Robot tool magazine tool changing control method and control system

Abstract

The invention belongs to the technical field of tool changing control of numerical control machine tools, and relates to a robot tool magazine tool changing control method and system. The method comprises the steps: carrying out the parameter configuration on a tool magazine wall and an external tool magazine according to structures of the tool magazine wall and the external tool magazine; receiving a tool changing instruction, and determining the type of the tool changing instruction; calculating corresponding tool apron coordinates according to tool apron numbers of a new tool and an old tool on the tool magazine wall and theoretical offsets and actual offsets of corresponding tool aprons, and completing replacement of the new tool and the old tool if the instruction is an internal tool changing instruction from a machine tool numerical control system; and calculating corresponding tool apron coordinates according to the tool apron numbers of the old tool and the new tool in the tool magazine wall, tool apron numbers of the old tool and the new tool in the external tool magazine and the theoretical offsets and the actual offsets of the corresponding tool aprons, and completing replacement of the new tool in the external tool magazine and the old tool in the tool magazine wall if the instruction is an external tool changing instruction from the external tool magazine system. According to the control method, the programming difficulty of the tool changing process in the tool magazine of a robot is reduced, and the tool changing debugging, maintenance and operation processes are simplified.

Description

technical field [0001] The invention belongs to the technical field of tool change control for numerically controlled machine tools, and relates to a tool change control method and a control system for a robot tool magazine. Background technique [0002] The stability, accuracy and rapidity of the tool change action of the machining center's tool magazine seriously affect the operating efficiency and performance of the entire machining center. Therefore, robot tool magazines are more and more widely used. However, the debugging of the robot needs to be completed by professionally trained debugging personnel. The debugging operation of the tool magazine with more tool positions requires a heavy workload, resulting in a lot of labor costs and time costs. And when the machine tool uses the robot tool magazine for tool magazine debugging and position alignment, due to the uneven operation ability of the operators, some operators cannot change the tool change program of the robot...

AI Technical Summary

Problems solved by technology

However, the debugging of the robot needs to be completed by professionally trained debugging personnel. The debugging operation of the tool magazine with more tool positions requires a heavy workload, resulting in a lot of labor costs and time costs.

And when the machine tool uses the robot tool magazine for tool magazine debugging and position alignment, due to the uneven operation ability of the operators, some operators cannot change the tool change program of the robot. Changing variables on the system cannot be directly changed on the smartpad of the robot. If the change is wrong, it is prone to knife collision

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