TW200524703A - Tool carrying apparatus, method of determining operating speed thereof and computer program - Google Patents

Abstract

To provide a tool carrying device capable of properly setting a revolving speed when carrying a tool by revolving motion on the basis of force acting on the tool by its revolving motion. A control device controls a tool magazine, and estimates centrifugal force acting on the tool (Step S1 to S3), and determines a maximum revolving speed [omega]max of the tool magazine on the basis of the estimated centrifugal force and limit centrifugal force Flimit set on the basis of grip force FG of the tool in a grip arm.

Description

200524703 (1) IX. Description of the invention [Technical field to which the invention belongs] The present invention relates to a tool conveying device provided with a conveying section for conveying a tool used by a work machine by a rotary motion, and a determination of the operating speed of the tool conveying device A method and a recording medium recording a program of a computer controlled by the tool transfer device. [Prior Art] Japanese Patent Application Laid-Open No. 3-60-60 94 discloses a technology for conveying a tool for a work machine by a rotary motion so that the conveying speed can be appropriately changed according to the weight moment of the tool. . However, originally, the weight moment affects acceleration, so if the conveying speed is determined based on the weight moment, even if it has a certain degree of appropriateness, it may not be possible to obtain the most suitable conveying speed. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a tool conveying device capable of appropriately setting a rotation speed at the time of conveying a tool by a rotational motion in accordance with a force acting on the tool by the rotational motion, and A method for determining the operating speed of a tool carrying device and a recording medium on which a program of a computer controlled by the tool carrying device is recorded. The tool transporting device of the present invention is provided with a transporting unit that transports a rotary movement of a tool holding unit for holding a tool used for a work machine to a predetermined position, and is characterized in that the tool transporting unit is presumed to act on the transporting unit- 4- 200524703 (2) The centrifugal force estimation means for the centrifugal force of the tool to be transported, and the centrifugal force estimation means based on the centrifugal force pushed by the centrifugal force pusher I to determine the rotation speed of the conveying section. That is, if the centrifugal force acting on the tool is limited, the maximum speed at which a tool having a predetermined quality can be rotated can be physically determined. Therefore, 'the possible rotational speed of the action can be appropriately determined according to the quality of the tool. In this case,' the centrifugal force estimation method is described, which is based on the product of the tool's mass and the product of the revolution radius from the center of rotation of the rotational motion to the center of gravity of the tool. Estimated centrifugal force. That is, if the centrifugal force acting on the tool is F, the tool's mass is m, the center of gravity revolution radius is r, and the rotation speed (angular speed) is 0, these relationships can be determined by the following formula. 2 F = m · r · Therefore, by calculating m x r, the centrifugal force acting when the tool rotates at a predetermined rotation speed can be appropriately estimated. Moreover, the aforementioned conveying section can also be applied to a rotary tool storage having a plurality of tool holding sections located at an equal distance from the rotation center. With this structure, the maximum rotation speed of the tool storage can be shortened by appropriately setting the maximum rotation speed of the tool storage. The time required for the tool parent to change. Further, the conveying section is on the main shaft of the work machine. The tip section allows any one of the plurality of tools held in the tool storage to be rotatable and replaceable, and is disposed in the tool storage and the main shaft. -5- 200524703 (3) With this structure, by setting the maximum rotation speed of the tool exchange device appropriately, the time required for tool exchange can be shortened. [Embodiment] (First embodiment) Hereinafter, a first embodiment in the case where the present invention is applied to a tool exchange device having a turntable type storage will be described with reference to Figs. 1 to 5. In addition, the structure of the tool exchange device of this embodiment is the same as that of, for example, Japanese Patent Publication No. 7-8009, and only the essential relevant portions of the present invention will be described below. Fig. 3 (a) is a perspective view showing the tool storage (conveyance unit) 1 taken out of the tool exchange device. The tool holder 1 is a plurality of arm arms 3 which are radially attached to the outer peripheral portion of a substantially disc-shaped holder base 2. As shown in FIG. 4, a U-shaped holding portion (tool holding portion) 5 is formed at the front end portion of the arm 3, and the upper end side of the tool holder 4 for holding and holding a tool is formed on the lower end side. The support pins 6 and 6 are arranged on both sides of the inner front end portion 5 so as to be pushed inward by a built-in coil spring (not shown). The support pins 6 and 6 hold the tool holder 4 by inserting a groove (not shown) provided on the tool holder 4 side. In addition, the 'reservoir base 2' is rotated in combination with the rotation axis of the reservoir motor 27 (refer to FIG. 5), but the rotation axis is as shown in FIG. 3 (b). Tilt 18 degrees towards the elevation side. In addition, since the tool and the tool holder can be regarded as being substantially integrated, these will be referred to as a tool 4 later. -6- 200524703 (4) Fig. 5 is a functional block diagram showing the electrical structure of a numerical control device (centrifugal force estimation means and speed determination means) for numerical control of a working machine including a tool exchange device. The data control device 10 'is mainly composed of a main CPU 11 which manages the entire control and a sub CPU 12 which manages workpiece processing or tool exchange. The main CPU 11 is connected to the main part ROM 13 for storing programs or coefficients of the motion control device itself, and for storing workpiece processing programs (data control programs) 1 4 or temporarily storing variables or marks during memory control.部 RAM15. The secondary CPU 12 is connected to: a secondary ROM 16 for storing a motor driving program or a coefficient for processing a workpiece, and a secondary RAM 17 for temporarily memorizing a workpiece processing control during execution of variables and marks. Between the main CPU11 and the secondary CPU12, the C (Common) RAM18 is connected through the path. In CRAM18, information from both the main CPU 11 and the sub CPU 12 is written or referred to, and information from the main CPU 11 to the sub CPU 12 or information in the reverse direction is stored. In addition, the main CPU 11 is connected: a button for creating and inputting a processing program, a start switch for starting a continuous processing process, or a manual operation that can be performed individually so that the processing of each step of the processing program can be confirmed. Switch parts 19 such as switches; keyboard 20; CRT (Cathode Ray Tube) 21 for displaying reference processing programs, etc. CPU 1 2 is connected: X-axis motor 2 2, Y-axis motor 2 3, rotating workpiece The table rotation motor 24 of the table changes the processing surface and the like of the workpiece in response to these control signals. Further, the secondary CPU 1 2 is connected: the up and down (Z-axis) motor 25 and the spindle motor 26, for those sending control signals, for the workpiece to be determined 200524703 (5) to be processed surface, the position to be processed by predetermined Tool 4 for machining. In addition, the secondary CPU 12 sends control signals to the storage motor 27 and the tool exchange motor 28 according to the needs during the processing to implement tool exchange. The workpiece processing control and tool exchange control performed by the secondary CPU 12 are executed in accordance with the instructions of the main CPU 11. The main CPU 1 1 is inputted from the keyboard 20 and stored in the main portion RAM 15 of the processing program 14 each time the operation is read. If there is information about the workpiece processing, it is written into the CRAM 18. The secondary CPU12 reads the written information and executes the workpiece processing control. Furthermore, the main unit RAM 15 also remembers data input by the user regarding the tool storage 1 and data regarding the tools 4 assembled in the tool storage 1. A floppy disk drive (diskette device) (FDD) 40 is also connected to the main CPU11. In addition, the main CPU 1 1 may transfer the processing program 14 stored in the main RAM 1 5 to the floppy disk (recording medium) 41 and store it, or create it on another personal computer and store it on the floppy disk. The machining program 14 of slice 41 is read out via FDD 40 and transmitted to the main unit R Α M 1 5. Figure 1 shows the processing performed by the main CPU 11 to calculate the rotation speed of the tool storage 1. Flowchart. In addition, this process is a process which is a part of the workpiece machining method 14. The main CPU 11 first reads out data of the mass m and the tool length L of each tool 4 assembled in the tool storage 1 from the main RAM 15 (step S 1), and then calculates the position of the center of gravity of the tool 4 (step S 1) S 2). Here, the position of the center of gravity is calculated by estimating the revolution radius r of the center of gravity from the tool length L, but the estimation is performed using an approximate expression. For example, -8-200524703 (6), if the radius from the rotation center of the storage base 2 to the holding position of the tool of the arm 3 is r0, the radius of revolution r 'of the center of gravity of the tool 4 can be obtained from (1) Approximately 値. r = rO + L / 2 ... (1) Next, the main CPU 11 calculates the conditions for generating the centrifugal force for each tool 4 (step S 3). That is, if the centrifugal force acting on the tool is F, the mass of the tool is m, the radius of gravity of the center of gravity is r, and the rotation speed is ω, these relationships can be determined by the formula (2). F = m · r. Ω 2… (2) Therefore, by calculating the product of the mass m and the center of mass revolution radius r ·· m X r 'When the tool is rotated at a predetermined rotation speed ω, it can be appropriately estimated Centrifugal force acting on the tool. Steps S1 to S3 correspond to the centrifugal force estimation means. Then, the product of each tool is determined: m X Γ is the largest (mxr) max (step S4). Next, the main CPUU reads the data of the holding force (holding force) FG of the tool in the arm 3 from the main RAM 15 (step S5), and calculates the centrifugal force upper limit FMmit (step S6). The upper limit of centrifugal force Fnmit is approximated by Equation (3).

Fiimit = FG / sin 1 8 ° ... (3) 200524703 (7) Here, Fig. 2 (a) shows the lower part of the tool holder 1 'Fig. 2 (b), which shows only the display The inner axis direction of (a) is the tool 4 which is vertically aligned. In addition, (2) ((0) is an enlarged display of the tool 4. In FIG. 2 (0, gravity is acting on the tool 4 held in the arm 3 in a vertical direction, but the tool holder 1 has been rotated) In this case, the centrifugal force acts in a direction inclined outwardly at an angle of 18 °. Moreover, a groove for holding the fitting support pin 6 is formed on the outer periphery of the tool 4 so that the tool 4 resists the holding force of the arm 3 The force acting in the falling direction can be a force component acting in the horizontal direction. Therefore, the upper limit of the centrifugal force Flimit can be calculated by the formula (3). Moreover, the main CPU 11 is a tool stored by the formula (4) that does not exceed the upper limit of the centrifugal force Flimit. The maximum rotation speed of the device 1 is 0max (step S7). 0 max— {Fiimit / (mxr) max} (4) That is, the maximum rotation speed ω max is obtained by dividing the upper limit of centrifugal force Fnmit by the product: the maximum value of m χΓ (Mx〇max is obtained by adding the square root. From this, the main CPU1 1 reads the upper limit of the mechanism of the tool storage 1 from the main RAM 15 which is the rotation speed ω limit, and compares it with the maximum rotation speed 0max. Relationship (step S8). If it is 6; maxS ω limit ("NO") determines that the rotation speed of the tool storage device 1 is the maximum rotation speed, and is written and stored in the main section 1 ^] \ 415 (step 89). In this case, for When the processing of the workpiece to be performed is performed after the tool change of the spindle, the secondary CPU 12 is the storage motor 27, 200524703 (8) That is, by rotating the storage base 2 at the maximum rotation speed m ax, Any one of the tools 4 held by the arm 3 is selected as an exchange object. Moreover, the maximum rotation speed ω max is set according to the upper limit of the centrifugal force Flimit, so that even if the storage base 2 is rotated at the speed ω max, it can be reliably avoided. The tool 4 held on the arm 3 comes off. On the one hand, in step S8, if it is ω max > u limit ("YES"), it is determined that the rotation speed of the tool storage 1 is the upper limit of the rotation speed ω Iimit, which is written and stored in The main part RAMI 5 (step SI 0). That is, if the rotation memory base 2 is rotated beyond the upper limit of rotation speed ω limit, the mechanism part may be damaged, and it is necessary to avoid such a situation. In addition, steps S 7 to S 1 0 are Corresponding speed decision Means: As described above, according to the present embodiment, the control device 10 for controlling the tool storage 1 estimates the centrifugal force acting on the tool 4 and determines the rotation speed of the tool storage 1 based on the centrifugal force. With the centrifugal force, the maximum speed at which the tool 4 with a predetermined mass m is rotated is physically determined. Therefore, depending on the mass of the tool 4, the possible rotation speed can be determined more appropriately than before. In addition, the control device 10 can appropriately estimate the centrifugal force acting on the tool 4 by calculating the product of the mass m of the tool 4 and the radius of revolution r of the center of gravity of the tool 4 from the rotation center of the rotary motion. Moreover, the control device 10 determines the maximum rotation speed 6Jmax by dividing the upper limit Fiimit of the centrifugal force set by the holding force FG of the tool 4 of the arm 3 by the product: the maximum mxr 値 mxr) max and adding the square root. Therefore, it can be determined that the rotation speed becomes the maximum within a range in which the tool 4 does not fall off the arm 3. -11-200524703 (9) Furthermore, the control device 10 determines the maximum rotation speed ω ma, which is below the maximum rotation speed ω limit allowed in the structure of the tool storage device i. Therefore, it can be avoided to set it to exceed the speed of the rotation mechanism. Ceiling. In addition, according to the present invention, the holding part 5 holds the tool 4 at the tip of the plurality of arm 3 which is equidistant from the rotation center of the storage base 2 and the tool storage 1 carried by the rotating tool 4 can be obtained by The maximum rotation speed of the cutting tool storage 1 is set appropriately, shortening the time required for tool exchange and improving work efficiency. (Second Embodiment) Fig. 6 shows a case where the present invention is applied to a case where the tool removal direction at the time of tool exchange is a chain-type tool storage (conveyance unit) 3 1 that coincides with the direction of gravity (vertical direction). In the second embodiment, the structure of the tool storage 31 is shown briefly. The tool holder 31 is driven by an unillustrated driving mechanism arranged on the upper end side and the lower end side, so that the ring of the chain 32 is rotated in the vertical direction. In the chain 32, a plurality of holders for holding the tool holder are held. The parts (tool holding parts) 33 are arranged and fixed at regular intervals, and the openings of the holding parts 33 equipped with a tool holder (not shown) are located in the direction of the outer periphery of the ring of the chain 32. In addition, the tool exchange is performed with the holding portion 33 positioned at the lowest point of the chain 32, and the tool holder can be removed by pulling it vertically from the holding portion 33 at the exchange position. For the tool storage 31 having such a structure, when the upper limit of the centrifugal force Flimit is calculated in step S6, the centrifugal force acting on the tool holder due to the rotation of the chain 32 is calculated. Yes. (Third Embodiment) Fig. 7 is a third embodiment showing a case where the present invention is applied to a tool changing mechanism 34 of a tool changing device, and a structure of a tool changing mechanism (conveying section) 34 is shown in outline. The tool exchange mechanism 34 has a structure in which a rotating arm 35 arranged between a tool storage and a main shaft (neither of which is shown) of a working machine rotates in a horizontal plane, for example. The holding part (tool holding part) 36A on one end side of the rotary arm 35 holds a tool (including a bracket) 37A used for mounting on the spindle, and the holding part (tool holding part) 36B on the other end side holds the tool. The selected tool 37B is stored in the memory and is mounted on the spindle after the tool 37A which can be processed and used. Even with the tool exchange mechanism 34 constructed as described above, if the rotation speed of the rotary arm 35 increases, the tool 37 held by the centrifugal force may become an obstacle for tool exchange because it tilts outward. Here, the maximum rotation speed determined by the present invention can be suppressed within the allowable range of the tilt of the tool 37 when the rotary arm 35 is rotated. As described above, according to the third embodiment, the present invention is applicable to a tool exchange mechanism for replacing any one of the plurality of tools 37 held in the tool holder by the rotating arm 35 at the tip of the main shaft of the work machine. 3 4, so by appropriately setting the maximum rotation speed of the tool exchange device, the time required for tool exchange can be shortened, and the reliability of the operation can be improved. The present invention is not limited to the embodiment shown in the above drawings, and may be modified or expanded as follows. -13- 200524703 (11) If it is not possible to calculate the maximum rotation speed W max exceeding the upper limit of the mechanism, steps S8 and S10 are omitted, and the maximum rotation speed ax may be calculated at step S7 at any time. When the centrifugal force acting on the tool is estimated, the center of gravity revolution radius r is set to an appropriate constant 値, and only the mass π of each tool may be set for estimation. For example, Japanese Patent Application Laid-Open No. 1 0-26 3 9 71 can also be applied to a tool holder of a type in which a tool is rotated in a horizontal plane. The recording medium is not limited to the floppy disk 41, and may be a CD-ROM, a DVD-ROM, a memory card, or the like. In addition, it is not limited to a working machine, and it is applicable as long as it has a mechanism for carrying a tool by a rotary motion. [Brief description of the drawing] FIG. 1 is a first embodiment of a case where a tool exchange device including a turntable-type memory according to the present invention is used, and the main CPU of the data control device calculates the rotation speed of the tool memory Process flow chart. Fig. 2 (a) is a view showing the lower side of the tool storage, (b) is a view showing only a tool whose inner axis direction is vertically aligned, and (c) is a view showing (b) Expanded diagram of tools. Fig. 3 '(a) is a perspective view showing the removal of the tool stocker incorporated in the tool exchange device, and (b) a side view of the tool stocker. Fig. 4 is a view showing a tip end portion of a zygomatic arm. Fig. 5 is a functional block diagram showing the electrical structure of the data control device. -14- 200524703 (12) Fig. 6 is a second embodiment in which the present invention is applied to a chain-type tool holder. A diagram showing the structure of the tool storage slightly. Fig. 7 is a diagram showing the structure of the tool exchange mechanism in a third embodiment in which the present invention is applied to the tool exchange mechanism. [Description of main component symbols] 1: Tool storage (conveyance section) 2: Storage base 3: Arm 4: Tool holder 5: Tool holding section 6: Support pin 1 0: Number control device (speed determination means)

1 1: Main CPU

12: Secondary CPU

13: Main part ROM 1 4: Workpiece machining program (data control program)

15: Main RAM

16: Secondary ROM 1 7: Secondary RAM 18: CRAM 1 9: Switch 2 0: Keyboard -15- 200524703 (13)

2 1 ·· CRT 22: X-axis motor 2 3: Y-axis motor 24: Table rotation motor 2 5: Z-axis motor 2 6: Spindle motor 27: Storage motor

2 8: Tool exchange motor 31: Tool storage (conveying section) 3 2: Chain 3 3: Tool holding section 34: Tool changing mechanism (conveying section) 3 5: Rotary arm 3 6A: Tool holding section 3 6B: Tool holding unit

37: Tool 3 7 A · Tool 37B: Tool

40: FDD 41: floppy disc (recording medium) -16-

Claims (1)

200524703 (1) X. Patent application scope1. A tool conveying device is provided with a conveying portion that conveys a rotary movement of a tool holding portion for holding a tool used for a work machine to a predetermined position, and is characterized in that: A centrifugal force estimation means for estimating a centrifugal force acting on a tool conveyed by the conveyance section, and a speed determination means for determining a rotational speed of the conveyance section based on the centrifugal force estimated by the centrifugal force estimation means. 2. The tool conveying device according to item 1 of the patent application range, wherein the centrifugal force estimation means is to estimate the centrifugal force based on the product of the tool mass and the product of the revolution radius from the rotation center of the aforementioned rotary motion to the center of gravity of the tool. 3. The tool conveying device according to item 1 of the patent application scope, wherein the speed determining means determines the conveying section based on the centrifugal force estimated by the centrifugal force estimating method and the holding force when the tool holding section holds the tool. Speed of rotation. 4 · The tool conveying device according to item 2 of the patent application range, wherein the speed determining means determines the conveying portion based on the centrifugal force estimated by the centrifugal force estimating means and the holding force when the tool holding portion holds the tool. Speed of rotation. 5. The tool conveying device according to item 1 of the patent application scope, wherein the speed determining means is to determine that the rotational speed is equal to or lower than the maximum allowable rotational speed in the structure of the conveying section. 6 · The tool conveying device according to any one of claims 1 to 5, wherein the conveying section is a rotary tool storage device, and includes a plurality of tools arranged at an equal distance from the center of the rotation -17- 200524703 (2) Holding department. 7 · The tool conveying device according to item 6 of the patent application scope, wherein the conveying section is at the tip of the main shaft of the work machine, and allows any one of the plurality of tools held in the tool holder to be rotatable and replaceable. And a tool exchange device arranged between the tool storage and the spindle. 8. A method for determining the operating speed of a tool conveying device is to determine the rotation speed of the conveying section for a conveying section that includes a conveying section that conveys a rotational movement of a tool holding section for holding a tool used for a work machine to a predetermined position. It is characterized in that the centrifugal force acting on the tool carried by the carrying unit is estimated, and the rotation speed is determined based on the estimated centrifugal force. 9 · The method for determining the operating speed of the tool conveying device according to item 8 of the patent application, wherein the centrifugal force is estimated based on the product of the mass of the tool and the product of the revolution radius from the center of rotation of the rotary motion to the center of gravity of the tool. 10 · If the method of determining the operating speed of the tool conveying device in the scope of patent application No. 8 or 9 is used, the rotation speed is determined based on the estimated centrifugal force and the holding force when the tool holding section holds the tool. 1 1. The method for determining the operating speed of the tool conveying device according to item 8 of the patent application scope, wherein the method determines the rotation speed to be equal to or lower than the maximum allowable rotating speed in the structure of the conveying section. 1 2. A recording medium that records a computer implemented as a control object by a tool conveying device including a conveying portion that conveys a rotary movement of a tool holding portion for holding a tool used for a work machine to a predetermined position. The recording medium of the program is characterized in that the aforementioned program is estimated to act on -18-200524703 (3) The centrifugal force of the tool carried by the carrying unit is determined based on the estimated centrifugal force to determine the aforementioned rotation speed. 13. The recording medium according to item 12 of the scope of patent application, wherein the aforementioned formula ′ estimates the centrifugal force based on the product of the mass of the tool and the product of the revolution radius from the center of rotation of the rotary motion to the center of gravity of the tool. 1 4 · If the recording medium in the scope of patent application No. 12 or 13 is used, the BU program is based on the estimated centrifugal force and the holding force when the tool holding unit is installed. speed. 15. The recording medium according to item 12 of the scope of patent application, wherein the f is Θ ', which determines that the rotation speed is equal to or lower than the maximum allowable rotation speed in the structure of the transport unit. -19-