TWI739367B - Tool magazine controlling system and the controlling method thereof - Google Patents

Abstract

A tool magazine controlling system includes a tool magazine, a tool arm and a controlling unit, in which the tool magazine includes a plurality of tool cups, and each tool cup is provided for accommodating a tool, the tool arm is provided for pick and placing and changing the tool on the spindle, and the controlling unit is provided for controlling the rotation of the tool magazine to the corresponding tool cup and the rotation of the tool arm, such that the tool is transferred from the spindle and accommodated in the tool cup of the tool magazine, or the tool is transferred from the tool cup of the tool magazine and accommodated on the spindle. The controlling unit is provided for estimating the tool load of the each tool and the total load of the tool magazine and adjusting the speed of the tool magazine, such that the tool is to be arranged on any tool cups of the tool magazine according to the tool load of the tool.

Description

Tool magazine control system and its control method

The present invention relates to the technical field of tool change for a tool magazine of a machine tool, in particular to an intelligent control system of the tool magazine and a control method thereof.

The tool magazine system of the machine tool is a device for tool storage and tool change requirements in the machining process. Because this tool magazine system can store multiple tools at a time, and can select the tools correctly according to program control. The next preset tool to be used is stored in advance, and the tool is exchanged when it is needed. Compared with the manual tool change method in the prior art, it can greatly reduce the manpower and shorten the processing time.

The tool magazine system can be divided into non-servo tool magazine and servo tool magazine according to the different electronic control configuration. The tool preparation process used by the non-servo tool magazine is shown in Figure 1. In Figure 1, the non-servo tool magazine uses a frequency converter with a frequency conversion motor, as in step S100: start from point O of the external I/O device (on). This step is controlled by an external I/O device, and point O will be triggered when the tool magazine needs to rotate. Next, step S102: the inverter motor rotates. When the tool magazine rotates, the O point is triggered, and the frequency conversion motor rotates to drive the tool magazine to rotate. Step S104: The tool magazine turns to the positioning. When the variable frequency motor rotates to drive the tool magazine to rotate, the tool magazine reaches the position. Step S106: Point O of the external I/O device is turned off. When the tool magazine is turned to position, the external I/O device triggers the I point and turns off the O point. Last step S108: the inverter motor stops running. However, the disadvantage of this type of tool magazine is that the frequency conversion motor can only rotate at a fixed speed and cannot achieve the optimal tool preparation speed. Another disadvantage is that the use of an external I/O device is prone to damage, which in turn causes the tool magazine mechanism to be easily damaged.

In addition, the servo tool magazine uses a drive with a servo motor. The stroke planning is carried out through serial commands of the control unit. The servo motor can be turned to positioning through the drive, which can achieve the characteristics of high speed, high acceleration and deceleration, and precise positioning. Compared with the non-servo tool magazine which is controlled by an external I/O device, the servo tool magazine only needs the motor to be equipped with an encoder, which has high durability and easy wiring.

The servo tool magazine in the prior art does not consider the weight of the tool in the tool magazine to adjust the acceleration, deceleration and speed of the stroke. : If the weight of the tool carried by the tool magazine is lighter, it can withstand more severe acceleration and deceleration planning. However, in the prior art, the load of the tool magazine is not considered to adjust the stroke planning of the tool magazine rotation, so only the most conservative acceleration and deceleration planning can be adopted for operation. The same situation can also occur in the tool arm type tool change. If the tool arm type tool changes a large tool at a faster speed, the mechanism is prone to vibration and damage. Some control units provide a solution. The method is to open several The speed allows the user to set according to the weight of the tool, but this mechanism setting is time-consuming and can only be input by the user's experience value. Therefore, the control unit cannot make accurate stroke planning for the correct tool weight, so there is room for improvement. .

In addition, if the tool magazine is a disc or chain tool magazine, in order to exchange the tool with the spindle side, it is often necessary to use a tool arm type tool changer. In this case, the tools in the tool magazine will continue to be changed. The position of the knife is constantly changing. If there are still several tools with different weights in the tool magazine, under constant tool change, there may be heavy tools (the one with larger tool load) on the same side of the tool magazine at the same time. In this case, the tool magazine will be unbalanced. The tool magazine will be eccentric when rotating, resulting in a reduction in the life of the tool magazine. Unless the user pays attention to the problem of the unbalanced load of the tool magazine and changes the automatic tool change program to manual tool change, the problem of the unbalanced load of the tool magazine is difficult to be found.

In addition, if the machine is undergoing precision machining (hereinafter collectively referred to as finishing), if the tool magazine is preparing the tool, the rotation of the tool magazine will cause the machine to vibrate, and it may also cause the processing effect of the workpiece surface to be inferior. good. Therefore, under the premise of not affecting the processing effect of the workpiece, the movement planning of the tool magazine rotation will have other restrictions, and it will be carried out more conservatively. In the end, a single set of tool magazine rotation speed planning will not be possible. Meet the needs of various situations, and then affect the processing efficiency.

In order to solve the above-mentioned technical problems, the main purpose of the present invention is to provide a tool magazine control system and a control method thereof, which utilizes the action of the tool on the tool arm type tool magazine to calculate the weight of each tool through the load of the tool arm, and calculates the weight of each tool through the weight of the tool. The information adjusts the speed of the tool magazine, the speed of the tool arm and the position of the arranged tools in the tool magazine to reduce the unbalanced load of the tool magazine, thereby improving the efficiency of tool change and the service life of the tool magazine.

Another object of the present invention is to provide a tool magazine control system and a control method thereof, which calculates the tool magazine load and the tool magazine eccentric load through the tool load, and compares the tool magazine with the mechanical specifications of the tool magazine to remind the user of the tool magazine Whether it reaches the upper limit of the mechanism, if yes, reduce the rotation speed of the tool magazine to avoid the tool magazine being damaged at high speed due to the unbalanced load of the tool magazine.

Another object of the present invention is to provide a tool magazine control system and a control method thereof, which can determine whether the processed tool is in the finishing process, and if so, reduce the rotation acceleration and deceleration speed of the tool magazine when preparing the tool in advance, or even not preparing the tool. According to this, the workpiece has a good surface quality during the finishing process.

According to the above objective, the present invention discloses a tool magazine control system, including: a tool magazine, a tool arm and a control unit, wherein the tool magazine has a plurality of tool cups, and each tool cup contains a tool; the tool arm consists of the tool magazine. Take and place the tools and change the tools on the spindle; and the control unit to control the rotation of the tool magazine to the corresponding tool cup, and control the rotation of the tool arm, so that the tool is converted from the spindle and stored in the tool cup of the tool magazine or by The tool cup of the tool magazine is converted and contained on the spindle, and the control unit estimates the tool load of each tool and the total load of the tool magazine and adjusts the speed of the tool magazine, and arranges the tool in the tool according to the tool load of the tool. Any knife cup in the library.

In a preferred embodiment of the present invention, the control unit further includes comparing the total load and total partial load of the tool magazine with the reference value of the tool magazine according to the load of the tool magazine to determine whether the total load of the tool magazine is abnormal, so as to adjust in real time. The speed of the tool magazine.

In a preferred embodiment of the present invention, the reference value of the tool magazine is the total tool load that the tool magazine can bear.

In a preferred embodiment of the present invention, the control unit is used to adjust the rotational speed of the tool magazine when judging whether each tool in the tool magazine is in the finishing stage.

In a preferred embodiment of the present invention, when the control unit judges whether each tool in the tool magazine is in the finishing stage, the tool magazine does not execute the tool preparation program.

In a preferred embodiment of the present invention, the tool magazine can be a disc-type tool magazine or a chain-type tool magazine.

In a preferred embodiment of the present invention, the tool load can be calculated from the current of the drive or sensed by the sensor.

In a preferred embodiment of the present invention, the tool load, the total load and the total eccentric load are stored in the storage unit of the control unit.

According to the above-mentioned tool magazine control system, the present invention also discloses a tool magazine control method for the tool magazine control system. The steps include: executing the step of upper spindle of the tool, placing the tool on the spindle; executing the step of rotating the tool magazine, rotating the tool The library makes the tool magazine correspond to any tool cup; execute the tool arm rotation step, use the tool arm to remove the tool from the spindle, rotate the tool arm holding the tool, and measure or calculate the tool when rotating the tool arm Load; execute the tool on the tool magazine step, rotate the tool arm, so that the tool on the spindle is transferred to any tool cup in the tool magazine; and repeat the tool on the spindle step and the tool on the tool magazine step to make the next tool on the spindle Place it on other tool cups in the tool magazine, where the position of the tool cup is the opposite of the vector sum of the previous tool, until the tool has been completely converted to the tool cup of the tool magazine.

In a preferred embodiment of the present invention, the tool magazine control method further includes measuring the total load and total eccentric load of the tool magazine, and comparing with the reference value of the tool magazine to determine whether the total load is abnormal, and if so, adjust the tool magazine的rpm。

In a preferred embodiment of the present invention, the tool magazine control method further includes determining whether each tool in the tool magazine is in the finishing stage, and if so, adjusting the rotation speed of the tool magazine in the tool preparation stage.

In a preferred embodiment of the present invention, the tool magazine control method further includes judging whether each tool in the tool magazine is in the finishing stage, and if so, the tool preparation program is not executed for the tool magazine.

In a preferred embodiment of the present invention, in the tool magazine control method, the step of measuring the tool load of the tool further includes: using an encoder to read the position signal of the tool in the tool cup of the tool magazine; using the control unit to send the position signal Convert it into angular acceleration, and use the load inside the driver as torque to calculate the moment of inertia of the tool arm; and get the tool inertia according to the moment of inertia and the mechanism inertia of the tool arm, and get the tool load according to the radius of rotation of the tool arm.

In a preferred embodiment of the present invention, in the tool magazine control method, repeating the step of spindle up the tool and the step of the tool in the tool magazine also includes the step of arranging tools, and the step of arranging the tools includes: calculating each tool in the tool magazine The vector summation of the position relative to the center of the tool magazine, and the next tool is arranged on the tool cup at the opposite position of the vector summation.

The following provides detailed descriptions of specific embodiments of the present invention. However, the present invention is not limited to the following embodiments, and the drawings in the present invention are schematic diagrams, which are mainly intended to represent the connection relationship between the modules. The detailed description of this embodiment with various drawings is as follows.

Please refer to Figure 2 first. Fig. 2 is a block diagram of a tool magazine control system according to the disclosed technology of the present invention. In Fig. 2, the tool magazine control system 1 is composed of at least a tool magazine 2, a knife cup 4, a knife arm 6 and a control unit 8. The tool magazine 2 has a plurality of knife cups 4, and each knife cup 4 is used to contain Set a tool (not shown in the figure), the tool arm 6 is used by the spindle (not shown in the figure) to pick and place the tool (not shown in the figure) and replace the tool (not shown in the figure) in the tool magazine 2. The inner tool cup 4 and the control unit 8 are used to control the rotation of the tool magazine 2 to the corresponding tool cup 4, and can control the rotation of the tool arm 6 so that the tool arm moves the tool (not shown in the figure) from the spindle (not shown) (Shown in the figure), remove, and rotate the tool arm, and measure or calculate the tool load when rotating the tool arm, the control unit 8 is used to estimate the tool load and tool load of each tool (not shown in the figure) The total load of the magazine 2 is used to adjust the rotation speed of the magazine 2 and to arrange the tools (not shown in the figure) in any one of the magazine 2 according to the tool load of each tool (not shown in the figure) Knife cup 4 on.

In a preferred embodiment of the present invention, the control unit 8 can also compare the total load and total partial load of the tool magazine 2 with the reference value of the tool magazine 2 according to the tool load to determine whether the total load of the tool magazine 2 is If it is abnormal, the rotation speed of the tool magazine 2 is adjusted in real time. In the embodiment of the present invention, the reference value of the tool magazine 2 is the total load of the tools that the tool magazine 2 can bear. In addition, the tool magazine 2 may be a disc-type tool magazine or a chain-type tool magazine. In the following embodiments, a disc-type tool magazine is used as an example.

Then please refer to Figure 3. Fig. 3 shows a tool magazine control method used in a tool magazine control system according to the disclosed technology of the present invention. And also refer to Figure 2 for description. The steps of the tool magazine control method include: Step S10: Execute the step of upper spindle of the tool. In this step, the spindle (not shown in the figure) is used to place the tool (not shown in the figure). Step S12: Execute the tool magazine rotation step. In this step, the tool magazine 2 is rotated so that the tool on the spindle is transferred to any tool cup 4 of the tool magazine 2. Step S14: Execute the step of rotating the knife arm. In this step, the tool arm 6 is used to remove the tool (not shown in the figure) from the spindle, and the tool arm 6 holding the tool is rotated. During the rotation, the tool can be measured or calculated. (Not shown in the figure) tool load, and record the tool load in the control unit 8 (shown in Figure 2). Step S16: Execute the tool step on the tool magazine. In this step, the tool arm 6 is rotated so that the tool on the spindle is transferred to any tool cup 4 of the tool magazine 2. Step S18: Repeat the steps of the spindle on the tool and the steps on the tool in the magazine. In this step, the above steps S10 to S16 are repeated, so that the next tool (not shown in the figure) on the spindle (not shown in the figure) is placed on the other tool cups 4 of the tool magazine 2, where the tools are placed The position of the cup 4 is the opposite position of the vector sum of the tool (not shown in the figure) until the tool (not shown in the figure) has been completely converted to the tool cup 4 of the tool magazine 2.

The following is a specific further description based on the above-mentioned tool magazine control system and its tool magazine control method. Please refer to Figure 4A-Figure 4D. Figures 4A-4D show schematic diagrams of each step of the knife arm type loading process. In this embodiment, a disc-type tool magazine is used for description. The knife arm type knife loading process is shown in Figure 4A. The tool magazine 10 has a plurality of knife cups 102a, 102b, 104a, 104b, 106a, 106b, 108a, 108b, and each knife cup 102a, 102b, 104a, 104b, 106a , 106b, 108a, and 108b are used to house a tool 30, the tool 30 is placed on the spindle 20, and the tool 30 is taken out from the spindle by the tool arm 40 and placed in the tool cup of the tool magazine 10. In a preferred embodiment of the present invention, the knife cup 102a and the knife cup 102b, the knife cup 104a and the knife cup 104b, and the knife cup 106a and the knife cup 106b are arranged in a diagonal manner.

Then as shown in Figure 4B, when the control unit 8 (as shown in Figure 2) issues a tool change command, the tool magazine 10 will rotate in the direction indicated by the arrow in Figure 4B, so that the tool magazine 10 rotates to a preset After the knife cup 102a. As shown in FIG. 4C, the control unit 8 (as shown in FIG. 2) continues to issue commands to rotate the tool arm 40 (in the direction indicated by the arrow in FIG. 4C), so that the tool 30 is changed from the spindle 20 to the tool magazine 10. Next, as shown in FIG. 4D, the action of loading the tool 30 to the tool magazine 10 is completed.

式(1) ，其中T為扭力，J為轉動慣量，α為角加速度。

，式(2)， 其中，

，式(3)，m為質量，r為刀臂的旋轉半徑。 因此，在本發明所揭露的刀庫控制系統1中，利用在刀庫系統1中的編碼器(未在圖中表示)讀取刀具30在刀庫10的刀杯102a、102b、104a、104b、106a、106b、108a、108b的位置訊號。接著，利用控制單元8(如圖2所示)將此位置訊號轉換成角加速度α，並將在刀庫系統1中的驅動器(未在圖中表示)內部的負載當成扭力，故可以計算得到刀臂40機構加上刀具30的總轉動慣量。由上述式(2)可知，由於已知刀臂40本身的機構慣量，將驅動器內部慣量扣除刀臂40本身的機構慣量就可以得到該把刀具30的慣量

。再根據式(3)並由已知刀臂40的旋轉半徑r來求得刀具30的負載。因此，在本發明中，可以事先利用上述式(1)－式(3)來計算出要置放在刀庫10中的每一把刀具30的負載。於另一較佳實施例中，每一把刀具30的刀具負載可由驅動器(未在圖中表示)的電流計算得到或是由感測器(未在圖中表示)感測得到。 In the above steps of loading the tool, it will definitely go through the stage of the rotation of the tool arm 40, and in Figures 4A-4D, it is shown that there is no tool 30 in the tool magazine 10, so the number of tools to be placed in the tool magazine 10 can be calculated. The load of the tool 30 is recorded, and the load of the tool 30 is recorded in the control unit 8 (as shown in FIG. 2). The calculation method of the tool 30 is shown in formula (1):

Equation (1), where T is the torque, J is the moment of inertia, and α is the angular acceleration.

，Formula (2), where,

, Formula (3), m is the mass, and r is the radius of rotation of the knife arm. Therefore, in the tool magazine control system 1 disclosed in the present invention, the encoder (not shown in the figure) in the tool magazine system 1 is used to read the tool 30 in the tool cups 102a, 102b, 104a, 104b of the tool magazine 10. , 106a, 106b, 108a, 108b position signal. Then, use the control unit 8 (as shown in Figure 2) to convert this position signal into angular acceleration α, and use the internal load of the drive (not shown in the figure) in the tool magazine system 1 as torque, so it can be calculated The tool arm 40 mechanism adds the total moment of inertia of the tool 30. It can be seen from the above formula (2) that since the mechanical inertia of the tool arm 40 is known, the inertia of the tool 30 can be obtained by subtracting the internal inertia of the driver from the mechanical inertia of the tool arm 40.

. Then, the load of the tool 30 is obtained according to equation (3) and the rotation radius r of the tool arm 40 is known. Therefore, in the present invention, the load of each tool 30 to be placed in the tool magazine 10 can be calculated in advance by using the above-mentioned formula (1)-formula (3). In another preferred embodiment, the tool load of each tool 30 can be calculated by the current of the driver (not shown in the figure) or sensed by the sensor (not shown in the figure).

After obtaining the load information of the tool 30, in the process of continuing to load the tool, in order to solve the problem that the load of each tool 30 may be different, when the tool 30 with different load is loaded to the tool magazine 10, it may cause the tool magazine 10 The problem of eccentric load. Therefore, when the tool 30 is loaded to the tool magazine 10, it is necessary to arrange the position of the tool 30 in the tool magazine 10 to solve the problem of the tool magazine 10 deviation caused by the different loads of the tools 30. The problem of loading.

Then please refer to Figure 5A-Figure 5D. Figures 5A-5D are schematic diagrams showing the steps of arranging the positions of the tool cups in the tool magazine according to the weight of each tool according to the technology disclosed in the present invention. As shown in FIG. 5A, the position of each knife cup 102a, 102b, 104a, 104b, 106a, 106b, 108a, 108b has a direction vector to the center of the tool magazine 10, and the magnitude of this vector is the load. In order to reduce the eccentric load of the tool magazine 10, it is necessary to reduce the vector sum to the minimum value. Therefore, in the step of continuous tool loading, the next tool 30b needs to be placed in the opposite position corresponding to the vector sum of the previous tool 30a. superior. When the last tool 30a calculates the load of the tool 30a using the above equations (1)-(3), for example, 6 kg, then use the step flow of the upper knife as shown in Figure 4A-4D to place the tool 30a on the knife At any position of the knife cup 102a, 102b, 104a, 104b, 106a, 106b, 108a, 108b, such as the knife cup 102a. Next, when the next tool 30b is to be loaded, the load of the tool 30 can be calculated to be 8 kg. Since the total of the tool vectors is toward the 12 o'clock clock, the next tool 30b needs to be placed At the position closest to the 6 o'clock direction of the clock, as shown in FIG. 4B, the cutter 30b is placed at the position of the cutter cup 102b.

Next, when the third tool 30c is to be placed again, since the sum of the tool vectors of the tool 30a and the tool 30b on the tool magazine 10 point to the 6 o'clock direction of the clock, the third tool 30c with a load of 4 kg must be Place the position closest to the 12 o'clock direction of the clock, as shown in FIG. 5C, place the cutter 30c at the position of the cutter cup 104b.

Then, when the fourth tool 30d is placed, the sum of the tool vectors of the tool 30a, the tool 30b, and the tool 30c is currently on the tool magazine 10, pointing to the direction between 9-10 o'clock in the clock, so the fourth tool 30d, The load is 2 kg, and it must be placed at the position closest to the direction between 3-4 o'clock on the clock. As shown in Figure 4D, the cutter 30d is placed at the position of the cutter cup 104a. By analogy, the tools to be loaded to the tool magazine 10 can be placed in the opposite position of the tool vector sum according to the current tool vector sum of the tool magazine 10.

According to the above method of using the tool load and the sum of tool vectors, the tools of different loads can be arranged in the appropriate positions of the tool cups 102a, 102b, 104a, 104b, 106a, 106b, 108a, 108b in the tool magazine 10 to avoid the tool magazine. 10 The problem of eccentric load of the tool magazine 10 due to uneven tool load distribution.

After all the tools are loaded to the tool magazine 10, since the control unit already knows the load of all the tools currently carried on the tool magazine 10, further details can be made for the movement of the tool magazine 10 and the tool arm 40. change. Please refer to Figure 6A and Figure 6B at the same time. 6A and 6B are schematic diagrams showing the stroke planning for different load sizes according to the technology disclosed in the present invention. Among them, FIG. 6A shows a stroke plan with a large load and FIG. 6B shows a stroke plan with a small load. . In the preferred embodiment of the present invention, the optimized direction is that the heavier the load, the slower the rotation speed and acceleration, so that the impact force of the tool magazine 10 can be reduced, and the entire tool magazine control system can be improved. 1 life span. Furthermore, dynamically synchronize the inertia to the drive, and cooperate with the three-loop control of the position loop/speed loop/torque loop to improve the control of the speed loop and make the three-loop control inside the drive more stable.

In addition, when the tool magazine 10 is usually changing tools, the control unit 8 (as shown in Figure 2) detects whether the load and eccentric load exceed the upper limit of the tool magazine 10 mechanism. If it exceeds the upper limit of the mechanism, the tool magazine control system 1 will remind the user, and automatically reduce the speed of the tool magazine 10. The advantage of the usual tool change detection is that it can check the current tool configuration, the user does not need to check regularly, and the method of calculating the load is the same as the aforementioned calculation of the tool load, so whether the tool magazine 10 bears excessive load such as The following description also refers to FIG. 7. FIG. 7 is a schematic diagram showing the speed feedback and load during the rotation and positioning of the tool magazine according to the technology disclosed in the present invention. As shown in Figure 7, the rotary positioning of the tool magazine 10 includes an acceleration/deceleration section and a constant velocity section. The load on the acceleration/deceleration section will be equal to the inertia force plus the dynamic friction force. Since the load in the constant velocity section is almost equal to the dynamic friction force, it is necessary Calculate the dynamic friction force from the constant velocity section first, and subtract the dynamic friction force from the load in the acceleration and deceleration section, to be a pure inertia force. Therefore, after the inertia force is obtained, use the above formula (1) to calculate the total of the tool magazine 10 and the tool. load. In addition, to calculate the load of the tool magazine 10, it is necessary to subtract the mechanical load of the known tool magazine 10 itself to be the load caused by the tool. Generally speaking, the tool magazine factory will provide information on the total load of the tool that the tool magazine can bear. Therefore, it can be judged whether the tool magazine 10 bears excessive load.

，式(4)，其中f為頻率，w為刀庫轉速。 偵測頻域轉換振幅的閥值可以由驅動器模型得知，因此將上述所計算得到的動摩擦力與機構偏載代入驅動器模型，可以模擬驅動器(未在圖中表示)受到偏心負載，將此偏心負載做頻域轉換可得到偵測偏載的閥值，進而偵測刀庫10是否承受過多的偏載。 In addition, the tool magazine control system 1 in the present invention can also calculate the eccentric load of the tool magazine, as shown in FIG. 8. FIG. 8 is a schematic diagram showing the speed feedback and load of the tool magazine with unbiased load and unbiased load according to the technology disclosed in the present invention. In Fig. 8, since the load will fluctuate like a large wave due to the eccentricity, the frequency domain conversion of the load can find that the amplitude of the eccentric load is large at the low frequency, and then the eccentric load can be detected. The detected low frequency frequency can be calculated from equation (4) by the tool magazine speed,

, Formula (4), where f is the frequency and w is the speed of the tool magazine. The threshold for detecting the frequency-domain conversion amplitude can be known from the driver model. Therefore, substituting the calculated dynamic friction force and the eccentric load of the mechanism into the driver model can simulate the eccentric load of the driver (not shown in the figure). The frequency domain conversion of the load can obtain the threshold for detecting the unbalanced load, so as to detect whether the tool magazine 10 is subjected to excessive unbalanced load.

Since the machine tool with the tool magazine 10 (not shown in the figure) saves the speed of tool change, when a certain tool is processed, the tool magazine 10 will be rotated in advance to prepare the next tool to be used, and In order to pursue the good quality of finishing, in any machining process, the vibration of the machine may affect the yield of the workpiece. That is to say, in the case of finishing, if the tool magazine 10 is rotated for tool preparation, it will cause Mechanism vibration may produce unnecessary lines on the surface of the workpiece. In order to avoid machine vibration and affect the yield of the workpiece during the finishing process, the present invention proposes a method for adjusting the speed of the tool magazine during the finishing process. , As shown in Figure 9. FIG. 9 is a schematic flow chart showing the steps of adjusting the rotation speed of the tool magazine during the finishing process according to the technology disclosed in the present invention. Step S20: Set the processing conditions corresponding to the tool. In this step, the user first enters the machining situation using the tool number in the tool management interface. For example, the user sets the machining condition corresponding to each tool to be rough machining or finishing. Then in step S22: set the speed, acceleration and/or jerk of the tool magazine during finishing. Step S24: According to the tool management, it is judged whether the current processing stage is in finishing processing. In this step, after the various conditions of finishing are set in step S22, the intelligent function of the tool magazine in finishing mode is turned on, and the intelligent function is used to judge the current processing stage. If it is in the finishing stage, step S26 is performed: the tool magazine rotates according to the speed, acceleration and/or jerk set for finishing. In this step, the intelligence of the tool magazine can determine the current processing stage. If it is in the finishing stage, the tool magazine 10 will be rotated according to the above-mentioned set stroke parameters, and the user can even determine the state of finishing. , The tool preparation action for the rotation of the tool magazine 10 is not performed. If the tool magazine intelligent function judges that the current processing stage is not in the finishing stage, step S28: adjust the tool magazine speed according to the load of the tool magazine. Therefore, through the intelligent application of the tool magazine, the optimal design of the processing efficiency and the processing quality of the workpiece can be achieved.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of rights of the present invention. At the same time, the above descriptions should be understood by those with ordinary knowledge in the relevant technical fields and implemented accordingly. Therefore, other aspects do not deviate from this The equivalent changes or modifications completed under the concept disclosed in the invention should all be included in the scope of the patent application.

S100~S108: Tool preparation process steps used by non-servo tool magazines 1: Tool magazine control system 2, 10: Tool magazine 4: knife cup 6, 40: knife arm 8: Control unit 102a, 102b, 104a, 104b, 106a, 106b, 108a, 108b: knife cup 20: Spindle 30, 30a~30d: Tool S10~S18: Step process of tool magazine control method S20~S28: Steps to adjust the speed of the tool magazine during the finishing process

Fig. 1 is a schematic diagram showing the steps of a tool preparation process used in a non-servo tool magazine according to the prior art. Fig. 2 is a block diagram of a tool magazine control system according to the disclosed technology of the present invention. FIG. 3 is a schematic flow chart showing the steps of a tool magazine control method used in a tool magazine control system according to the technology disclosed in the present invention. 4A-4D are schematic diagrams showing the steps of the knife arm type knife loading process according to the technology disclosed in the present invention. Figures 5A-5D are schematic diagrams showing the steps of arranging the positions of the tool cups in the tool magazine according to the weight of each tool according to the technology disclosed in the present invention. 6A and 6B are schematic diagrams showing the motion planning of different load sizes according to the technology disclosed in the present invention. FIG. 7 is a schematic diagram showing the speed feedback and load during the rotation and positioning of the tool magazine according to the technology disclosed in the present invention. FIG. 8 is a schematic diagram showing the speed feedback and load of the tool magazine with unbiased load and unbiased load according to the technology disclosed in the present invention. FIG. 9 is a schematic flow chart showing the steps of adjusting the rotation speed of the tool magazine during the finishing process according to the technology disclosed in the present invention.

S10~S18: Step process of tool magazine control method

Claims (14)

A tool magazine control system, including: A tool magazine, the tool magazine has a plurality of knife cups, and each of the knife cups is used for accommodating a tool; A tool arm for picking and placing the tool from the tool magazine and replacing the tool on a spindle; and A control unit for controlling the tool magazine to rotate to the corresponding tool cup, and controlling the rotation of the tool arm, so that the tool is converted from the spindle and accommodated in the tool cup of the tool magazine or by The tool cup of the tool magazine is converted and contained on the spindle, and the control unit estimates a tool load of each tool and a total load of the tool magazine to adjust a rotation speed of the tool magazine, and according to the tool The tool load is used to arrange the tool on any cup of the tool magazine. The tool magazine control system according to claim 1, wherein the control unit further includes comparing the total load and a total off-load of the tool magazine with a reference value of the tool magazine according to the load of the tool to determine the tool Whether the total load of the magazine is abnormal, the speed of the tool magazine can be adjusted in real time. The tool magazine control system according to claim 2, wherein the reference value of the tool magazine is a total tool load that the tool magazine can bear. The tool magazine control system according to claim 1, wherein the control unit is used to adjust a rotation speed of the tool magazine when determining that each tool in the tool magazine is in a finishing stage. The tool magazine control system according to claim 1, wherein when the control unit determines that each tool in the tool magazine is in a finishing stage, the tool magazine does not execute a tool preparation program. The tool magazine control system according to claim 1, wherein the tool magazine can be a disc-type tool magazine or a chain-type tool magazine. The tool magazine control system according to claim 1, wherein the tool load can be calculated by a current of a drive or sensed by a sensor. The tool magazine control system according to claim 1, wherein the tool load, the total load and the total eccentric load are stored in a storage unit of the control unit. A tool magazine control method for a tool magazine control system, the steps of which include: Execute the steps of the previous spindle of a tool, and use the spindle to place the tool; Perform a tool magazine rotation step to rotate the tool magazine so that the tool magazine corresponds to any tool cup; Perform a tool arm rotation step, use a tool arm to remove the tool from the spindle, rotate the tool arm holding the tool, and measure or calculate a tool load when rotating the tool arm; Perform a step of loading a tool in a tool magazine, and rotate the tool arm so that the tool on the spindle is transferred to any of the tool cups in the tool magazine; and Repeat the step of placing the tool on the spindle and the step of placing the tool on the tool magazine, so that the next tool of the spindle is placed on the other tool cups of the tool magazine, and the position where the tool cup is placed is one of the previous tool. A position opposite to the vector sum until the tool has been completely converted to the tool cup of the tool magazine. The tool magazine control method described in claim 9 further includes measuring a total load and a total eccentric load of the tool magazine, and comparing them with a reference value of the tool magazine to determine whether the total load is abnormal. If so, Then adjust the speed of the tool magazine. The tool magazine control method according to claim 9 further includes determining whether each tool in the tool magazine is in a finishing stage, and if so, adjusting a rotation speed of the tool magazine in a tool preparation stage. For example, the tool magazine control method described in claim 9 further includes judging whether each tool in the tool magazine is in a finishing stage, and if so, not executing a tool preparation program for the tool magazine. The tool magazine control method according to claim 9, wherein the step of measuring the tool load of the tool further includes: Use an encoder to read a position signal of the tool in the tool cup of the tool magazine; Use the control unit to convert the position signal into an angular acceleration, and use the load inside the driver as a torque to calculate a moment of inertia of the tool arm; and A tool inertia is obtained according to the moment of inertia and a mechanism inertia of the tool arm, and the tool load can be obtained according to a radius of rotation of the tool arm. The tool magazine control method according to claim 9, wherein repeating the step of spindle on the tool and the step on the tool magazine further includes a step of arranging tools, and the step of arranging tools includes: Calculate a vector summation of each tool position in the tool magazine with respect to a direction of a circle center of the tool magazine; and Arrange the next tool on the knife cup at the opposite position of the vector sum.

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