TWM543137U - Tool servo control system - Google Patents

Abstract

A tool servo control system is provided that includes a host controller, a driver, a motor and a tool magazine. The driver is adapted to receive a motion command sent by the host controller and a driver motion command according to the motion command, the motor is adapted to receive the driver motion command sent by the driver, and the motor includes an encoder and the tool magazine includes a plurality of tools, thus the encoder can feedback the current angle information of the motor to the driver, the driver sent the angle information to the host controller, and the host controller calculates the current tool number according to the angle information, and according to the target knife number corresponding to the current tool number to calculate the required rotation angle to sent the correct motion command, so that the motor according to the motion command and the required rotation angle, rotate the tool in the tool magazine until the required tool reach the specified location.

Description

Tool servo control system

This creation provides a control system for a working machine, in particular a tool servo control system for a working machine.

In the work machine industry, there is a need to change tools regardless of lathes or milling machines. In order to increase the speed of the tool change, it is necessary to have multiple knives on the work machine at the same time, and the tool magazine is thus produced. Generally speaking, only one tool is in contact with the workpiece during machining, and other tools are placed in the tool magazine for standby. When the tool needs to be replaced, the tool magazine will rotate or move to let the target tool reach the position.

The early rotary type tool magazine was powered by a hydraulic motor. The cam mechanism was used with the tool magazine. When the tool magazine needs to be rotated, the upper controller calculates the number of positions to be rotated, and then outputs/outputs (I/O). The signal informs the hydraulic motor to start rotating, and the sensor is installed on the tool magazine. The I/O signal is also sent back to inform the upper controller that several rotations have been completed, and finally the target position is accurately stopped. When using a hydraulic motor to drive the tool magazine, the host controller needs to edit the tool position check and command transmission contents in the Programmable Logic Controller (PLC). The disadvantage is that only one tool position can be rotated at a time, and the target knife is reached. Before the bit, the upper controller must always issue a rotation command. Moreover, only I/O signals can be communicated. Because the communication information is limited, the upper controller cannot perform further control. On the other hand, the sound and vibration of such a mechanism when the magazine is rotated is also large.

At this stage, using the servo motor to drive the tool magazine has gradually become the mainstream (hereinafter referred to as the servo tool magazine), and the upper controller controls the servo tool magazine as the motion axis (for example, the XYZ axis of the three-axis milling machine), when planning the command. The upper controller is not treated with a few tool positions, but with a motor angle. For example, the tool magazine can hold 10 knives. The tool position is one tenth of 360 degrees, that is, 36 degrees. For the three tool positions, the upper controller will issue a command to rotate the tool magazine by 108 degrees, and the upper controller will use the feedback of the motor encoder to determine which tool position the tool magazine is currently moving to. When using the servo tool magazine, the upper controller does not need to process the PLC, but the sub-program for the tool change is required. The content needs to define the number of tools in the tool magazine, the rotation speed of the tool magazine, etc., and define the abnormality according to the condition of the machine. Alerts, so whether the author of the subroutine is considered thoughtful or experienced will affect the degree of protection of the tool magazine and the processing speed when the anomaly occurs. Compared with the structure of the hydraulic motor, the servo tool magazine rotates smoothly and quietly. The upper controller can accurately grasp the position of the tool magazine by encoder feedback, which is quite convenient in application. The disadvantage is the upper controller and the lower position. The integration between the drivers is not good. Although there is enough information to communicate, it has not been properly used in setting and diagnosis.

In order to solve the above requirements, the present invention mainly provides a tool servo control system, comprising: an upper controller for transmitting a motion instruction; a driver for receiving a motion instruction sent by the upper controller and transmitting a motion motion command according to the motion instruction; The motor of the encoder, the motor is used to receive the driving motion command sent by the driver; and the tool magazine has a plurality of tools, whereby the encoder can feed back the angle information of the motor to the driver, and the driver transmits the angle information to the upper control. The upper controller calculates the current tool number based on the angle information, and calculates the required rotation angle according to the target tool number corresponding to the current tool number to issue a correct motion command, so that the motor according to the motion command and the required rotation The angle of rotation drives multiple tools in the magazine until the desired tool reaches the specified position.

For the above purposes, in a preferred embodiment of the present invention, the upper controller further includes a parameter setting and storage database.

In the above preferred embodiment, the parameter setting and storage database includes at least the tool magazine number, the tool magazine rotation speed, the tool magazine rotation acceleration, the tool magazine gear ratio, and the target tool angle. Error tolerance.

For the above purposes, in a preferred embodiment of the present invention, the upper controller and the drive are communicatively coupled to each other using a serial format.

For the above purposes, in a preferred embodiment of the present invention, wherein the tool servo control system further includes an abnormality alarm unit.

For the above purposes, in a preferred embodiment of the present invention, the upper controller further includes the tool servo control system monitoring and abnormal state determination.

For the above purposes, in the preferred embodiment of the present invention, the operating interface of the tool servo control system can support the operation interface application of up to three sets of tool magazines.

To achieve the above purpose, in the application context of the tool servo control system, the host controller can perform more in-depth control of the servo driver by using the serial format mechanism, and obtain various information of the servo driver and the encoder back of the motor. Based on this, to improve the use of settings and diagnosis.

1‧‧‧Upper controller

2‧‧‧ Drive

3‧‧‧Motor

4‧‧‧Encoder

5‧‧‧Magazine

6‧‧‧Parameter setting and storage database unit

7‧‧‧Monitor screen unit

8‧‧‧Abnormal alarm unit

51‧‧‧Tools

S01~S08‧‧‧Driver control system drive process steps

1 is a block diagram of a tool servo control system in accordance with the present teaching.

2 is a schematic diagram showing the connection relationship of the operation interface of the tool servo control system according to the present invention.

FIG. 3 is a schematic diagram showing the driving flow of the tool servo control system according to the present invention.

Advantages and features of the present invention, as well as methods for achieving the same, will be more readily understood by reference to the exemplary embodiments and the accompanying drawings. However, the present invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough and complete and complete disclosure of the scope of the present invention.

Please refer to FIG. 1 , which is a block diagram of a tool servo control system according to a preferred embodiment of the present invention. The tool servo control system mainly includes a host controller 1 , a driver 2 , a motor 3 and a tool magazine 5 , wherein the motor 3 further includes Encoder 4.

The upper controller 1 is connected to the drive 2 by means of a serial format (Mechatrolink), but this connection should not be construed as being limited to the embodiments set forth herein.

The upper controller 1 has a transmission motion command for transmitting a motion instruction to the driver 2 in a serial format. The driver 2 is configured to receive the motion command sent by the upper controller 1 and transmit the drive motion command to the motor 3 according to the motion command. A motor 3 having an encoder 4 for receiving a drive motion command transmitted by the driver 2.

The tool magazine 5 has a plurality of tools 51, wherein the encoder 4 can feed back the angle information of the motor 3 to the driver 2, and the driver 2 transmits the angle information to the upper controller 1 by the serial format, so that the upper controller 1 can calculate the current tool number according to the angle information, and calculate the required rotation angle according to the target tool number corresponding to the current tool number, and then issue the correct motion command. The driver 2 receives the motion command sent by the upper controller 1 and transmits a driving motion command to the motor 3 according to the motion command. The motor 3 is configured to receive the driving motion command sent by the driver 2 for driving the tool magazine 5 to rotate. The tool 51 in the magazine 5 is until the required tool 51 reaches the designated position.

Please refer to FIG. 2 , which is a working interface connection relationship of a tool servo control system according to another preferred embodiment of the present invention. FIG. 2 is a schematic diagram of the tool servo control system further including a system operation interface connection relationship and a tool servo control system according to FIG. 1 . The operation interface connection relationship has a parameter setting and storage database unit 6, a monitoring screen unit 7, and an abnormality alarm unit 8. In this embodiment, the parameter setting and storage database unit 6 is provided with a state setting for determining the tool magazine, wherein the state setting includes the number of tools in the tool magazine, the rotation speed of the magazine, the rotation acceleration of the magazine, and the gear ratio of the tool magazine. Target tool angle error tolerance, etc., but this state setting should not be construed as being limited to the embodiments set forth herein.

The monitor screen unit 7 includes monitoring the current tool number, the target tool number, the current rotational speed, the motor load, the motor torque, the current motor angle, whether the origin setting is completed, whether the target angle is reached, and the drive state (servo on/off (Servo on/) These monitoring states, such as off), in-service, ready, armed, paused, etc., are not to be construed as being limited to the embodiments set forth herein.

The abnormality alarm unit 8 includes such abnormal feedback methods that the tool magazine origin setting is not completed, the target tool number is out of range, the target tool number angle error is too large, the speed setting error, the servo driver is abnormal, and the like. Similarly, the above abnormal feedback modes should not be The understanding is limited to the embodiments set forth herein.

For the operation interface connection relationship of the tool servo control system, first set the following items by parameter setting and storage database unit 6: a) total number of tool magazines, b) gear ratio of the tool magazine mechanism, c) tool magazine rotation speed and Acceleration, d) Target state angle error tolerance and other state settings. When the setting is completed, the encoder 4 in the motor 3 can feed back the angle information of the motor 3 to the driver 2. Then, the driver 2 transmits the angle information to the host controller 1 by means of the serial format, so that the host controller 1 calculates the current tool number based on the angle information, and calculates the current tool number according to the target tool number. The angle of rotation required to give the correct motion command. The driver 2 receives the motion command sent by the upper controller 1 and transmits a drive motion command to the motor 3 according to the motion command. The motor 3 receives the drive motion command sent by the driver 2 to be rotationally driven in the tool magazine 5. The tool until the desired tool reaches the specified position.

It should be noted that before the host controller 1 issues a motion command, the host controller 1 first checks the origin of the tool magazine, such as the No. 1 knife, whether it has been set. If the origin has not been set, the host controller 1 An alarm is issued by the abnormality alarm unit 8 and the user is notified to set the origin of the tool in the magazine. If the origin has been set, the next higher controller 1 will check whether the target tool number is reasonable. For example, if the total number of tools is 12, but the target tool number is greater than 12 or less than 1, the host controller 1 will use the abnormal alarm unit. 8 An alarm is issued to inform the user that the current target tool number is in an unreasonable value state. If the target tool number is a reasonable value, the host controller 1 will issue a motion command to the driver 2, and the driver 2 will send a drive motion command to the motor 3, and the motor 3 will complete the action according to the drive motion command.

It should be noted that the information about the driver 2 and the motor 3 includes servo on/off (Servo on/off), working, pause, abnormal warning, motor load, angle feedback, rotation speed, etc. The format is transmitted to the host controller 1 and integrated into a dedicated monitor screen Within unit 7. When the abnormal state occurs, the abnormality alarm unit 8 issues a corresponding alarm after the diagnosis to notify the user to make an appropriate exclusion action for the abnormal state.

In addition, in another embodiment of the present invention, the motor 3 is generally combined with the speed reducer, and the rotational speed of the motor 3 is adjusted by the gear ratio of the reducer, so that the upper controller 1 corresponds to the current tool number according to the target tool number. The angle of rotation required is calculated, and the tool 51 in the magazine 5 is rotationally driven until the desired tool 51 reaches the designated position. In another embodiment, the operating interface of the tool servo control system has an operating interface application that supports up to three sets of tool magazines to achieve the flexibility to retain future expansion.

Please refer to FIG. 3, which is a schematic diagram of the driving process of the tool servo control system according to still another preferred embodiment of the present invention. FIG. 3 is a further connection relationship between the tool servo control system according to FIG. 1 and the operation interface of the tool servo control system according to FIG. Introduce the drive flow of the tool servo control system. After the host controller 1 and the driver 2 complete the serial communication, the parameter setting of the tool magazine is performed by the parameter setting and storage database unit 6 according to the mechanism specification of the tool magazine, that is, step S01, the parameter setting of the tool magazine includes the total number of tools and the tool magazine. Mechanism gear ratio, target tool number angle error tolerance, etc. In the present embodiment, the total number of knives in the magazine 5 can be set to 12 in advance, the gear ratio is 1:60, and the target tool angle tolerance is 0.5 degrees. After completing the above parameter setting, select the appropriate tool magazine angle and set the angle to the origin of the tool magazine, that is, set the current tool number to No. 1 knife.

Next, as in step S02: a magazine rotation command is issued. In this step S02, the T02 command can be issued in the Computer Numerical Control (CNC) program, that is, the target tool number is set to the No. 2 knife command, and the host controller 1 calculates the target tool number correspondingly. At the current angle of rotation required by the tool number, the target angle of the target tool number is set according to the above parameters. The angle required for the tool number is (360/12) x 60=1800 degrees, so the motor 3 needs to turn five times, at which time the upper controller 1 can send a motion command to the driver 2.

Next, step S03: origin setting. In this step S03, before the upper controller 1 issues a motion command, the upper controller 1 first checks whether the origin of the magazine has been set. If the origin has not been set, the host controller 1 will use the abnormal alarm unit 8. An alarm is issued, that is, step S04, and the user is notified to set the origin of the magazine (knife No. 1). If the origin of the magazine has been set, proceed to step S05 and the target tool number is determined. In step S05, it is used to check whether the target tool number is reasonable. As the example given above, if the total number of knives is 12, but the target tool number is greater than 12 or less than 1, the upper controller 1 will notify the user by an alarm by the abnormality alarm unit 8.

Next, in step S06, the motor rotates according to the instruction. In this step, if the target tool number is a reasonable value, the host controller 1 will issue a motion command for the motor 3 to be rotated five times according to the above step S02 to the driver 2, and the driver 2 sends a drive motion command to the motor. 3. The motor 3 completes the action according to the drive motion command. It should be noted that if the motor 3 or the tool magazine 5 encounters a situation that must be stopped during the rotation, the user is forced to trigger an emergency stop, causing the tool magazine 5 to stop halfway, and the abnormal alarm unit 8 is provided. An alarm is issued to notify the user that after the abnormality is removed, the tool magazine 5 is rotated to the appropriate position by the manual rotation function, that is, any tool number can be executed, and the rotation command is re-executed, that is, the resetting step is restarted by step S02. If the motor 3 successfully executes the drive motion command in step S07 and the target tool number angle error tolerance is less than the set 0.5 degree, then step S08 is performed and the tool magazine reaches the target tool number. In this step, the host controller 1 changes the current tool number to the target tool number, and the tool magazine 5 rotation process ends.

The above is only the preferred embodiment of the patented method. The equivalent of the equivalent modification or change according to the spirit of the patent, the servo tool magazine control and monitoring method according to the same concept should still be covered by this patent. Within the scope.

1‧‧‧Upper controller

2‧‧‧ Drive

3‧‧‧Motor

4‧‧‧Encoder

5‧‧‧Magazine

51‧‧‧Tools

Claims (7)

A tool servo control system includes: an upper controller for transmitting a motion command; a driver for receiving the motion command sent by the upper controller and transmitting a motion motion command according to the motion command; a motor for receiving the drive motion command sent by the driver; and a tool magazine having a plurality of tools, whereby the encoder can feed back an angle information of the motor to the driver The driver transmits the angle information to the upper controller, and the upper controller calculates a current tool number according to the angle information, and calculates an angle of the required rotation according to the target tool number and corresponding to the current tool number, The correct motion command is issued such that the motor rotationally drives the tool movement in the magazine according to the motion command and the desired angle of rotation until the tool reaches a designated position. The tool servo control system of claim 1, wherein the upper controller further comprises a parameter setting and storage database. The tool servo control system according to claim 2, wherein the parameter setting and storage database includes at least a tool magazine number, a tool magazine rotation speed, a tool magazine rotational acceleration, a tool magazine gear ratio, and a target tool number angle error. Allowable value. The tool servo control system of claim 2, wherein the upper controller and the driver are communicatively coupled to each other using a serial array format. The tool servo control system of claim 1 further comprising an abnormality alarm unit. The tool servo control system of claim 1, wherein the upper controller further comprises monitoring the tool servo control system and determining an abnormal state. The tool servo control system of claim 1, wherein an operation interface of the tool servo control system supports operation interface applications of up to three sets of tool magazines.