Control System and Control Method of Disc-type Tool Magazine

Abstract

A control system and a control method for a disc-type tool magazine. The control system of the disc-type tool magazine includes a servo motor, a first encoder, a speed reducer, a transmission mechanism, a second encoder, and a servo driver. The first encoder is disposed on the servo motor; the speed reducer is disposed between the servo motor and the transmission mechanism, and the second encoder is disposed on the transmission mechanism. The control method of the control system includes: the servo driver receives a rotation signal and controls the servo motor according to the rotation signal; the servo driver receives the first pulse signal of the first encoder and the second pulse signal of the second encoder, and when the number of pulses of the first pulse signal reaches an upper limit number of pulses and the number of pulses of the second pulse signal has not reached a predetermined number of pulses, that is, when the transmission error exceeds the allowable error range, a signal is issued.

Description

Technical Field

[0001] The present invention relates to a disc-type tool magazine; in particular, it refers to a control system and a control method for a disc-type tool magazine. Background Art

[0002] Please refer Figure 1 As shown, it is an automatic tool changing mechanism of a known machine tool, which includes a disc-type tool magazine 1, a servo motor 2, a speed reducer 3, a transmission mechanism 4, an encoder 5 and a servo driver 6. Among them, the disc-type tool magazine 1 includes a turntable 1a and a plurality of tool holders 1b, and the tool holders 1b are used to accommodate different tools. The output shaft of the servo motor 2 is connected to the speed reducer 3. The speed reducer 3 includes a plurality of gears with different gear ratios. The transmission mechanism 4 includes a pinion 4a and a large gear 4b. The pinion 4a is connected to the speed reducer 3, and the large gear 4b is connected to the turntable 1a of the disc-type tool magazine 1; the encoder 5 is installed on the servo motor 2, and is only used to detect whether the rotational speed and the rotation angle of the rotor of the servo motor 2 are accurate and in place, and outputs corresponding pulse signals to feedback to the servo driver 6. The servo driver 6 issues control commands for driving or braking to the servo motor 2. The servo motor 2 drives the disc-type tool magazine 1 to rotate through the speed reducer 3 and the transmission mechanism 4 to achieve the purpose of tool selection.

[0003] Although the above mechanism can complete the tool selection operation and move a specific tool holder to the tool changing position for the tool changing arm to pick up or place tools at the tool changing position. However, the gear parts of the speed reducer 3 and the transmission mechanism 4 are prone to backlash problems after long-term use, and this tiny gap will cause transmission errors and affect the rotation position of the disc-type tool magazine 1. In addition, the disc-type tool magazine 1 may also affect the rotation position due to excessive load, resulting in inaccurate rotation. The above situations will all cause the automatic tool changing mechanism to act wrongly. However, the conventional automatic tool changing mechanism cannot know from the pulse signal of the encoder 5 that a specific tool holder 1b has not moved to the tool changing position, and can only issue a warning when the tool changing arm cannot pick up or place tools at the tool changing position. Therefore, the above-mentioned known technology is not perfect and needs to be improved. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a control system and a control method for a disc-type tool magazine, which can generate corresponding signals when the transmission error exceeds the allowable error range.

[0005] To achieve the above object, the present invention provides a control system for a disc-type tool magazine. The disc-type tool magazine includes a turntable and a plurality of tool sleeves, and the plurality of tool sleeves are arranged on the turntable. The control system includes a servo motor, a first encoder, a speed reducer, a transmission mechanism, a second encoder and a servo driver. Among them, the servo motor has an output shaft; the first encoder is arranged on the servo motor; the first encoder is used to output a first pulse signal corresponding to the rotation of the output shaft; the speed reducer has an input end and an output end, and the input end is coupled to the output shaft; the transmission mechanism includes a first tooth member and a second tooth member that are engaged with each other. The first tooth member is coupled to the output end, and the second tooth member is coupled to the turntable; when the first tooth member is driven by the output end to rotate, the first tooth member can drive the second tooth member to rotate, and then drive the turntable to rotate; the second encoder is arranged on one of the first tooth member and the second tooth member, and the second encoder is used to output a second pulse signal corresponding to the rotation of the set first tooth member or the second tooth member; the servo driver is electrically connected to the servo motor, the first encoder and the second encoder, and the servo driver controls the rotation or stop of the servo motor.

[0006] Among them, the number of the plurality of tool sleeves is N; when the output shaft rotates one circle, the first pulse signal output by the first encoder has a first predetermined pulse number, and the first predetermined pulse number is K1; when the first tooth member set by the second encoder rotates one circle or the second tooth member set by the second encoder rotates 1 / N circle, the second pulse signal output by the second encoder has a second predetermined pulse number, and the second predetermined pulse number is K2; the reduction ratio of the speed reducer is M:1.

[0007] When the servo driver satisfies a first condition, it emits a signal. Among them, the first condition is that the pulse number of the first pulse signal output by the first encoder received reaches K1×M + E, and the pulse number of the second pulse signal output by the second encoder received is less than K2; where E is an error pulse number.

[0008] Another provided control system of a disc-type tool magazine, the control system comprising a servo motor, a first encoder, a speed reducer, a transmission mechanism, a second encoder and a servo driver, wherein the servo motor has an output shaft; the first encoder is disposed on the servo motor; the first encoder is used to output a first pulse signal corresponding to the rotation of the output shaft; the speed reducer has an input end and an output end, the input end is coupled to the output shaft; the transmission mechanism is coupled between the output end and the turntable; the second encoder is disposed on the transmission mechanism, the second encoder is used to output a second pulse signal corresponding to the rotation of the transmission mechanism; the servo driver is electrically connected to the servo motor, the first encoder and the second encoder, the servo driver receives a rotation signal, and controls the servo motor according to the rotation signal, so that the output shaft rotates and drives the turntable to rotate through the speed reducer and the transmission mechanism; the servo driver receives the first pulse signal and the second pulse signal, and when the number of pulses of the first pulse signal reaches an upper limit number of pulses and the number of pulses of the second pulse signal has not reached a predetermined number of pulses, the servo driver emits a signal.

[0009] Another provided control method of a control system of a disc-type tool magazine, the control system comprising a servo motor having an output shaft; a first encoder for outputting a first pulse signal corresponding to the rotation of the output shaft; a speed reducer having an input end and an output end, the input end being coupled to the output shaft; a transmission mechanism including a first gear member and a second gear member that mesh with each other, the first gear member being coupled to the output end, the second gear member being coupled to the turntable; and when the first gear member is driven by the output end to rotate, the first gear member can drive the second gear member to rotate, thereby driving the turntable to rotate; a second encoder for outputting a second pulse signal corresponding to the rotation of one of the first gear member and the second gear member; a servo driver electrically connected to the servo motor, the first encoder and the second encoder; wherein the number of the plurality of tool sleeves is N, when the output shaft rotates one circle, the first pulse signal output by the first encoder has a first predetermined number of pulses, the first predetermined number of pulses is K1; when the first gear member corresponding to the second encoder rotates one circle or the second gear member corresponding to the second encoder rotates 1 / N circle, the second pulse signal output by the second encoder has a second predetermined number of pulses, the second predetermined number of pulses is K2; the reduction ratio of the speed reducer is M:1; the control method is executed by the servo driver and includes the following steps:

[0010] A. Receive a rotation signal;

[0011] B. Control the servo motor to rotate the output shaft, and receive the first pulse signal and the second pulse signal;

[0012] C. Count the number of pulses of the first pulse signal and count the number of pulses of the second pulse signal;

[0013] D. When a first condition is satisfied, send a signal, where the first condition is: the number of pulses of the first pulse signal reaches K1×M + E, and the number of pulses of the second pulse signal is less than K2; where E is an error number of pulses.

[0014] The effect of the present invention is that through the pulse signals of the first encoder and the second encoder, the servo driver can send a signal for subsequent processing when the transmission error exceeds the allowable error range. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of a conventional automatic tool changer mechanism;

[0016] Figure 2 It is a schematic diagram of the control system of the first preferred embodiment of the present invention;

[0017] Figure 3 It is a schematic diagram of the connection between the control system of the first preferred embodiment of the present invention and a disc-type tool magazine;

[0018] Figure 4 It is a schematic diagram of the disc-type tool magazine of the first preferred embodiment of the present invention;

[0019] Figure 5 It is a flowchart of the control method of the control system of the first preferred embodiment of the present invention;

[0020] Figure 6 It is a schematic diagram of the control system of the second preferred embodiment of the present invention;

[0021] Figure 7 It is a schematic diagram of the control system of the third preferred embodiment of the present invention;

[0022] Figure 8 It is a schematic diagram of the connection between the control system of the fourth preferred embodiment of the present invention and a disc-type tool magazine.

[0023]

Symbol Description

[0024] 1: Disc-type tool magazine

[0025] 1a: Turntable

[0026] 1b: Tool sleeve

[0027] 100: Control system

[0028] 10: Servo motor

[0029] 102: Output shaft

[0030] 12: First encoder

[0031] 14: Reducer

[0032] 142: Input end

[0033] 144: Output end

[0034] 16: Transmission mechanism

[0035] 162: First tooth part

[0036] 164: Second tooth part

[0037] 18: Second encoder

[0038] 20: Servo driver

[0039] 22: Controller

[0040] 200: Control system

[0041] 24: Second encoder

[0042] 300: Control system

[0043] 26: Third encoder

[0044] 400: Control system

[0045] 28 Transmission mechanism

[0046] 282 First tooth part

[0047] 284 Second tooth part Detailed implementation manners

[0048] To more clearly illustrate the present invention, preferred embodiments are given below and described in detail in conjunction with the accompanying drawings. Please refer to Figure 2 As shown, it is the control system 100 of the disc tool magazine 1 according to the first preferred embodiment of the present invention, which is used to control Figure 3 and Figure 4 the disc tool magazine 1 shown. The disc tool magazine 1 includes a turntable 1a and a plurality of tool sleeves 1b. These tool sleeves 1b are arranged on the turntable 1a and rotate with the turntable 1a.

[0049] The control system 100 includes a servo motor 10, a first encoder 12, a reducer 14, a transmission mechanism 16, a second encoder 18 and a servo driver 20.

[0050] The servo motor 10 has an output shaft 102, and the servo motor 10 is controlled to rotate the output shaft 102. The first encoder 12 is disposed on the servo motor 10 and rotates synchronously with the output shaft 102. The first encoder 12 is configured to output a first pulse signal corresponding to the rotation of the output shaft 102. When the output shaft 102 rotates one revolution, the first pulse signal output by the first encoder 12 has a predetermined number of pulses (hereinafter defined as a first predetermined number of pulses K1 for description).

[0051] The speed reducer 14 has an input end 142 and an output end 144. The input end 142 is coupled to the output shaft 102. The speed reducer 14 has a reduction ratio of M:1. That is, when the output shaft 102 of the servo motor 10 drives the input end 142 to rotate M revolutions, the output end 144 rotates one revolution. In this embodiment, M is taken as 10 as an example, but not limited thereto. The speed reducer 14 includes a plurality of gears with different gear ratios for speed reduction. For example, it can be a planetary gear speed reducer or a worm gear speed reducer, but not limited thereto.

[0052] The transmission mechanism 16 is coupled between the output end 144 of the speed reducer 14 and the turntable 1a of the disc tool magazine 1. In this embodiment, the transmission mechanism 16 includes a first tooth member 162 and a second tooth member 164 that are engaged with each other. The first tooth member 162 is coupled to the output end 144 of the speed reducer 14, and the second tooth member 164 is coupled to the turntable 1a and rotates synchronously with the turntable 1a. When the first tooth member 162 is driven by the output end 144 of the speed reducer to rotate, the first tooth member 162 can drive the second tooth member 164 to rotate, and further drive the turntable 1a to rotate. One revolution of the second tooth member 164 is equivalent to one revolution of the turntable 1a of the disc tool magazine 1. In this embodiment, the first tooth member 162 is taken as a worm as an example, and the second tooth member 164 is taken as a worm wheel as an example. One end of the worm is coupled to the output end 144 of the speed reducer 14, and the body of the worm meshes with the outer periphery of the worm wheel. A wheel body of the worm wheel is coupled to the turntable 1a. In a normal state (that is, the first tooth member 162 abuts against and drives the second tooth member 164 to rotate), when the first tooth member 162 rotates one revolution, it drives the second tooth member 164 to rotate 1 / N revolutions, where N is the number of tool magazines. In this embodiment, N is taken as 10 as an example, but not limited thereto. One revolution of the first tooth member 162 or 1 / N revolutions of the second tooth member 164 both correspond to 1 / N revolutions of the disc tool magazine 1 (that is, switching one tool position). Switching the tool position can make a specific tool sleeve 1b correspond to a tool change position.

[0053] The second encoder 18 is disposed on the transmission mechanism 16. The second encoder 18 is used to output a second pulse signal corresponding to the rotation of the transmission mechanism 16. The second encoder 18 can be disposed on one of the first tooth member 162 and the second tooth member 164. The second encoder 18 is used to output the second pulse signal corresponding to the rotation of the set first tooth member 162 or the second tooth member 164. In this embodiment, the second encoder 18 is disposed on the second tooth member 164. More specifically, it is disposed at the rotation center of the second tooth member 164 (i.e., the rotation center of the wheel body of the worm gear). The second encoder 18 is used to correspond to the rotation of the second tooth member 164. When the second tooth member 164 rotates 1 / N turns, the second pulse signal output by the second encoder 18 has a predetermined pulse (hereinafter defined as a second predetermined pulse number K2).

[0054] The servo driver 20 is electrically connected to the servo motor 10, the first encoder 12 and the second encoder 18. The servo driver 20 controls the rotation or stop of the servo motor 10. In this embodiment, the servo driver 20 is connected to a controller 22. The controller 22 can be, for example, a programmable logic controller. The controller 22 sends a control signal to the servo driver 20. The servo driver 20 controls the rotation or stop of the servo motor 10 according to the control signal. When the control signal output by the controller 22 is a rotation signal, the servo driver 20 controls the servo motor 10 to rotate the output shaft 102. In this embodiment, the rotation signal corresponds to the turntable of the disc tool magazine 1 rotating at least 1 / N turn along a first predetermined rotation direction or along a second predetermined rotation direction. The first rotation direction is opposite to the second rotation direction. That is, the disc tool magazine 1 is switched at least one tool position, but not limited thereto. The rotation signal can also correspond to the turntable of the disc tool magazine 1 rotating more than 2 / N turns, that is, switching two or more tool positions.

[0055] Through the above control system 100, the control method of this embodiment can be carried out. The control method is executed by the servo driver 20 and includes Figure 5 the following steps shown:

[0056] The servo driver 20 receives the rotation signal. The rotation signal takes the rotation of the turntable 1a of the disc tool magazine 1 by 1 / N turn as an example to switch one tool position.

[0057] The servo driver 20 controls the servo motor 10 according to the rotation signal to rotate the output shaft 102, and receives the first pulse signal of the first encoder 12 and the second pulse signal of the second encoder 18.

[0058] The servo driver 20 continuously counts the pulse number of the first pulse signal and continuously counts the pulse number of the second pulse signal.

[0059] When the servo driver 20 meets a first condition, it emits a signal. Herein, the first condition is that the number of pulses of the first pulse signal reaches an upper limit number of pulses, and the number of pulses of the second pulse signal is less than a second predetermined number of pulses K2. The upper limit number of pulses and the second predetermined number of pulses can be pre-stored in the memory unit of the servo driver 20 for judgment. In this embodiment, the upper limit number of pulses is K1×M + E, where E is an error number of pulses. In this embodiment, E = K1×0.1. In other words, 10% of the first predetermined number of pulses is used as the allowable error number of pulses. In other embodiments, 5 - 15% of the first predetermined number of pulses can also be used as the allowable error number of pulses, that is, E ranges from K1×0.05 to K1×0.15.

[0060] In other words, in a normal state, when switching a tool position, the output shaft 102 of the servo motor 10 should rotate M turns. Through the speed reducer 14, the first tooth part 162 is driven to rotate one turn, and the second tooth part 164 is driven to rotate 1 / N turns. The meaning of the above first condition is: when the output shaft 102 rotates M turns plus an error of 0.1 turn, and the second tooth part 164 has not rotated to 1 / N turns, it means that the transmission error between the output shaft 102 and the second tooth part 164 has exceeded the allowable error range. At this time, the servo driver 20 emits the signal. In this embodiment, the signal can include a warning signal and / or a stop signal. The servo driver 20 can transmit the warning signal to the controller 22 to warn the controller 22. In other embodiments, the servo driver 20 can also directly or through the controller 22 send the warning signal to a warning unit. The warning unit can be, for example, a display, a warning light, a sounding element, etc.

[0061] The servo driver 20 can transmit the stop signal to the servo motor 10 to control the servo motor 10 to stop rotating, for maintenance personnel to perform subsequent calibration.

[0062] Before the first condition is not met, when the number of pulses of the first pulse signal output by the first encoder 12 received by the servo driver 20 is greater than K1×M and less than K1×M + E, the servo driver 20 controls the servo motor 10 to make the output shaft 102 continue to rotate. That is, when the output shaft 102 rotates more than M turns but has not reached M turns plus an error of 0.1 turn, the servo driver 20 still allows the servo motor 10 to continue rotating within the allowable error range of the transmission error. Until the number of pulses of the second pulse signal output by the second encoder 18 is equal to K2, which means that the second tooth part 164 has rotated to 1 / N turns, that is, a tool position has been switched, then the servo driver 20 controls the servo motor 10 to make the output shaft 102 stop rotating.

[0063] Through the above embodiments, the servo driver 20 can continue to switch the tool positions of the disc tool magazine 1 within the allowable error range, and when the transmission error exceeds the allowable error range, a signal is sent for subsequent processing.

[0064] Figure 6 Shown is a control system 200 of a disc tool magazine according to a second preferred embodiment of the present invention, which has a structure substantially the same as that of the first embodiment. The difference is that in this embodiment, the second encoder 24 is disposed on the first tooth member 162, that is, at the other end of the worm gear, and this other end is opposite to the output end of the speed reducer. The second encoder 24 is used to output a second pulse signal corresponding to the rotation of the first tooth member 162. When the first tooth member 162 rotates one circle, the second pulse signal output by the second encoder 24 has a second predetermined pulse number K2.

[0065] The control method of this embodiment is substantially the same as that of the first embodiment. Similarly, when the servo driver 20 satisfies the first condition, a signal is sent. The first condition is that the pulse number of the first pulse signal reaches an upper limit pulse number, and the pulse number of the second pulse signal is less than the second predetermined pulse number K2. The meaning of the above first condition is that when the output shaft 102 rotates M circles plus an error of 0.1 circle, and the first tooth member 162 has not rotated one circle, which means that the transmission error between the output shaft 102 and the first tooth member 162 has exceeded the allowable error range. At this time, the servo driver 20 sends the signal.

[0066] Figure 7 Shown is a control system 300 of a disc tool magazine according to a third preferred embodiment of the present invention, which is based on the structure of the first embodiment and further includes a third encoder 26, and the third encoder 26 is electrically connected to the servo driver 20.

[0067] The second encoder 18 is disposed on one of the first tooth member 162 and the second tooth member 164, and the third encoder 26 is disposed on the other of the first tooth member 162 and the second tooth member 164. In this embodiment, the installation position and function of the third encoder 26 are the same as those of the second encoder 24 in the second embodiment. The third encoder 26 is used to output a third pulse signal corresponding to the rotation of the first tooth member 162. When the first tooth member 162 rotates one circle, the third pulse signal output by the third encoder 26 has a predetermined pulse number (hereinafter defined as a third predetermined pulse number K3).

[0068] The control method of this embodiment is based on the first embodiment and further includes:

[0069] The servo driver 20 receives the third pulse signal and counts the pulse number of the third pulse signal.

[0070] The servo driver 20 sends another signal when a second condition is satisfied, wherein the second condition is:

[0071] The number of pulses of the first pulse signal is greater than K1×M+E, and the number of pulses of the third pulse signal received from the third encoder is less than K3.

[0072] The second condition means that when the output shaft 102 rotates M turns plus an error of 0.1 turns, and the first tooth 162 has not rotated one turn, it means that the transmission error between the output shaft 102 and the first tooth has exceeded the allowable error range. At this time, the servo driver 20 sends the other signal.

[0073] The further signal may include a warning signal and / or a stop signal.

[0074] The warning signal is transmitted to the controller 22 to warn the controller. In other embodiments, the servo driver 20 can also send the warning signal to the warning unit directly or through the controller 22. The stop signal is transmitted to the servo motor 10 to control the servo motor 10 to stop rotating, so that maintenance personnel can perform subsequent calibration.

[0075] Through the control system 300 and control method of this embodiment, the servo drive 20 can send out the signal when the transmission error between the output shaft 102 and the second toothed member 164 has exceeded the allowable error range (first condition), or send out the other signal when the transmission error between the output shaft 102 and the first toothed member 162 has exceeded the allowable error range (second condition).

[0076] Figure 8 The control system 400 of the disc tool magazine of the fourth preferred embodiment of the present invention is shown, which has a structure substantially the same as that of the first embodiment, except that the first toothed member 282 of the transmission mechanism 28 of the present embodiment is a small gear, and the second toothed member 284 is a large gear. Similarly, the first toothed member 282 rotates one circle, driving the second toothed member 284 to rotate 1 / N circle. The control method of the present embodiment is the same as that of the first embodiment, and will not be described in detail. In addition, the transmission mechanism 28 of the present embodiment can also be applied to the second and third embodiments.

[0077] The above description is only a preferred embodiment of the present invention. Any equivalent changes made by applying the specification and claims of the present invention should be included in the patent scope of the present invention.

Claims

1. A control system for a disc-type tool magazine, characterized in that, the disc-type tool magazine includes a turntable and a plurality of tool holders, and the plurality of tool holders are arranged on the turntable; the control system includes: a servo motor having an output shaft; a first encoder arranged on the servo motor; the first encoder is used to output a first pulse signal corresponding to the rotation of the output shaft; a speed reducer having an input end and an output end, and the input end is coupled to the output shaft; a transmission mechanism including a first tooth member and a second tooth member that mesh with each other, the first tooth member is coupled to the output end, and the second tooth member is coupled to the turntable; and when the first tooth member is driven by the output end to rotate, the first tooth member can drive the second tooth member to rotate, and then drive the turntable to rotate; a second encoder arranged on one of the first tooth member and the second tooth member, and the second encoder is used to output a second pulse signal corresponding to the rotation of the arranged first tooth member or the second tooth member; a servo driver electrically connected to the servo motor, the first encoder and the second encoder, and the servo driver controls the servo motor to rotate or stop rotating; wherein, the number of the plurality of tool holders is N; when the output shaft rotates one circle, the first pulse signal output by the first encoder has a first predetermined number of pulses, and the first predetermined number of pulses is K1; when the first tooth member arranged by the second encoder rotates one circle or the second tooth member arranged by the second encoder rotates 1 / N circle, the second pulse signal output by the second encoder has a second predetermined number of pulses, and the second predetermined number of pulses is K2; the reduction ratio of the speed reducer is M:1; when the servo driver satisfies a first condition, it emits a signal, wherein the first condition is: when the number of pulses of the first pulse signal output by the received first encoder reaches K1×M + E, and the number of pulses of the second pulse signal output by the received second encoder is less than K2; where E is an error number of pulses.

2. The control system for a disc-type tool magazine according to claim 1, characterized in that, the signal is transmitted to the servo motor to control the servo motor to stop rotating.

3. The control system for a disc-type tool magazine according to claim 1, characterized in that, the first tooth member is a worm, and the second tooth member is a worm gear; one end of the worm is coupled to the output end of the speed reducer, and the worm gear is coupled to the turntable; the second encoder is arranged at the other end of the worm or the rotation center of the worm gear.

4. The control system for a disc-type tool magazine according to claim 1, characterized in that, it includes a third encoder arranged on the other of the first tooth member and the second tooth member and electrically connected to the servo driver, and the third encoder is used to output a third pulse signal corresponding to the rotation of the arranged first tooth member or the second tooth member; when the first tooth member arranged by the third encoder rotates one circle or the second tooth member arranged by the third encoder rotates 1 / N circle, the third pulse signal output by the third encoder has a third predetermined number of pulses, and the third predetermined number of pulses is K3; when the servo driver satisfies a second condition, it emits another signal, wherein the second condition is: When the number of pulses of the first pulse signal output by the first encoder received is greater than K1×M + E, and the number of pulses of the third pulse signal output by the third encoder received is less than K3.

5. The control system of the disc tool magazine according to claim 4, wherein, the other signal is transmitted to the servo motor to control the servo motor to stop rotating.

6. The control system of the disc tool magazine according to claim 4, wherein, the second encoder is arranged on the second toothed member, and the third encoder is arranged on the first toothed member.

7. The control system of the disc tool magazine according to claim 5, wherein, the first toothed member is a worm, and the second toothed member is a worm gear; one end of the worm is coupled to the output end of the speed reducer, and the body of the worm meshes with the outer peripheral edge of the worm gear; one body of the worm gear is coupled to the turntable; the second encoder is arranged at the rotation center of the body of the worm gear; the third encoder is arranged at the other end of the worm.

8. The control system of the disc tool magazine according to claim 1, wherein, the second encoder is arranged on the second toothed member; when the number of pulses of the first pulse signal output by the first encoder received by the servo driver is less than K1×M + E, the servo driver controls the servo motor to make the output shaft continue to rotate.

9. The control system of the disc tool magazine according to claim 8, wherein, when the number of pulses of the first pulse signal output by the first encoder received by the servo driver is less than K1×M + E, and the number of pulses of the second pulse signal output by the second encoder is equal to K2, the servo driver controls the servo motor to make the output shaft stop rotating.

10. The control system of the disc tool magazine according to claim 1, wherein, the error number of pulses satisfies the following condition: E is between K1×0.05 and K1×0.

15.

11. A control system of a disc tool magazine, the disc tool magazine includes a turntable and a plurality of tool sleeves, the plurality of tool sleeves are arranged on the turntable; the control system includes: a servo motor having an output shaft; a first encoder arranged on the servo motor; the first encoder is used to output a first pulse signal corresponding to the rotation of the output shaft; a speed reducer having an input end and an output end, the input end is coupled to the output shaft; a transmission mechanism coupled between the output end and the turntable; a second encoder arranged on the transmission mechanism, the second encoder is used to output a second pulse signal corresponding to the rotation of the transmission mechanism; a servo driver electrically connected to the servo motor, the first encoder and the second encoder, the servo driver receives a rotation signal and controls the servo motor according to the rotation signal to make the output shaft rotate and drive the turntable to rotate through the speed reducer and the transmission mechanism; the servo driver receives the first pulse signal and the second pulse signal, and when the number of pulses of the first pulse signal reaches an upper limit number of pulses and the number of pulses of the second pulse signal has not reached a predetermined number of pulses, the servo driver issues a signal; wherein, The transmission mechanism includes a first tooth member and a second tooth member that mesh with each other. The first tooth member is coupled to the output end, and the second tooth member is coupled to the turntable. When the first tooth member is driven by the output end to rotate, the first tooth member can drive the second tooth member to rotate, and then drive the turntable to rotate. The second encoder is disposed on the second tooth member; The control system includes a third encoder. The third encoder is disposed on the first tooth member and electrically connected to the servo driver. The third encoder is used to output a third pulse signal corresponding to the rotation of the first tooth member. The servo driver receives the three pulse signals, and when the pulse number of the first pulse signal reaches the upper limit pulse number and the pulse number of the third pulse signal has not reached another predetermined pulse number, the servo driver issues another signal.

12. The control system of the disc-type tool magazine according to claim 11, wherein the signal is transmitted to the servo motor to control the servo motor to stop rotating.

13. The control system of the disc-type tool magazine according to claim 11, wherein the first tooth member is a worm, and the second tooth member is a worm gear. One end of the worm is coupled to the output end of the speed reducer, and the worm gear is coupled to the turntable. The second encoder is disposed at the rotation center of the worm gear.

14. The control system of the disc-type tool magazine according to claim 11, wherein the another signal is transmitted to the servo motor to control the servo motor to stop rotating.

15. The control system of the disc-type tool magazine according to claim 11, wherein the first tooth member is a worm, and the second tooth member is a worm gear. One end of the worm is coupled to the output end of the speed reducer, and the body of the worm meshes with the outer periphery of the worm gear. A wheel body of the worm gear is coupled to the turntable. The second encoder is disposed at the rotation center of the wheel body of the worm gear. The third encoder is disposed at the other end of the worm.

16. The control system of the disc-type tool magazine according to claim 11, wherein the second encoder is disposed on the second tooth member. When the pulse number of the first pulse signal received by the servo driver is less than the upper limit pulse number and the pulse number of the second pulse signal has not reached the predetermined pulse number, the servo driver controls the servo motor to continue rotating the output shaft.

17. The control system of the disc-type tool magazine according to claim 16, wherein when the pulse number of the first pulse signal received by the servo driver is less than the upper limit pulse number and the pulse number of the second pulse signal reaches the predetermined pulse number, the servo driver controls the servo motor to stop rotating the output shaft.

18. A control method for a control system of a disc-type tool magazine characterized in that The disc-type tool magazine includes a turntable and a plurality of tool sleeves, and the plurality of tool sleeves are arranged on the turntable; the control system includes a servo motor having an output shaft; a first encoder for outputting a first pulse signal corresponding to the rotation of the output shaft; a speed reducer having an input end and an output end, the input end being coupled to the output shaft; a transmission mechanism including a first tooth member and a second tooth member that mesh with each other, the first tooth member being coupled to the output end, and the second tooth member being coupled to the turntable; and when the first tooth member is driven by the output end to rotate, the first tooth member can drive the second tooth member to rotate, and further drive the turntable to rotate; a second encoder for outputting a second pulse signal corresponding to the rotation of one of the first tooth member and the second tooth member; a servo driver electrically connected to the servo motor, the first encoder, and the second encoder; wherein, the number of the plurality of tool sleeves is N, when the output shaft rotates one circle, the first pulse signal output by the first encoder has a first predetermined number of pulses, and the first predetermined number of pulses is K1; when the first tooth member corresponding to the second encoder rotates one circle or the second tooth member corresponding to the second encoder rotates 1 / N circle, the second pulse signal output by the second encoder has a second predetermined number of pulses, and the second predetermined number of pulses is K2; the reduction ratio of the speed reducer is M:1; the control method is executed by the servo driver and includes the following steps: A. Receive a rotation signal; B. Control the servo motor to rotate the output shaft, and receive the first pulse signal and the second pulse signal; C. Count the number of pulses of the first pulse signal and count the number of pulses of the second pulse signal; D. When a first condition is satisfied, send a signal, wherein the first condition is: the number of pulses of the first pulse signal reaches K1×M + E, and the number of pulses of the second pulse signal is less than K2; where E is an error number of pulses.

19. The control method of the control system of the disc-type tool magazine according to claim 18, wherein, in step D, when the first condition is satisfied, the signal is transmitted to the servo motor to control the servo motor to stop rotating.

20. The control method of the control system of the disc-type tool magazine according to claim 18, wherein, the second encoder is used to output the second pulse signal corresponding to the rotation of the second tooth member; step D includes controlling the servo motor to continue rotating the output shaft when the number of pulses of the first pulse signal is less than K1×M + E.

21. The control method of the control system of the disc-type tool magazine according to claim 20, wherein, step D includes controlling the servo motor to stop rotating the output shaft when the number of pulses of the first pulse signal is less than K1×M + E and the number of pulses of the second pulse signal output by the second encoder is equal to K2.

22. The control method of the control system of the disc-type tool magazine according to claim 18, wherein, The control system includes a third encoder, which outputs a third pulse signal corresponding to the rotation of the other one of the first toothed member and the second toothed member. When the first toothed member corresponding to the third encoder rotates one circle or the second toothed member corresponding to the third encoder rotates 1 / N circles, the third pulse signal output by the third encoder has a third predetermined number of pulses, and the third predetermined number of pulses is K3. The control method includes: Step B includes receiving the third pulse signal; Step C includes counting the number of pulses of the third pulse signal; Step C includes issuing another signal when a second condition is satisfied, where the second condition is: The number of pulses of the first pulse signal reaches K1×M + E, and the number of pulses of the third pulse signal is less than K3.

23. The control method of the control system of the disc tool magazine according to claim 22, wherein, In step D, the another signal is transmitted to the servo motor to control the servo motor to stop rotating.

24. The control method of the control system of the disc tool magazine according to claim 18, wherein, The error number of pulses satisfies the following condition: E is between K1×0.05 and K1×0.15.

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