CN111451819A - Conveying mechanism and tool conveying method - Google Patents
Conveying mechanism and tool conveying method Download PDFInfo
- Publication number
- CN111451819A CN111451819A CN202010208992.2A CN202010208992A CN111451819A CN 111451819 A CN111451819 A CN 111451819A CN 202010208992 A CN202010208992 A CN 202010208992A CN 111451819 A CN111451819 A CN 111451819A
- Authority
- CN
- China
- Prior art keywords
- cutter
- tool
- task
- numerical control
- control mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
A handling mechanism for: receiving a tool changing task; taking out a second tool from the tool magazine according to the tool changing task; and carrying the second tool to a numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool. The invention also provides a cutter carrying method.
Description
Technical Field
The invention relates to a carrying mechanism and a cutter carrying method.
Background
In the field of cutter processing, the cutter can be worn in the use process, the cutter which cannot be normally used needs to be replaced, otherwise, the processing of a workpiece can be influenced. At present, the tool is replaced by manual operation, and the tool is easily mistakenly taken by manual operation, so that a workpiece is scrapped, and even a machine tool of processing equipment is damaged; and the labor intensity is high, the problems of cutter falling and installation may occur, the cutter waste is caused, and the processing cost is increased.
Disclosure of Invention
In view of the above, it is desirable to provide a conveying mechanism and a tool conveying method.
A control mechanism, comprising:
a communicator;
a processor to:
acquiring early warning information received by the communicator, wherein the early warning information comprises tool parameters formed by detection of a first tool by a numerical control mechanism;
preparing a second cutter according to the early warning information;
and controlling the communicator to send a tool changing task so as to replace the first tool as the second tool through the numerical control mechanism.
Further, the early warning information comprises a wear value of the cutter;
the processor is further configured to:
predicting the service life of the first cutter according to the wear value;
judging that the service life of the first cutter reaches the early warning service life;
and sending the early warning information.
Further, the processor is further configured to:
comparing the difference between the wear value and a standard table to produce a life of the first tool.
Further, the early warning information comprises a fracture value of the cutter;
the processor is further configured to:
estimating the service life of the first cutter according to the fracture value;
judging that the service life of the first cutter reaches the early warning service life;
and sending the early warning information.
Further, the processor is further configured to:
and controlling the communicator to send a detection instruction so as to carry out tool setting detection on the second tool.
A handling mechanism for:
receiving a tool changing task;
taking out a second tool from the tool magazine according to the tool changing task;
and carrying the second tool to a numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool.
Further, the system also comprises a scanning unit for scanning the mark on the second tool to confirm the tool information of the second tool.
Further, the tool changer is used for generating a standby tool task according to the tool changing task and sending the standby tool task to the tool magazine so as to enable the tool magazine to prepare the second tool;
after the second cutter is taken out, generating a cutter hanging task;
and carrying the second cutter to the numerical control mechanism, and sending the cutter hanging task to the numerical control mechanism so as to replace the first cutter with the second cutter.
Further, the tool preparing task includes tool information of the first tool, a tool identifier of the second tool, and position information in the tool library, and is used for enabling the tool library to position the second tool according to the position information, and judging that the obtained second tool is accurate according to the tool information and the tool identifier.
Further, the method also comprises the following steps:
the indicating unit is used for fault prompt in the carrying process;
and the emergency stop unit is used for emergently stopping the conveying mechanism.
A numerically controlled machine, comprising:
a cutter head;
the external unit is connected the blade disc contains:
a clip for:
clamping a first cutter from the cutter head;
placing the first tool to a handling mechanism;
clamping a second tool from the carrying mechanism at a clamping position;
placing the second cutter to the cutter head to complete cutter changing;
and the shifting piece is used for driving the clamping piece to move between the carrying mechanism and the cutter head so as to adjust the second cutter to the clamping position when the second cutter has a three-dimensional distance with the cutter head.
Further wherein the displacement member comprises:
and the telescopic driving piece is used for driving the clamping piece to move.
Further, wherein the displacement member further comprises:
the upset driving piece, flexible driving piece is located on the upset driving piece, the upset driving piece is used for the drive flexible driving piece is rotatory, so that the piece is got to the clamp the blade disc slope.
Further, wherein the displacement member further comprises:
the rotary driving piece is arranged on the rotary driving piece, and the rotary driving piece is used for driving the plug-in unit to rotate so that the clamping piece rotates between the carrying mechanism and the cutter head.
Further, the plug-in unit further comprises:
the angle limiting part is arranged on the rotary driving part and used for limiting the rotating angle of the plug-in unit.
Further wherein the gripper comprises:
a clamping jaw;
and the clamping driving part is arranged on the displacement part and used for driving the clamping jaw to move so as to clamp or release the cutter.
Further, the plug-in unit further comprises:
and the sensor is used for sensing whether cutters are arranged on the cutter head and the clamping piece or not.
A tool changing control method comprising:
acquiring early warning information, wherein the early warning information comprises cutter parameters formed by detecting a first cutter;
preparing a second cutter according to the early warning information;
and sending a tool changing task to change the first cutter into the second cutter.
Further, the early warning information includes a wear value of the tool, and the tool changing method further includes:
predicting the service life of the first cutter according to the wear value;
judging that the service life of the first cutter reaches the early warning service life;
and sending the early warning information.
Further, the difference between the wear value and a standard table is compared to produce a life of the first tool.
Further, the early warning information comprises a fracture value of the cutter;
estimating the service life of the first cutter according to the fracture value;
judging that the service life of the first cutter reaches the early warning service life;
and sending the early warning information.
Further, the method also comprises the following steps:
and sending a detection instruction to carry out tool setting detection on the second tool.
A method of tool handling, comprising:
receiving a tool changing task;
taking out a second tool from the tool magazine according to the tool changing task;
and carrying the second tool to a numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool.
Further, the identification on the second tool is scanned to confirm the tool information of the second tool.
Further, generating a spare tool task according to the tool changing task, and sending the spare tool task to the tool magazine to enable the tool magazine to prepare the second tool;
after the second cutter is taken out, generating a cutter hanging task;
and carrying the second cutter to the numerical control mechanism, and sending the cutter hanging task to the numerical control mechanism so as to replace the first cutter with the second cutter.
Further, the tool preparing task includes tool information of the first tool, a tool identifier of the second tool, and position information in the tool library, and is used for enabling the tool library to position the second tool according to the position information, and judging that the obtained second tool is accurate according to the tool information and the tool identifier.
Furthermore, fault prompting in the conveying process is also included;
and (5) emergency stopping of tool conveying.
A tool changing method, comprising:
acquiring early warning information;
preparing a second cutter;
conveying the second cutter to a numerical control mechanism;
clamping a first cutter from a cutter head;
placing the first tool to a handling mechanism;
clamping a second tool from the carrying mechanism at a clamping position;
and placing the second cutter to the cutter head to complete cutter changing.
According to the carrying mechanism and the cutter carrying method, the cutter is taken and placed through the carrying mechanism according to the cutter changing task, then the cutter is changed through the numerical control mechanism, manpower is reduced, the time for the machine to wait for the cutter changing is shortened, and the changing efficiency is high.
Drawings
Fig. 1 is a schematic view of a tool changer according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a tool changing method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an external hanging unit of a numerical control mechanism according to an embodiment of the present invention.
Fig. 4 is a structural diagram of the plug-in unit shown in fig. 3 from another view angle.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element or component is referred to as being "connected" to another element or component, it can be directly connected to the other element or component or intervening elements or components may also be present. When an element or component is referred to as being "disposed on" another element or component, it can be directly on the other element or component or intervening elements or components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a tool changer 100 is provided according to an embodiment of the present invention. The tool changer 100 can automatically change worn and chipped tools after processing or tools after a changing process. The tool changer 100 includes a numerical control mechanism 10, a tool magazine 20, a carrying mechanism 30, and a control mechanism 40. The numerical control mechanism 10, the tool magazine 20 and the carrying mechanism 30 are respectively connected to the control mechanism 40 in a communication manner. The numerical control mechanism 10 is used for installing a tool and controlling the tool to perform machining operation. The tool magazine 20 is used to store and supply tools to be replaced. The conveying mechanism 30 is used for conveying the tools provided by the tool magazine 20 to the numerical control mechanism 10. The control mechanism 40 is used for controlling the numerical control mechanism 10, the tool magazine 20 and the carrying mechanism 30 to operate according to the instruction.
The control mechanism 40 includes a processor 41 and a plurality of communicators 42. The communicators 42 are respectively disposed in the numerical control mechanism 10, the tool magazine 20 and the carrying mechanism 30 and electrically connected to the numerical control mechanism 10, the tool magazine 20 and the carrying mechanism 30, and the communicators 42 are respectively in communication with the processor 41 to receive corresponding commands. The processor 41 is configured to obtain information received by the plurality of communicators 42, perform corresponding processing on data therein, and send corresponding instructions to the corresponding communicators 42.
The processor 41 may be a central processing unit, a digital signal processor, or a single chip microcomputer.
The processor 41 may be disposed in the numerical control mechanism 10, the tool magazine 20, or the carrying mechanism 30, may be disposed independently of the numerical control mechanism 10, the tool magazine 20, or the carrying mechanism 30, or may be disposed in all of the numerical control mechanism 10, the tool magazine 20, or the carrying mechanism 30.
Specifically, the numerical control mechanism 10 includes a cutter head 11, an external hanging unit 12, and a detection unit 13. The cutter head 11 is used for installing and using cutters. The plug-in unit 12 is used for exchanging the cutter conveyed by the conveying mechanism 30 with the cutter on the cutter head 11. The detection unit 13 is used for detecting the tool on the cutter head 11.
The cutter head 11 includes a mounting member 111 and a drive member 112. The mounting member 111 is used for attaching and detaching a tool. The driving member 112 is used for driving the mounting member 111 to move so that the cutter on the cutter head 11 moves to the clamping position of the plug-in unit 12.
In one embodiment, the driving member 112 is a sliding cylinder. The sliding table cylinder piston is fixed on the piston rod, and the sliding table moves on the piston rod, so that the sliding table is more stable in movement, higher in position control precision and convenient to be matched with the plug-in unit 12 for taking and placing the cutter. In other embodiments, the driving member 112 may also be a rodless cylinder, but since the rodless cylinder has no piston rod, its action is to drive the external magnetic coupling platform to work through the ventilation movement of the piston inside the cylinder, or to drive the platform to work by the sealing belt, which is less accurate or shorter than the sliding table cylinder in terms of life.
The plug-in unit 12 includes a gripping member 121 and a displacement member 122. The clamping member 121 is used for clamping a tool on the clamping position. The displacement member 122 is used for driving the gripping member 121 to move between the carrying mechanism 30 and the cutter head 11.
The shifting member 122 is matched with the driving member 112, so that the tools mounted on the mounting member 111 on the cutter head 11 and the tools on the carrying mechanism 30 can be replaced more easily, when the tools are not convenient to take and place at the position of the cutter head 11, the tools are driven by the driving member 112 to be shifted out, the tools are further shifted out through the shifting member 122, the tools are clamped and replaced with the carrying mechanism 30, the stroke of the carrying mechanism 30 can be shortened, and the efficiency is improved.
Specifically, referring to fig. 3 and fig. 4, the plug-in unit 12 includes a rotation driving element 123, a turning driving element 124, a telescopic driving element 125, a clamping driving element 126, a clamping jaw 127, a sensor 128 and an angle limiting element 129. The rotary driving member 123, the flip driving member 124 and the telescopic driving member 125 are displacement members 122, and the clamping driving member 126 and the clamping jaws 127 are clamping members 121.
The rotary drive 123 is used to drive the entire plug-in unit 12 to rotate so as to rotate the gripper 121 between the carrying mechanism 30 and the cutter head 11.
The turning driving member 124 is disposed on the rotating driving member 123, and the turning driving member 124 is used for driving the telescopic driving member 125 disposed thereon to rotate so as to incline the clamping member 121 to the cutter head 11, so that the clamping member 121 and the cutter head 11 can conveniently take and place a tool.
The telescopic driving member 125 is provided with a gripping member 121. The telescopic drive 125 is used to drive the gripper 121 to move so that the knife can move between the carrying mechanism 30 and the cutter head 11.
The clamping driving member 126 is disposed on the telescopic driving member 125. The clamp drive 126 is used to drive the jaws 127 to move to clamp or release the tool, depending on the tool change task.
The sensor 128 is used for sensing whether a tool is on the cutter head 11 and the gripper 121 to prevent the tool from colliding.
The angle limiting member 129 is disposed on the rotation driving member 123 for limiting the rotation angle of the plug-in unit 12.
When the carrying mechanism 30 carries the tool to be replaced to the numerical control mechanism 10, the plug-in unit 12 receives the instruction, and first removes the tool on the cutter head 11 onto the carrying mechanism 30: controlling the rotary driving piece 123 to drive the clamping piece 121 to rotate to the cutter head 11 side; then the telescopic driving piece 125 drives the gripping piece 121 to approach the cutter head 11; the driving piece 112 drives the mounting piece 111 to move, so that the cutter on the cutter head 11 moves to the clamping position of the plug-in unit 12; the clamping driving member 126 drives the clamping jaw 127 to move so as to clamp the cutter sent by the cutter disc 11; then, the telescopic driving member 125 retracts, the rotary driving member 123 drives the gripper 121 to rotate to the side of the carrying mechanism 30, the telescopic driving member 125 drives the gripper 121 to approach the carrying mechanism 30, and then the carrying mechanism 30 picks up and removes the tool.
The tool to be replaced on the handling mechanism 30 is then mounted on the cutterhead 11: the clamping driving member 126 drives the clamping jaw 127 to move so as to clamp the tool to be replaced sent by the carrying mechanism 30; then the telescopic driving member 125 drives the gripping member 121 to retract; then the rotary driving piece 123 is controlled to drive the clamping piece 121 to rotate to the side of the cutter head 11; the telescopic driving member 125 drives the gripping member 121 to approach the cutter head 11, the overturning driving member 124 drives the gripping member 121 to rotate and tilt, the mounting member 111 grips the tool to be replaced on the clamping jaw 127, and then the driving member 112 drives the mounting member 111 to move back into the numerical control mechanism 10, so that the replacement is completed.
The detection unit 13 is used for detecting the service life of the tool on the cutter head 11.
The detection unit 13 is further configured to detect a tool setting of a tool replaced on the cutter head 11, so as to adjust a machining parameter of the tool on the cutter head 11.
In one embodiment, the detection unit 13 includes a non-contact tool setting gauge, such as a laser tool setting gauge.
The tool magazine 20 includes a storage chamber 21 and a tool backup 22. The storage chamber 21 is used to store the tool to be replaced. The cutter standby device 22 is used for taking out the cutter in the storage chamber 21 for standby according to the instruction.
The carrying mechanism 30 includes a moving member 31 and a grasping member 32. The gripping member 32 is used to grip the tool. The moving member 31 is used for driving the conveying mechanism 30 to move between the tool magazine 20 and the plug-in unit 12.
In one embodiment, the moving member 31 is an AGV cart, and the gripping member 32 is a manipulator.
In one embodiment, the conveying mechanism 30 further includes a scanning unit 33, a positioning member 34, a storage member 35, an indicating unit 36, and an emergency stop unit 37. The scanning unit 33 is used for scanning the identifier of the tool grasped by the grasping member 32 to determine the information of the tool. The positioning member 34 is used to determine the position at which the carrying mechanism 30 moves. The storage member 35 is used for temporarily storing the tool gripped by the gripping member 32. The instruction unit 36 is used to give an indication when the conveyance mechanism 30 fails. The emergency stop unit 37 is used to emergency stop the conveyance mechanism 30.
In specific implementation, the processor receives the early warning information, generates a tool changing task, controls the tool magazine to call out a second tool indicated in the tool changing task from the storage chamber, and performs tool preparation on the second tool through the tool preparation device; the processor obtains a signal of finishing the standby cutter, the carrying mechanism carries the second cutter according to the indication of the cutter changing task, the numerical control mechanism replaces the first cutter with the second cutter according to the cutter changing task, and the processor finishes all cutter changing actions by sending the cutter changing task to all mechanisms.
In another specific implementation, the processor receives the early warning information to generate a tool changing task, and the carrying mechanism moves to one side of the tool magazine to be ready after receiving the tool changing task and sends the tool preparing task to the tool magazine to enable the tool magazine to prepare the second tool. After the tool magazine finishes tool preparation, the carrying mechanism takes out the second tool and generates a tool hanging task; and after the carrying mechanism moves to a numerical control mechanism, sending the tool hanging task to the numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool, and finishing the tool changing process in a workflow manner.
Specifically, the tool preparing task comprises tool information of the first tool, tool identification of the second tool and position information of the second tool in the tool library, and the tool information of the first tool can prompt how long, how many and what tools need to be changed; the tool identification of the second tool is used for verifying the identity of the second tool, and the position information of the second tool in the tool magazine is convenient for the storage to transfer the second tool to the tool preparation device for tool preparation.
In specific implementation, a first cutter processes a workpiece, the state of the first cutter on a mounting piece of a cutter head is detected at preset time intervals or when occasional abnormal states exist, the state includes but does not limit the abrasion condition, the breakage condition and the use time, when a detection unit detects that any one of the states is close to a boundary value needing cutter changing, cutter parameters corresponding to the state of the first cutter are collected to form early warning information and sent to a processor through a communicator, the processor obtains the early warning information, the communicator is controlled to send a cutter changing task, a cutter room prepares a second cutter and carries out cutter preparation, and the first cutter is replaced into the second cutter through the mounting piece. Through the interaction of the early warning information, the cutter preparation time is shortened, the cutter head shutdown time for cutter replacement is reduced, and therefore the utilization rate of the numerical control machine is improved.
In specific implementation, the early warning information formed by the detection unit comprises a wear value of the first cutter, when cutter parameters such as the thickness of a cutting surface of the cutter and the like are in a preset range, the service life of the first cutter is estimated according to a standard table made of experience data and the like and by combining with the actually detected wear value, and whether the early warning information needs to be sent or not is judged by comparing the service life of the first cutter with the preset early warning service life;
in specific implementation, the early warning information formed by the detection unit includes a fracture value of the first cutter, the fracture value includes but does not limit a distance from a sampling point in the cutting surface to the other end surface deviating from the cutting surface, different cutters have differences, but when the fracture value is within a preset range, the service life of the first cutter is estimated according to a standard table made of empirical data and the like and by combining the actually detected fracture value, and whether the early warning information needs to be sent or not is judged by comparing the service life of the first cutter with the preset early warning service life.
In specific implementation, a first cutter from a cutter head is clamped through the plug-in unit, and the first cutter is placed to the carrying mechanism; and clamping a second cutter of the carrying mechanism, and placing the second cutter to the mounting part, wherein the mounting part is used for mounting the second cutter to finish the cutter changing action.
In specific implementation, the mounting part loosens the first cutter, places the first cutter to the clamping position, and places the first cutter to the carrying mechanism after the clamping part of the external hanging unit clamps the first cutter; and then clamping a second cutter of the carrying mechanism, and then placing the second cutter to a clamping position so that the mounting piece clamps the second cutter to complete cutter changing.
In specific implementation, because the blade disc is in the machining area, when the first cutter is dismantled to the installed part, the installed part obtains the second cutter, the installed part is changed the second cutter, easily cause the collision risk scheduling problem with work piece holder, work piece, external equipment, consequently make the blade disc break away from the machining area through the driving piece and carry out the tool changing to the tool changing area.
In specific implementation, when the clamping piece of the external hanging unit assists the mounting piece to replace the second cutter, the mounting precision and the mounting in place need to be ensured, and the mounting state of the clamping piece needs to be checked in a planned way; due to the difference of the sizes of the cutters, in order to avoid the over-size or over-small size design of the clamping piece and other reasons, the shifting piece needs to be arranged, so that the working state of the clamping piece can be conveniently checked, and the clamping range of the clamping piece is prolonged.
In specific implementation, the specific tool changing process of the plug-in unit comprises the following steps: the driving piece is a sliding table cylinder, the cutter head is a numerical control mechanism (CNC) cutter head, and the process of taking the first cutter by the external hanging unit is as follows: the sliding table cylinder is close to the cutter head; the first tool handle is detached from the mounting piece; the sliding table cylinder takes the first tool knife handle out of the mounting piece; the sliding table cylinder loosens the first cutter handle at the clamping position, and the clamping part takes out the first cutter and puts the first cutter into the shifting part;
in specific implementation, the specific tool changing process of the plug-in unit comprises the following steps: the driving piece is a sliding table cylinder, the cutter head is a numerical control mechanism (CNC) cutter head, and the process of placing a second cutter by the aid of the plug-in unit is as follows: the clamping piece takes out the second cutter and places the second cutter at the clamping position; the sliding table cylinder pushes the second cutter handle into the cutter head, and the mounting piece is provided with the second cutter handle; the sliding table cylinder is withdrawn to realize automatic tool changing.
In specific implementation, as the using number of the cutters in the machining process is uncertain, when more than 3 cutters need to be replaced, the problems of cutter size difference, cutter placing position difference and the like exist, and therefore the numerical control mechanism and the cutter library are arranged at two positions. When the number of the tools is large, the numerical control mechanism is far away from the tools in the tool magazine, so that the tools need to be identified, grabbed, moved, stored, controlled, protected and the like through the carrying mechanism.
In concrete implementation, when the grabbing piece of the carrying mechanism acquires the second cutter from the cutter preparation chamber, the grabbing needs to be ensured to be smoothly and accurately received by the storage piece, and due to the difference of the sizes of the cutters, the size of the grabbing piece is designed to be too large or too small and other reasons, so that the moving piece needs to be arranged, and the clamping range of the grabbing piece is convenient to extend.
In specific implementation, the carrying mechanism needs to prejudge the second tool in the tool preparation chamber to avoid the situation of grabbing a wrong tool, and the scanning unit scans an identification code on the second tool to provide the identification code to the processor to confirm whether the tool to be grabbed is correct or not, so that the carrying mechanism is effectively foolproof, wherein the identification code comprises but is not limited to a bar code and a two-dimensional code.
In specific implementation, when the processor judges that the tool to be grabbed is correct, the moving track of the moving part is planned through the positioning part, the initial position of the grabbing part for grabbing the second tool from the tool preparation device and the clamping position of the external hanging unit, the second tool is accurately grabbed into the storage part through the grabbing part and is moved to the side of the external hanging unit through the moving part, the processor enables the grabbing part of the external hanging unit to clamp the second tool from the storage part through the communicator, and finally the second tool is replaced into the mounting part of the cutter head.
In an embodiment, the mounting member may retrieve the second tool directly from the storage member.
In specific implementation, before the cutter head stops, the processor sends out a cutter changing task, after the cutter library finishes preparing a second cutter according to early warning information, the scanning unit finishes scanning automatically or manually, after the fact that no fault exists, the grabbing part grabs the second cutter and places the second cutter on the storage part, the second cutter moves to the side of the cutter head from the moving part, and if the cutter head does not stop, the carrying mechanism waits; if the blade disc has shut down and has accomplished, then the first cutter of accessible installed part direct change is the second cutter, consequently, just can obtain the execution when the blade disc does not shut down, has practiced thrift the tool changing time, replaces the manpower and effectively prevents slow-witted and early warning, has also improved the efficiency that the technical staff solved the on-the-spot problem.
In specific implementation, when the scanning unit, the moving part, the grabbing part, the positioning part, the storage part and the emergency stop unit are out of order and cannot work normally, the indicating unit sends out a prompt to inform technicians and the processor;
in specific implementation, the processor confirms that the tool to be grabbed is not the second tool, and the indicating unit sends a prompt to notify technicians and the processor of a tool room of a tool preparation error;
in specific implementation, the grabbing part fails to grab the second cutter to the storage part, and the indicating unit sends out a prompt to inform technicians and the processor;
in specific implementation, when the grabbing piece grabs the second cutter to the storage piece, biological blockage is found, the indication unit sends out a prompt to inform technicians and the processor, and the emergency stop unit is started to stop the action emergently;
in specific implementation, when the moving part finds an obstacle in the moving process, the indicating unit sends out a prompt to inform technicians and the processor;
in specific implementation, the moving part finds organisms in the moving process, the indicating unit sends out a prompt to inform technicians and the processor, and the emergency stop unit is started to stop actions emergently;
in a specific implementation, a technician discovers a conveying mechanism failure which cannot be discovered by a processor, and starts an emergency stop unit through a communicator in a wired or wireless mode to emergently stop the conveying mechanism.
In specific implementation, after the installation of the installation part is finished, the numerical control mechanism carries out tool setting detection on the second tool, whether the second tool is aligned or not is judged, whether the second tool is installed in place or not is judged, if the second tool is not installed in place, a technician or a processor judges the reason why the tool setting detection does not pass, and if the second tool is not matched with the first tool, the second tool is prepared again and replaced again; if the cutter is the cause of serious abrasion, instructing a technician to check the cutter condition of the storage chamber of the cutter warehouse; if the installation part is in failure, the technician is prompted to replace the installation part.
Referring to fig. 2, an embodiment of the present invention further provides a tool changing method using the tool changer 100, which is only an example because there are many ways to implement the method. One or more steps, methods or sub-processes, etc., represented by each block in fig. 2 are performed by an example method. The method comprises the following steps:
in step S1, the first tool attached to the cutter head 11 is detected and the life thereof is estimated.
Specifically, the detection unit 13 detects a wear value of a first tool attached to the cutter head 11, and compares the wear value with a standard table of the first tool to obtain a predicted lifetime of the first tool.
The standard table of the cutter has different specific parameters according to different types, sizes, lengths and the like of the cutter. The specific parameters in the standard table can be obtained through processing experience, simulation analysis prediction or machine learning and the like.
In one embodiment, the detecting of the first tool further includes detecting a fracture value of the tool, and the estimated lifetime further includes a predicted result obtained by comparing the fracture value of the tool with a fracture standard table. The specific parameters in the fracture standard table can be obtained through processing experience, simulation analysis prediction or machine learning and the like.
And step S2, judging whether the service life of the first cutter reaches the early warning service life.
Specifically, the estimated service life of the first cutter is compared with the set early warning service life, and whether the estimated service life reaches the early warning service life is obtained: if the warning life is not reached, the process is stopped, and the process returns to step S1.
And step S3, sending early warning information.
Specifically, when the life of the first tool reaches the warning life, the communicator 42 in the numerical control mechanism 10 sends warning information to the tool magazine 20. The early warning information includes a tool parameter, such as a wear value of the tool, detected by the detection unit 13 of the numerical control mechanism 10 on the first tool.
And step S4, acquiring the early warning information, preparing a second cutter according to the early warning information, and preparing the second cutter.
Specifically, communicator 42 in tool magazine 20 receives the warning information. And generating a backup cutter task according to the early warning information. The backup tool 22 takes out the corresponding second tool from the storage chamber 21 according to the backup task to perform backup. The tool preparation task includes tool information of the first tool, tool identification of the second tool and position information of the second tool in the storage chamber 21.
In an embodiment, the backup task may be initiated manually or automatically generated by the numerical control mechanism 10 according to the detection.
Step S5, a tool change job is sent.
Specifically, the processor 41 generates a tool change task according to the tool backup task, and controls the communicator 42 on the tool magazine 20 to send the tool change task to the transport mechanism 30. The tool changing task comprises a tool identification of the second tool.
And step S6, receiving a tool changing task, and taking out a second tool according to the tool changing task.
Specifically, the communicator 42 in the carrying mechanism 30 receives the tool changing task, the moving member 31 moves to the tool magazine 20 according to the tool changing task, and the grabbing member 32 grabs the corresponding second tool according to the tool changing task.
In an embodiment, the scanning unit 33 of the carrying mechanism 30 further scans the mark on the second tool grasped by the grasping member 32 to determine the tool information of the second tool, so as to prevent the tool from being taken by mistake and causing a replacement error. The tool identification can be identification codes such as bar codes, two-dimensional codes and the like, and can also be electronic tags or chips.
In one embodiment, the positioning member 34 also assists in positioning the carrying mechanism 30 so that the carrying mechanism 30 can be accurately moved to the tool magazine 20.
And step S7, carrying to a numerical control mechanism and sending a tool changing task.
Specifically, the moving member 31 of the carrying mechanism 30 moves to the plug-in unit 12 according to the tool changing task. And generating a tool changing task according to the tool changing task. The processor 41 controls the communicator 42 on the transport mechanism 30 to send a tool change job to the numerical control mechanism 10. The tool changing task includes tool information of the second tool.
And step S8, receiving a tool changing task, and removing the first tool according to the tool changing task.
Specifically, the communicator 42 on the numerical control mechanism 10 receives the tool changing task, and the driving member 112 of the tool pan 11 moves the mounting member 111 to the gripping position of the plug-in unit 12 according to the tool changing task; the mounting member 111 releases the first tool on the cutter head 11 according to the tool changing task, and simultaneously, the clamping member 121 of the plug-in unit 12 clamps the first tool according to the tool changing task. Subsequently, the displacement member 122 drives the gripping member 121 to move to the carrying mechanism 30, and the gripping member 121 releases the first tool and places the first tool in the storage member 35 of the carrying mechanism 30.
In step S9, the second cutter is attached to the cutter head.
Specifically, the clamping member 121 clamps the second tool on the carrying mechanism 30 according to the tool changing task, and the displacement member 122 drives the clamping member 121 to move to the clamping position. The second tool is released by the gripper 121 and simultaneously clamped by the mounting 111 on the cutterhead 11. Subsequently, the drive 112 of the tool disk 11 moves the mounting 111 back, completing the tool exchange.
In an embodiment, the tool changing method further includes step S10, performing tool setting detection on the second tool.
Specifically, after the mounting member 111 clamps the second tool, the processor 41 controls the communicator 42 to send a detection instruction to the detection unit 13, and the detection unit 13 performs tool setting detection on the second tool mounted on the cutter head 11 according to the detection instruction. Subsequently, the detection result is transmitted to the numerical control mechanism 10, so as to adjust the machining parameter according to the tool setting result of the second tool.
It is understood that after the first tool is placed on the carrying mechanism 30, the method further comprises the following steps: and moving the detached first cutter to a recovery mechanism to recover the waste cutter. The recovery mechanism may be provided separately or in the tool magazine 20.
It is understood that when there is no tool on the cutter head 11, step S8 can be eliminated without affecting the tool changing operation of the tool changer 100.
According to the tool changing device 100 and the tool changing method, the tools are detected and early warned, and then the tools are changed according to the early warning information, so that manpower is reduced, the time for the machine to wait for the tools to be changed is shortened, and the changing efficiency is high.
In addition, other modifications within the spirit of the invention may occur to those skilled in the art, and such modifications are, of course, included within the scope of the invention as claimed.
Claims (10)
1. A handling mechanism for:
receiving a tool changing task;
taking out a second tool from the tool magazine according to the tool changing task;
and carrying the second tool to a numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool.
2. The handling mechanism of claim 1, comprising:
and the scanning unit is used for scanning the mark on the second cutter so as to confirm the cutter information of the second cutter.
3. The handling mechanism of claim 1, further to:
generating a spare cutter task according to the cutter changing task, and sending the spare cutter task to the cutter library so as to enable the cutter library to prepare the second cutter;
after the second cutter is taken out, generating a cutter hanging task;
and carrying the second cutter to the numerical control mechanism, and sending the cutter hanging task to the numerical control mechanism so as to replace the first cutter with the second cutter.
4. The handling mechanism of claim 3,
the backup task comprises the cutter information of the first cutter, the cutter identification of the second cutter and the position information in the cutter library, and is used for enabling the cutter library to position the second cutter according to the position information and judging the accuracy of the obtained second cutter according to the cutter information and the cutter identification.
5. The handling mechanism of claim 4, further comprising:
the indicating unit is used for fault prompt in the carrying process;
and the emergency stop unit is used for emergently stopping the conveying mechanism.
6. A method of tool handling, comprising:
receiving a tool changing task;
taking out a second tool from the tool magazine according to the tool changing task;
and carrying the second tool to a numerical control mechanism so as to replace the first tool on the numerical control mechanism with the second tool.
7. The tool handling method of claim 6, further comprising:
and scanning the mark on the second tool to confirm the tool information of the second tool.
8. The tool handling method of claim 6, further comprising:
generating a spare cutter task according to the cutter changing task, and sending the spare cutter task to the cutter library so as to enable the cutter library to prepare the second cutter;
after the second cutter is taken out, generating a cutter hanging task;
and carrying the second cutter to the numerical control mechanism, and sending the cutter hanging task to the numerical control mechanism so as to replace the first cutter with the second cutter.
9. The tool handling method according to claim 8,
the backup task comprises the cutter information of the first cutter, the cutter identification of the second cutter and the position information in the cutter library, and is used for enabling the cutter library to position the second cutter according to the position information and judging the accuracy of the obtained second cutter according to the cutter information and the cutter identification.
10. The tool handling method of claim 9, further comprising:
prompting faults in the carrying process;
and (5) emergency stopping of tool conveying.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010208992.2A CN111451819A (en) | 2020-03-23 | 2020-03-23 | Conveying mechanism and tool conveying method |
| US17/033,837 US12070827B2 (en) | 2020-03-23 | 2020-09-27 | Control mechanism, tool replacement equipment and tool replacement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010208992.2A CN111451819A (en) | 2020-03-23 | 2020-03-23 | Conveying mechanism and tool conveying method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111451819A true CN111451819A (en) | 2020-07-28 |
Family
ID=71673011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010208992.2A Pending CN111451819A (en) | 2020-03-23 | 2020-03-23 | Conveying mechanism and tool conveying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111451819A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319517A (en) * | 2022-08-19 | 2022-11-11 | 广东长盈精密技术有限公司 | Automatic tool changing control method, control device and automatic tool changing system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5949858B2 (en) * | 1982-10-26 | 1984-12-05 | 村田機械株式会社 | Tool changing device on lathe |
| JPS6288530A (en) * | 1985-10-15 | 1987-04-23 | Toshiba Corp | Machining center |
| CN106054808A (en) * | 2016-07-29 | 2016-10-26 | 深圳市艾宇森自动化技术有限公司 | Tool management system and tool management method |
| US20180290250A1 (en) * | 2017-04-10 | 2018-10-11 | Schlumberger Technology Corporation | Automatic tool head placement and assembly apparatus for a boring machine |
| CN108972097A (en) * | 2018-08-31 | 2018-12-11 | 广东科杰机械自动化有限公司 | A kind of magazine cutter replacing method and its system |
| CN109333130A (en) * | 2018-11-20 | 2019-02-15 | 上海交大智邦科技有限公司 | Using AGV as the automatic tool changer of vehicle |
| CN109894902A (en) * | 2017-12-08 | 2019-06-18 | 财团法人工业技术研究院 | Confirm the method and power tool system of tool position |
| CN110340710A (en) * | 2019-06-19 | 2019-10-18 | 北京航天智造科技发展有限公司 | An intelligent tool changing system for CNC machine tools |
| CN110480391A (en) * | 2019-08-21 | 2019-11-22 | 辽宁省交通高等专科学校 | A kind of automatic tool changer suitable for large complicated work pieces process and assembly |
| CN110480392A (en) * | 2019-08-26 | 2019-11-22 | 安泰天龙钨钼科技有限公司 | A kind of intelligent tool magazine system of machining center and intelligent tool magazine system operation method |
| CN110732906A (en) * | 2018-07-18 | 2020-01-31 | 友嘉实业股份有限公司 | Modular intelligent tool exchange method and management system |
-
2020
- 2020-03-23 CN CN202010208992.2A patent/CN111451819A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5949858B2 (en) * | 1982-10-26 | 1984-12-05 | 村田機械株式会社 | Tool changing device on lathe |
| JPS6288530A (en) * | 1985-10-15 | 1987-04-23 | Toshiba Corp | Machining center |
| CN106054808A (en) * | 2016-07-29 | 2016-10-26 | 深圳市艾宇森自动化技术有限公司 | Tool management system and tool management method |
| US20180290250A1 (en) * | 2017-04-10 | 2018-10-11 | Schlumberger Technology Corporation | Automatic tool head placement and assembly apparatus for a boring machine |
| CN109894902A (en) * | 2017-12-08 | 2019-06-18 | 财团法人工业技术研究院 | Confirm the method and power tool system of tool position |
| CN110732906A (en) * | 2018-07-18 | 2020-01-31 | 友嘉实业股份有限公司 | Modular intelligent tool exchange method and management system |
| CN108972097A (en) * | 2018-08-31 | 2018-12-11 | 广东科杰机械自动化有限公司 | A kind of magazine cutter replacing method and its system |
| CN109333130A (en) * | 2018-11-20 | 2019-02-15 | 上海交大智邦科技有限公司 | Using AGV as the automatic tool changer of vehicle |
| CN110340710A (en) * | 2019-06-19 | 2019-10-18 | 北京航天智造科技发展有限公司 | An intelligent tool changing system for CNC machine tools |
| CN110480391A (en) * | 2019-08-21 | 2019-11-22 | 辽宁省交通高等专科学校 | A kind of automatic tool changer suitable for large complicated work pieces process and assembly |
| CN110480392A (en) * | 2019-08-26 | 2019-11-22 | 安泰天龙钨钼科技有限公司 | A kind of intelligent tool magazine system of machining center and intelligent tool magazine system operation method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319517A (en) * | 2022-08-19 | 2022-11-11 | 广东长盈精密技术有限公司 | Automatic tool changing control method, control device and automatic tool changing system |
| CN115319517B (en) * | 2022-08-19 | 2024-03-22 | 广东长盈精密技术有限公司 | Automatic tool changing control method, control device and automatic tool changing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111451820A (en) | Control mechanism and tool changing control method | |
| CN209578932U (en) | A kind of tool-changing mechanical arm and tool changing device | |
| US4998206A (en) | Automated method and apparatus for fabricating sheet metal parts and the like using multiple manufacturing stations | |
| JP2022530304A (en) | Automated system for inspection and replacement of cutting tools | |
| CN111451819A (en) | Conveying mechanism and tool conveying method | |
| US12070827B2 (en) | Control mechanism, tool replacement equipment and tool replacement method | |
| CN111451821B (en) | Numerical control mechanism and tool changing method | |
| CN211554727U (en) | Machine tool, machining system, and management system | |
| JP6392581B2 (en) | Robot control device and processing system for robots used with machine tools | |
| KR102507946B1 (en) | Chuck grabbing precision confirmation method, chuck claw replacement method, and chuck grabbing precision checking device | |
| JP2017144542A (en) | Robot device | |
| US20230415287A1 (en) | Tool Transport System, Control Method for Tool Transport System, and Control Program for Tool Transport System | |
| JP6338334B2 (en) | Chip removal device for machine tool | |
| CN112719930A (en) | Automobile brake bottom plate production line capable of effectively controlling machining quality and working method thereof | |
| CN114589535A (en) | Production system for machining parts | |
| CN113618418A (en) | Device and system for automatically processing rotating shaft | |
| KR102028274B1 (en) | A surface treatment apparatus of auto-exchanging workpieces | |
| CN111571319A (en) | Production line for automatic feeding and discharging of cutter grinder and using method of production line | |
| EP4032671A1 (en) | Method for picking up a panel from the exit station of a machine for working panels made of wood and the like and machine thereof | |
| JPH07132446A (en) | Automatic workpiece changer | |
| CN117984362B (en) | A high-level storage tank removal tool head automatic replacement system and use method | |
| JP2529525B2 (en) | Tool life management system for punch press | |
| CN217167641U (en) | Production system for machining parts | |
| EP4364916A1 (en) | Control system for a workpiece machining machine, associated machine, and operating method of the machine | |
| CN118321986A (en) | Automatic replacing system and method for broken cutter of machining center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200728 |
|
| WD01 | Invention patent application deemed withdrawn after publication |