A device and method for automatically adjusting the position of a tool in a tool magazine of a machine tool

Abstract

The application relates to the technical field of machine tool control, and provides a device and a method for automatically adjusting the tool position of a machine tool tool magazine, wherein the tool magazine is controlled by an electric control module to return to an initial state, and a tool magazine coordinate reference origin is established; based on the established tool magazine coordinate reference origin, the tool position coordinates of a first tool position are adjusted, the theoretical values of the tool position coordinates are automatically written into each tool position according to the equidistant tool position coordinates, load data generated by a servo motor when each tool position is pushed out and retracted in a special tool sleeve is collected; the load data is substituted into a preset tool position judgment model, a tool position adjustment instruction is generated through the tool position judgment model, and the tool position is adjusted according to the tool position adjustment instruction; after the adjustment of all the tool positions is completed, a running test is conducted on the tool magazine, the adjustment conditions of all the tool positions are judged, the tool position is readjusted in the case that there is a major error in the tool position, and the adjustment is continued until all the tool positions meet the precision requirements; and the application solves the problems of low adjustment efficiency and inconvenience of the tool position of the existing machine tool tool magazine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tool control, and in particular to a device and method for automatically adjusting the tool position of a machine tool tool magazine. BACKGROUND

[0002] A tool magazine is a device that carries the tools required by a machine tool, and is a core component of the machine tool. In particular, some devices have a large requirement for the tool capacity of the tool magazine, and the debugging and adjustment of the positions of the various tool positions are often performed at the end of the machine tool. Some devices are affected by the space of the machine tool, and are inconvenient to install and debug. In particular, the adjustment of the positions of the tool positions with a large number of tools is inefficient, and it is difficult to meet the actual needs of adjusting the positions of the tool magazine of the machine tool. SUMMARY

[0003] The present application provides a device and method for automatically adjusting the tool position of a machine tool tool magazine, to solve the problems of low efficiency and inconvenience in adjusting the positions of the tool positions of the existing machine tool tool magazine.

[0004] The present application provides a device for automatically adjusting the tool position of a machine tool tool magazine, comprising:

[0005] An electric control module and a tool magazine installation module;

[0006] The tool magazine installation module is divided into two groups, and the two groups of tool magazine installation modules are symmetrically installed on a tool magazine installation platform. The electric control module is installed on the tool magazine installation platform between the two groups of tool magazine installation modules;

[0007] The electric control module comprises a human-machine panel unit, a PLC control unit, an analog quantity extraction unit and a servo drive unit;

[0008] The human-machine panel unit is installed on the tool magazine installation platform through a support rod. The PLC control unit, the analog quantity extraction unit and the servo drive unit are integrally installed on the tool magazine installation platform adjacent to the human-machine panel unit;

[0009] The tool magazine installation module comprises a tool magazine fixing unit and a special tool sleeve;

[0010] The tool magazine fixing unit installs and fixes the tool magazine. The special tool sleeve performs a pushing-out and retracting operation with each tool position of the tool magazine. The tool holder used at the end of the machine tool is fixed below the tool sleeve. The load data of the tool magazine servo motor is collected, and the tool positions of the tool magazine are automatically adjusted according to the load data.

[0011] According to the device for automatically adjusting the tool position of a machine tool tool magazine provided by the present application, the human-machine panel unit and the PLC control unit are connected through a communication data line. Action debugging, coordinate display, input and saving of tool magazine tool coordinate data are performed through the human-machine panel unit.

[0012] The PLC control unit is connected with the analog quantity extraction unit through a data interaction line, and the load data of the tool magazine servo motor is extracted through the analog quantity extraction unit;

[0013] The PLC control unit is connected with the servo drive unit through an instruction signal line, and sends a servo motor control signal to the servo drive unit.

[0014] According to the automatic adjustment device for tool magazine tool position of a machine tool provided by the application, the analog quantity extraction unit is connected with the servo drive unit through an analog quantity signal line, the servo drive unit is connected with the servo motor of the tool magazine through a servo code line and a servo power line, the load data of the tool magazine servo motor is collected by the servo drive unit and transmitted to the analog quantity extraction unit.

[0015] According to the automatic adjustment device for tool magazine tool position of a machine tool provided by the application, the servo drive unit is connected with the servo motor, and the servo motor is installed on the tool magazine and drives the tool magazine to adjust the position.

[0016] The real-time load data of the servo motor when the cylinder pushes out the tool sleeve and retreats the tool sleeve is received by the servo drive unit.

[0017] The application further provides an automatic adjustment method for tool magazine tool position of a machine tool, which comprises the following steps:

[0018] Based on the established tool magazine coordinate reference origin and the accurately adjusted tool position coordinate of the first tool position, the theoretical values of the tool position coordinates are automatically written into each tool position according to the equidistant tool position coordinates, and the load data of the servo motor generated when each tool position pushes out and retreats the special tool sleeve is collected.

[0019] The load data is substituted into a preset tool position judgment model, a tool position adjustment instruction is generated through the tool position judgment model, and the tool position is adjusted according to the tool position adjustment instruction.

[0020] After the adjustment of all tool positions is completed, the tool magazine is tested for running and adjustment, the adjustment of all tool positions is judged, the tool position is readjusted in the case that there is a major error in the tool position, and all tool positions meet the set accuracy requirement.

[0021] According to the automatic adjustment method for tool magazine tool position of a machine tool provided by the application, the preset tool position judgment model is established in the following process:

[0022] The special tool sleeve of the tool magazine installation module is used for sampling and testing different tool positions.

[0023] The number of pulses of the minimum positioning step is taken as an adjustment position compensation coordinate, each tool position is adjusted in a fixed small range, and the critical position tool holder is stuck;

[0024] The load data driven to the servo motor end when the special tool holder is pushed out and retracted is extracted when the special tool holder is pushed out and retracted by the cylinder of the tool magazine;

[0025] According to actual test, the linear relationship between the compensation coordinate and the load data driven to the motor end when the tool holder is pushed out and retracted is determined;

[0026] Based on the linear relationship, a one-dimensional linear regression model is established to generate a tool position judgment model:

[0027] y=β0+β1x+ε

[0028] Wherein y represents the tool position coordinate compensation angle, x represents the load data driven to the motor end when the tool holder is pushed out and retracted, β0 and β1 are unknown constants to be determined, and ε represents the influence of other random factors on y.

[0029] According to the method for automatically adjusting the tool position of the tool magazine of the machine tool provided by the application,

[0030] Each tool position is adjusted at different pulse angles in the positive direction of the tool magazine at the accurate position coordinate, and the load data driven to the motor end in the negative direction when the special tool holder is pushed out and retracted is extracted;

[0031] Each tool position is adjusted at different pulse angles in the negative direction of the tool magazine at the accurate position coordinate, and the load data driven to the motor end in the positive direction when the special tool holder is pushed out and retracted is extracted;

[0032] The compensation empirical formula in the positive direction y=β0+β1x is calculated by setting a function to obtain the coefficients β0 and β1 in the compensation empirical formula in the positive direction y=β0+β1x, and the compensation empirical formula in the negative direction y=β2+β3x is calculated by setting a function to obtain the coefficients β2 and β3 in the compensation empirical formula in the negative direction y=β2+β3x.

[0033] Based on the established tool magazine coordinate reference origin, the tool position coordinate of the first tool position is accurately adjusted, and the theoretical values of the tool position coordinates are automatically written into each tool position according to the equidistant tool position coordinates.

[0034] Based on the position interval of the tool magazine tool position according to the mechanical structure theory, the coordinate data with equal intervals are automatically calculated and input into the coordinate values of each tool position through the man-machine panel unit

[0035] The special tool holder is positioned to the corresponding tool position one by one through the man-machine panel unit and the PLC control unit;

[0036] Load data generated by the tool magazine servo motor in the driving unit is extracted by the analog quantity extraction unit at each tool position.

[0037] According to the method for automatically adjusting the tool position of the tool magazine of the machine tool provided by the application, the load data is substituted into the preset tool position judgment model, a tool position adjustment instruction is generated by the tool position judgment model, and the tool position is adjusted according to the tool position adjustment instruction. Specifically, the method comprises the following steps:

[0038] The load data extracted from each tool position is substituted into the tool position judgment model.

[0039] The tool position judgment model generates a tool position adjustment instruction, and the tool position coordinates are compensated through the tool position adjustment instruction. The coordinates of the tool position are fine-tuned until the tool magazine motor load data meets the set requirements when the special tool sleeve is pushed out and retracted, indicating that the adjustment of the tool position coordinates is complete, and the automatic adjustment of the next tool position is performed.

[0040] According to the method for automatically adjusting the tool position of the tool magazine of the machine tool provided by the application, the tool magazine is tested after the adjustment of all tool positions is completed, and the adjustment of all tool positions is judged. In the case of significant error in the tool position, the tool position is readjusted until all tool positions meet the set accuracy requirements. Specifically, the method comprises the following steps:

[0041] After the adjustment of all tool positions is completed, the tool magazine with the adjusted tool position is tested by the PLC control unit and the human-machine panel unit.

[0042] During the test, the tool positions are tested in sequence. The load data of the tool magazine servo motor is extracted by the analog quantity extraction unit when the special tool sleeve is pushed out and retracted, and is compared with the standard data to determine whether it is within the set threshold range.

[0043] If the deviation of the servo motor load data exceeds the set threshold range, the tool position is adjusted again based on the tool position judgment model until the deviation is within the set threshold range.

[0044] The final accurate tool position is saved and filed by the human-machine panel unit and the PLC control unit.

[0045] The application provides a device and method for automatically adjusting tool positions of a tool magazine of a machine tool. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0047] Figure 1 is a device structure schematic diagram of the application for automatically adjusting tool positions of a tool magazine of a machine tool;

[0048] Figure 2 is one of flow schematic diagrams of the method for automatically adjusting tool positions of a tool magazine of a machine tool provided by the application;

[0049] Figure 3 is another of flow schematic diagrams of the method for automatically adjusting tool positions of a tool magazine of a machine tool provided by the application;

[0050] Figure 4 is a third of flow schematic diagrams of the method for automatically adjusting tool positions of a tool magazine of a machine tool provided by the application;

[0051] Figure 5 is a fourth of flow schematic diagrams of the method for automatically adjusting tool positions of a tool magazine of a machine tool provided by the application;

[0052] Figure 6 is a fifth of flow schematic diagrams of the method for automatically adjusting tool positions of a tool magazine of a machine tool provided by the application.

[0053] Reference signs:

[0054] 1: man-machine panel unit; 2: PLC control unit; 3: analog quantity extraction unit; 4: servo drive unit; 5: tool magazine installation platform; 6: special tool sleeve; 7: servo motor. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0056] The present application will be described below in conjunction with Figure 1 The present application discloses an automatic adjusting device for tool position of machine tool tool magazine, comprising:

[0057] An electric control module and a tool magazine installation module;

[0058] The tool magazine installation module is divided into two groups, and the two groups of tool magazine installation modules are symmetrically installed on a tool magazine installation platform.

[0059] The electric control module comprises a man-machine panel unit 1, a PLC control unit 2, an analog quantity extraction unit 3 and a servo drive unit 4.

[0060] The man-machine panel unit 1 is installed on the tool magazine installation platform 5 through a support rod, and the PLC control unit 2, the analog quantity extraction unit 3 and the servo drive unit 4 are integrally installed on the tool magazine installation platform 5 adjacent to the man-machine panel unit 1.

[0061] The tool magazine installation module comprises a tool magazine fixing unit and a special tool sleeve 6.

[0062] The tool magazine fixing unit installs and fixes the tool magazine, the special tool sleeve 6 performs pushing-out and returning operations on each tool position of the tool magazine, a tool shank used at the end of the machine tool is fixed below the tool sleeve, load data of a tool magazine servo motor is collected, and the tool position of the tool magazine is automatically adjusted according to the load data.

[0063] In the present application, the man-machine panel unit is connected with the PLC control unit 2 through a communication data line, action debugging, coordinate display, input and saving of tool magazine tool coordinate data are performed through the man-machine panel unit 1, the PLC control unit 2 is connected with the analog quantity extraction unit through a data interaction line, and load data of a tool magazine servo motor is extracted through the analog quantity extraction unit.

[0064] The PLC control unit 2 is connected with the servo drive unit 4 through an instruction signal line, and sends a servo motor 7 control signal to the servo drive unit 4.

[0065] In one embodiment, the human-machine interface panel unit 1 is a programmable module of the HMI panel as a graphical interface, which can receive user input control instructions and display relevant tool position status. The unit interacts with the PLC control unit through a communication line, mainly including debugging of each action button and display of tool coordinate position, data input and saving.

[0066] The PLC control unit 2, as a core component, is connected with the driver through an instruction harness, and performs positioning operation of the tool magazine tool position by sending a pulse form. The unit interacts with a high-precision analog module to mainly extract load data of the tool magazine servo motor, and interacts with the HMI panel through a communication harness to realize each action required for specific tool magazine adjustment.

[0067] The analog extraction unit 3 is connected with the servo drive unit 4 through an analog signal line. The servo drive unit 4 is connected with the servo motor 7 of the tool magazine through a servo code line and a servo power line. The servo drive unit 4 collects load data of the tool magazine servo motor 7 and transmits the data to the analog extraction unit 3.

[0068] The servo drive unit 4 is connected with the servo motor 7. The servo motor 7 is installed on the tool magazine and drives the tool magazine to adjust the position.

[0069] The servo drive unit 4 receives real-time load data of the servo motor 7 when the cylinder pushes out and retracts the tool sleeve.

[0070] In the present application, when the cylinder of the tool magazine pushes out and retracts the special tool sleeve at each tool position, the load data of the motor end transmitted during the pushing out and retracting of the special tool sleeve 6 is extracted. When the tool coordinate is appropriate and accurate, the tool sleeve is smoothly pushed out and retracted. At this time, the load of the tool magazine servo motor end is very small. In a certain small range, the larger the tool position angle deviation, the larger the load of the tool magazine servo motor end during the pushing out and retracting of the tool sleeve. Therefore, the position deviation of the tool position and the load data of the motor during the pushing out and retracting of the tool sleeve are related, and the relationship is approximately linear in a small range.

[0071] The device for automatically adjusting the tool magazine tool position of a machine tool provided by the present application establishes a tool magazine coordinate reference origin, generates a tool position judgment model, collects load data of the servo motor during the pushing out and retracting of the special tool sleeve of each tool position, adjusts the tool position, and makes all tool positions meet the accuracy requirement. Through debugging of the components, the difficulty of installing the tool magazine components on the machine tool is reduced, the debugging efficiency of the machine tool is improved, the adjusted coordinate data can be recorded and transmitted to the related parameters of the numerical control system of the machine tool, and the offline test data is saved for convenient digital management.

[0072] ReferenceFigures 2-6 The application also discloses a method for automatically adjusting tool positions of a tool magazine of a machine tool.

[0073] S100, starting an electric control module, returning the tool magazine to an initial state through the electric control module, and establishing a tool magazine coordinate reference origin;

[0074] S200, based on the established tool magazine coordinate reference origin and the accurately adjusted tool position coordinate of the first tool position, automatically writing theoretical values of each tool position coordinate into each tool position according to equidistant tool position coordinates, and collecting load data generated by a servo motor when each tool position is pushed out and retracted in a special tool sleeve;

[0075] S300, substituting the load data into a preset tool position judgment model, generating a tool position adjustment instruction through the tool position judgment model, and adjusting the tool position according to the tool position adjustment instruction;

[0076] S400, after the adjustment of all tool positions is completed, performing a running test on the tool magazine, judging the adjustment of all tool positions, and readjusting the tool position in the case that there is a major error in the tool position until all tool positions meet the set accuracy requirement.

[0077] For some tool magazines, due to tool magazine part errors, assembly errors and the like, the coordinates of adjacent tool positions cannot reach an ideal equidistance, so when testing according to equidistant coordinates, multiple tool positions may have a sticking problem and need to be adjusted. In order to solve the above problems, in the present application, under each tool position coordinate, the load data with direction of a servo motor when a special tool sleeve is pushed out and retracted is extracted, and a mathematical model is established with the positive and negative compensation pulse coordinate values of each tool position coordinate. A PLC control unit completes the logical action of automatically adjusting the tool position coordinate according to the model data relationship, and in the present application, a tool magazine with 32 tool positions is taken as an example.

[0078] In the present application, the preset tool position judgment model establishment process is as follows:

[0079] S101, sampling and testing different tool positions through a special tool sleeve of a tool magazine installation module;

[0080] S102, taking the pulse number of the minimum step length as an adjustment position compensation coordinate, and adjusting the position coordinate of each tool position in a fixed small range until the critical position tool sleeve has a sticking problem;

[0081] S103, extracting load data transmitted to the end of a servo motor when a special tool sleeve is pushed out and retracted through a cylinder of a tool magazine self-provided tool sleeve pushing and retracting structure;

[0082] S104, establishing a linear relationship between the compensation coordinate and the load data transmitted to the end of the motor when the tool sleeve is pushed out and retracted according to actual testing.

[0083] S105, modeling by a linear relationship through a linear regression model, generating a tool position judgment model:

[0084] y = β0 + β1x + ε

[0085] Wherein y represents the tool position coordinate compensation angle, x represents the load data transmitted to the motor end when the special tool sleeve is pushed out and returned, β0 and β1 are unknown constants to be determined, and ε represents the influence of other random factors on y.

[0086] In the process of establishing the tool position judgment model,

[0087] Each tool position is adjusted by a different pulse angle in the positive direction of the tool magazine at the accurate position coordinates, and the load data transmitted to the motor end in the negative direction when the special tool sleeve is pushed out and returned is extracted;

[0088] Each tool position is adjusted by a different pulse angle in the reverse direction of the tool magazine at the accurate position coordinates, and the load data transmitted to the motor end in the positive direction when the special tool sleeve is pushed out and returned is extracted;

[0089] The coefficients β0 and β1 in the forward compensation empirical formula y = β0 + β1x and the coefficients β2 and β3 in the reverse compensation empirical formula y = β2 + β3x are calculated by setting functions.

[0090] In one embodiment, the special tool pocket of the tool magazine installation platform is used to take 5 tool positions for sampling test, i.e. No. 6 tool position, No. 11 tool position, No. 16 tool position, No. 21 tool position and No. 26 tool position. First, the pulse number of the minimum step length is used as the equivalent of the position compensation for adjustment, and the position coordinates of each tool position are adjusted within a fixed small range. When the special tool pocket is pushed out and retracted by the cylinder of the tool magazine, the load data transmitted to the motor end when the special tool pocket is pushed out and retracted is extracted. When the tool position coordinates are appropriate and accurate, the special tool pocket is smoothly pushed out and retracted, and at this time the load at the motor end of the tool magazine servo motor is very small. Within a small range of position, the larger the angle deviation of the tool position, the larger the load at the motor end of the tool magazine servo motor will gradually become when the special tool pocket is pushed out and retracted. Therefore, the position deviation of the tool position and the load data at the motor end when the special tool pocket is pushed out and retracted are related, and within a small range they can be approximately linearly related, and a linear regression model can be used for modeling, i.e. y = β0 + β1x + ε, wherein y represents the compensation angle of the tool position coordinates, x represents the load data transmitted to the motor end when the special tool pocket is pushed out and retracted, β0 and β1 are unknown constants to be determined, and ε represents the influence of other random factors on y. To determine the linear regression model, the regression coefficients β0 and β1 need to be determined first. The least squares method can be used to estimate β0 and β1, so that the regression model is close to the straight line equation y = β0 + β1x at all data points (xi, yi) (i = 1, 2, … n).

[0091] When the boundary data relationship between the compensation coordinates and the load data transmitted to the motor end when the special tool pocket is pushed out and retracted is determined according to actual test, the forward direction and the reverse direction of each tool position need to be modeled respectively, i.e. the accurate position coordinates of each tool position are adjusted by different pulse angles in the forward direction of the tool magazine operation, and the load data transmitted to the motor end in the reverse direction when the special tool pocket is pushed out and retracted is extracted, and there are 20 groups of data. In addition, the accurate position coordinates of each tool position are adjusted by different pulse angles in the reverse direction of the tool magazine operation, and the load data transmitted to the motor end in the forward direction when the special tool pocket is pushed out and retracted is extracted, and there are 20 groups of data. There are 200 groups of data for the 5 tool positions. The polyfit function in the NumPy library of the python software is used to obtain the compensation empirical formula in two directions, i.e. the coefficients β0 and β1 in the empirical formula y = β0 + β1x for forward compensation, and the coefficients β2 and β3 in the empirical formula y = β2 + β3x for reverse compensation;

[0092] According to the actual test, the boundary data of the compensation coordinates and the load data transmitted to the motor end when the special tool pocket is pushed out and retracted, and the coefficients β0, β1, β2 and β3 of the model parameters in two directions are determined. The PLC control unit control program is adjusted to complete the load data monitoring function and the automatic adjustment of the tool position function.

[0093] Based on the established tool magazine coordinate reference origin, and accurately adjust the first tool position coordinate, and according to the equal interval tool position coordinate, the theoretical value of each tool position coordinate is automatically written into each tool position, and the load data generated by the servo motor during the special tool sleeve pushing and retracting is collected, which specifically includes:

[0094] S201, based on the position interval of the tool magazine tool position according to the mechanical structure theory, the equal interval coordinate data is automatically calculated and input into the coordinate value of each tool position through the man-machine panel unit;

[0095] S202, through the man-machine panel unit and the PLC control unit, the special tool sleeve is positioned to the corresponding tool position one by one;

[0096] S203, in each tool position, the load data generated by the tool magazine servo motor in the driving unit is extracted through the analog quantity extraction unit.

[0097] The cylinder of the tool magazine with the pushing and retracting tool sleeve structure extracts the load data transmitted to the motor end when the special tool sleeve is pushed and retracted in each tool position. When the tool position coordinate is appropriate and accurate, the tool sleeve pushing and retracting is very smooth, and at this time the load of the tool magazine servo motor end will be very small. In a small range, the larger the tool position angle deviation, the larger the load felt by the tool magazine servo motor end when the tool sleeve is pushed and retracted, so there is a certain correlation between the position deviation of the tool position and the load data felt by the motor when the tool sleeve is pushed and retracted. In a small range, it can be approximately linearly related.

[0098] The load data is substituted into the preset tool position judgment model, and a tool position adjustment instruction is generated through the tool position judgment model, and the tool position is adjusted according to the tool position adjustment instruction, including:

[0099] S301, the load data extracted from each tool position is substituted into the tool position judgment model;

[0100] S302, the tool position judgment model generates a tool position adjustment instruction, and the tool position coordinate is compensated through the tool position adjustment instruction, and the coordinate of this tool position is fine adjusted until the tool magazine motor load data when the special tool sleeve is pushed and retracted meets the set requirements, which indicates that the tool position coordinate adjustment is completed, and the automatic adjustment of the next tool position is performed.

[0101] Through the above process, the adjustment of all tool positions is completed.

[0102] After all tool positions are adjusted, the tool magazine is tested to run and combine, and the adjustment of all tool positions is judged. In the case of significant error in the tool position, the tool position is readjusted until all tool positions meet the set accuracy requirements, which specifically includes:

[0103] S401, after all the cutter positions are adjusted, the two tool magazines with adjusted cutter positions are tested by running through the PLC control unit and the human-machine panel unit;

[0104] S402, during the running test, the cutter positions are run through in sequence, the load data of the tool magazine servo motor is extracted by the analog quantity extraction unit when each cutter position is pushed out and returned to the special tool sleeve, and is compared with the standard data to determine whether it is within the set threshold range;

[0105] S403, if the deviation of the servo motor load data exceeds the set threshold range, the cutter position is adjusted again based on the cutter position judgment model until the deviation is within the set threshold range;

[0106] S404, the final accurate cutter position is saved by the human-machine panel unit and the PLC control unit.

[0107] In the present application, after all the cutter position coordinates are adjusted, the two tool magazines with adjusted cutter position coordinates are tested by running through the PLC control unit and the HMI panel, the cutter positions are run through in sequence, and the load data of the tool magazine servo motor in the servo drive unit is extracted by the analog quantity extraction unit when each cutter position is pushed out and returned to the special tool sleeve to verify the accuracy of all cutter adjustments;

[0108] Whether the extracted motor load data has a large deviation is judged by the PLC control unit and the HMI panel;

[0109] According to the large deviation of the motor load data of the individual cutter position, the individual cutter position is adjusted again according to the cutter position judgment model;

[0110] Finally, the accurate cutter position coordinates of the tool magazine are saved by the PLC control unit and the HMI panel, which is convenient for subsequent direct association with the numerical control system and data transmission.

[0111] Through the method for automatically adjusting the cutter position of the tool magazine of the machine tool provided by the present application, the cutter position judgment model is generated by establishing the tool magazine coordinate reference origin, the load data of the servo motor generated when each cutter position is pushed out and returned to the special tool sleeve is collected, the cutter position is adjusted, and all cutter positions meet the accuracy requirement; through the debugging of the group components, the difficulty of installing the tool magazine group components to the machine tool for debugging is reduced, the debugging efficiency of the machine tool is improved, and the adjusted coordinate data can be recorded and transmitted to the related parameters of the numerical control system of the machine tool, wherein the offline test data is saved for record and convenient digital management.

[0112] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0113] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0114] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for automatically adjusting the position of a tool in a tool magazine of a machine tool, applied to a device for automatically adjusting the position of a tool in a tool magazine of a machine tool, characterized in that, The device comprises: An electric control module and a tool magazine installation module; The tool magazine installation module is divided into two groups, and the two groups of tool magazine installation modules are symmetrically installed on the tool magazine installation platform, and the electric control module is installed on the tool magazine installation platform between the two groups of tool magazine installation modules; The electric control module comprises a man-machine panel unit, a PLC control unit, an analog quantity extraction unit and a servo drive unit; The man-machine panel unit is installed on the tool magazine installation platform through a support rod, and the PLC control unit, the analog quantity extraction unit and the servo drive unit are integrally installed on the tool magazine installation platform adjacent to the man-machine panel unit; The tool magazine installation module comprises a tool magazine fixing unit and a special tool sleeve; The tool magazine fixing unit installs and fixes the tool magazine, the special tool sleeve is used for pushing out and retracting each tool position of the tool magazine, a tool shank used at the end of the machine tool is fixed below the tool sleeve, the PLC control unit is connected with the analog quantity extraction unit through data interaction lines, and load data of a servo motor of the tool magazine is extracted through the analog quantity extraction unit; The PLC control unit is connected with the servo drive unit through an instruction signal line, and sends a servo motor control signal to the servo drive unit; The analog quantity extraction unit is connected with the servo drive unit through an analog quantity signal line, the servo drive unit is connected with the servo motor of the tool magazine through a servo optical code line and a servo power line, load data of the servo motor of the tool magazine is collected through the servo drive unit and transmitted to the analog quantity extraction unit; Automatic adjustment is made on the tool position of the tool magazine according to the load data; The method comprises: Starting the electric control module, controlling the tool magazine to return to an initial state through the electric control module, establishing a tool magazine coordinate reference origin point; Based on the established tool magazine coordinate reference origin point, accurately adjusting the tool position coordinate of the first tool position, and automatically writing the theoretical values of each tool position coordinate into each tool position according to the equidistant tool position coordinates, collecting load data generated by the servo motor when each tool position pushes out and retracts the special tool sleeve; Substituting the extracted load data of each tool position into a tool position judgment model; The tool position judgment model generates a tool position adjustment instruction, compensates the tool position coordinate through the tool position adjustment instruction, finely adjusts the coordinate of this tool position, and until the load data of the tool magazine motor when this tool position pushes out and retracts the special tool sleeve meets the set requirements, it is indicated that the adjustment of this tool position coordinate is completed, and the automatic adjustment of the next tool position is performed; After the adjustment of all tool positions is completed, a running test is performed on the tool magazine to judge the adjustment of all tool positions, and in the case that there is a major error in the tool position, the tool position is readjusted until all tool positions meet the set accuracy requirements; The tool position judgment model establishment process is: Sampling and testing different tool positions through the special tool sleeve of the tool magazine installation module; Taking the pulse number of the smallest step length as the adjustment position compensation coordinate, adjusting the position coordinate of each tool position in a fixed small range until the critical position tool sleeve is stuck; Extracting the load data transmitted to the servo motor end when the special tool sleeve pushes out and retracts through the cylinder of the tool magazine push-out and retraction tool sleeve structure; According to the actual test, the linear relationship between the compensation coordinates and the load data transmitted to the motor end when the tool sleeve is pushed out and retracted is determined; A linear regression model is established based on the linear relationship to generate a tool position judgment model; ； Where y represents the tool position compensation angle, x represents the load data transmitted to the motor end when the tool is pushed out and retracted with the tool sleeve, , is an unknown undetermined constant, represents the influence of other random factors on y.

2. The method of automatically adjusting the tool position of a machine tool magazine according to claim 1, characterized in that, The man-machine panel unit and the PLC control unit are connected through a communication data line, and the action debugging, coordinate display, input and saving of the tool magazine tool coordinate data are performed through the man-machine panel unit.

3. The method of automatically adjusting the tool position of a machine tool magazine according to claim 1, wherein, The servo drive unit is connected with the servo motor, and the servo motor is installed on the tool magazine to drive the tool magazine to adjust the position. The real-time load data of the servo motor when the cylinder pushes out and retracts the tool sleeve is received by the servo drive unit.

4. The method of automatically adjusting the tool position of a machine tool magazine according to claim 1, wherein, During the establishment of the tool position judgment model, Each tool position is adjusted at different pulse angles in the positive direction of the tool magazine at the accurate position coordinates, and the negative load data transmitted to the motor end in the negative direction when the special tool sleeve is pushed out and retracted is extracted; Each tool position is adjusted at different pulse angles in the reverse direction of the tool magazine at the accurate position coordinates, and the load data transmitted to the motor end in the positive direction when the special tool sleeve is pushed out and retracted is extracted; By defining functions to obtain empirical formulas for compensation in two directions, the empirical formula for positive compensation is calculated. coefficients in And the empirical formula for reverse compensation coefficients in .

5. The method of automatically adjusting the tool position of a machine tool magazine according to claim 1, wherein, Based on the established tool magazine coordinate reference origin, the tool position coordinates of the first tool position are accurately adjusted, and the theoretical values of the tool position coordinates are automatically written into each tool position according to the equidistant tool position coordinates. Based on the position interval of the tool magazine tool position according to the mechanical structure theory, the equidistant coordinate data is automatically calculated and input into the coordinate values of each tool position through the man-machine panel unit. The special tool sleeve is positioned to the corresponding tool position one by one through the man-machine panel unit and the PLC control unit. The load data generated by the tool magazine servo motor in the drive unit is extracted through the analog quantity extraction unit at each tool position.

6. The method of automatically adjusting the tool position of a machine tool magazine according to claim 1, wherein, After the adjustment of all tool positions is completed, the tool magazine is tested for running-in to determine the adjustment of all tool positions, and the tool position is readjusted in the case of significant error until all tool positions meet the set accuracy requirements, which specifically includes: After the adjustment of all tool positions is completed, the tool magazine with adjusted tool positions is tested for running-in through the PLC control unit and the man-machine panel unit. During the running-in test, the tool positions are run-in in sequence, the load data of the tool magazine servo motor is extracted by the analog quantity extraction unit when the special tool sleeve is pushed out and retracted, and the load data is compared with the standard data to determine whether it is within the set threshold range. If the deviation of the load data of the servo motor exceeds the set threshold range, the tool position is adjusted again based on the tool position judgment model until the deviation is within the set threshold range. The final accurate tool position is saved and filed through the man-machine panel unit and the PLC control unit.

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