KR102119906B1 - Method and Apparatus for Trouble Shooting of Automatic Tool Changer - Google Patents

Abstract

The present invention relates to a failure recovery method and apparatus for an automatic tool changing device, ATC state detection unit 330 for detecting the state of the arm of the ATC by checking the completion status of the operation address corresponding to each operation of the ATC ); An actuator driver 340 for driving the arm of the ATC; And when a failure of the ATC occurs, check at which stage the arm of the ATC is stopped through the ATC state detection unit 330, control the actuator driving unit 340 to return the arm of the ATC to its original position, and then And a controller 350 for restarting the ATC.

Description

Method and Apparatus for Trouble Shooting of Automatic Tool Changer

The present invention relates to a failure recovery method and apparatus for an automatic tool changing device.

Numerical control machine tools such as machining centers, lathes, etc. are equipped with an automatic tool changer (hereinafter referred to as'ATC'), which can automatically change several tools.

The ATC is equipped with a position coder to automatically detect the time of tool change. At this time, the numerical control unit detects the location information according to the rotation of the ATC through the position coder, and automatically performs clamp/unclamp when changing the tool using the detected location information.

When an alarm occurs due to an emergency stop or an error operation that stops at an arbitrary position while the ATC is in operation, the operator has currently performed a return to the original state by manual operation. It was possible to confirm by observing when the stars were operating.

That is, the operator cancels the alarm state by memorizing the machine code or inputting a return command to the automatic tool changing device with reference to the manual, and pressing the spindle jog button to return the automatic tool changing device. There is a hassle of performing a manual return procedure.

In addition to this, the operator has the inconvenience of observing the pinching of the mechanism when returning manually, thereby increasing the overall working time.

The present specification has been devised to solve the problems as described above, and has an object to provide a method and apparatus for recovering a failure of an automatic tool changing apparatus capable of automatically fixing a failure when a failure occurs during operation of the automatic tool changing apparatus. .

In order to achieve the above object, according to the first embodiment of the present specification, in a failure recovery device of an automatic tool changer (ATC) according to the present specification, the operation address corresponding to each operation of the ATC ATC state detection unit 330 for detecting the state of the arm of the ATC by checking the completion status; An actuator driver 340 for driving the arm of the ATC; And when a failure of the ATC occurs, check at which stage the arm of the ATC is stopped through the ATC state detection unit 330, control the actuator driving unit 340 to return the arm of the ATC to its original position, and then And a controller 350 for restarting the ATC.

Preferably, the control unit 350 is characterized by returning to the original position of the arm of the ATC by operating in the reverse order of the predetermined cycle based on the identified step to determine which step was stopped.

Preferably, further comprising a storage unit 360 for storing the operation address corresponding to each operation of the ATC, the completion address of each operation address and an initialization address for turning on/off the completion status, the control unit 350 After the arm of the ATC is returned to its original position, the ATC is initialized by turning off the completion state using the initialization addresser.

According to a second embodiment of the present specification, a failure recovery method of an automatic tool changer (ATC) according to the present specification, comprising: determining whether a failure has occurred in the ATC; When a failure occurs in the ATC, checking a completion state of an operation address corresponding to each operation of the arm of the ATC to determine at what stage the arm of the ATC has stopped; Returning the arm of the ATC to the original position based on the identified step; And restarting the ATC.

Preferably, in the step of returning the arm of the ATC to the original position, it is characterized in that the arm of the ATC is returned to the original position by operating the arm of the ATC in the reverse order of a predetermined cycle based on the identified step.

As described above, according to the present specification, when a failure of the automatic tool changing device occurs, it is determined at which stage the automatic tool changing device is stopped, and the arm of the automatic tool changing device is operated in reverse order of a predetermined cycle based on the identified step. After returning to the original position, by providing a failure recovery method and apparatus for an automatic tool changing device that restarts an automatic tool changing device, it is possible to provide convenience and simplicity of operation in restoring the failure of the automatic tool changing device.

In addition, failure of the automatic tool changing device can be recovered even if the automatic tool changing device is out of power.

1 is a flow chart showing the operation sequence of the automatic tool changing device,
FIG. 2 is a flowchart illustrating a method of recovering a fault in an embodiment of the present invention when a fault occurs while executing automatic tool change in FIG. 1;
Figure 3 is a block diagram showing the configuration of a failure recovery device of an automatic tool changing device according to an embodiment of the present invention,
4 is a diagram showing an address used to recover a failure of an automatic tool changing device,
5 is a flowchart illustrating a method for restoring a failure of an automatic tool changing device according to an embodiment of the present invention.

It should be noted that the technical terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention. In addition, technical terms used in this specification should be interpreted as meanings generally understood by those having ordinary knowledge in the technical field to which the present invention belongs, unless defined otherwise. It should not be interpreted as a meaning or an excessively reduced meaning. In addition, when the technical term used in this specification is a wrong technical term that does not accurately represent the spirit of the present invention, it should be understood as being replaced by a technical term that can be correctly understood by those skilled in the art. In addition, the general terms used in the present invention should be interpreted as defined in the dictionary or in context before and after, and should not be interpreted as an excessively reduced meaning.

In addition, the singular expression used in this specification includes the plural expression unless the context clearly indicates otherwise. In the present application, the terms "consisting of" or "comprising" should not be construed as including the various components, or various steps described in the specification, among which some components or some steps It may not be included, or it should be construed to further include additional components or steps.

In addition, the suffixes "module" and "part" for the components used in the present specification are given or mixed only by considering the ease of writing the specification, and do not have a meaning or a role distinguished from each other in itself.

Further, terms including ordinal numbers such as first and second used in the present specification may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may also be referred to as a first component.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar elements will be given the same reference numbers regardless of the reference numerals, and redundant descriptions thereof will be omitted.

In addition, in the description of the present invention, when it is determined that detailed descriptions of related known technologies may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easy understanding of the spirit of the present invention and should not be interpreted as limiting the spirit of the present invention by the accompanying drawings.

1 is a flowchart showing the operation sequence of the automatic tool changing device.

Referring to FIG. 1, an arm of an automatic tool changer (hereinafter referred to as'ATC') is positioned at a home position (S110).

The automatic tool change (M06) is executed to open the door of the ATC (S120).

The ATC arm is rotated clockwise to grip the tool of the standby port and the tool of the spindle (S130).

Unclamp the tool of the spindle (S140).

The arm of the ATC is forwarded (that is, the tool is separated from the standby port and the spindle) (S150).

The arm of the ATC is rotated counterclockwise (S160).

The arm of the ATC is reversed (that is, the tool is mounted on the standby port and the spindle) (S170).

The tool of the spindle is clamped (S180).

By rotating the arm of the ATC clockwise and returning it to the original position (S190), one cycle of the ATC is ended.

Finally, the ATC door is closed (S200).

FIG. 2 is a flowchart illustrating a method of recovering a failure in an embodiment of the present invention when a failure occurs while executing automatic tool change in FIG. 1.

Hereinafter, it will be described as an example that a failure has occurred between steps S130 and S140 of FIG. 1.

Referring to FIG. 2, when a failure occurs, as a worker selects a manual data input (MDI) mode, an arbitrary auxiliary function M327 is executed to determine at what stage the arm of the ATC has stopped (S210 ).

A message is displayed on the screen, such as "RETURNING OF ATC ARM as REVERSING", that the arm of the ATC is reversed and returned (S220).

Subsequently, the operator confirms the message and performs the operation of returning the arm of the ATC according to pressing the operation execution button (S230), that is, the S110 to S130 of FIG. 1 are reversed to place the arm of the ATC in its original position (S240) ). At this time, if it does not operate normally, release the mechanical defect, then press the operation execution button again.

Thereafter, the door of the ATC is closed (S250).

3 is a block diagram showing the configuration of a failure recovery device of an automatic tool changing device according to an embodiment of the present invention.

Referring to FIG. 3, the failure recovery device of the automatic tool changing device according to the present invention includes an input unit 310, a display unit 320, an ATC state detection unit 330, an actuator driving unit 340, a control unit 350, and a storage unit 360, and the like.

The input unit 310 is an MDI (Manual Data Input) mode button for executing an M code (M-CODE) to determine at what stage the arm of the ATC is stopped, and an operation for executing a return operation of the arm of the ATC It may include an action button. Here, the input unit 310 may include a general input device such as a keyboard, mouse, joystick, touch screen, and touch pad.

The display unit 320 outputs a failure message when a failure occurs in the ATC, or outputs a message indicating that the arm of the ATC is reversed by returning the operation of the arm, such as "RETURNING OF ATC ARM as REVERSING" when it is determined at what stage the arm of the ATC has stopped. can do. Here, the display unit 320 may be a display device including an LCD, a PDP, and an LED, and may be implemented in the form of a touch screen together with the input unit 310.

The ATC state detection unit 330 detects the state of the ATC arm by checking the completion status information of the operation code corresponding to each operation of the ATC arm.

The actuator driver 340 drives the arm of the ATC under the control of the controller 350.

The control unit 350 detects the state of the ATC arm through the ATC state detection unit 330 when the operator presses the MDI mode button due to a failure during ATC operation, and determines at what stage the arm of the ATC has stopped, and the operator When the operation execution button is pressed, the actuator driving unit 340 is controlled to return the arm of the ATC to its original position, and then the ATC is restarted. Here, the control unit 350 may determine at which stage it has stopped, and operate the arm of the ATC in the reverse order of a predetermined cycle based on the identified stage to return the arm of the ATC to the original position.

The storage unit 360 may store an operation address corresponding to each operation of the arm of the ATC, an completion address of each operation address, and an initialization address for initializing the completion status of each operation address.

Accordingly, even if a power failure occurs, the control unit 350 according to the present invention uses the operation address corresponding to each operation of the arm of the ATC stored in the storage unit 360 and the completion status of each operation address in the reverse order of the specified cycle. By operating it, the arm of the ATC can be returned to its original position. In addition, the control unit 350 may initialize the ATC by returning the arm of the ATC to its original position and then turning off the completion status of each operation address stored in the storage unit 360 using the initialization address.

4 is a diagram showing an address used to recover a failure of an automatic tool changing device.

Referring to FIG. 4, ATCS01 to ATCS10 denote operation addresses corresponding to each operation of the arm of the ATC. R1500.0 to R1501.1 indicate completion signals of each operation address. D0988.0 to D0989.1 indicate the completion status of each operation address, and can be stored even in the event of a power failure to check the condition to perform the reverse operation when a failure occurs. R0706.7 is an initialization address, which is turned on as the arm of the ATC operates and returns to its original position, thereby turning off the signals memorized in ATCS01F to ATCSF10, that is, the completion status, so that the ATC is initialized.

ATCS01 represents the stage where the arm of the ATC is located in the original position. ATCS02 represents the stage in which the automatic tool change function is executed and the ATC door is opened. ATCS03 represents the stage where the arm of the ATC grips the tool of the standby port and the tool of the spindle by rotating clockwise. ATCS04 represents the step of unclamping the tool of the spindle. ATCS05 represents the step of moving the arm of the ATC forward, that is, separating the tool from the standby port and the spindle. ATCS06 represents the step of rotating the arm of the ATC counterclockwise. ATCS07 represents the step of mounting the tool of the ATC arm backward (ie, the standby port and the spindle). ATCS08 represents the step of clamping the tool of the spindle. ATCS09 represents a stage in which the ATC arm is rotated clockwise to return to its original position, whereby one cycle of the ATC is ended. ATCS10 represents the stage in which the ATC door is closed.

As described above, the operation of the ATC proceeds in a total of 10 steps, and one cycle ends, and when an alarm occurs in a specific step, the programmable machine controller (PMC) logic maintains self.

Since the operations of ATCS01 to ATCS03 are completed, D0988.0 to D0988.2 are turned on, and the operations of ATCS04 to ATCS10 are incomplete, so D0988.3 to D0989.1 are turned off. Through this, when the operator executes the M code, which is an auxiliary function, it can be seen that the arm of the ATC is stopped at ATCS03.

5 is a flowchart illustrating a method for restoring a failure of an automatic tool changing device according to an embodiment of the present invention.

Referring to FIG. 5, the failure recovery device determines whether a failure has occurred in the ATC (S510).

When a failure occurs in the ATC, the failure recovery device checks the completion status of the operation address corresponding to each operation of the arm of the ATC and determines at what stage the arm of the ATC has stopped (S520).

The failure recovery device returns the arm of the ATC to the original position based on the identified step (S530). At this time, the failure recovery device returns the arm of the ATC to its original position by operating the arm of the ATC in the reverse order of a predetermined cycle based on the identified step.

Thereafter, the failure recovery device restarts the ATC (S540).

The above-described method can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

For implementation by hardware, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs) , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, and microprocessors.

In the case of implementation by firmware or software, the method according to embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code can be stored in a memory unit and driven by a processor. The memory unit is located inside or outside the processor, and can exchange data with the processor by various known means.

The embodiments disclosed herein have been described above with reference to the accompanying drawings. As described above, the embodiments illustrated in each drawing should not be interpreted as being limited, and may be combined with each other by those skilled in the art who understand the contents of the present specification, and when combined, some components may be omitted.

Here, the terms or words used in the specification and claims should not be interpreted as being limited to ordinary or dictionary meanings, but should be interpreted as meanings and concepts corresponding to the technical ideas disclosed in this specification.

Therefore, the embodiments illustrated in the specification and the drawings illustrated in this specification are only exemplary embodiments disclosed in the specification, and do not represent all of the technical ideas disclosed in the specification, and thus can replace them at the time of application. It should be understood that there may be equivalents and variations.

310: input unit 320: display unit
330: ATC state detection unit 340: actuator driving unit
350: control unit 360: storage unit

Claims (5)

In the automatic tool changer (ATC: Automatic Tool Changer) failure recovery device,
An ATC state detection unit 330 that detects a state of an arm of the ATC by checking a completion state of an operation address corresponding to each operation of the ATC;
An actuator driver 340 for driving the arm of the ATC; And
When the failure of the ATC occurs, the ATC state detection unit 330 checks at which stage the arm of the ATC has stopped, controls the actuator driving unit 340 to return the arm of the ATC to its original position, and then the ATC Control unit 350 to restart the;
Disaster recovery device of the automatic tool exchange device comprising a. According to claim 1,
The control unit 350 checks at which stage it is stopped, and operates the arm of the ATC in the reverse order of a predetermined cycle based on the identified step to return the arm of the ATC to its original position. Recovery device. According to claim 1,
A storage unit 360 storing an operation address corresponding to each operation of the ATC, a completion state of each operation address, and an initialization address for turning on/off the completion state;
Further comprising,
The control unit 350, after returning the arm of the ATC to the original position, by turning off the completion state using the initialization address, the failure recovery device of the automatic tool changing device, characterized in that to initialize the ATC. In the failure recovery method of the automatic tool changer (ATC: Automatic Tool Changer),
Determining whether a failure has occurred in the ATC;
When a failure occurs in the ATC, checking a completion state of an operation address corresponding to each operation of the arm of the ATC to determine at what stage the arm of the ATC has stopped;
Returning the arm of the ATC to the original position based on the identified step; And
Restarting the ATC;
Automatic tool change device failure recovery method comprising a. According to claim 4, In the step of returning the arm of the ATC to the original position,
A failure recovery method of an automatic tool changing device, characterized in that the arm of the ATC is returned to its original position by operating the arm of the ATC in the reverse order of a predetermined cycle based on the identified step.

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