CN212496659U - Automatic tool changing system - Google Patents
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- CN212496659U CN212496659U CN202021224736.4U CN202021224736U CN212496659U CN 212496659 U CN212496659 U CN 212496659U CN 202021224736 U CN202021224736 U CN 202021224736U CN 212496659 U CN212496659 U CN 212496659U
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- 238000012790 confirmation Methods 0.000 claims abstract description 49
- 230000009471 action Effects 0.000 claims abstract description 11
- 238000003860 storage Methods 0.000 claims abstract description 6
- 238000012806 monitoring device Methods 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 6
- 230000003578 releasing effect Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model discloses an automatic tool changing system, which comprises an automatic tool changing unit, a servo motor for driving the automatic tool changing unit, a servo driver and a controller, wherein the servo motor can feed back the rotation angle information of the servo motor to the servo driver; the controller comprises a motion planning unit for generating or editing parameter planning information and a storage unit for storing the parameter planning information, wherein the parameter planning information comprises different rotating speeds, upper and lower unclamping knife intervals and unclamping knife waiting signals corresponding to different intervals in a knife changing process, the controller respectively sends a request signal of unclamping knife action, receives a confirmation signal, is electrically coupled with the servo driver and receives angle information returned by the servo driver, and sends a control signal to the servo driver according to the parameter planning information. The utility model discloses can plan correspondingly every stage and go on with different rotational speeds at empty sword, loose sword and double-layered sword stage to can be at the interval with non-zero speed tool changing, improve tool changing efficiency of loose sword or double-layered sword.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of the tool changing system technique and specifically relates to an automatic tool changing system is related to.
[ background of the invention ]
At present, most of automatic tool changing mechanisms on the market, such as a tool arm type tool changing mechanism, use an I/O (input/output) control variable frequency motor, and are matched with a cam to drive a tool arm to rotate and load and unload tools; it is common for an I/O tool changer to coordinate five "I points" and two "O points" to complete the tool change. Three (or two) I points are arranged on the knife arm and used for detecting the position of the knife arm, the knife arm drives to rotate and change a knife by one O point, and a pause rotation signal is sent out by one braking I point signal at the positions of an original point, a knife releasing and clamping point and the like. However, the variable frequency motor of the movement mechanism can only rotate at a fixed speed or at high and low frequencies with little difference, so that the change of the rotating speed in more than three intervals cannot be achieved, and the tool changing speed cannot be optimized.
Recently, the application of using a servo motor to drive a tool arm (hereinafter referred to as a servo tool arm) has a tendency to be gradually improved, and the servo motor has functions of precise positioning, providing acceleration and deceleration planning, setting a rotation speed, and the like. However, in the currently known tool changing speed planning method, in order to ensure that the tool arm unit is not pulled due to the abnormality of the unclamping mechanism when the tool is unclamped, the speed of the tool changing arm driving unit needs to be reduced to zero first when the clamped tool is unclamped, and the tool changing arm driving unit returns to rotate after the unclamping tool is completed and performs subsequent actions, so that the tool changing efficiency needs to be improved.
[ Utility model ] content
A primary object of the present invention is to provide an automatic tool changing system, which uses servo driver, servo motor with encoder and tool loosening or clamping action monitoring device, and can plan each stage with different rotation speeds in the tool loosening stage, tool loosening stage and tool clamping stage, and can change the tool with non-zero speed between the tool loosening stage and the tool clamping stage, thereby improving the tool changing efficiency.
The utility model discloses a following technical scheme realizes above-mentioned purpose: an automatic tool changing system comprising: the automatic tool changing device comprises an automatic tool changing unit, a servo motor, a servo driver and a controller; the automatic tool changing unit receives a driving signal and returns to the original point by one turn from the original point to complete a tool changing stroke between the main shaft and the tool magazine, wherein the tool changing stroke is subject to the actions of tool loosening and tool clamping of the main shaft; the servo motor is electrically coupled with the automatic tool changing unit and rotates the automatic tool changing unit according to a driving signal, the servo motor is provided with an encoder, and the encoder can monitor the rotating angle of a rotating shaft of the servo motor in real time and report rotating angle information; a servo driver electrically coupled to the servo motor for receiving a control signal and sending the driving signal to the servo motor accordingly, wherein the servo driver can receive and transmit the rotation angle information; the controller comprises a motion planning unit for generating or editing parameter planning information, a storage unit for storing the parameter planning information, and an I/O unit for sending a first request signal or a second request signal for loosening and clamping the cutter, receiving a confirmation signal of the monitoring device, electrically coupling the controller with the servo driver, receiving the motor angle information returned by the servo driver, and sending a corresponding control signal to the servo driver according to the parameter planning information.
In one embodiment, the controller includes an abnormality alarm unit, and the abnormality alarm unit is used to send an alarm when the controller fails to receive the confirmation signal within a waiting time.
In one embodiment, the controller includes a monitor unit for displaying the parameter status of the automatic tool changer in real time.
Compared with the prior art, the utility model relates to an automatic tool changing system's beneficial effect lies in: the controller comprises a motion control curve plan, a pre-unclamping knife position and parameter contents of a unclamping knife interval. Besides adjusting the motion state of the automatic tool changing unit, the motion speed planning of the present solution can determine whether to switch the motion speed to zero or keep the speed to advance according to each signal or data. Besides the increase of the tool changing speed, the tool falling and hitting probability can be reduced, and the efficiency and the movement smoothness are considered. The automatic tool changing unit moving speed and the pre-loosening clamping knife position and the loosening clamping knife interval and other related parameters of the scheme can be automatically adjusted by the user according to the actual situation, and are not limited to the embodiment parameters of the utility model.
[ description of the drawings ]
FIG. 1 is a system diagram of an arm type automatic tool changing unit of an automatic tool changing mechanism;
FIG. 2 is a block diagram of a system schematic frame of an embodiment of the automatic tool changing system of the present invention;
FIG. 3 is a flow chart of a method for planning different rotation speeds in different zones according to a first embodiment of the automatic tool changing method of the present invention;
fig. 4 is a flow chart of a method for emergency stop of an automatic tool changing unit with an abnormal unclamping tool action according to a second embodiment of the automatic tool changing method of the present invention;
FIG. 5 is a flow chart of a method for releasing a clamped knife after stopping the automatic tool changer according to a third embodiment of the automatic tool changing method of the present invention;
FIG. 6 is a flow chart of the method for planning the positions of pre-unclamping and pre-clamping the tool in the automatic tool changing method of the present invention;
FIG. 7 is a schematic view of a local motion speed curve of each section of the automatic tool changing method of the present invention;
FIG. 8 is a schematic view of a local motion velocity curve for smooth acceleration/deceleration curve planning between speeds in the automatic tool changing method of the present invention;
fig. 9 is a schematic diagram of a motion speed curve and a local motion curve of a planned pre-unclamping position and a pre-clamping position performed between speeds in the automatic tool changing method of the present invention.
The figures in the drawings represent:
1 automatic tool changing system
11 automatic tool changing unit
111 monitoring device
1111 confirmation signal
12 servo motor
121 rotation signal
122 rotation angle information
123 encoder
13 Servo driver
131 drive signal
14 controller
141 control signal
142 movement planning unit
143 storage unit
1431 parameter planning information
144 abnormal alarm unit
145 monitor picture element
146I/O cell
1461 first request signal
1462 second request signal
151 first interval
152 second interval
153 third interval
154 fourth interval
161 first rotational speed
162 second rotational speed
163 third rotational speed
164 fourth speed of rotation
165 fifth rotational speed
171 first position
172 second position
A spindle
B tool magazine
T-shaped cutter
[ detailed description ] embodiments
Example (b):
referring to fig. 1-2, the present embodiment is an automatic tool changing system 1, which is suitable for a numerical processor, but not limited thereto, and includes an automatic tool changing system 1 disposed between a tool magazine B and a spindle a for exchanging tools T in various processing machines.
The automatic tool changer system 1 of the present embodiment includes an automatic tool changer 11, a servo motor 12 electrically coupled to the automatic tool changer 11, a servo driver 13 electrically coupled to the servo motor 12, and a controller 14 electrically coupled to the servo driver 13.
The automatic tool changer 11 receives a rotation signal 121 and returns to the original point from the original point by one turn to complete a tool changing stroke between the spindle a and the tool magazine B, the tool changing stroke is subject to the tool loosening and clamping actions of the spindle a, the automatic tool changer 11 comprises a monitoring device 111, the monitoring device 111 is used for checking the completion state of the tool loosening or clamping actions, and outputs a confirmation signal 1111 when the tool loosening or clamping actions are completed;
the servo motor 12 is electrically coupled to the automatic tool changer 11, and rotates the automatic tool changer 11 according to a driving signal 131, the servo motor 12 has an encoder 123, the encoder 123 can monitor a rotation angle of a rotating shaft of the servo motor 12 in real time, and report a rotation angle information 122;
the servo driver 13 is electrically coupled to the servo motor 12 for receiving a control signal 141 and sending the driving signal 131 to the servo motor 12 accordingly, and the servo driver 13 can receive and transmit the rotation angle information 122;
the controller 14 includes a motion planning unit 142 for generating or editing a parameter planning information 1431, a storage unit 143 for storing the parameter planning information 1431, the parameter planning information 1431 includes the idle, unclamp and unclamp corresponding different rotation speeds, unclamp upper and lower intervals, and unclamp waiting signals in the tool changing process, the controller 14 is electrically coupled to the automatic tool changer 11 by an I/O unit 146 to receive the confirmation signal 1111 indicating that the unclamping operation is completed, the I/O unit 146 can also issue a first request signal 1461 or a second request signal 1462 corresponding to the tool-releasing or tool-clamping actions, respectively, according to the parameter planning information 1431, the controller 14 is electrically coupled to the servo driver 13 for receiving the motor angle information 122 returned by the servo driver 13, and sends the corresponding control signal 141 to the servo driver 13 according to the parameter planning information 1431. It is particularly noted that the I/O unit 146 sends the first request signal 1461 or the second request signal 1462 to a cutter unclamping mechanism (as shown in the left lower side of fig. 2), and after receiving the first request signal 1461 or the second request signal 1462, the cutter unclamping mechanism performs a cutter unclamping operation on the tool T on the spindle a or a cutter clamping operation for clamping the tool T to the spindle a, and after completing the cutter unclamping operation or the cutter clamping operation, the monitoring device 111 can sense and output the corresponding confirmation signal 1111.
In this embodiment of the present invention, the controller 14 includes an abnormal alarm unit 144, and when the controller 14 cannot receive the confirmation signal 1111 within a waiting time, the abnormal alarm unit 144 is applied to issue an alarm.
In this embodiment of the present invention, the controller 14 includes a monitor unit 145 for displaying the parameter status of the automatic tool changer 11 in real time, such as the idle rotation speed, the unclamping rotation speed, the clamped rotation speed, the unclamping up and down interval, the clamped up and down interval, the unclamping position, and a waiting time for the confirmation signal.
Please refer to fig. 3, 7 and 8. The automatic tool changing method of this embodiment includes the following steps: the system is ready (step S11), and the automatic tool changing system 1 is provided; initializing (step S12), obtaining the parameter planning information 1431, where the parameter planning information 1431 includes dividing the tool changing stroke into a first interval 151, a second interval 152, a third interval 153, a fourth interval 154, a starting position and an ending position corresponding to each interval, and a first rotation speed 161, a second rotation speed 162, and a third rotation speed 163, in order, the first interval 151 is rotated from the origin of the automatic tool changing unit 11 to the starting position of the second interval 152, the fourth interval 154 is rotated from the ending position of the third interval 153 to the origin of the automatic tool changing unit 11, the first rotation speed 161 is greater than the second rotation speed 162 or the third rotation speed 163, the tool changing operation includes a tool releasing operation and a tool clamping operation, in the above embodiment, when the first tool changing operation is a tool releasing operation, the second tool changing operation is a tool clamping operation, when the first tool changing operation is a tool clamping operation, the second tool changing action is a tool releasing action. The controller 14 controls the automatic tool changer 11 to start at zero speed of origin and rapidly increase to the first rotation speed 161 and continue to the time point set by the first interval 151 (step S13); during the second interval 152, the automatic tool changer 11 moves at the second rotation speed 162, and the controller 14 sends a first request signal 1461 requesting a first tool changing operation in this interval and scans the confirmation signal 1111 indicating that the first tool changing operation is completed in this interval (step S14); after obtaining the confirmation signal 1111 of the first tool exchange operation, the automatic tool exchange unit 11 moves from the current position to the end position of the third interval 153 at the third rotation speed 163, and sends a second request signal 1462 requesting a second tool exchange operation in the third interval 153, and scans the confirmation signal 1111 of completing the second tool exchange operation (step S15); after obtaining the confirmation signal 1111 of the second tool exchange operation, the automatic tool exchange unit 11 rotates from the current position to the origin at the first rotation speed 161, and then decreases to zero speed at the origin (step S16).
Please refer to fig. 4. In this embodiment, after the automatic tool changer 11 rotates to the second zone 152, when the corresponding confirmation signal 1111 is not scanned, the automatic tool changer 11 is stopped to a first fixed point in the second zone 152, and then it is determined whether the confirmation signal 1111 is received within the waiting time; similarly, after the automatic tool changer 11 goes to the third interval 153, when the confirmation signal 1111 of the second tool changing operation is not scanned, the automatic tool changer 11 is stopped to a second fixed point, and then it is determined whether the confirmation signal 1111 is received within the waiting time.
In detail, in the embodiment of fig. 4 (please refer to fig. 2), the first section 151 starts from the origin, the end position of the fourth section 154 is the origin, and the second section 152 and the third section 153 are not necessarily connected in series, in the embodiment, the second section 152 is connected to the back of the first section 151, the third section 153 has an interval with the second section 152, and the fourth section 154 is connected to the third section 153, and the exemplary steps include: step S21: providing the automatic tool changing system 1; step S22: the automatic tool changing unit 11 starts to rapidly rise to a first interval 151 at the zero-speed original point at a first rotating speed 161; step S23: the automatic tool changer 11 moves in the second interval 152 at the second rotation speed 162, the controller 14 sends a first request signal 1461 requesting the first tool changing operation in the interval, and scans the confirmation signal 1111 sent by the monitoring device 111 after the first tool changing operation is completed in the interval; step S24: if the confirmation signal 1111 is obtained, the process proceeds to step S25, and if the confirmation signal 1111 cannot be obtained, the process proceeds to step S241: stopping the automatic tool changer 11 to a first fixed point in the second section 152, and then performing step S242: determining whether the acknowledgement signal 1111 is received within the waiting time, if yes, proceeding to step S25; step S25: the automatic tool changer 11 is operated from the current position to the end position of the third interval 153 at the third rotation speed 163, the controller 14 sends a second request signal 1462 requesting the second tool changing operation in this interval, and the confirmation signal 1111 sent by the monitoring device 111 after the second tool changing operation is completed is scanned in the third interval 153; in step S26: if the confirmation signal 1111 of the first tool exchange operation is obtained, the next step is performed, that is, step S27, and if the confirmation signal 1111 of the first tool exchange operation is not obtained, the step S261 is performed: the automatic tool changer 11 stops to a second fixed point in the third section 153, and then proceeds to step S262: determining whether the acknowledgement signal 1111 is received within the waiting time, if yes, proceeding to the next step S27; step S27: the automatic tool changer 11 rotates from the current position to the origin at a first rotation speed 161 and drops to zero speed at the origin.
As shown in fig. 5. In this embodiment, after the automatic tool changer 11 goes to the second zone 152, the controller 14 sends the first request signal 1461 and scans the confirmation signal 1111 of completing the first tool changing operation in this zone, before the controller 14 obtains the confirmation signal 1111 of completing the first tool changing operation, the automatic tool changer 11 is stopped to a third fixed point in the second zone 152, then the controller scans whether the confirmation signal 1111 is obtained, and after the confirmation signal is not obtained, it is continuously determined whether to receive the confirmation signal 1111 in situ until the waiting time is over; similarly, after the automatic tool changer 11 goes to the third interval 153, the controller 14 sends the second request signal 1462 in this interval and scans the confirmation signal 1111 of completing the second tool changing operation, so that the automatic tool changer 11 stops to a fourth fixed point, and then scans whether the confirmation signal 1111 of completing the second tool changing operation is obtained, and after the confirmation signal is not obtained, continuously determines whether to receive the confirmation signal 1111 until the waiting time is over.
In detail, in the embodiment of fig. 5, the first section 151 starts from the origin, the end position of the fourth section 154 is the origin, and the second section 152 and the third section 153 are not necessarily connected in series, but in the embodiment, the second section 152 is connected after the first section 151, the third section 153 has an interval with the second section 152, and the fourth section 154 is connected with the third section 153, and the exemplary steps include: step S31: providing the automatic tool changing system 1; step S32: the automatic tool changing unit 11 starts to rapidly rise to a first rotating speed 161 at the zero speed of the original point and moves in a first interval 151; step S33: the automatic tool changer 11 moves in the second interval 152 at the second rotation speed 162, the controller 14 sends the first request signal 1461 in this interval, and scans the confirmation signal 1111 of completing the first tool changing operation in this interval; step S34: the automatic tool changing unit 11 stops to the third fixed point of the second section 152; step S35: if the confirmation signal 1111 of the first tool exchange operation is obtained, the next step is performed, that is, step S36, and if the confirmation signal 1111 of the first tool exchange operation is not obtained, the step S351 is performed: determining whether the acknowledgement signal 1111 is received within the waiting time, if yes, proceeding to step S36; step S36: the automatic tool changer 11 is operated from the current position to the end position of the third interval 153 at the third rotation speed 163, the controller 14 sends the second request signal 1462 in the third interval 153, and scans the confirmation signal 1111 of completing the second tool changing operation in the third interval 153, and then proceeds to step S37: the automatic tool changing unit 11 stops to the fourth fixed point of the third section 153; continuation step S38: if the confirmation signal 1111 of the second tool exchange operation is obtained, the step S39 is performed, and if the confirmation signal 1111 of the second tool exchange operation is not obtained, the step S381: determining whether the acknowledgement signal 1111 is received within the waiting time, if yes, proceeding to step S39; in step S39, the automatic tool changer 11 rotates from the current position to the origin at the first rotation speed 161, and decreases to zero speed at the origin.
Please refer to fig. 6, and fig. 3 and 4. In the embodiment of fig. 6, the concept of pre-unclamping and pre-clamping is introduced to increase the success rate of unclamping and maintain the excellent tool changing efficiency, the parameter planning information 1431 further includes a first position 171, a second position 172, a fourth rotation speed 164, a fifth rotation speed 165, and a predetermined waiting time, and the first interval 151 starts from the origin, the second section 152 is adjacent to the first section 151, the third section 153 has a gap rather than a connection with the end position of the second section 152, the fourth zone 154 is located immediately after the third zone 153, the fourth zone 154 ends at the origin, the first position 171 is located before the automatic tool changer 11 enters the second section 152, the second position 172 is located before the automatic tool changing unit 11 enters the third section 153, and the automatic tool changing method of the present embodiment includes: step S41: providing an automatic tool changing system 1; step S42: the automatic tool changing unit 11 is started to quickly rise to a first rotating speed 161 at zero speed and moves to a first position 171 from the origin; step S43, when the automatic tool changer 11 rotates to the first position 171, the automatic tool changer 11 is operated at the fourth rotation speed 164, and the controller 14 outputs the first request signal 1461 and continues to the end position of the second interval 152; step 44: when the automatic tool changer 11 rotates to the second interval 152 and then operates at the second rotation speed 162, the controller 14 starts to scan the confirmation signal 1111 that the first tool changing operation is completed; step S45: if the confirmation signal 1111 is scanned, the process proceeds to step S46, and if the confirmation signal 1111 is not scanned, the process proceeds to step S451: reducing the actuating speed of the automatic tool changing unit 11 to zero within the first fixed point of the second interval 152 and starting a preset waiting time; step S452, continuing to perform the subsequent step S46 if the acknowledgement signal 111 is received within the waiting time; step S46: the automatic tool changer 11 is operated from the current position to the second position at the third rotation speed 163; step S47: after the automatic tool changer 11 rotates to the second position 172, the automatic tool changer 11 is operated at the fifth rotation speed 165, and the controller 14 outputs the second request signal 1462 and continues to the end position of the third interval 153; and step S48: when the automatic tool changer 11 moves to the third zone 153, the controller 14 starts scanning the confirmation signal 1111 of completing the second tool changing operation, step S49: when the controller 14 obtains the confirmation signal 1111 of completing the second tool exchange operation, step S50 is performed, otherwise step S491 is performed: if the confirmation signal 1111 is not scanned, the automatic tool changer 11 will reduce the operating speed to zero at the second point of the third interval 153 and start a predetermined waiting time; step S492 is then performed: the controller 14 continues to perform the following step S50 when receiving the confirmation signal 1111 indicating that the second tool changing operation is completed within the waiting time; step S50: rotates from the current position of the automatic tool changer 11 to the origin at a first rotation speed 161, and decreases to zero speed at the origin.
Referring to fig. 7 and 8, the vertical coordinate in the figure is the rotation speed of the automatic tool changer 11, and the horizontal coordinate is the time elapsed, as shown in fig. 7. In the above embodiments of the present invention, in order to make the entire tool changing more stable, the automatic tool changing unit 11 is programmed with a smooth acceleration/deceleration curve, such as linear, exponential, bell, S-shaped or other acceleration/deceleration curves, between the transition from zero speed to the first rotation speed 161, the transition from the first rotation speed 161 to the second rotation speed 162, the transition from the second rotation speed 162 to the third rotation speed 163, and the transition from the third rotation speed 163 to the first rotation speed 161, and the actuation speed from the first rotation speed 161 to zero speed, so as to smoothly perform the tool changing operation (the effect is shown as the partial speed curve diagram in fig. 8).
In the above embodiment, when the first tool changing operation is a tool releasing operation, the second tool changing operation is a tool clamping operation, the first rotation speed 161 corresponds to a tool empty stage, the second rotation speed 162 corresponds to a tool releasing stage, and the third rotation speed 163 corresponds to a tool clamping stage, and the first rotation speed 161 is greater than the third rotation speed 163, the third rotation speed 163 is greater than the second rotation speed 162, and the second rotation speed 162 is greater than zero.
As shown in fig. 9, the vertical coordinate in the figure is the rotational speed of the automatic tool changer unit 11, and the horizontal coordinate is the elapsed time thereof. In this embodiment, the first interval 151 starts from the origin, and the automatic tool changer 11 rapidly increases from the zero speed of the origin to the planned first rotation speed 161 in the first interval 151, the automatic tool changer 11 operates at the second rotation speed 162 in the second interval 152 according to the plan, the automatic tool changer 11 operates at the third rotation speed 163 according to the plan in the third interval 153, and the automatic tool changer 11 operates at the first rotation speed 161 according to the plan in the fourth interval 154; when the automatic tool changer 11 reaches the first position 171, the controller 14 controls the actuating speed of the automatic tool changer 11 at a fourth rotation speed 164, and enters the second interval 152 at the fourth rotation speed 164; when the automatic tool changer 11 in the second section 152 reaches the second position 172, the controller 14 controls the operating speed of the automatic tool changer 11 to be the fifth rotation speed 165, and enters the third section 153 at the fifth rotation speed 165.
The fourth rotation speed 164 planned at the first position 171 is in principle close to the second rotation speed 162, and may even be the same as the second rotation speed 162, and the fifth rotation speed 165 planned at the second position 172 is in principle close to the third rotation speed 163, and may even be the same as the third rotation speed 163, so that the rotation speed of the automatic tool changer 11 is reduced or increased to a speed suitable for unclamping the tool before the unclamping interval, and the rotation speed of the automatic tool changer 11 is prevented from being suddenly reduced or increased before the unclamping interval, thereby improving the stability of the unclamping operation of tool changing and preventing the tool from falling or colliding.
It is worth mentioning that it is shown in fig. 4, 5 and 6. In the automatic tool changing method of the above embodiments, an abnormal alarm step (step S28, step S382, step 493) is further included, and the controller 14 sends an alarm and/or terminates the subsequent tool changing operation after the confirmation signal 1111 is not received within the waiting time.
Furthermore, the parameter planning information 1431 of the present invention is obtained from a storage unit 143, such as a database, which is disposed in the controller 14.
Additionally, the parameter planning information 1431 of the present invention may be input and edited by the user using the motion planning unit 142.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (3)
1. An automatic tool changing system is characterized in that: which comprises
An automatic tool changing unit, receive a rotation signal and turn to the original point from the original point and finish a tool changing journey between a basic shaft and tool magazine once, the tool changing journey is through the tool changing movements of the unclamping and clamping the knife of the basic shaft, the automatic tool changing unit includes a monitoring device, the monitoring device is used for checking the completion state of the unclamping or clamping the knife, and output a confirmation signal when finishing unclamping or clamping the knife;
a servo motor, electrically coupled to the automatic tool changing unit, for rotating the automatic tool changing unit according to a driving signal, wherein the servo motor has an encoder, and the encoder can monitor a rotation angle information of a rotation shaft of the servo motor in real time and report the rotation angle information;
a servo driver electrically coupled to the servo motor for receiving a control signal and sending the driving signal to the servo motor accordingly, wherein the servo driver can receive and transmit the rotation angle information; and
a controller, including a motion planning unit for generating or editing a parameter planning information, a storage unit for storing the parameter planning information, the parameter planning information including different rotation speeds corresponding to different sections of the empty cutter, the loose cutter and the clamped cutter in the cutter changing stroke, upper and lower sections of the loose cutter, and a waiting signal of the loose cutter, the controller being electrically coupled to the servo driver for receiving the motor angle information returned by the servo driver and sending the corresponding control signal to the servo driver according to the parameter planning information, the controller further including an I/O unit, the controller sending a first request signal or a second request signal corresponding to the action of the loose cutter and receiving the confirmation signal sent by the monitoring device according to the parameter planning information by the I/O unit.
2. The automatic tool changing system of claim 1, wherein: the controller includes an abnormal alarm unit, which is used to send out an alarm when the controller can not receive the confirmation signal within a waiting time.
3. The automatic tool changing system of claim 2, wherein: the controller comprises a monitoring picture unit for displaying the parameter state of the automatic tool changing unit in real time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW108210120 | 2019-08-01 | ||
| TW108210120U TWM590082U (en) | 2019-08-01 | 2019-08-01 | An automatic tool change system |
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| Publication Number | Publication Date |
|---|---|
| CN212496659U true CN212496659U (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021224736.4U Active CN212496659U (en) | 2019-08-01 | 2020-06-29 | Automatic tool changing system |
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| CN (1) | CN212496659U (en) |
| TW (1) | TWM590082U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388364A (en) * | 2019-08-01 | 2021-02-23 | 新代科技股份有限公司 | Automatic tool changing system and automatic tool changing method |
-
2019
- 2019-08-01 TW TW108210120U patent/TWM590082U/en unknown
-
2020
- 2020-06-29 CN CN202021224736.4U patent/CN212496659U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388364A (en) * | 2019-08-01 | 2021-02-23 | 新代科技股份有限公司 | Automatic tool changing system and automatic tool changing method |
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| Publication number | Publication date |
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| TWM590082U (en) | 2020-02-01 |
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