201235151 六、發明說明： 【發明所屬之技術領域】 本發明有關於一種適用於CNC機器之換刀機構安穿 之伺服定位裝置’其特徵係於一體式定位裝置中包人^ 馬達、驅動板及控制板’據以精確控制馬達轉子旋。 及角度，以便換刀機構正確進行刀具交換作業。 【先前技術】 一般CNC機器（電腦數值控制c〇mpUter Numerical Control )，係利用NC程式由電腦控制的工作工具（母） 機業界統稱為CNC機器，藉由數值控制工具機各軸向 間之距離，最常應用的CMC工具機包括CNC車床、CNC 銑床及加工中心等工作母機。 CNC機器具有連續更換使用不同刀具及進行不同程 序工作特性，因此CNC加工機器通常會配置一台刀塔、 刀庫或自動刀具交換器等換刀機構，該換刀機構中一般 5又置有—轉盤或刀架’轉盤或刀架上呈放射狀排列有複 數各種刀具、鑽頭或加工具，該換刀機構主司由轉盤或 刀架内複數刀具中選擇或交換下次欲使用之正確刀具並 交予CNC加工機。201235151 VI. Description of the Invention: [Technical Field] The present invention relates to a servo positioning device suitable for a tool change mechanism of a CNC machine, which is characterized in that it is enclosed in an integrated positioning device, a motor, a drive plate and The control panel 'accurately controls the motor rotor rotation. And angle, so that the tool change mechanism can correctly perform the tool exchange work. [Prior Art] General CNC machine (computer numerical control c〇mpUter Numerical Control), which is a computer-controlled work tool (mother) using NC programs. The machine industry is collectively referred to as a CNC machine, and the distance between the axes of the machine tool is numerically controlled. The most commonly used CMC machine tools include CNC lathes, CNC milling machines and machining centers. CNC machines have the ability to continuously change and use different tools and perform different program functions. Therefore, CNC machining machines usually have a tool changer such as a turret, a tool magazine or an automatic tool changer. The tool change mechanism is usually equipped with 5 A plurality of various tools, drills or tools are arranged radially on the turntable or the tool holder. The main body of the tool change mechanism selects or exchanges the correct tool to be used next time by the rotary tool or the plurality of tools in the tool holder. Handed over to the CNC machine.
但因刀具交換因涉及精密之程序及指令，尤其是對 換刀機構馬達轉子定位的控制要求甚為嚴格，其轉子之 方疋轉周數及停止角度定位精確與否將影響刀具交換的正 確性，因此如第七圖至第九圖所示，傳統如上換刀機構 馬達的作業作方式，係於換刀機構外部，除了必備之CNC 201235151 控制器外，❹卜設有動作控寵（主要内含㈣ =放大^變頻器或刹車繼電器〕（主要内含驅動器）， 剎車:具ΐΓ:之”冓或馬達轉子上設有編碼器或 σ θ #控制11傳輸訊號給飼服放大器、變頻 二二：電器，並由運動機構或馬達之轉子上之編碼 m回饋相給健放^、變頻However, because the tool exchange involves strict control procedures and instructions, especially the control of the rotor position of the tool changer, the accuracy of the tool exchange is affected by the accuracy of the rotor rotation number and the stop angle. Therefore, as shown in the seventh to ninth drawings, the operation mode of the motor of the above-mentioned tool change mechanism is external to the tool change mechanism, and in addition to the necessary CNC 201235151 controller, the action control pet is provided. Including (four) = amplification ^ inverter or brake relay] (mainly including the driver), brake: with ΐΓ: "冓 or motor rotor with encoder or σ θ # control 11 transmission signal to feed amplifier, frequency conversion two : electrical appliances, and the m-feedback phase of the motion mechanism or the rotor of the motor is given to the power amplifier ^, frequency conversion
出驅動或刹車指令予驅動馬達進行旋轉或停止動作毛 如上料，目前控制刀具域器定位方式，其飼服 放大器、變頻器或刹車繼電器與刀具交換器馬達本體或 飼服馬達.電源線及㈣線之複雜連結，對已相當複 =換刀機構而言’甚感㈣’且造成刀具交換機ς、 電控设計人員及製造人員相當的困擾， 與材料費用。 个^人工 另泛用飼服馬達轉子上所設編碼器，係由精密光學 玻璃鏡=製成，易受震動或觸碰而損壞，若使用一般感 應馬達定位，必須依職應馬達急速刹車之方式達成， 除易造成擾人之噪音外，對馬達錢車組件損耗甚大， 因此，業者如何精簡CNC機器刀具交換定位控制裝置、 路線連結及轉子m財式，實為—值得研究的課題。 【發明内容】 鐘於傳統習知CNC機器刀具交換定位裝置之缺失 發明人據以研發完成此「精簡式咖機ϋ之換刀機構用 伺服疋位裝置」發明創作内容。 201235151 如第六圖所示，本發明技術特徵，係將等同傳統動 作控制器之控制板及等同傳統伺服放大器之驅動板設置 於換刀機構之馬達内，並於馬達轉子端緣設有位置檢知 磁石，另於相鄰設置之控制板對應處設有轉子位置譯碼 器（偵測1C)，並由轉子位置譯碼器（偵測1C)回饋訊號精 確控制馬達轉子之旋轉周數及定位角度。 本發明定位方式採用位置檢知磁石及轉子位置譯碼 器，精確堅固不易損壞，藉由調變馬達的速度與扭力達 到定位功能，故無急剎車之噪音及馬達受損之虞。 本發明中驅動馬達之交流電輸入連接於驅動板，而 控制板受CNC控制器、訊號轉板及通訊裝置輸入或設定 資料並由控制板之轉子位置譯碼器回饋訊號，據以精確 控制馬達轉子之行程、旋轉周數及定位角度，進而驅動 CNC機器換刀機構正確由刀具轉盤中選擇或交換所需刀 具，其由第六圖與第七圖至第九圖原理方塊圖比較，即 可以明顯分辨本發明與傳統泛用裝置之差異。 【實施方式】 請參第一圖及第二圖所示，本發明精簡式CNC機器 之換刀機構用伺服定位裝置，主要係於永磁式或感應式 馬達本體（1) 一端延伸有一容納腔體（1 1)，其内固 設有控制板（2 )及驅動板（3 )，容納腔體（1 1 )另 端封閉一外蓋（1 2)。 該永磁式或感應式馬達本體（1 )上包含電源輸入 201235151 線（1 3)及訊號輸出入連接線（1 4 )，其轉子（i 5) 延伸至上述容納腔體（1 1 ) 一側，轉子（1 5 )端緣 上固定有一位置檢知磁石（16)。 如第三圖及第五圖所示，該控制板（2)鄰近固定 於永磁式或感應式馬達本體（1)之轉子（1 5)端， 永磁式或感應式馬達本體（1 )之訊號輸出入連接線（1 4 )，其一端電性連接於CNC控制器，另端電性連接於控 制板（2 )，控制板（2 )上設有控制電路，且對應於轉 子（1 5 )之位置檢知磁石處設有轉子位置譯碼琴（2 1 ) ° 永磁式或感應式馬達本體（1 )之電源輸入線（工 3)電性連接於驅動板（2)輸入電源，驅動板（2) 上設有控制電路及驅動電路，且驅動板（2)輸出連接 於永磁式或感應式馬達本體（1 )之驅動線圈（1 7 )， 其輸出驅動電流可啟動轉子（1 5)旋轉。 據上，本發明裝置即同時具備一般CNC機器之換刀 機構用伺服疋位裝置中等同馬達之永磁式或感應式馬達 本體（1 )、等同動作控制器之控制板（2 )及等同伺服 放大器之驅動板（3)創作特徵。 本發明實施時，其控制永磁式或感應式馬達本體 (1 )轉子（1 5)旋轉或停止，係利用永磁式或感應 式馬達本體（1 )之電源輸入線（丨3)輸入電源於驅 動板（2 ) ’驅動板（2 )按CNC控制器之指令輪出電源 予永磁式或感應式馬達本體（1)之驅動線圈（1 7) 201235151 而驅動轉子（1 5)旋轉。 。$實鈀時’其控制永磁式或感應式馬達本體 控制i ^5Λ之旋轉行程、周數及角度’係由cnc 工»耘式设疋指令加上轉子位置譯碼器（2i)伯 f位置檢知磁石（1 6 )之結果並回饋給⑶c控制界，、 經邏輯運算發出之指令所執行。 α 【圖式簡單說明】Drive or brake command to the drive motor to rotate or stop the action as above, currently control the tool field positioning mode, its feeding amplifier, inverter or brake relay and tool exchanger motor body or feeding motor. Power cord and (4) The complicated connection of the line is quite irritating to the tool changer (four) and causes considerable troubles in tool exchanges, electronic control designers and manufacturing personnel, and material costs. The encoder provided on the motor rotor is made of precision optical glass mirror. It is easily damaged by vibration or touch. If the general induction motor is used for positioning, it must be braked by the motor. The way to achieve, in addition to easily causing disturbing noise, the motor money car components are very depleted, therefore, how to streamline the CNC machine tool exchange positioning control device, route connection and rotor m-finance, is really worthy of research. SUMMARY OF THE INVENTION The lack of the conventional CNC machine tool exchange positioning device of the conventional invention has been developed by the inventor to complete the creation of the "servo clamping device for the tool change mechanism of the compact coffee machine". 201235151 As shown in the sixth figure, the technical feature of the present invention is that a control board equivalent to a conventional motion controller and a driving board equivalent to a conventional servo amplifier are disposed in a motor of a tool change mechanism, and a position detection is provided at an end edge of the motor rotor. Knowing the magnet, another rotor position decoder (detection 1C) is provided at the corresponding control panel, and the rotor position decoder (detection 1C) feedback signal accurately controls the number of rotations and positioning of the motor rotor angle. The positioning method of the invention adopts the position detecting magnet and the rotor position decoder, which is accurate and sturdy and is not easily damaged. By adjusting the speed and the torque of the motor to achieve the positioning function, there is no sudden braking noise and motor damage. In the present invention, the AC input of the drive motor is connected to the drive board, and the control board is input or set by the CNC controller, the signal transfer board and the communication device, and the signal is fed back by the rotor position decoder of the control board to accurately control the motor rotor. The stroke, the number of rotation cycles and the positioning angle, and then drive the CNC machine tool change mechanism to correctly select or exchange the required tools from the tool turntable, which is compared with the principle block diagrams of the sixth figure and the seventh figure to the ninth figure, that is, The difference between the present invention and the conventional general-purpose device is distinguished. [Embodiment] Referring to the first figure and the second figure, the servo positioning device for the tool change mechanism of the simplified CNC machine of the present invention mainly has a receiving cavity extending at one end of the permanent magnet or induction motor body (1). The body (1 1) is internally provided with a control board (2) and a driving board (3), and the receiving cavity (1 1 ) is closed at the other end with an outer cover (12). The permanent magnet or induction motor body (1) comprises a power input 201235151 line (13) and a signal input/output connection line (14), and a rotor (i5) extends to the receiving cavity (1 1 ) On the side, a position detecting magnet (16) is fixed to the end edge of the rotor (15). As shown in the third and fifth figures, the control board (2) is adjacent to the rotor (15) end of the permanent magnet or induction motor body (1), and the permanent magnet or induction motor body (1) The signal is input and output into the connecting line (1 4 ), one end of which is electrically connected to the CNC controller, the other end is electrically connected to the control board (2), and the control board (2) is provided with a control circuit corresponding to the rotor (1) 5) The position detection magnet is provided with a rotor position decoding piano (2 1 ) ° The permanent magnet or induction motor body (1) power input line (3) is electrically connected to the drive board (2) input power supply The driving board (2) is provided with a control circuit and a driving circuit, and the driving board (2) outputs a driving coil (1 7 ) connected to the permanent magnet or induction motor body (1), and the output driving current can start the rotor (1 5) Rotate. According to the present invention, the device of the present invention is a permanent magnet or induction motor body (1) of an equivalent motor in a servo clamping device for a tool change mechanism of a general CNC machine, a control board (2) of an equivalent motion controller, and an equivalent servo. The driver board (3) of the amplifier is characterized. In the implementation of the invention, the rotor (15) of the permanent magnet or induction motor body (1) is rotated or stopped, and the power input line (丨3) of the permanent magnet or induction motor body (1) is used for inputting power. On the drive board (2) 'The drive board (2) rotates the power to the drive coil (1 7) 201235151 of the permanent magnet or induction motor body (1) according to the command of the CNC controller to drive the rotor (15) to rotate. . When the real palladium is 'the control of the permanent magnet or inductive motor body control i ^ 5 Λ rotation stroke, the number of weeks and the angle ' is set by the cnc 耘 疋 加上 加上 加上 plus the rotor position decoder (2i) The position detects the result of the magnet (16) and feeds it back to the (3)c control boundary, which is executed by the instruction issued by the logic operation. 【 [Simple description of the schema]
第一圖為本發明分解立體圖。 第一圖為本發明剖視圖。 第三圖為本發明組件正視圖及線路連結示意圖。 第四圖為本發明控制板側視圖。 第五圖為本發明控制板背視圖。 第六圖為本發明主要結構原理方塊示意圖。 第七圖為傳統伺服器相關產品結構原理方塊示意圖。 第八圖為傳統變頻器相關產品結構原理方塊示意圖。 第九圖為傳統剎車器相關產品結構原理方塊示意圖。 【主要元件符號說明】 永磁式或感應式馬達本體（1) 容納腔體（1 1 ) 外蓋（1 2) 電源輸入線（1 3) 5孔遽輸出入連接線（1 4) 轉子（1 5) 201235151 位置檢知磁石（1 6) 驅動線圈（1 7) 控制板（2) 轉子位置譯碼器（2 1 ) 驅動板（3)The first figure is an exploded perspective view of the present invention. The first figure is a cross-sectional view of the present invention. The third figure is a front view and a line connection diagram of the components of the present invention. The fourth figure is a side view of the control panel of the present invention. The fifth figure is a rear view of the control panel of the present invention. The sixth figure is a block diagram showing the main structural principle of the present invention. The seventh figure is a block diagram of the structure principle of the traditional server related products. The eighth figure is a block diagram showing the structure principle of the traditional inverter related products. The ninth figure is a block diagram showing the structure principle of the traditional brake related products. [Main component symbol description] Permanent magnet or induction motor body (1) Housing cavity (1 1 ) Cover (1 2) Power input line (1 3) 5-hole 遽 input-in connection cable (1 4) Rotor ( 1 5) 201235151 Position detection magnet (1 6) Drive coil (1 7) Control board (2) Rotor position decoder (2 1 ) Drive board (3)