazine, when tool magazine needs
When rotating, several cutter spacing need to be rotated by host controller calculating, input/output (I/O) signal is then sent out, notify oil pressure horse
Up to starting to rotate, sensor is housed on tool magazine, the same I/O signals that return notify host controller is completed to rotate several times, most
After will accurately be parked in target cutter spacing.When driving tool magazine using hydraulic motor, host controller need to be in program-controlled device
The content that editor's cutter spacing inspection and order are sent in (Programmable Logic Controller, PLC), the disadvantage is that once
A cutter spacing can only be rotated, before reaching target cutter spacing, host controller must send out always rotation order, and can only penetrate
I/O signals are linked up, because the Limited information of exchange, host controller can not do further control, on the other hand, such machine
Sound and vibration of the structure when tool magazine rotates are also larger.
Tool magazine is driven slowly to become mainstream (hereinafter referred to as servo tool magazine) using servo motor at this stage, it is upper
Servo tool magazine is always controlled (such as XYZ axis of three-head milling machine), in programming commands, upper control by controller as kinematic axis
Device is not handled with which cutter spacing, is handled with motor angle, such as tool magazine can put 10 knives, and 360 are divided between cutter spacing
/ 10th of degree, that is, 36 degree, to rotate three cutter spacing, then host controller, which can be sent out, allows tool magazine to rotate 108 degree
Instruction, while host controller judges which cutter spacing tool magazine goes at present with the feedback of motor encoder.Use servo tool magazine
When, host controller does not have to PLC processing, but wants the subprogram of customized tool changing, and content need to define the cutter number of tool magazine
Amount, the velocity of rotation etc. of tool magazine, and according to board situation self-defining abnormality alarm, therefore whether the author of subprogram considers week
It is complete or experienced, the processing speed when degree of protection of tool magazine and abnormal generation can be influenced.Compared to the framework of hydraulic motor,
The rotation of servo tool magazine is smoothly and quiet, host controller by encoder feedback can accurate perception tool magazine position, applying
On calculated it is quite convenient, the disadvantage is that the conformability between host controller and lower bit driver is bad, although having enough
Information is exchanging, but still fails properly to use in setting and diagnosis.
Utility model content
The purpose of the utility model is to overcome the shortcomings of the prior art, provide a kind of Tool Servo control system.
The purpose of this utility model is achieved through the following technical solutions：
Tool Servo control system, feature are：Including：
Host controller, to send movement instruction；
Driver drives to receive the movement instruction transmitted by the host controller and be sent according to movement instruction
Movement instruction；
Motor with encoder, the motor are instructed to receive by the drive motion transmitted by driver；
Tool magazine has much knives tool；
The angle information of motor instantly is fed back to driver by the encoder, and driver transmits angle information to upper control
Device processed, host controller obtains current knife number according to angle information, and obtains institute according to target knife number and corresponding to current knife number
The angle that need to be rotated sends out correct movement instruction, makes motor according to movement instruction and required rotational angle, rotation driving knife
Tool motion in library, until cutter reaches designated position.
Further, above-mentioned Tool Servo control system, wherein the host controller passes through serial form and driving
Device communication connection.
Further, above-mentioned Tool Servo control system, wherein also include abnormality alarm unit.
The utility model has significant advantages and beneficial effects compared with prior art, embodies in the following areas：
1. the angle information of motor instantly is communicated back to driver by encoder, driver transmits angle information to upper control
Device processed, host controller obtain current knife number according to angle information, and needed for obtaining corresponding to current knife number according to target knife number
The angle of rotation sends out correct movement instruction, makes motor according to movement instruction and required rotational angle, rotation driving tool magazine
Interior cutter is until required cutter reaches designated position；
2. under the application environment of Tool Servo control system, using serial form mechanism, making host controller can be to servo
Driver carry out deeper into control, and obtain the feedback of the various information of servo-driver and the encoder of motor, as
Basis, to improve the utilization on setting and diagnosing.
Description of the drawings
Fig. 1：The schematic diagram of the utility model Tool Servo control system；
Fig. 2：The operate interface connection diagram of the utility model Tool Servo control system；
Fig. 3：The flow diagram of the utility model Tool Servo control system.
Specific implementation mode
For a clearer understanding of the technical features, objectives and effects of the utility model, existing be described in detail specifically
Embodiment.
Include host controller 1, driver 2, motor 3 and tool magazine 5 as shown in Figure 1, Tool Servo control system,
Middle motor 3 further includes encoder 4.
Host controller 1 is attached by serial form (Mechatrolink) with driver 2.
Host controller 1 sends movement instruction and transmits movement instruction to driver 2 by serial form.Driver 2 to
The movement instruction transmitted by host controller 1 is received, and drive motion instruction is sent according to movement instruction and is transferred to motor 3.Tool
There is the motor 3 of encoder 4 to receive to be instructed by the drive motion transmitted by driver 2.
In tool magazine 5 there are much knives to have 51, the angle information of motor 3 instantly is fed back to driver 2 by encoder 4, driving
Device 2 transmits angle information to host controller 1 by serial form again so that host controller 1 can be obtained according to angle information
Go out current knife number, and correspond to current knife number according to target knife number and obtain the required angle rotated, then sends out correct fortune again
Dynamic instruction.Driver 2 receives 1 movement instruction sent out of host controller, and sends drive motion according to movement instruction and refer to
Order is transmitted in motor 3, and motor 3 is instructed to receive by the drive motion transmitted by driver 2, to drive 5 rotating knife of tool magazine
Cutter 51 in library 5, until required cutter 51 reaches designated position.
As shown in Fig. 2, the operate interface connection relation of Tool Servo control system has parameter setting and storage database
Unit 6, monitoring screen unit 7 and abnormality alarm unit 8, parameter setting and storage Database Unit 6 have the shape for determining tool magazine
State is set, and wherein state setting includes the number of cutters of tool magazine, tool magazine velocity of rotation, tool magazine rotation acceleration, tool magazine mechanism
Gear when target knife bugle degree error tolerances etc..
Monitoring screen unit 7 to monitor current knife number, target knife number, current velocity of rotation, motor load, motor turn round
Power, current motor angle, whether origin setting is completed, whether target angle reaches, Drive Status (servo unlatching/closing
In (Servo on/off), work, ready, different police, pause) etc. monitored states.
Abnormality alarm unit 8 does not complete to the setting of tool magazine origin, target knife number goes beyond the scope, target knife angular error
The abnormal feedbacks such as excessive, speed setting mistake, servo-driver exception.
The operate interface connection relation of Tool Servo control system passes through parameter setting and storage Database Unit 6 first
Set following items：A) the total knife number of tool magazine, b) tool magazine mechanism gear ratio, c) tool magazine velocity of rotation and acceleration, d) target
These states such as knife bugle degree error tolerances are set.After the completion of setting, the encoder 4 in motor 3 can be by motor 3 instantly
Angle information be fed back to driver 2；Then, driver 2 is transmitted angle information by way of serial form and is fed back to again
Level controller 1 so that host controller 1 obtains current knife number according to this angle information, and corresponds at present according to target knife number
Knife number obtains the required angle rotated, to send out correct movement instruction.The reception of driver 2 goes out transmitted by host controller 1
Movement instruction, and drive motion instruction is sent according to movement instruction and is transmitted in motor 3, motor 3 is receiving by 2 institute of driver
The drive motion instruction of transmission is to rotate cutter of the driving in tool magazine 5 until required cutter reaches designated position.
Before host controller 1 will send out movement instruction, host controller 1 can first check the origin of tool magazine, such as：1
Number knife, if set completion, if origin is not yet set, host controller 1 can send out alarm simultaneously by abnormality alarm unit 8
User is notified to carry out origin setting to the cutter in tool magazine.If origin has set completion, next step host controller 1 can be examined
Whether rationally look into target knife number, if such as total knife number is 12, but target knife number is more than 12 or is less than 1, then host controller 1 can lead to
It crosses abnormality alarm unit 8 and sends out alarm and unreasonable numeric state is in the target knife number for notifying user current.If target knife
Number it is reasonable value, host controller 1 will send out movement instruction to driver 2 at this time, and driver 2 retransmits drive motion instruction
To motor 3, motor 3 instructs execution according to drive motion.
The relevant information of driver 2 and motor 3 comprising in servo unlatching/closing (Servo on/off), work, temporarily
In stopping, abnormality warnings, motor load, angle feedback, velocity of rotation etc., be transferred into host controller 1 through serial form, and
And it is incorporated into monitoring screen unit 7.When abnormality occurs, abnormality alarm unit 8 sends out corresponding police after diagnosis
Report, to notify user makes exclusion appropriate for abnormality to act.
Motor 3 would generally be combined with speed reducer, and the rotary speed of motor 3 is adjusted by the gear ratio of speed reducer, is made
It obtains host controller 1 and corresponds to the angle rotated required for current knife number obtains according to target knife number, and rotate driving in knife
Cutter 51 in library 5 is until required cutter 51 reaches designated position.The operate interface of Tool Servo control system has
The operate interface application of most three groups of tool magazines can be supported by having, and retain the following elasticity expanded to reach.
As shown in figure 3, the driving flow of Tool Servo control system, Fig. 3 is according to Fig. 1 Tool Servos control system and figure
2 be the operate interface connection relation further explanation Tool Servo control system driving flow of Tool Servo control system.It is upper
After controller 1, driver 2 complete serial communication, pass through parameter setting and storage Database Unit 6 according to the mechanism specification of tool magazine
Tool magazine parameter setting, that is, step S01 is carried out, the parameter setting of tool magazine includes total knife number, tool magazine mechanism gear ratio, target knife bugle
Spend error tolerances etc..The total knife number that can be set in advance in tool magazine 5 is 12, gear ratio 1：60, target knife bugle degree holds
Perhaps error is 0.5 degree.After completing above-mentioned parameter setting, the angle of tool magazine appropriate is selected, and is tool magazine by the angle initialization
Origin, that is, current knife number is set as No. 1 knife.
Next such as step S02:Send out tool magazine rotation instruction.In this step S02, it can be controlled in computer numerical
(Computer Numerical Control；CNC T02 instructions) are assigned in program, that is, target knife number is set as No. 2 knives
It instructs, host controller 1 show that target knife number corresponds to the angle rotated needed for current knife number at this time, is set according to above-mentioned parameter
Setting the goal, to correspond to angle needed for current knife number be (360/12) x60=1800 degree for the target angle of knife number, so motor 3 needs
Turn five circles, the i.e. transmittable movement instruction of host controller 1 is to driver 2 at this time.
Then, step S03:Origin is set.In this step S03, before host controller 1 sends out movement instruction, on
Level controller 1 first can check whether the origin of tool magazine has set completion, if origin is not yet set, host controller 1 can pass through
Abnormality alarm unit 8 sends out alarm, i.e. step S04, and user is notified to set the origin (No. 1 knife) of tool magazine.If knife
The origin in library has set completion, then carries out step S05, target knife determination.In step S05, whether it is used to check target knife number
Rationally.If total knife number is 12, but target knife number is more than 12 or is less than 1, then host controller 1 is sent out by abnormality alarm unit 8
Alert notification user.
Then, step S06, motor are rotated according to instruction.In this step, upper at this time if target knife number is reasonable value
Controller 1 will be sent out will rotate the movement instruction of five circles to driver 2, driving according to above-mentioned steps S02 motors 3 be calculated
Device 2 retransmits drive motion and instructs to motor 3, and motor 3 instructs execution according to drive motion.If being noted that motor 3
Or tool magazine 5 encounters the situation for haveing no alternative but must stop in rotation process, user is forced to trigger emergent stopping, leads to tool magazine 5
It is parked in halfway, then can alert notification user be sent out by abnormality alarm unit 8, it, will with manual rotating function after Abnormality remove
Tool magazine 5 goes to appropriate location, i.e., any knife number, and re-executes rotation order, as resets step, is weighed by step S02
It is new to start.If in step S07, motor 3 has smoothly executed drive motion instruction, and target knife angular error allows to be less than institute
0.5 degree of setting, then then carry out step S08, and tool magazine reaches target knife number.In this step, the meeting of host controller 1 will be current
Knife number is changed to target knife number, then tool magazine 5 rotates flow and terminates.
In conclusion the angle information of motor instantly is communicated back to driver by the utility model by encoder, driver passes
Send angle information to host controller, host controller obtains current knife number according to angle information, and according to target knife correspondence
The angle rotated needed for being obtained in current knife number, sends out correct movement instruction, makes motor according to movement instruction and required turn
Dynamic angle, rotation drive the cutter in tool magazine until required cutter reaches designated position.
Under the application environment of Tool Servo control system, using serial form mechanism, make host controller that can be driven to servo
Dynamic device carry out deeper into control, and the feedback of the various information of servo-driver and the encoder of motor is obtained, as base
Plinth, to improve the utilization on setting and diagnosing.
It should be noted that：Above description is merely a prefered embodiment of the utility model, is not limited to this practicality
Novel interest field；Above description simultaneously, should can be illustrated and implement for the special personage of correlative technology field, therefore its
It should be included in claim without departing from the lower equivalent change or modification completed of the revealed spirit of the utility model
In.
Claims (3)
1. Tool Servo control system, it is characterised in that：Including：
Host controller, to send movement instruction；
Driver, to receive movement instruction transmitted by the host controller and send drive motion according to movement instruction
Instruction；
Motor with encoder, to receive by the drive motion instruction transmitted by driver；
Tool magazine has much knives tool；
The angle information of motor instantly is fed back to driver by encoder, and driver transmits angle information to host controller, on
Level controller obtains current knife number according to angle information, and obtains required rotation according to target knife number and corresponding to current knife number
Angle sends out correct movement instruction, makes motor according to movement instruction and required rotational angle, and rotation drives the knife in tool magazine
Tool movement, until cutter reaches designated position.
2. Tool Servo control system according to claim 1, it is characterised in that：The host controller passes through serial lattice
Formula is connected with driver communication.
3. Tool Servo control system according to claim 1, it is characterised in that：It also include abnormality alarm unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721467578.3U CN207992792U (en) | 2017-11-07 | 2017-11-07 | Tool servo control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721467578.3U CN207992792U (en) | 2017-11-07 | 2017-11-07 | Tool servo control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207992792U true CN207992792U (en) | 2018-10-19 |
Family
ID=63803547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721467578.3U Active CN207992792U (en) | 2017-11-07 | 2017-11-07 | Tool servo control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207992792U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748537A (en) * | 2017-11-07 | 2018-03-02 | 苏州新代数控设备有限公司 | Tool servo control system |
| CN110426071A (en) * | 2019-08-30 | 2019-11-08 | 新代科技(苏州)有限公司 | Rotary encoder precision estimating apparatus and the estimating and measuring method for applying it |
| CN112327750A (en) * | 2020-11-13 | 2021-02-05 | 珠海格力智能装备有限公司 | Tool magazine testing method and system, storage medium and processor |
-
2017
- 2017-11-07 CN CN201721467578.3U patent/CN207992792U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748537A (en) * | 2017-11-07 | 2018-03-02 | 苏州新代数控设备有限公司 | Tool servo control system |
| CN110426071A (en) * | 2019-08-30 | 2019-11-08 | 新代科技(苏州)有限公司 | Rotary encoder precision estimating apparatus and the estimating and measuring method for applying it |
| CN112327750A (en) * | 2020-11-13 | 2021-02-05 | 珠海格力智能装备有限公司 | Tool magazine testing method and system, storage medium and processor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215000 Chunhui Road, Suzhou Industrial Park, Jiangsu Province Patentee after: New Generation Science and Technology (Suzhou) Co., Ltd. Address before: 215021 No. 9 Chunhui Road, Suzhou Industrial Park, Jiangsu Province Patentee before: Suzhou Xindai Numerical Control Equipment Co., Ltd. |
|
| CP03 | Change of name, title or address |