Method for safely and quickly recovering tool magazine by using key

Abstract

The invention discloses a method for safely and quickly recovering a tool magazine by using a key, and belongs to the technical field of machining. Through spindle tool loosening and loosening in-place signals, tool pouch upturning and downturning in-place signals, mechanical arm in-situ, tool buckling and braking signals, PLC logic control is combined, counting is carried out through a counter in each step in the tool changing process, the tool pouch is turned down in place in the first step, the counter is 1, the mechanical arm buckles the tool and the counter is 2 in the second step, and the spindle loosens the tool and the counter is 3 in the third step. The sixth step that the mechanical arm returns to the original position and the counter is 6; the seventh step that the tool sleeve is turned up and the counter is 0; after the steps are counted respectively, the current stopping step to the step can be recorded when accidental shutdown occurs in the tool changing process of the machine tool; the tool changing process is sequentially carried out or retreated through the key, and quick recovery after tool jamming of the tool magazine is achieved.

Description

Technical Field

[0001] The invention relates to a method for safely and quickly restoring a tool magazine by using a key, and belongs to the technical field of mechanical processing. Background Art

[0002] During the operation of CNC machining center machine tools, the traditional method is for maintenance personnel to reversely rotate the robot motor, manually remove the tools on the spindle and the tool sleeve after the arm retreats a certain distance, and then continue to rotate the robot motor to return the robot arm to its original position. The original position signal needs to be confirmed while rotating. During the recovery process, confirm the Z-axis safety height before executing the robot to lock the tool (if the Z-axis is not above the tool grabbing point and the robot locks the tool, the robot may be damaged); ensure that the spindle is in a tool-loose state before executing the robot to pull the tool (if the spindle is not in a tool-loose state and the robot pulls the tool, the robot may be damaged); ensure that the spindle is in a tool-tight state before executing the robot to return to its original position (if the spindle is not in a tool-tight state and the robot returns to its original position, the spindle tool will damage the workbench). The requirements for personnel are relatively strict and time-consuming and labor-intensive.

[0003] The above-mentioned traditional tool magazine recovery process is relatively complicated and requires high maintenance personnel. The number of maintenance personnel required for different machine tools will also increase, increasing the risk of multi-person operation cooperation and time cost. Summary of the invention

[0004] The present invention aims at solving the problems in the prior art and provides a method for restoring a tool magazine safely and quickly by using a key.

[0005] A method for safely and quickly restoring a tool magazine using a key, comprising the following steps:

[0006] Through the spindle loosening and tightening tool in place signal, the tool holder flipping up and down in place signal, the robot arm original position, tool locking, and brake signals, combined with PLC logic control, each step of the tool changing process is counted by a counter, the first step is the tool holder flipping down in place, the counter is 1, the second step is the robot arm locking the tool, the counter is 2, the third step is the spindle loosening the tool, the counter is 3, the fourth step is the robot pulling out the tool for exchange, the counter is 4, the fifth step is the spindle tightening the tool, the counter is 5, the sixth step is the robot returning to the original position, the counter is 6, the seventh step is the tool holder flipping up, the counter is 0. After counting the above steps separately, when the machine tool stops unexpectedly during the tool changing process, it can record the current stop step, so that the tool changing process can be carried out or reversed in sequence by pressing keys, so as to achieve quick recovery after the tool magazine is stuck.

[0007] The invention has the advantages of memorizing the tool changing steps of the machine tool by PLC counting, judging the number of tool clamping steps, and then pressing a button to restore the tool magazine to normal, without the need for maintenance personnel to enter the machine tool to rotate the manipulator motor, thus achieving safety and convenience.

[0008] A method of using buttons to safely and quickly restore the tool magazine when an unexpected situation occurs during the automatic tool change process of a CNC machine tool, causing the tool magazine to be stuck.

[0009] If an emergency occurs during the tool change process and an emergency stop or reset is necessary to avoid greater losses, please press reset or emergency stop decisively. At this time, the situation is more complicated, which can be divided into two types: tool not changed and tool changed.

[0010] When the tool is not exchanged, tool chaos in the tool magazine will generally not occur. The traditional recovery method requires the robot to release the brake and then manually swing it back, and manually press the tool holder back to the tool magazine electronic valve button to return the tool holder to the tool magazine.

[0011] The method of the present invention does not require maintenance personnel to enter the machine tool for operation. They only need to press the ATC recovery button on the panel to light up the button. At this time, the tool magazine and data can be restored by pressing the button. This situation is recorded by the counter. If the counter value is 1, the robot arm is not moving at this time. Just press the tool sleeve action to return the tool sleeve to its original position, and other buttons will not take effect. If the counter value is 2, the tool change to the tool locking step is step 2. At this time, the original spindle tool has not been exchanged, so you need to press the arm reverse. At this time, the robot arm directly returns to its original position, and other buttons will not take effect. If the counter value is 3, the tool change to the exchange step is step 3. At this time, the original spindle tool is on the robot arm, so you need to press the tool release button for a long time, and then press the arm forward to automatically tighten the tool after the exchange is completed. The tool release button is invalid, and then press the arm forward again to return the robot arm to its original position. Other buttons will not take effect. After the robot arm returns to its original position, the tool data is automatically exchanged. Please confirm that the tool magazine tool LED on the operation panel displays the original spindle tool number and the data exchange is completed. After completing the above recovery action, press the tool holder action to return the tool holder to its original position. At this time, the tool magazine recovery step is completed.

[0012] When the tool has been exchanged, tool chaos will generally occur in the tool magazine. The traditional recovery method requires the robot to release the brake and then manually swing it back, manually press the tool holder back to the tool magazine electronic valve button to return the tool holder to the tool magazine and then press reset. After removing the current tool from the spindle, select the MDI mode on the mode switch and only input M06; MDI mode refers to the manual input mode, and M06 is the automatic tool change command.

[0013] After execution, check whether the tool on the spindle is consistent with the current tool number displayed on the operation panel. If not, remove it manually and replace it with the target tool manually. Repeat M06 to install the removed tool back.

[0014] The method of the present invention does not require maintenance personnel to enter the machine tool for operation. They only need to press the ATC recovery button on the panel to light up the button. At this time, the tool magazine and data can be restored by pressing the button. This situation is recorded by the counter. If the counter value is 4, after the tool change is completed and the tool tightening is effective, that is, step 4, it is necessary to press the arm forward rotation button, and the mechanical arm returns to its original position. Other buttons are ineffective. After the mechanical arm returns to its original position, the tool data is automatically exchanged. Please confirm that the tool magazine tool LED on the operation panel shows the original spindle tool number and the data exchange is completed. After completing the above recovery action, press the tool sleeve action to restore the tool sleeve to its original position. At this time, the tool magazine recovery step is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] When considered in conjunction with the accompanying drawings, the present invention can be more completely and better understood and many of the accompanying advantages can be easily known by referring to the detailed description below, but the drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention, as shown in the figure:

[0016] Figure 1 It is a schematic diagram of the process of the present invention.

[0017] Figure 2 Schematic diagram of the initial position of the manipulator of the present invention.

[0018] Figure 3 It is a schematic diagram of the robot arm clamping the knife and rotating and exchanging positions of the present invention.

[0019] Figure 4 This is a schematic diagram of the manipulator of the present invention returning to its initial position.

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0021] Obviously, many modifications and changes made by those skilled in the art based on the purpose of the present invention belong to the protection scope of the present invention.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0023] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as generally understood by those skilled in the art.

[0025] To facilitate the understanding of the embodiments, further explanations will be given below, and each embodiment does not constitute a limitation on the embodiments of the invention.

[0026] Example 1: Figure 1 As shown, Figure 1 The figure shows the entire tool changing process of the robot. The CNC machine tool executes the TxM6 instruction, which is the tool changing instruction. Tx is the tool number, that is, the required target tool. The tool magazine rotates into place according to the target tool. M6 is the instruction for the machine tool to call the tool changing program. The machine tool will execute the actions in sequence according to the tool changing program. First, the spindle moves to the tool grabbing point, then the spindle is oriented, and the tool holder flips down after the tool disc rotates into place.

[0027] Step 1: The tool holder is flipped down into place, and the robot arm is now ready to rotate and change tools.

[0028] Step 2: The robot rotates 90°. At this time, the robot grabs the tool magazine and the tool on the spindle respectively.

[0029] Step 3: The spindle loosens the tool. After the tool is loosened, the robot can continue to rotate.

[0030] Step 4: The robot changes the tool, that is, the arm rotates 180°, and the tool on the tool sleeve and the tool on the spindle are exchanged.

[0031] Step 5: The spindle tightens the tool, that is, the spindle tightens the target tool.

[0032] Step 6: The robot rotates 90° and returns to its initial position.

[0033] Step 0: Flip up the tool sleeve, and the tool changing process is finished.

[0034] like Figure 2 As shown, the robot arm is in the initial position waiting for tool change, which corresponds to step 1 in the flowchart.

[0035] like Figure 3As shown, after the tool holder is flipped down into place, the robot clamping tool action of step 2 is executed, and after the spindle releases the tool, the robot tool changing action of step 4 is executed.

[0036] like Figure 4 As shown, after the spindle tightens the tool, execute step 6 and the robot returns to the initial position.

[0037] Example 2: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a method for safely and quickly restoring the tool magazine using a key includes the following steps:

[0038] The types of tool magazines in CNC machining centers are different, but the tool changing process is the same. When the automatic tool changing device receives the tool changing command, the spindle immediately stops rotating and stops accurately at the tool changing position, and the tool is released; the new tool moves to the tool changing position with the tool magazine, and the tool is released; the double-arm manipulator grabs the new and old tools at the same time, and after the tool exchange table rotates into place, the new and old tools are rotated on the spindle and the empty position of the tool magazine respectively; the spindle is clamped and returns to the original processing position, completing the tool changing process.

[0039] The movement of the tool when changing tools in the machining center consists of four parts; the tool stops with the spindle and moves to the tool changing position, the tool moves in the tool magazine, the tool moves with the tool changing robot, and the tool moves back to the machining position with the spindle. Among them, the movement of the tool with the chain in the chain tool magazine is the transfer pair, and the movement of the tool with the spindle is the moving pair.

[0040] The transmission motion of the tool changing robot includes both the rotating pair and the moving pair. The tool changing process of the tool changing robot is completed in the following five stages: the tool grabbing stage, the tool pulling stage, the tool changing stage, the tool inserting stage and the tool placing stage. These actions are completed by the following moving pairs respectively; the two rack rollers and the cylinder body form a moving pair; the two racks and the two gear shafts form a gear pair respectively; the two gear shafts and the cylinder body form a rotating pair respectively; the robot arm and the two gear shafts form a moving pair respectively, and move back and forth to complete the tool pulling and inserting actions.

[0041] By analyzing the entire tool changing process, each step of the tool changing process can be counted through a counter through the spindle loosening and tightening tool in place signal, the tool holder flipping up and down in place signal, the robot arm home position, tool locking, and brake signals, combined with PLC logic control.

[0042] The steps are as follows: the first step is that the tool sleeve flips down into place, the counter is 1, the second step is that the robot arm locks the tool, the counter is 2, the third step is that the spindle releases the tool, the counter is 3, the fourth step is that the robot draws the tool and exchanges it, the counter is 4, the fifth step is that the spindle tightens the tool, the counter is 5, the sixth step is that the robot arm returns to its original position, the counter is 6, and the seventh step is that the tool sleeve flips up, the counter is 0.

[0043] After counting the above steps respectively, when an unexpected stop occurs during the tool change process of the machine tool, it is possible to record the current stop step, so that the tool change process can be carried out or reversed in sequence by pressing keys, thereby realizing quick recovery after the tool magazine is stuck.

[0044] The invention has the advantages of memorizing the tool changing steps of the machine tool through PLC counting, judging the number of tool clamping steps, and then pressing a button to restore the tool magazine to normal. It does not require maintenance personnel to enter the machine tool to rotate the manipulator motor, thus achieving safety.

[0045] A method of using buttons to safely and quickly restore the tool magazine when an unexpected situation occurs during the automatic tool change process of a CNC machine tool, causing the tool magazine to be stuck.

[0046] Example 3: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a method for safely and quickly restoring the tool magazine using a key includes the following steps:

[0047] When the tool magazine is stuck due to reset, emergency stop, or external alarm, and a tool change timeout alarm occurs, the recovery process is as follows:

[0048] Step 1: Press reset to stop the machine tool;

[0049] Step 2. Press Manual to open the manual mode;

[0050] Step 3. Press the ATC restore button on the panel to light up. You can restore the tool magazine and data by pressing the button.

[0051] Step 4: From tool change to tool locking, that is, step 2, if the original spindle tool has not been replaced, you need to press the arm reverse button. At this time, the robot arm returns directly to its original position, and other buttons are ineffective.

[0052] Step 5, tool change to the exchange step, that is, step 3. At this time, the original spindle tool is on the robot arm. You need to press and hold the tool release button, and then press the arm forward rotation to automatically tighten the tool after the exchange is completed. The tool release button is invalid. Then press the arm forward rotation again to return the robot arm to its original position. Other buttons are invalid.

[0053] Step 6: After the tool change is completed and the tool tightening is effective, that is, step 4, you need to press the arm forward rotation button, and the robot arm returns to its original position. Other buttons are ineffective.

[0054] Step 7. After the robot arm returns to its original position, the tool data is automatically exchanged. Please confirm that the tool magazine tool LED on the operation panel displays the original spindle tool number and the data exchange is completed;

[0055] Step 8. After completing the above recovery action, press the tool holder horizontally to return the tool holder to its original position. At this time, the tool magazine recovery step is completed.

[0056] After pressing the start button for normal processing, the ATC recovery button LED light and the tool magazine fault recovery function are automatically turned off.

[0057] Example 4: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a method for safely and quickly restoring the tool magazine using a key includes the following steps:

[0058] If the tool magazine is stuck due to reset, emergency stop, or external alarm, and the robot arm is not in place alarm occurs, the recovery process is as follows:

[0059] Step 1: Press reset to stop the machine tool;

[0060] Step 2. Press Manual to open the manual mode;

[0061] Step 3. Press the tool magazine manual key on the panel to light up. You can then restore the tool magazine by pressing the key.

[0062] Step 4, from tool change to tool locking step, if the original spindle tool has not been exchanged, press the robot action, and the robot arm moves to the tool locking position. Press the robot action again, the spindle releases the tool, press the robot action again, the robot arm rotates to exchange the tool, press the spindle to lock the tool again, press the robot arm again to return to the original position, press again, the tool sleeve flips up, and the recovery action ends. After the end, this button will be ineffective;

[0063] Step 5: Change the tool to the exchange step. At this time, the original spindle tool is on the robot arm. Similarly, press the robot action buttons in sequence to restore the tool magazine.

[0064] Step 6: After the tool change is completed and the tool tightening is effective, press the robot action buttons in sequence to restore the tool magazine;

[0065] Step 7. After completing the above recovery action, you need to check whether the spindle tool is consistent with the actual one in the tool list. If not, you need to unload the tool and then load the tool at the correct position. At this time, the tool magazine recovery step is completed.

[0066] As described above, the embodiments of the present invention are described in detail, but it is obvious to those skilled in the art that many variations are possible as long as they do not deviate from the inventive point and effect of the present invention. Therefore, all such variations are also included in the protection scope of the present invention.

Claims

1. A method for safely and quickly restoring a tool magazine using a key, characterized in that: Contains the following steps: Through the spindle loosening and tightening tool in place signal, the tool holder flipping up and down in place signal, the robot arm original position, tool locking, and brake signals, combined with PLC logic control, each step of the tool changing process is counted by a counter, the first step is the tool holder flipping down in place, the counter is 1, the second step is the robot arm locking the tool, the counter is 2, the third step is the spindle loosening the tool, the counter is 3, the fourth step is the robot pulling out the tool for exchange, the counter is 4, the fifth step is the spindle tightening the tool, the counter is 5, the sixth step is the robot returning to the original position, the counter is 6, the seventh step is the tool holder flipping up, the counter is 0. After counting the above steps separately, when the machine tool stops unexpectedly during the tool changing process, it can record the current stop step, and the tool changing process can be carried out or reversed in sequence by pressing keys, so as to achieve quick recovery after the tool magazine is stuck.

2. A method for safely and quickly restoring a tool magazine using a key according to claim 1, characterized in that: It also contains the following steps: When the tool magazine is stuck due to reset, emergency stop, or external alarm, and a tool change timeout alarm occurs, the recovery process is as follows: Step 1: Press reset to stop the machine tool; Step 2. Press Manual to open the manual mode; Step 3. Press the ATC restore button on the panel to light up. You can restore the tool magazine and data by pressing the button. Step 4: From tool change to tool locking, that is, step 2, if the original spindle tool has not been replaced, you need to press the arm reverse button. At this time, the robot arm returns directly to its original position, and other buttons are ineffective. Step 5, tool change to the exchange step, that is, step 3. At this time, the original spindle tool is on the robot arm. You need to press and hold the tool release button, and then press the arm forward rotation to automatically tighten the tool after the exchange is completed. The tool release button is invalid. Then press the arm forward rotation again to return the robot arm to its original position. Other buttons are invalid. Step 6: After the tool change is completed and the tool tightening is effective, that is, step 4, you need to press the arm forward rotation button, and the robot arm returns to its original position. Other buttons are ineffective. Step 7. After the robot arm returns to its original position, the tool data is automatically exchanged. Please confirm that the tool magazine tool LED on the operation panel displays the original spindle tool number and the data exchange is completed; Step 8. After completing the above recovery action, press the tool holder horizontally to return the tool holder to its original position. At this time, the tool magazine recovery step is completed.

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