TWI708658B - An automatic tool change system and a control method for same - Google Patents

Abstract

An automatic tool change system and a control method for same are provided. The automatic tool change system comprises: an automatic tool change unit, configured to change a tool in a rotatable manner; a servo motor, configured to drive the automatic tool change unit and capable of feeding back rotation angle information of the servo motor; a servo driver, configured to control the servo motor and capable of receiving and transmitting the rotation angle information; and a controller, including a motion planning unit configured to maintain parametric programming information, and a storage unit configured to store the parametric programming information, where the parametric programming information includes different rotation speeds corresponding to different ranges within a tool change travel, upper and lower ranges of tool unclamping and tool clamping, and wait signals of tool unclamping and tool clamping, and the controller separately sends a request signal of tool unclamping and tool clamping, receives an acknowledgement signal, is electrically coupled to the servo driver, receives the angle information returned by the servo driver, and sends a control signal to the servo driver according to the parametric programming information.

Description

Automatic tool change system and its control method

The present invention is an automatic tool change system and its control method. It specifically describes a method that can control the motion curve of the automatic tool change unit, set the parameters of the loose clamp position interval, and can maintain a non-zero speed for tool change or abnormality The automatic tool change system and its control method can be used to release or clamp the tool at non-zero speed to facilitate operation at different speeds in different intervals.

At present, the automatic tool change mechanism on the market, for example, the tool arm type tool change mechanism mostly uses I/O to control the frequency conversion motor, which is matched with the cam to drive the tool arm to rotate and load and unload tools; the common one is the I/O tool change mechanism with five I points and Two "O points" to complete the tool change action. There are three (or two) "I points" on the tool arm as the position detection of the tool arm. The tool arm uses an "O point" to drive the rotation and change the tool, and use a "brake I point" signal to release the tool at the origin. Point and other positions send out a pause rotation signal. However, the variable frequency motor of this movement mechanism can only rotate at a fixed speed or at a high and low frequency with little difference. Therefore, it cannot achieve a speed change in more than three intervals, so the tool change speed cannot be optimized.

Recently, the application of using servo motors to drive tool arms (hereinafter referred to as servo tool arms) has gradually increased. Servo motors have precise positioning, acceleration and deceleration planning and speed setting functions. However, with the currently known tool change speed planning method, in order to ensure that the tool arm unit will not be The structure is abnormal and causes the mechanism to be pulled. Therefore, when unclamping the tool, the speed of the tool change arm drive unit must first be reduced to zero, waiting for the unclamping tool to complete before returning to rotation and performing follow-up actions. Therefore, the efficiency of tool change needs to be Promote.

The purpose of the present invention is to provide an automatic tool change system, which uses a servo drive, a servo motor with an encoder, and a tool release or clamp action monitoring device, which can plan each tool correspondingly during the empty tool, tool release and tool clamping stages. Each stage is carried out at different speeds, and the tool can be changed at a non-zero speed in the section of loosening or clamping (hereinafter referred to as loose clamping).

Another object of the present invention is to provide an automatic tool change method, which is designed to plan different movement speeds at different stages such as empty tool, tool loosening and tool clamping.

In order to achieve the objective of the above automatic tool change system, the present invention provides an automatic tool change system, which includes: an automatic tool change unit, a servo motor, a servo driver, and a controller; the automatic tool change unit receives a drive signal and rotates from the origin Return to the origin in one lap to complete a tool change stroke between the spindle and the tool magazine. The tool change stroke is the tool release and clamping action of the spindle. The automatic tool change unit includes a monitoring device that is used to Check the completion status of the tool release or tool clamping, and output a confirmation signal when the tool release or tool clamping action is completed; the servo motor is electrically coupled to the automatic tool change unit and rotates the automatic tool change according to a drive signal Unit, the servo motor has an encoder, the encoder can real-time monitor a rotation angle of the servo motor shaft, and report a rotation angle information; the servo driver is electrically coupled to the servo motor for receiving a According to the control signal, the drive signal is sent to the servo motor. The servo driver can receive and transmit the rotation angle information; the controller includes a motion planning unit for generating or editing a parameter planning information, and a storage unit for storing The parameter planning information, the The parameter planning information includes the different speeds corresponding to the different sections of the empty tool, the tool release and the tool clamping in the tool change stroke, the upper and lower sections of the unclamping tool, and the waiting signal for the unclamping tool. The controller uses an I/O unit to send out the signal. The first request signal or the second request signal of the loosening of the clamping tool, and receiving the confirmation signal of the monitoring device, electrically coupled to the servo drive, to receive the motor angle information returned by the servo drive, and according to the parameter The planning information sends the corresponding control signal to the servo driver.

In one embodiment, the controller includes an abnormal alarm unit, and when the controller cannot receive the confirmation signal within a waiting time, the abnormal alarm unit is used to issue a warning.

In one embodiment, the controller includes a monitoring screen unit for real-time display of the parameter status of the automatic tool change unit.

In order to achieve the objective of the above-mentioned automatic tool change method, the present invention provides an automatic tool change method including the following steps: provide the aforementioned automatic tool change system; obtain the parameter planning information, which includes the sequence of the tool change stroke Divided into the first to fourth sections, each section is not necessarily closely connected, corresponding to the start position and end position of each section, and a first, second to third speed, the first section is controlled by the automatic tool change The unit origin rotates to the start position of the second interval, the fourth interval rotates from the end position of the third interval to the origin of the automatic tool change unit, the first rotation speed is greater than the second or third rotation speed, the change The knife action includes a tool release action and a tool clamping action. The first tool change action is a tool release action and the second tool change action is a tool clamping action or the first tool change action is a tool clamping action and the second tool change The knife action is a tool release action; the automatic tool change unit operates in the first interval at the first rotation speed; the automatic tool change unit operates in the second interval at the second rotation speed, and the controller sends the corresponding The first request signal of the first tool change action and scan the confirmation signal to complete the first tool change action in this interval; after the confirmation signal of the first tool change action is obtained, the automatic tool change unit will use the The third rotation speed is actuated to the end position of the third interval, and the controller sends the first corresponding to the second tool change action in the interval 2. Request a signal and scan in the third interval to complete the confirmation signal of the second tool change action; and after obtaining the confirmation signal of the second tool change action, rotate from the current position to the origin at the first speed.

In one embodiment, the automatic tool change unit is in the operating interval during the transition from the first rotational speed to the second rotational speed, from the second rotational speed to the third rotational speed, and from the third rotational speed to the first rotational speed, A smooth acceleration and deceleration curve is used to plan the transition processing to smoothly change the tool.

In one embodiment, the smooth acceleration/deceleration curve is planned to be linear, exponential, bell or S-shaped.

In one embodiment, the first tool change action is a tool release action and the second tool change action is a tool clamping action, the first rotation speed corresponds to the empty tool phase, the second rotation speed corresponds to the tool release phase, and The third rotational speed corresponds to the tool clamping stage, and the first rotational speed is greater than the third rotational speed, the third rotational speed is greater than the second rotational speed, and the second rotational speed is greater than zero speed.

In an embodiment, the parameter planning information further includes a first position, a second position, a fourth rotation speed, and a fifth rotation speed. The first position is before the automatic tool change unit enters the second interval. The second position is before the automatic tool change unit enters the third interval, and the automatic tool change method further includes: after the automatic tool change unit rotates the first position, making the automatic tool change unit use the second or The fourth rotation speed is activated, and the controller outputs a first request signal requesting the first tool change action and continues to the end position of the second interval; when the automatic tool change unit turns to the second interval, the controller Start scanning to complete the confirmation signal of the first tool change action. If the confirmation signal is not scanned, the automatic tool change unit will reduce the operating speed to zero speed in the second interval and start a preset waiting time If the confirmation signal is received within the waiting time, the subsequent second tool change action will continue; when the automatic tool change unit turns to the second position, the automatic tool change unit will use the third or fifth The speed is activated, and the controller outputs the second request signal for the second tool change action and continues to the third zone When the automatic tool change unit turns to the third interval, it starts to scan the confirmation signal corresponding to the completion of the second tool change action. If the confirmation signal is not scanned, the automatic tool change unit is set to the In the third interval, the actuation speed is reduced to zero rotation speed, and a preset waiting time is started. After the confirmation signal is received within the waiting time, the subsequent actions are continued.

In one embodiment, after the automatic tool change unit turns to the second interval, the automatic tool change unit stops to a first fixed point when the confirmation signal corresponding to the first tool change action cannot be scanned. , And then judge whether the confirmation signal to complete the first tool change is received within the waiting time; similarly, after the automatic tool change unit turns to the third interval, when the scan fails to complete the second tool change The automatic tool change unit is stopped to a second fixed point after the confirmation signal, and then it is judged whether the confirmation signal for completing the second tool change action is received within the waiting time.

In one embodiment, after the automatic tool change unit is transferred to the second interval, the automatic tool change unit is first stopped to a third fixed point, and then the confirmation signal for completing the first tool change action is scanned; similarly, After the automatic tool change unit is transferred to the third interval, the automatic tool change unit is first stopped to a fourth fixed point, and then the confirmation signal for completing the second tool change action is scanned.

In one embodiment, the automatic tool change unit is a double-claw or single-claw tool arm type automatic tool change mechanism (ATC).

In one embodiment, an abnormality alarm unit is further included, which is used to issue an alarm and/or terminate subsequent actions when the automatic tool change unit fails to receive the confirmation signal for completing the loose tool change action within the waiting time.

The features of the present invention include: the controller of the automatic tool change system proposed by the present invention includes the parameter content of the motion control curve planning, the pre-release clamp position, and the clamp release interval. In addition to adjusting the motion state of the automatic tool change unit, the motion speed planning of the present invention can determine whether to The movement speed is switched to zero or the speed is maintained. In addition to increasing the speed of tool change, it can also reduce the probability of tool drop and tool collision, taking into account efficiency and smooth movement. The present invention proposes a method for planning the movement speed of the automatic tool change unit. Different speed curves are planned during the empty tool, tool clamping, and tool release stages. The automatic tool change unit can be reduced to zero speed or during the tool release (tool loosening or tool clamping) stage. No, with different speed planning and pre-release clamping mechanism, it can not only improve the efficiency of tool change but also avoid tool dropping or collision, and improve safety. Related parameters such as the movement speed of the automatic tool changer unit of the present invention, the position of the pre-release clamping tool and the clamping tool release interval can be adjusted by the user according to actual conditions, and are not limited to the embodiment parameters of the present invention.

1‧‧‧Automatic tool change system

11‧‧‧Automatic tool change unit

111‧‧‧Monitoring device

1111‧‧‧Confirmation signal

12‧‧‧Servo motor

121‧‧‧Rotation signal

122‧‧‧Rotation Angle Information

123‧‧‧Encoder

13‧‧‧Servo Drive

131‧‧‧Drive signal

14‧‧‧Controller

141‧‧‧Control signal

142‧‧‧Motion Planning Unit

143‧‧‧Storage Unit

1431‧‧‧Parameter planning information

144‧‧‧Abnormal alarm unit

145‧‧‧Monitoring screen unit

146‧‧‧I/O unit

1461‧‧‧First request signal

1462‧‧‧Second request signal

151‧‧‧First Section

152‧‧‧Second Section

153‧‧‧The third section

154‧‧‧ Fourth Section

161‧‧‧First speed

162‧‧‧Second speed

163‧‧‧Third speed

164‧‧‧Fourth speed

165‧‧‧Fifth speed

171‧‧‧First position

172‧‧‧Second position

A‧‧‧Spindle

B‧‧‧tool magazine

T‧‧‧Tool

Steps S11~S16‧‧‧Steps of the first embodiment of the automatic tool change method of the present invention

Steps S21~S28‧‧‧Steps of the second embodiment of the automatic tool change method of the present invention

Steps S31~S39‧‧‧Steps of the third embodiment of the automatic tool change method of the present invention

Steps S41~S50‧‧‧The automatic tool change method of the present invention has the steps of the method of pre-releasing the clamping tool position

[Figure 1] is a system schematic diagram of the arm type automatic tool change unit of the automatic tool change mechanism; [Figure 2] is a system block diagram of an embodiment of the automatic tool change system of the present invention; [Figure 3] is the automatic tool change of the present invention The first embodiment of the method has a flow chart of the method for planning different speeds with different intervals; [Figure 4] is the method for emergency stopping the automatic tool change unit with the abnormal clamping action of the second embodiment of the automatic tool change method of the present invention Flow chart; [Figure 5] is the third embodiment of the automatic tool change method of the present invention has a flow chart of the method of stopping the automatic tool change unit and then unclamping the tool; [Figure 6] is the plan of the automatic tool change method of the present invention The flow chart of the method of pre-loosing and pre-clamping the position of the tool; [Figure 7] The schematic diagram of the local motion speed curve of each section of the automatic tool change method of the present invention; [Figure 8] The smoothing type between the various speeds of the automatic tool change method of the present invention Schematic diagram of the local motion speed curve of the acceleration and deceleration curve planning; and [Figure 9] A schematic diagram of the movement speed curve between the various speeds of the automatic tool change method of the present invention and the local movement curve of the planned pre-release tool position and pre-clamp position.

The embodiments of the present invention are described in detail below in conjunction with the drawings. The accompanying drawings are mainly simplified schematic diagrams, which only schematically illustrate the basic structure of the present invention. Therefore, only elements related to the present invention are indicated in these drawings. And the displayed components are not drawn based on the number, shape, size ratio, etc. of the actual implementation. The actual size of the actual implementation is a selective design, and the component layout may be more complicated.

First, please refer to Figure 1 and Figure 2. The automatic tool change system 1 of this embodiment can be applied to numerical processing machines, but is not limited to this. For example, various processing machines include an automatic tool change system 1 installed between the tool magazine B and the spindle A. The present invention can be applied to all exchange tools T. The automatic tool change system 1 of this embodiment includes: an automatic tool change unit 11, a servo motor 12 electrically coupled to it, a servo driver 13 electrically coupled to the servo motor 12, and a servo driver 13 The controller 14 which is electrically coupled. The automatic tool change unit 11 receives a rotation signal 121 and returns from the origin to the origin to complete a tool change stroke between the spindle A and the tool magazine B. The tool change stroke is through the loosening and clamping of the spindle A The automatic tool change unit 11 includes a monitoring device 111 for the movement of the knife. The monitoring device 111 is used to check the completion status of the knife loosening or clamping action, and output a confirmation signal 1111 when the knife loosening or clamping action is completed. The servo motor 12, which is electrically coupled to the automatic tool change unit 11, rotates the automatic tool change unit 11 according to a drive signal 131, the servo motor 12 has an encoder 123, and the encoder 123 can monitor the A rotation angle of the shaft of the servo motor 12 and reports a rotation angle information 122; the servo driver 13 is electrically coupled to the servo motor 12 to receive a control signal 141 and accordingly send the drive signal 131 to the servo Motor 12, The servo driver 13 can receive and transmit the rotation angle information 122; the controller 14 includes a motion planning unit 142 for generating or editing a parameter planning information 1431, and a storage unit 143 for storing the parameter planning information 1431. The planning information 1431 includes the different speeds corresponding to the different intervals of the empty tool, the loose tool and the clamping tool in the tool change stroke, the upper and lower intervals of the loose clamping tool, and the waiting signal of the loose clamping tool. The controller 14 uses an I/O unit 146 Electrically coupled to the automatic tool change unit 11 to receive the confirmation signal 1111 indicating the completion of the tool loosening action. The I/O unit 146 can also plan information 1431 according to the parameter, and send out corresponding to the tool loosening or the tool changing in time. A first request signal 1461 or a second request signal 1462 of the action, the controller 14 is also electrically coupled to the servo driver 13, for receiving the motor angle information 122 returned by the servo driver 13, and according to the parameter The planning information 1431 sends the corresponding control signal 141 to the servo driver 13. Specifically, the aforementioned I/O unit 146 sends the first request signal 1461 or the second request signal 1462 to a knife mechanism (as shown in the lower left of FIG. 2), and the knife mechanism receives the first request signal 1461. After the request signal 1461 or the second request signal 1462, the tool T on the spindle A is released or the tool T is clamped to the tool clamping action of the spindle A. After the above-mentioned tool release or clamping action is completed, the The monitoring device 111 can sense and output the corresponding confirmation signal 1111. However, since the above-mentioned knife-breaking mechanism and its action are not improved in the present invention, the conventional knife-breaking mechanism can be used to complete the loosening of the knife. The action or clamping action is relatively indirectly related to the present invention, and the knife striking mechanism will not be repeated here.

In this embodiment of the present invention, the controller 14 includes an abnormality alarm unit 144. When the controller 14 cannot receive the confirmation signal 1111 within a waiting time, the abnormality alarm unit 144 is used to issue a warning.

In this embodiment of the present invention, the controller 14 includes a monitor screen unit 145 for real-time display of the parameter status of the automatic tool change unit 11, such as empty tool rotation speed, tool release rotation speed, tool clamping rotation speed, Information about the upper and lower sections of the tool release, the upper and lower sections of the tool clamp, the position of the pre-release tool, the position of the pre-clamp and the waiting time for the confirmation signal.

Please refer to Figure 3 again. The automatic tool change method of this embodiment includes the following steps: the system is ready (step S11), the aforementioned automatic tool change system 1 is provided; initialization (step S12), the parameter planning information 1431 is obtained, and the parameter planning information 1431 includes the change The tool stroke is sequentially divided into a first interval 151, a second interval 152, a third interval 153, and a fourth interval 154, the start position and end position corresponding to each interval, and a first rotation speed 161, a second rotation speed 162, and a Three rotation speeds 163, the first section 151 is rotated from the origin of the automatic tool change unit 11 to the start position of the second section 152, and the fourth section 154 is rotated from the end position of the third section 153 to the automatic tool change The origin of the unit 11, the first rotation speed 161 is greater than the second rotation speed 162 or the third rotation speed 163, and the tool change action includes a tool loosening action and a tool clamping action. In the above embodiment, the first tool changing action is loosening When the tool is moving, the second tool changing action is a tool clamping action. In another embodiment, when the first tool changing action is a tool clamping action, the second tool changing action is a tool releasing action. The controller 14 continues to control the automatic tool change unit 11 to rapidly increase to the first rotation speed 161 starting at zero speed at the origin to act in the first interval 151 (step S13); the automatic tool change unit 11 operates at the second The rotation speed 162 operates in the second interval 152, and the controller 14 sends a first request signal 1461 requesting the first tool change action in this interval, and scans the confirmation signal 1111 for completing the first tool change action in this interval (step S14 ); After obtaining the confirmation signal 1111 of the first tool change action, the automatic tool change unit 11 operates from the current position at the third speed 163 to the end position of the third interval 153, and sends out in the third interval 153 A second request signal 1462 for the second tool change action is requested, and the confirmation signal 1111 for completing the second tool change action is scanned (step S15); after the confirmation signal 1111 for the second tool change action is obtained, the automatic tool change The unit 11 rotates from the current position to the origin at the first rotation speed 161, and drops to zero speed at the origin (step S16).

Please refer to Figure 4 for continuation. In this embodiment, after the automatic tool change unit 11 is transferred to the second interval 152, when the corresponding confirmation signal 1111 is not scanned, the automatic tool change unit 11 is stopped to a first interval in the second interval 152. At a certain point, it is determined whether the confirmation signal 1111 is received within the waiting time; similarly, after the automatic tool change unit 11 turns to the third interval 153, when the confirmation signal of the second tool change action cannot be scanned After 1111, the automatic tool change unit 11 is stopped to a second fixed point, and it is determined whether the confirmation signal 1111 is received within the waiting time.

In detail, in the embodiment of FIG. 4 (please refer to FIG. 2 together), the first interval 151 starts from the origin, the end position of the fourth interval 154 is the origin, and the second interval 152 and the third interval 153 are not In this embodiment, the second section 152 is connected after the first section 151, the third section 153 is separated from the second section 152, and the fourth section 154 is connected to the third section 153. The steps include: Step S21: Provide the aforementioned automatic tool change system 1; Step S22: The automatic tool change unit 11 starts at zero speed and rapidly rises to the first speed 161 to act in the first interval 151; Step S23: Automatic tool change unit 11 Actuates in the second interval 152 at the second rotation speed 162. The controller 14 sends a first request signal 1461 requesting the first tool change action in this interval, and is monitored after the first tool change action is scanned in this interval. The confirmation signal 1111 from the device 111; Step S24: If the confirmation signal 1111 is obtained, proceed to step S25. If the confirmation signal 1111 cannot be obtained, proceed to step S241: Stop the automatic tool change unit 11 in the second interval 152 Step S242: Determine whether the confirmation signal 1111 is received within the waiting time, and if yes, proceed to Step S25; Step S25: The automatic tool change unit 11 uses the third The speed 163 is actuated to the end position of the third interval 153, the controller 14 sends a second request signal 1462 requesting the second tool change action in this interval, and is monitored by the third interval 153 after the second tool change action is scanned The confirmation signal 1111 issued by the device 111; in step S26: if the confirmation signal 1111 of the first tool change action is obtained, proceed to the next step, namely step S27, if the first tool change action cannot be obtained Step S261: the automatic tool change unit 11 stops to a second fixed point in the third interval 153, and then proceeds to step S262: Determine whether the confirmation signal 1111 is received within the waiting time, If yes, proceed to the next step S27; step S27: the automatic tool change unit 11 rotates from the current position to the origin at the first rotation speed 161, and drops to zero speed at the origin.

As shown in Figure 5. In this embodiment, after the automatic tool change unit 11 is transferred to the second interval 152, the controller 14 sends the first request signal 1461 in this interval and scans the confirmation signal 1111 for completing the first tool change action. Before the device 14 obtains the confirmation signal 1111 for completing the first tool change action, it stops the automatic tool change unit 11 to a third fixed point in the second interval 152, and then scans whether to obtain the confirmation signal 1111, and then After the confirmation signal is not obtained, it continues to determine whether to receive the confirmation signal 1111 in place until the waiting time expires; similarly, after the automatic tool change unit 11 shifts to the third interval 153, the controller 14 sends the first interval in this interval 2. Request signal 1462 and scan the confirmation signal 1111 for completing the second tool change action, stop the automatic tool change unit 11 to a fourth fixed point, and then scan whether to obtain the confirmation signal 1111 for completing the second tool change action. After the confirmation signal, continue to determine whether to receive the confirmation signal 1111 in place until the waiting time expires.

In detail, in the embodiment of FIG. 5, the first interval 151 starts from the origin and the end position of the fourth interval 154 is the origin. The second interval 152 and the third interval 153 are not necessarily closely connected. For example, the second interval 152 is connected after the first interval 151, the third interval 153 is separated from the second interval 152, and the fourth interval 154 is connected to the third interval 153. The illustrated steps include: Step S31: Provide the aforementioned Automatic tool change system 1; Step S32: The automatic tool change unit 11 starts at zero speed at the origin and quickly rises to the first speed 161 to act in the first interval 151; Step S33: The automatic tool change unit 11 acts in the second speed 162 In the second interval 152, the controller 14 sends the first request signal 1461 in this interval, and scans the confirmation signal 1111 for completing the first tool change action in this interval; Step S34: the automatic tool change unit 11 stops to the second Area The third fixed point of room 152; Step S35: If the confirmation signal 1111 for completing the first tool change action is obtained, proceed to the next step, namely step S36. If the confirmation signal 1111 for completing the first tool change action cannot be obtained, proceed to step S351: Determine whether the confirmation signal 1111 is received within the waiting time, if yes, proceed to step S36; Step S36: the automatic tool change unit 11 operates from the current position at the third rotational speed 163 to the end position of the third interval 153 , The controller 14 sends the second request signal 1462 in the third interval 153, and scans the confirmation signal 1111 to complete the second tool change action in the third interval 153, and then proceeds to step S37: the automatic tool change unit 11 stops to The fourth fixed point of the third interval 153; continue to step S38: if the confirmation signal 1111 for completing the second tool change action is obtained, proceed to step S39; if the confirmation signal 1111 for completing the second tool change action cannot be obtained, proceed to step S381 : Determine whether the confirmation signal 1111 is received within the waiting time, if yes, proceed to step S39; step S39, the automatic tool change unit 11 rotates at the first rotation speed 161 from the current position to the origin, and is at the origin Reduce to zero speed.

Please refer to Figure 6 for continuation, and refer to Figure 3 and Figure 4. In the embodiment of FIG. 6, the concepts of pre-unclamping and pre-clamping are introduced to maximize the success rate of unclamping tools and maintain excellent tool change efficiency. In this embodiment, the parameter planning information 1431 further includes A first position 171, a second position 172, a fourth rotation speed 164, a fifth rotation speed 165, and a preset waiting time, and the first interval 151 starts from the origin, and the second interval 152 is adjacent to the After the first interval 151, the end positions of the third interval 153 and the second interval 152 have an interval instead of being connected, the fourth interval 154 is immediately after the third interval 153, and the fourth interval 154 reaches the original position. At the end of the point, the first position 171 is located before the automatic tool change unit 11 enters the second interval 152, and the second position 172 is located before the automatic tool change unit 11 enters the third interval 153. In this embodiment, the The automatic tool change method includes: Step S41: Provide the automatic tool change system 1; Step S42: The automatic tool change unit 11 starts at zero speed and rapidly rises to the first rotation speed 161 to act on the origin to the first position 171; Step S43, when After the automatic tool change unit 11 is rotated to the first position 171, the automatic tool change unit 11 operates at the fourth rotation speed 164, and the controller 14 outputs the first request signal 1461 and continues to the end position of the second interval 152; Step 44: when the automatic tool change unit 11 turns to the second interval 152 The second rotation speed 162 is activated, and the controller 14 starts to scan the confirmation signal 1111 for completing the first tool change action; Step S45: If the confirmation signal 1111 is scanned, go to step S46, if the confirmation signal 1111 is not scanned, go to step S451 : Make the automatic tool change unit 11 in the first fixed point of the second interval 152 reduce the operating speed to zero speed and start a preset waiting time; step S452, receive the confirmation signal within the waiting time 111 proceed to the subsequent step S46; step S46: the automatic tool change unit 11 moves from the current position to the second position at the third speed 163; step S47: the automatic tool change unit 11 turns to the second position After 172, the automatic tool change unit 11 is activated at the fifth rotation speed 165, and the controller 14 is caused to output the second request signal 1462 and continue to the end position of the third interval 153; and step S48: when the automatic tool change unit After 11 is transferred to the third interval 153, the controller 14 starts to scan the confirmation signal 1111 for completing the second tool change action. Step S49: When the controller 14 obtains the confirmation signal 1111 for completing the second tool change action, proceed to step S50. Otherwise, proceed to step S491: if the confirmation signal 1111 is not scanned, the automatic tool change unit 11 is caused to reduce the operating speed to zero at the second fixed point of the third interval 153 and start a preset waiting time; Then proceed to step S492: the controller 14 receives the confirmation signal 1111 for completing the second tool change action within the waiting time, and then proceeds to the subsequent step S50; step S50: rotates from the current position of the automatic tool change unit 11 at the first speed 161 To the origin, and drop to zero speed at the origin.

Please refer to FIGS. 7 and 8. The vertical coordinate in the figure is the rotation speed of the automatic tool change unit 11, and the horizontal coordinate is the elapsed time, as shown in FIG. In the above-mentioned embodiment of the present invention, in order to make the entire tool change more stable, the automatic tool change unit 11 transitions from zero speed to the first rotational speed 161, the first rotational speed 161 to the second rotational speed 162, and the second rotational speed 162. The transition from the rotation speed 162 to the third rotation speed 163 and the transition from the third rotation speed 163 to the first rotation speed 161, from the first rotation speed 161 to the zero speed operation speed connection, are related Use a smooth acceleration and deceleration curve, such as linear, exponential, bell, S or other forms of acceleration and deceleration curve to plan the transition processing to smoothly perform the tool change action (the effect of which is shown in Figure 8 shows the partial speed Graph).

In the above embodiment, when the first tool change action is a tool release action, the second tool change action is a tool clamping action, the first rotation speed 161 corresponds to the empty tool stage, and the second rotation speed 162 corresponds to the The loosening stage and the third rotation speed 163 correspond to the clamping stage, and the first rotation speed 161 is greater than the third rotation speed 163, the third rotation speed 163 is greater than the second rotation speed 162, and the second rotation speed 162 is greater than zero speed .

As shown in Figure 9, the vertical coordinate in the figure is the rotation speed of the automatic tool change unit 11, and the horizontal coordinate is the elapsed time. In this embodiment, the first interval 151 starts from the origin, and the zero speed of the automatic tool change unit 11 in the first interval 151 is rapidly increased from the origin to the planned first rotation speed 161, and the automatic tool change unit 11 The second section 152 is planned to operate at the second speed 162, the automatic tool change unit 11 is planned to operate at the third speed 163 in the third section 153, and the automatic tool change unit 11 is planned to operate at the first speed 161 in the fourth section 154; Wherein, when the automatic tool change unit 11 reaches the first position 171, the controller 14 controls the operating speed of the automatic tool change device 11 at the fourth rotation speed 164, and enters the second interval 152 at the fourth rotation speed 164; When the automatic tool change unit 11 in the second section 152 reaches the second position 172, the controller 14 controls the operating speed of the automatic tool change device 11 at the fifth speed 165, and enters the third section 153 at the fifth speed 165 .

The fourth rotational speed 164 planned at the first position 171 is in principle close to the second rotational speed 162, and may even be the same as the second rotational speed 162, and the fifth rotational speed 165 planned at the second position 172 is in principle The upper system is close to the third rotation speed 163, and can even be the same as the third rotation speed 163, so that the rotation speed of the automatic tool change unit 11 can be slowed down or raised to be suitable for the loosening of the tool before the clamping tool release interval. The speed can prevent the automatic tool change unit 11 from causing a sudden drop or a sharp rise in the speed of the tool before the clamp release interval, thereby improving the stability of the clamp release action during the tool change, and avoiding tool dropping or tool collision.

It is worth mentioning that, as shown in Figure 4, Figure 5 and Figure 6. In the automatic tool change method described in the above embodiments, it further includes an abnormal alarm step (step S28, step S382, step 493), which is issued after the controller 14 fails to receive the confirmation signal 1111 within the waiting time Warn and/or terminate subsequent tool change actions.

Furthermore, the parameter planning information 1431 of the present invention is obtained from a storage unit 143, such as a database, which is installed in the controller 14.

In addition, the parameter planning information 1431 of the present invention can be input and edited by the user using the motion planning unit 142.

The above embodiments are only illustrative of the principles, features and effects of the present invention, and are not intended to limit the scope of the present invention. Anyone familiar with the art can do the same without departing from the spirit and scope of the present invention. The above embodiments are modified and changed. Any equivalent changes and modifications made by using the contents disclosed in the present invention shall still be covered by the following patent application scope. Therefore, the protection scope of the present invention should be as listed in the scope of patent application.

Steps S11~S16‧‧‧Steps of the first embodiment of the automatic tool change method of the present invention

Claims (10)

An automatic tool change system, including: an automatic tool change unit, which receives a rotation signal and returns to the origin after a rotation from the origin to complete a tool change stroke between the spindle and the tool magazine. The tool change stroke passes through the spindle The automatic tool change unit includes a monitoring device for checking the completion status of the tool loosening or clamping tool, and outputs a confirmation signal when the tool loosening or clamping action is completed ; A servo motor, which is electrically coupled to the automatic tool change unit, is based on a drive signal to rotate the automatic tool change unit, the servo motor has an encoder, and the encoder can monitor an axis of the servo motor in real time Rotation angle information and report the rotation angle information; a servo driver is electrically coupled to the servo motor to receive a control signal and send the drive signal to the servo motor accordingly. The servo driver can receive and transmit the Rotation angle information; and a controller, including a motion planning unit for generating or editing a parameter planning information, a storage unit for storing the parameter planning information, the parameter planning information including the empty tool in the tool change stroke, The controller is electrically coupled to the servo driver to receive the motor angle information returned by the servo driver for the different speeds corresponding to the different sections of the loosening and clamping tools, the upper and lower ranges of the loosening and clamping tools, and the waiting signal of the loosening and clamping tools. According to the parameter planning information, the corresponding control signal is sent to the servo drive. The controller further includes an I/O unit. According to the parameter planning information, the I/O unit sends the action corresponding to the unclamping tool A first request signal or a second request signal of and receiving the confirmation signal sent by the monitoring device. For example, the automatic tool change system described in item 1 of the scope of patent application, wherein the controller includes an abnormal alarm unit, which is used to issue a warning when the controller cannot receive the confirmation signal within a waiting time . For example, in the automatic tool change system described in item 1 of the scope of patent application, the controller includes a monitoring screen unit for real-time display of the parameter status of the automatic tool change unit. An automatic tool change method, including the following steps: provide the automatic tool change system as described in request item 1; obtain the parameter planning information, which includes dividing the tool change stroke into first to fourth intervals, Corresponding to the start position and end position of each section, and a first, second to third speed, the first section is rotated from the origin of the automatic tool change unit to the start position of the second section, and the fourth section Rotate from the end position of the third interval to the origin of the automatic tool change unit, the first rotation speed is greater than the second or third rotation speed, the tool change action includes a tool release action and a tool clamping action, a first change The knife action is a tool release action and a second tool change action is a tool clamping action or the first tool change action is a tool clamping action and the second tool change action is a tool release action; the automatic tool change unit uses the zero speed at the origin Initially rapidly increase to the first speed to act in the first interval; the automatic tool change unit actuates in the second interval at the second speed, and the controller sends a response corresponding to the first tool change action in this interval The first request signal, and scan the confirmation signal issued after the completion of the first tool change action; after obtaining the confirmation signal of the first tool change action, the automatic tool change unit will move from the current position to the third speed at the third speed At the end of the third interval, the controller sends a second request signal corresponding to the second tool change action in this interval, and scans the confirmation signal issued after the second tool change action is completed; and After obtaining the confirmation signal of the second tool change action, the automatic tool change unit rotates from the current position of the automatic tool change unit to the origin at the first speed, and drops to zero speed at the origin. For example, the automatic tool change method described in item 4 of the scope of patent application, wherein the automatic tool change unit is at zero speed to the first rotational speed, the first rotational speed is transitioned to the second rotational speed, and the second rotational speed is transitioned to the third rotational speed. The rotation speed and the transition from the third rotation speed to the first rotation speed and from the first rotation speed to the zero speed are used to plan the transition processing with a smooth acceleration/deceleration curve to smoothly perform the tool change action. For example, the automatic tool change method described in item 5 of the scope of patent application, wherein the smooth acceleration/deceleration curve is planned to be linear, exponential, bell or S. For example, the automatic tool change method according to any one of items 4 to 6 in the scope of the patent application, wherein after the automatic tool change unit turns to the second interval, the controller sends a request to perform the first tool change action When the controller cannot scan the corresponding confirmation signal, it stops the automatic tool change unit to a first fixed point, and then determines whether the confirmation signal is received within the waiting time; similarly After the automatic tool change unit turns to the third interval, the controller sends a second request signal requesting the second tool change action, and when the controller cannot scan the confirmation signal of the second tool change action , The automatic tool change unit is stopped to a second fixed point, and then it is judged whether the confirmation signal is received within the waiting time. For example, the automatic tool change method according to any one of items 4 to 6 of the scope of patent application, wherein after the automatic tool change unit is transferred to the second interval, the controller sends the first request signal in this interval, And stop the automatic tool change unit to a third fixed point, and then scan the confirmation signal of the first tool change action; similarly, after the automatic tool change unit turns to the third interval, the controller sends the First 2. Request a signal and stop the automatic tool change unit to a fourth fixed point, and then scan the confirmation signal of the second tool change action. For example, the automatic tool change method described in item 4 of the scope of patent application, wherein the parameter planning information further includes a first position, a second position, a fourth speed, and a fifth speed. The first position is located in the automatic change Before the tool unit enters the second interval, the second position is before the automatic tool change unit enters the third interval. The automatic tool change method further includes the following steps: when the automatic tool change unit rotates the first position The fourth rotation speed is activated, and the controller sends a first request signal requesting the first tool change action and continues to the end position of the second section; when the automatic tool change unit turns to the second section, scanning starts If the confirmation signal of the first tool change action is not scanned, the automatic tool change unit will reduce the operating speed to zero speed in the second interval and start a preset waiting time. When the confirmation signal is received within the waiting time, the subsequent second tool change action will continue; when the automatic tool change unit is turned to the second position, it will act at the fifth speed, and the controller will send the second tool change The action request signal continues to the end position of the third interval; and when the automatic tool change unit turns to the third interval, it starts to scan the confirmation signal corresponding to the second tool change action. If the confirmation signal is not scanned, , The automatic tool change unit is made to reduce the operating speed to zero rotation speed in the third interval, and start a preset waiting time, and continue to perform subsequent actions after receiving the confirmation signal within the waiting time. For example, the automatic tool change method described in item 4 of the scope of the patent application further includes an abnormal alarm step, which is when the automatic tool change unit cannot receive the confirmation signal within the waiting time and issues a warning and/or terminates subsequent changes. Knife action.

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