JP2022113028A - Control system and control method for disc type tool magazine - Google Patents

Abstract

To provide a control system and a control method for a disk type cutter magazine which generates a corresponding signal if a transmission error exceeds an allowable error range.SOLUTION: A control system for a disc type cutter magazine includes a servo motor, a first encoder, a speed reducer, a transmission mechanism, a second encoder, and a servo driver. The first encoder is arranged on the servomotor, the speed reducer is arranged between the servomotor and the transmission mechanism, and the second encoder is arranged on the transmission mechanism. A control method of the control system includes the steps of: by the servo driver, receiving a rotational signal and controlling the servo motor based on the rotational signal; by the servo driver, receiving a first pulse signal of the first encoder and a second pulse signal of the second encoder, and transmitting the signals when the number of pulses of the first pulse signal reaches an upper limit pulse number. and when the number of pulses of the second pulse signal does not reach the predetermined number of pulses, i. e., when transmission errors exceed an allowable error range.SELECTED DRAWING: Figure 2

Description

The present invention relates to a disk-type blade magazine, and more particularly to a control system and control method for a disk-type blade magazine.

Referring to FIG. 1, a known automatic blade changing mechanism for a machine tool includes a disk-type blade magazine 1, a servomotor 2, a speed reducer 3, a transmission mechanism 4, an encoder 5, and a servo driver 6. . The disk-type knife magazine 1 includes a rotary disc 1a and a plurality of cases 1b, and the cases 1b accommodate different knives. An output shaft of the servomotor 2 is connected to the speed reducer 3 . The speed reducer 3 includes multiple gears with different gear ratios. The transmission mechanism 4 includes a small gear 4a and a large gear 4b. The encoder 5 is arranged on the servomotor 2 to detect whether the rotation speed and rotation angle of the rotor of the servomotor 2 are accurate and reliable, and output a corresponding pulse signal. It is used for being sent back to the servo driver 6 as a result. The servo driver 6 sends a control command to drive or brake the servo motor 2 . The servo motor 2 rotates the disk-type knife magazine 1 through the speed reducer 3 and the transmission mechanism 4 to achieve the purpose of selecting a knife.

The mechanism described above can complete the operation of selecting a blade, and by moving a given case to the blade changing position, the blade changing arm can take out or attach a blade to the blade changing position. However, the gears of the reduction gear 3 and the transmission mechanism 4 are prone to backlash after long-term use. This small clearance causes a transmission error and affects the rotational position of the disc-type knife magazine 1 . In addition, the disc-type knife magazine 1 may have an inaccurate rotation due to an influence on the rotational position due to an overload. In any of the above situations, the automatic blade changing mechanism malfunctions. However, the conventional automatic blade changing mechanism cannot detect from the pulse signal of the encoder 5 that the specific case 1b does not move to the blade changing position, and the blade changing arm cannot take out or attach the blade to the blade changing position. Send an alert only if Therefore, the known techniques mentioned above are not perfect and need to be improved.

In view of this, it is an object of the present invention to provide a control system and control method for a disk-type knife magazine that generates a corresponding signal when the transmission error exceeds the allowable error range.

In order to achieve the above object, a disk-type blade magazine control system comprising a rotating disk and a plurality of cases arranged on the rotating disk according to the present invention includes: a servomotor having an output shaft; a first encoder; A reduction gear, a transmission mechanism, a second encoder, and a servo driver are provided. The first encoder is arranged on the servo motor and outputs a first pulse signal according to rotation of the output shaft. , the speed reducer has an input end and an output end connected to the output shaft, the transmission mechanism includes a first gear member and a second gear member arranged in mesh with each other, A first gear member is connected to the output end, and a second gear member is connected to the rotating disk, and the first gear member is driven by the output end to rotate, thereby rotating the second gear member. The rotary disk is rotated by rotating a gear member, and the second encoder is arranged on either one of the first gear member and the second gear member, The servo driver outputs a second pulse signal according to the rotation of one of the first gear member and the second gear member, and the servo driver sends the servo motor, the first encoder, and the second encoder. It is electrically connected and arranged to control rotation or de-rotation of said servomotor.

When the number of the plurality of cases is N, and the output shaft rotates once, the first pulse signal output by the first encoder has a first predetermined number of pulses K1, and the output of the second encoder is A second encoder output by the second encoder when the first arranged gear member rotates once or when the second gear member arranged with the second encoder rotates 1/N. The pulse signal has a second predetermined number of pulses K2, and the speed reduction ratio of the speed reducer is M:1.

When the number of pulses of the first pulse signal received from the first encoder reaches K1*M+E (where E is the number of error pulses), the number of pulses of the second pulse signal received from the second encoder is less than K2. The servo driver is arranged to transmit a signal when a first condition is met.

In a control system for a disc-type blade magazine comprising a rotary disc and a plurality of cases arranged on the rotary disc according to the present invention, a servomotor having an output shaft, a first encoder, a speed reducer, and a transmission mechanism , a second encoder, and a servo driver, wherein the first encoder is arranged on the servo motor and outputs a first pulse signal according to rotation of the output shaft; The transmission mechanism has an input end and an output end connected to the output shaft, the transmission mechanism is disposed between the output end and the rotating disk, and the second encoder is disposed on the transmission mechanism. , a second pulse signal is output according to rotation of the transmission mechanism, the servo driver is electrically connected to the servo motor, the first encoder and the second encoder, the servo driver receiving a rotation signal and controlling the servomotor based on the rotation signal to rotate the output shaft and to rotate the rotation board via the speed reducer and the transmission mechanism; The servo driver receives the first pulse signal and the second pulse signal, the number of pulses of the first pulse signal reaches an upper limit number of pulses, and the number of pulses of the second pulse signal reaches a predetermined number of pulses. The servo driver sends a signal when the number of pulses is not reached.

In a further control method for a disk-type cutter magazine control system of the present invention, the disk-type cutter magazine control system includes a servomotor having an output shaft, a first encoder, a speed reducer, a transmission mechanism, and a second motor. An encoder and a servo driver are provided, wherein the first encoder outputs a first pulse signal according to rotation of the output shaft, and the speed reducer connects an input end and an output end connected to the output shaft. wherein the transmission mechanism includes a first gear member and a second gear member arranged in mesh with each other, the first gear member being connected to the output end and the second gear member is connected to the rotating disk, and the first gear member, when driven by the output end to rotate, is arranged to rotate the second gear member, thereby rotating the rotating disk. The second encoder outputs a second pulse signal in response to rotation of either the first gear member or the second gear member, the servo driver outputs the servo motor, electrically connected to the first encoder and the second encoder, wherein the number of the plurality of cases is N, and a first pulse output by the first encoder when the output shaft rotates once; When the signal has a first predetermined number of pulses K1 and said first gear member corresponding to said second encoder has made one turn, or said second gear member corresponding to said second encoder has one turn. N turns, the second pulse signal output by the second encoder has a second predetermined pulse number K2, the speed reduction ratio of the speed reducer is M:1, and the control method is the servo driver. and includes the following steps:

Step A: Receive a rotation signal.

Step B: controlling the servo motor to rotate the output shaft and receiving the first pulse signal and the second pulse signal;

Step C: counting the number of pulses of the first pulse signal and the number of pulses of the second pulse signal.

Step D: When the number of pulses of the first pulse signal reaches K1*M+E (where E is the number of error pulses) and the number of pulses of the second pulse signal is less than K2, a first condition is met, the signal to send.

According to the present invention, the pulse signals of the first encoder and the second encoder cause the servo driver to send a signal for subsequent processing if the transmission error exceeds the allowable error range.

FIG. 2 is a schematic diagram showing an automatic change mechanism for blades of a known machine tool; 1 is a schematic diagram showing a control system according to a first preferred embodiment of the present invention; FIG. FIG. 3 is a schematic diagram showing the connection between the control system and the disc-type blade magazine according to the first preferred embodiment of the present invention; 1 is a schematic diagram showing a disc-type knife magazine according to a first preferred embodiment of the present invention; FIG. 3 is a flow chart of a control method of the control system according to the first preferred embodiment of the present invention; Fig. 4 is a schematic diagram showing a control system according to a second preferred embodiment of the present invention; FIG. 5 is a schematic diagram showing a control system according to a third preferred embodiment of the present invention; FIG. 10 is a schematic diagram showing the connection between the control system and the disk-type blade magazine according to the fourth preferred embodiment of the present invention;

In order to explain the invention more clearly, preferred embodiments are described in detail below with reference to the drawings. Referring to FIG. 2, the control system according to the first preferred embodiment of the present invention controls a disc-type knife magazine 1 shown in FIGS. A plurality of cases 1b are included, and the plurality of cases 1b are arranged on the rotating board 1a and rotate according to the rotation of the rotating board 1a.

The control system 100 comprises a servomotor 10 , a first encoder 12 , a speed reducer 14 , a transmission mechanism 16 , a second encoder 18 and a servo driver 20 .

The servomotor 10 has an output shaft 102 and is controlled to rotate the output shaft 102 . The first encoder 12 is arranged on the servomotor 10 and rotates as the output shaft 102 rotates. The first encoder 12 outputs a first pulse signal according to rotation of the output shaft 102 . When the output shaft 1021 rotates once, the first pulse signal output by the first encoder 12 has a predetermined pulse number K1 (hereinafter defined as a first predetermined pulse number K1 and explained).

The speed reducer 14 has an input end 142 and an output end 144 connected to the output shaft 102 . The speed reduction ratio of the speed reducer 14 is M:1, that is, when the output shaft 102 of the servomotor 10 drives the input end 142 M turns, the output end 144 turns once. Although M is 10 in this embodiment, it is not limited to this. The speed reducer 14 includes multiple gears with different gear ratios for speed reduction. The speed reducer 14 is, for example, but not limited to, a planetary gear speed reducer or a worm gear speed reducer.

The transmission mechanism 16 is connected between the output end 144 and the rotary disc 1a of the disk-type knife magazine 1. As shown in FIG. In this embodiment, the transmission mechanism 16 includes a first gear member 162 and a second gear member 164 which are arranged to mesh with each other, the first gear member 162 being the output end of the speed reducer 14 . 144, the second gear member 164 is connected to the rotary disc 1a, and the second gear member 164 rotates and the rotary disc 1a rotates. When the first gear member 162 is driven by the output end 144 of the speed reducer to rotate, it rotates the second gear member 164, thereby rotating the rotating disk 1a. One rotation of the second gear member 164 corresponds to one rotation of the rotating disk 1a of the disk-type blade magazine 1. As shown in FIG. In this embodiment, the first gear member 162 is a worm, the second gear member 164 is a worm gear, one end of the worm is connected to the output end 144 of the speed reducer 14, and the body of the worm is It meshes with the outer circumference of the worm gear, and the gear body of the worm gear is connected to the rotating disk 1a. Under normal conditions (i.e., the first gear member 162 is in close contact with the second tooth 164 and drives the second gear member 164 to rotate), the first gear member 162 rotates once. Then, the second gear member 164 is driven to rotate 1/N (N is the number of blade magazines). In this embodiment, N is 10, but it is not limited to this. When the first gear member 162 rotates once or when the second gear member 164 rotates 1/N, the disk-type cutter magazine 1 rotates 1/N accordingly (that is, switch one blade position). To switch the blade position means to make a specific case 1b correspond to one blade replacement position.

The second encoder 18 is arranged on the transmission mechanism 16 and outputs a second pulse signal according to the rotation of the transmission mechanism 16 . The second encoder 18 is arranged on either one of the first gear member 162 and the second gear member, and is arranged on either one of the first gear member 16 or the second gear member 164. The second pulse signal is output according to the rotation. In this embodiment, the second encoder 18 is arranged at the second gear member 164, more specifically, at the center of rotation of the second gear member 164 (that is, the center of rotation of the gear body of the worm gear). be done. The second encoder 18 corresponds to rotation of the second gear member 164 . When the second gear member 164 rotates 1/N, the second pulse signal output by the second encoder 18 has a predetermined pulse number (hereinafter defined as a second predetermined pulse number K2). .

The servo driver 20 is electrically connected to the servo motor 10, the first encoder 12, and the second encoder 18, and controls rotation or stoppage of rotation of the servo motor 10. FIG. In this embodiment, the servo driver 20 is connected to a control device 22 , the control device 22 is, for example, Programmable Logic Controllers, and the control device 22 provides the servo driver 20 with control Send a signal. The servo driver 20 controls rotation or stop of rotation of the servo motor 10 based on a control signal. When the control signal output by the control device 22 is a rotation signal, the servo driver 20 controls the servo motor 10 to rotate the output shaft 102 . In this embodiment, the rotation signal corresponds to the rotation of the rotating disc of the disk-type knife magazine 1 by at least 1/N along the first predetermined rotating direction or the second predetermined rotating direction. do. The first rotating direction and the second rotating direction are opposite to each other. That is, at least one blade position of the disk-type blade magazine 1 is switched, but the present invention is not limited to this. According to the rotation signal, the rotating disc of the disc-type knife magazine 1 may be rotated by 2/N or more, that is, two or more knife positions are switched.

The control method of this embodiment can be executed by the control system 100 described above. The control method is executed by the servo driver 20 and includes the following steps shown in FIG.

The servo driver 20 receives a rotation signal. For example, the rotation signal corresponds to 1/N rotation of the rotating disk 1a of the disk-type cutter magazine 1 so as to switch one cutter position.

The servo driver 20 controls the servo motor 10 to rotate the output shaft 102 based on the rotation signal, and the first pulse signal of the first encoder 12 and the second pulse signal of the second encoder 18 are receive a signal.

The servo driver 20 keeps counting the number of pulses of the first pulse signal and the second pulse signal of the second encoder.

The servo driver 20 transmits a signal when a first condition is satisfied that the number of pulses of the first pulse signal reaches the upper limit number of pulses and is smaller than the number of pulses K2 of the second pulse signal. For use in determination, the upper limit number of pulses and the second predetermined number of pulses are stored in the memory unit of the servo driver 20 . In this embodiment, the upper limit number of pulses is K1×M+E, where E is the number of error pulses. In this embodiment, E=K1×0.1. In other words, let 10% of the first predetermined pulse number be the allowable error pulse number. In other embodiments, 5% to 15% of the first predetermined number of pulses may be the allowable number of pulses, ie E may be K1×0.05 to K1×0.15.

In other words, in the normal state, when one blade position is switched, the output shaft 102 of the servomotor 10 rotates M, and the first gear member 162 rotates once through the speed reducer 14, The second gear member 164 is rotated 1/N. The above-mentioned first condition means that even if the output shaft 102 rotates M and the error is 0.1 rotation, the second gear member 164 does not rotate to 1/N. It means that the transmission error between the shaft 102 and the second gear member 164 has exceeded the allowable error range. In this case, the servo driver 20 transmits the signal. In this embodiment, the signals may include warning signals and/or stop signals. The servo driver 20 sends a warning signal to the controller 22 to alert the controller 22 . In other embodiments, the servo driver 20 may directly or via the controller 22 send the warning signal to a warning unit. A warning unit may be, for example, a display, a warning lamp, a sound unit, or the like.

The servo driver 20 transmits a stop signal to the servo motor 10 in order to stop the rotation of the servo motor 10 . This allows maintenance personnel to make subsequent modifications.

Before the first condition is not met, the servo driver 20 outputs the output The servomotor 10 is controlled to keep the shaft 102 rotating. That is, when M rotations + 0.1 rotations as an error are not reached, the transmission error is within the allowable error range, and the servo driver 20 allows the servo motor 10 to continue rotating. When the number of pulses of the second pulse signal output by the second encoder 18 is equal to K2, it means that the second gear member 164 has rotated 1/N, i.e., one blade position is switched. The servo driver 20 controls the servo motor 10 so as to stop the rotation of the output shaft 102 .

According to the above-described embodiment, the servo driver 20 continues to switch the blade positions of the disk-type blade magazine 1 within the allowable error range. to send.

FIG. 6 shows a control system 200 according to a second preferred embodiment of the invention. Although it has almost the same structure as the control system of the first embodiment, the differences between them are as follows. In this embodiment, the second encoder 24 is located on the first gear member 162, ie, on the other end of the worm gear, said other end facing the output end of the speed reducer. The second encoder 24 outputs a second pulse signal according to rotation of the first gear member 162 . When the first gear member 162 rotates once, the second pulse signal output by the second encoder 24 has a second predetermined number of pulses K2.

The control method of this embodiment and the control method of the first embodiment are substantially the same. Similarly, the servo driver 20 satisfies the first condition that the number of pulses of the first pulse signal reaches the upper limit number of pulses and the number of pulses of the second pulse signal is smaller than the second predetermined number of pulses K2. Sends a signal when met. The first condition means that even if the output shaft 102 rotates by M and the error is 0.1 rotation, the first gear member 162 does not rotate more than once. This means that the transmission error with the first gear member 162 has exceeded the allowable error range. In this case, the servo driver 20 transmits the signal.

A control system 300 according to the third preferred embodiment of the present invention shown in FIG. including.

The second encoder 18 is arranged on either one of the first gear member 162 and the second gear member 164, and the third encoder 26 is arranged on the first gear member 162 and the second gear member. It is located on either one of the members 164 . In this embodiment, the arrangement position and action of the third encoder 26 and the second encoder 24 of the second embodiment are the same. The third encoder 26 outputs a third pulse signal according to rotation of the first gear member 162 . When the first gear member 162 rotates once, the third pulse signal output by the third encoder 26 has a predetermined pulse number (hereinafter defined as a third predetermined pulse number K3).

The control method of this embodiment is based on the control method of the first embodiment and further includes the following steps.

The servo driver 20 receives the third pulse signal and counts the number of pulses of the third pulse signal.

When the second condition that the pulse number of the first pulse signal is larger than K1*M+E and the pulse number of the second pulse signal received from the third encoder is smaller than K3, the servo driver 20 outputs another signal. to send.

The second condition means that even if the output shaft 102 rotates M and the error is 0.1 rotation, the first gear member 162 does not rotate more than once. This means that the transmission error with the first gear member 162 has exceeded the allowable error range. In this case, the servo driver 20 transmits the other signal.

Said another signal may comprise a warning signal and/or a stop signal.

A warning signal is sent to the controller 22 to alert the controller 22 . In other embodiments, the servo driver 20 may directly or via the controller 22 send the warning signal to a warning unit. The stop signal is sent to the servomotor 10 in order to control the rotation of the servomotor 10 to stop, so that subsequent corrections can be made by maintenance personnel.

According to the control system 300 and the control method of the present embodiment, when the transmission error between the output shaft 102 and the second gear member 164 exceeds the allowable error range (first condition), If the signal is sent or if the transmission error between the output shaft 102 and the first gear member 162 exceeds the allowable error range (second condition), the other signal is sent.

FIG. 8 shows a control system 400 according to a fourth preferred embodiment of the invention. It has roughly the same structure as the control system of the first embodiment, but the differences between them are as follows. The first gear member 282 of the transmission mechanism 28 of this embodiment is a small gear, and the second gear member 284 is a large gear. Similarly, when the first gear member 282 rotates once, it drives the second gear member 284 to rotate 1/N. Since the control method of this embodiment and the control method of the first embodiment are the same, the description will not be repeated here. Further, the transmission mechanism 28 of this embodiment can also be applied to the second embodiment and the third embodiment.

The above are only preferred embodiments of the present invention, and all equivalent changes in the specification and claims of the present invention should be included within the scope of the claims of the present invention.

1: Disk-type blade magazine 1a: Rotating plate 1b: Case 100: Control system 10: Servo motor 102: Output shaft 12: First encoder 14: Reducer 142: Input end 144: Output end 16: Transmission mechanism 162: Second 1 gear member 164: second gear member 18: second encoder 20: servo driver 22: control device 200: control system 24: second encoder 300: control system 26: third encoder 400: control system 28 transmission mechanism 282 first gear member 284 second gear member

When the second condition that the number of pulses of the first pulse signal is greater than K1*M+E and the number of pulses of the third pulse signal received from the third encoder is less than K3, the servo driver 20 outputs another signal. to send.

Claims (26)

A disk-type blade magazine control system comprising a rotating disk and a plurality of cases arranged on the rotating disk,
A servo motor having an output shaft, a first encoder, a speed reducer, a transmission mechanism, a second encoder, and a servo driver,
The first encoder is arranged on the servomotor and outputs a first pulse signal according to rotation of the output shaft,
The speed reducer has an input end and an output end connected to the output shaft,
The transmission mechanism includes a first gear member and a second gear member arranged in mesh with each other, the first gear member being connected to the output end, and the second gear member being connected to the rotating gear member. The first gear member is coupled to a rotating disk and is arranged to rotate when driven by the output end to rotate the second gear member, thereby rotating the rotating disk. ,
The second encoder is disposed on either one of the first gear member and the second gear member, and rotates according to rotation of the one of the first gear member and the second gear member. to output the second pulse signal,
The servo driver is electrically connected to the servo motor, the first encoder, and the second encoder, and is arranged to control rotation or stop rotation of the servo motor,
When the number of the plurality of cases is N, and the output shaft rotates once, the first pulse signal output by the first encoder has a first predetermined number of pulses K1, and the output of the second encoder is A second encoder output by the second encoder when the first arranged gear member rotates once or when the second gear member arranged with the second encoder rotates 1/N. the pulse signal has a second predetermined number of pulses K2, the speed reduction ratio of the speed reducer is M:1,
When the number of pulses of the first pulse signal received from the first encoder reaches K1*M+E (where E is the number of error pulses), the number of pulses of the second pulse signal received from the second encoder is less than K2. A control system for a disk-type blade magazine, wherein the servo driver is arranged to transmit a signal when a first condition is met. 2. The disc-type blade magazine control system according to claim 1, wherein the signal is sent to the servomotor to control the rotation of the servomotor to stop. the first gear member is a worm and the second gear member is a worm gear;
One end of the worm is connected to the output end of the speed reducer, the worm gear is connected to the rotating disc, and the second encoder is arranged at the other end of the worm or at the rotation center of the worm gear. 2. A control system for a disk-type blade magazine according to 1. further comprising a third encoder;
The third encoder is arranged on the other of the first gear member and the second gear member, is electrically connected to the servo driver, and is arranged in the first encoder where the third encoder is arranged. outputting a third pulse signal according to the rotation of the gear member or the second gear member;
When the first gear member, on which the third encoder is arranged, makes one turn, or when the second gear member, on which the third encoder is arranged, makes a 1/N turn, by the third encoder: The output third pulse signal has a third predetermined number of pulses K3,
If the second condition that the number of pulses in the first pulse signal received from the first encoder is greater than K1*M+E and the number of pulses in the second pulse signal received from the third encoder is less than K3 is satisfied, 2. The control system for a disk-type blade magazine according to claim 1, wherein the servo driver is arranged to send another signal. 5. The control system for a disc-type blade magazine according to claim 4, wherein said another signal is sent to said servomotor in order to control said servomotor to stop rotating. 5. The disk-type cutter magazine control system according to claim 4, wherein the second encoder is arranged on the second gear member, and the third encoder is arranged on the first gear member. The first gear member is a worm, the second gear member is a worm gear, one end of the worm is connected to the output end of the speed reducer, and the body of the worm meshes with the outer circumference of the worm gear. and the gear body of the worm gear is connected to the rotating disk,
6. The disk-type cutter magazine control system according to claim 5, wherein the second encoder is arranged at the rotation center of the gear body of the worm gear, and the third encoder is arranged at the other end of the worm. said second encoder disposed on said second gear member;
2. The servo driver according to claim 1, wherein when the number of pulses of the first pulse signal received from the first encoder is smaller than K1*M+E, the servo driver controls the servo motor to keep rotating the output shaft. A control system for disk-type blade magazines. When the number of pulses of the first pulse signal received from the first encoder is less than K1*M+E and the number of pulses of the second pulse signal output from the second encoder is equal to K2, the servo driver outputs the 9. The control system for a disk-type blade magazine according to claim 8, wherein said servomotor is controlled so as to stop rotation of the shaft. 2. A control system for a disk-type blade magazine according to claim 1, wherein said error pulse number E is K1×0.05 to K1×0.15. A disk-type blade magazine control system comprising a rotating disk and a plurality of cases arranged on the rotating disk,
A servo motor having an output shaft, a first encoder, a speed reducer, a transmission mechanism, a second encoder, and a servo driver,
The first encoder is arranged on the servomotor and outputs a first pulse signal according to rotation of the output shaft,
The speed reducer has an input end and an output end connected to the output shaft,
The transmission mechanism is arranged between the output end and the rotating disk,
The second encoder is arranged in the transmission mechanism and outputs a second pulse signal according to rotation of the transmission mechanism,
The servo driver is electrically connected to the servo motor, the first encoder, and the second encoder, the servo driver receiving a rotation signal and controlling the servo motor based on the rotation signal. The servo driver controls to rotate the output shaft and rotates the rotating disk via the speed reducer and the transmission mechanism, and the servo driver outputs the first pulse signal and the second pulse. A disk-type cutter for receiving a signal, wherein the servo driver transmits a signal when the number of pulses of the first pulse signal reaches an upper limit number of pulses and the number of pulses of the second pulse signal does not reach a predetermined number of pulses. Magazine control system. 12. The control system for a disc-type blade magazine according to claim 11, wherein the signal is sent to the servomotor to control the rotation of the servomotor to stop. The transmission mechanism includes a first gear member and a second gear member meshing with each other, the first gear member being connected to the output end and the second gear member being connected to the rotating disk. and is arranged so that when the first gear member is driven by the output end to rotate, it rotates the second gear member to rotate the rotating disk,
12. The disk-type cutter magazine control system according to claim 11, wherein the second encoder is arranged on either one of the first gear member and the second gear member. The first gear member is a worm, the second gear member is a worm gear, one end of the worm is connected to the output end of the speed reducer, the worm gear is connected to the rotating disc, and the second gear member is a worm. 14. The control system for a disc-type blade magazine according to claim 13, wherein two encoders are arranged at the other end of the worm or at the rotation center of the worm gear. further comprising a third encoder;
The third encoder is arranged on the first gear member and electrically connected to the servo driver, outputs a third pulse signal according to rotation of the first gear member, and outputs the second encoder. The encoder is disposed on the second gear member, the servo driver receives the third pulse signal, the number of pulses of the first pulse signal reaches the upper limit number of pulses, and the number of pulses of the second pulse signal 14. The control system of disk-type blade magazine according to claim 13, wherein the servo driver sends another signal when the number does not reach another predetermined number of pulses. 16. The disk-type blade magazine control system according to claim 15, wherein the another signal is sent to the servomotor to control the rotation of the servomotor to stop. The first gear member is a worm, the second gear member is a worm gear, one end of the worm is connected to the output end of the speed reducer, and the body of the worm meshes with the outer circumference of the worm gear. and the gear body of the worm gear is connected to the rotating disk,
16. The disk-type cutter magazine control system according to claim 15, wherein the second encoder is arranged at the rotation center of the gear body of the worm gear, and the third encoder is arranged at the other end of the worm. The second encoder is disposed on the second gear member, and the servo driver receives a number of pulses of the first pulse signal that is less than the upper limit number of pulses, and a number of pulses of the second pulse signal that is the 14. The control system for a disc-type blade magazine according to claim 13, wherein said servomotor is controlled so as to keep rotating said output shaft when a predetermined number of pulses is not reached. The servo driver stops rotation of the output shaft when the number of pulses of the received first pulse signal is smaller than the upper limit number of pulses and the number of pulses of the second pulse signal reaches the predetermined number of pulses. 19. The control system for a disk-type blade magazine according to claim 18, wherein the servomotor is controlled so as to cause the blade magazine to rotate. A control method for a control system of a disc-type blade magazine comprising a rotary disc and a plurality of cases arranged on the rotary disc,
The control system of the disk-type blade magazine is
A servo motor having an output shaft, a first encoder, a speed reducer, a transmission mechanism, a second encoder, and a servo driver,
The first encoder outputs a first pulse signal according to rotation of the output shaft,
The speed reducer has an input end and an output end connected to the output shaft,
The transmission mechanism includes a first gear member and a second gear member arranged in mesh with each other, the first gear member being connected to the output end, and the second gear member being connected to the rotating gear member. The first gear member is coupled to a rotating disk and is arranged to rotate when driven by the output end to rotate the second gear member, thereby rotating the rotating disk. ,
The second encoder outputs a second pulse signal according to rotation of either one of the first gear member and the second gear member,
The servo driver is electrically connected to the servo motor, the first encoder and the second encoder,
When the number of the plurality of cases is N, and the output shaft rotates once, the first pulse signal output by the first encoder has a first predetermined number of pulses K1, and the second encoder a second pulse signal output by the second encoder when the corresponding first gear member rotates once or when the second gear member corresponding to the second encoder rotates 1/N; has a second predetermined number of pulses K2, the speed reduction ratio of the speed reducer is M:1,
The control method is executed by the servo driver,
a step A of receiving a rotation signal;
a step B of controlling the servomotor to rotate the output shaft and receiving the first pulse signal and the second pulse signal;
a step C of counting the number of pulses of the first pulse signal and the number of pulses of the second pulse signal;
When the number of pulses of the first pulse signal reaches K1*M+E (where E is the number of error pulses) and the number of pulses of the second pulse signal is less than K2, a signal is transmitted. a step D;
including,
A control method for a control system of a disk-type blade magazine. 21. The disk-type cutter magazine control according to claim 20, wherein in step D, when the first condition is satisfied, the signal is transmitted to the servo driver to control the rotation of the servo driver to stop. How the system is controlled. The second encoder outputs the second pulse signal according to rotation of the second gear member,
21. The disc type blade magazine according to claim 20, comprising controlling the servomotor to keep rotating the output shaft when the number of pulses of the first pulse signal is smaller than K1*M+E in step D. How to control the control system. In step D, when the pulse number of the first pulse signal is smaller than K1*M+E and the pulse number of the second pulse signal output from the second encoder is equal to K2, the rotation of the output shaft is stopped. 23. The control method of the disc-type blade magazine control system according to claim 22, further comprising controlling the servomotor at a time. The disk-type cutter magazine control system includes a third encoder for outputting a third pulse signal according to rotation of the other of the first gear member and the second gear member,
Output by the third encoder when the first gear member corresponding to the third encoder rotates once or when the second gear member corresponding to the third encoder rotates 1/N the third pulse signal has a third predetermined number of pulses K3,
In step B, receiving the third pulse signal;
In step C, counting the number of pulses of the third pulse signal;
Step C includes transmitting another signal when the number of pulses of the first pulse signal reaches K1*M+E and a second condition that the number of pulses of the third pulse signal is less than K3 is satisfied. ,
21. The control method for the control system of the disc-type blade magazine according to claim 20. 25. The method of controlling a disk-type cutter magazine control system according to claim 24, wherein in step D, the another signal is sent to the servomotor in order to control rotation of the servomotor to stop. 21. The method of controlling a disc-type blade magazine control system according to claim 20, wherein the number of error pulses E is K1×0.05 to K1×0.15.

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