A control method and control system for tool change in a robot tool magazine

Abstract

The invention belongs to the technical field of tool change control of numerically controlled machine tools, and relates to a tool change control method and control system for a robot tool magazine, comprising: configuring parameters for the tool magazine wall and the external tool magazine according to the structures of the tool magazine wall and the external tool magazine; Receive the tool change command and judge the type of the tool change command; if it is an internal tool change command from the CNC system of the machine tool, according to the tool seat number of the new tool and the old tool on the tool magazine wall, the theoretical offset and the actual offset of the corresponding tool seat Calculate the coordinates of the corresponding tool seat, and complete the replacement of the new tool and the old tool; if it is an external tool change command from the external tool magazine system, according to the tool seat number of the old tool and the new tool on the tool magazine wall, the old tool and the new tool are in The tool seat number of the external tool magazine and the theoretical offset and actual offset of the corresponding tool seat are used to calculate the coordinates of the corresponding tool seat to complete the replacement of the new tool in the external tool magazine and the old tool in the wall of the tool magazine. The control method of the invention reduces the difficulty of programming the tool change program of the robot tool magazine, and simplifies the process of tool change debugging, maintenance and operation.

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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