Cutter changing control method and device and readable storage medium

Abstract

The invention relates to the field of tool changing, in particular to a tool changing control method and device and a readable storage medium. The control method comprises the steps that whether the tool changing condition is ready or not is confirmed, and after it is confirmed that the tool changing condition is ready, a motor is controlled to rotate to achieve the tool buckling action; in the cutter buckling action process, when feedback that the motor reaches the cutter buckling ending position is received, the motor is controlled to stop, and cutter loosening output control is executed; when cutter loosening in-place feedback is received, a cutter reselection pre-selection signal is read; wherein the heavy tool pre-selection signal is a pre-defined signal for a tool which is prone to abnormal tool changing; and if the effective heavy tool preselection signal is read, the motor is controlled to rotate at the heavy tool running speed slower than the conventional running speed to execute the tool changing action, and if not, the motor is controlled to rotate at the conventional running speed to execute the tool changing action. According to the method, the re-cutter pre-selection signal is pre-defined for the cutter easy to be abnormal in cutter changing, so that all the cutter easy to be abnormal in cutter changing can be stably changed, normal cutters can be quickly changed, and the problem of coexistence of efficiency and special cutters is solved.

Description

Technical Field

[0001] The present invention relates to the field of tool change, and particularly to a tool change control method, device and readable storage medium. Background Art

[0002] During the machining process of a numerically controlled machine tool, in order to meet the machining requirements of multiple processes, a tool change device is usually used to change the tool for the tool spindle. In the patent with the application number CN201610969054.8 and the patent name of Servo Tool Magazine Tool Change Control Method, during the tool change process, when it is detected that the output current of the driver is greater than the reference current set in the parameters, it indicates that the external load is large, that is, the tool weight is large, and it is confirmed that the tool is a large or heavy tool. According to this condition, the running speed of the motor is switched to the heavy tool running speed (low speed) in the software, so as to smoothly complete the tool change and reduce the mechanical impact and the risk of tool dropping.

[0003] However, in our actual application scenarios, there are still problems: First, in the industrial environment, the temperature difference between seasons and between the north and the south is too large, which affects the mechanical load. As a result, in the case of light and small tools, the output current detected by the driver exceeds the heavy tool current value set in the parameters, so that all tool change operations enter the heavy tool mode, reducing the tool change efficiency; Second, for some relatively slender tools, the overall weight of the tool does not meet the heavy tool load requirements, but the tool is slender and the balance center of gravity of the tool is abnormal. When the tool arm rotates rapidly, it is easy to drop the tool or the tool tilts, affecting the tool change.

[0004] In summary, due to the mechanical load change caused by environmental temperature changes or the tool change requirements of special tools (such as relatively slender tools, etc.), the tool change control method in the patent with the application number CN201610969054.8 becomes less ideal, reducing the user experience. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a tool change control method. By predefining a heavy tool preselection signal for tools that are prone to abnormal tool change, it can perform smooth tool change for all tools that are prone to abnormal tool change and perform rapid tool change for normal tools, solving the problems of efficiency and coexistence of special tools.

[0006] To solve the above technical problem, the technical solution of the present invention is: A tool change control method, comprising:

[0007] Confirm whether the tool change condition is ready. After confirming that the tool change condition is ready, control the motor to rotate to implement the tool clamping action;

[0008] During the tool clamping action, when receiving the feedback that the motor reaches the tool clamping end position, control the motor to stop and execute the tool loosening output control;

[0009] When the feedback indicating that the tool release is in place is received, read the signal for preselecting the heavy tool; wherein, the signal for preselecting the heavy tool is a signal predefined for the tool that is prone to abnormality during tool change.

[0010] If a valid signal for preselecting the heavy tool is read, control the motor to rotate at a heavy-tool running speed slower than the normal running speed to perform the tool change operation.

[0011] If a valid signal for preselecting the heavy tool is not read, control the motor to rotate at the normal running speed to perform the tool change operation.

[0012] Furthermore, the method further includes: during the process of controlling the motor to rotate at the normal running speed to perform the tool change operation, if it is detected that the output current of the driver driving the motor rotation is greater than a preset threshold, control the motor to rotate at the heavy-tool running speed during the remaining tool change stroke.

[0013] Furthermore, the tool change condition is ready, specifically:

[0014] The tool positioning is ready, the tool spindle height positioning is ready, and the tool spindle position positioning is ready.

[0015] Furthermore, the types of the tools that are prone to abnormality during tool change include large tools, heavy tools, and long tools.

[0016] Furthermore, the method further includes:

[0017] During the tool change operation, when the feedback of the tool change end position is received, control the motor to stop and perform the clamping tool output control.

[0018] During the clamping tool output control process, after the feedback indicating that the clamping is in place is received, update the tool magazine data table and control the motor to rotate to return to the original position.

[0019] Furthermore, during the process of controlling the motor to rotate to achieve the tool locking action and during the process of controlling the motor to rotate to return to the original position, control the motor to rotate at the normal running speed.

[0020] The present invention also relates to a device, including:

[0021] A memory for storing a computer program;

[0022] A processor for executing the computer program, and when the computer program is executed by the processor, the steps of the tool change control method are implemented.

[0023] The present invention also relates to a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the tool change control method are implemented.

[0024] The present invention also relates to a computer program product, including a computer program which, when executed by a processor, implements the steps of the tool changing control method described above.

[0025] After adopting the above technical solution, by pre - defining a heavy - tool pre - selection signal for the tools that are prone to abnormal tool changing, the present invention enables all special tools (heavy tools and non - heavy tools with abnormal shapes) to have special tool flag bits. Thus, it is possible to smoothly change tools for all tools that are prone to abnormal tool changing at the heavy - tool running speed without omission, while normal tools still perform fast tool changing at the conventional running speed, solving the co - existence problem of efficiency and special working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flowchart of the tool changing control method of the present invention;

[0027] Figure 2 is a schematic diagram of the result of the tool changing device;

[0028] Figure 3 is a timing diagram of the tool changing actions under the conditions of invalid and valid heavy - tool pre - selection signals;

[0029] In the figure, 1, motor; 2, tool magazine; 3, tool arm; 4, tool spindle; 5, lifting drive member. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to make the content of the present invention more clearly understood, the following further details the present invention according to specific embodiments in conjunction with the drawings.

[0031] As Figure 1 shown, a tool changing control method includes:

[0032] Step S1, confirm whether the tool changing conditions are ready. After confirming that the tool changing conditions are ready, control the motor 1 to rotate to implement the tool - holding action;

[0033] Step S2, during the tool - holding action, when receiving the feedback that the motor 1 reaches the tool - holding end position (the tool - grasping position of the tool arm 3), control the motor 1 to stop and execute the tool - releasing output control;

[0034] Step S3, when receiving the feedback that the tool - releasing is in place, read the heavy - tool pre - selection signal; wherein, the heavy - tool pre - selection signal is a signal pre - defined for the tools that are prone to abnormal tool changing;

[0035] Step S4, if a valid heavy - tool pre - selection signal is read, control the motor 1 to rotate at a heavy - tool running speed slower than the conventional running speed to perform the tool changing action; if a valid heavy - tool pre - selection signal is not read, control the motor 1 to rotate at the conventional running speed to perform the tool changing action;

[0036] Step S5, during the tool change operation, when receiving the feedback of the tool change end position (the position where the tool arm 3 completes the tool exchange), control the motor 1 to stop and execute the tool clamping output control;

[0037] Step S6, during the tool clamping output control, after receiving the feedback that the tool clamping is in place, update the tool magazine data table and control the motor 1 to rotate to return to the original position.

[0038] It should be noted that the tool change process is based on the tool change device. The tool change device is specifically as Figure 2 shown, including a motor 1, a tool arm 3, and a lifting drive member 5. The lifting drive member 5 is connected to the tool arm 3, and the motor 1 is connected to the lifting drive member 5 for driving the lifting drive member 5 and the tool arm 3 to rotate. The tool change process is specifically as follows:

[0039] The tool arm 3 rotates, and the two ends respectively hold the tools on the tool magazine 2 and the tool spindle 4 (tool holding action) → the tool spindle 4 releases the tool (tool loosening), and the tool arm 3 pulls down the tool under the action of the lifting drive member 5 → the tool arm 3 rotates to complete the tool exchange (tool change) → the tool arm 3 inserts the tool upward under the action of the lifting drive member 5, and the tool spindle 4 clamps the tool (tool clamping).

[0040] When reading the heavy tool preselection signal, it is necessary to read both the tool held on the tool magazine 2 and the tool spindle 4. Whether it is the tool in the tool magazine 2 or the tool on the tool spindle 4, as long as one is predefined with the heavy tool preselection signal, it is determined that the heavy tool preselection signal is valid.

[0041] In a specific example, the normal operating speed: the motor speed is 2000 rpm or higher, which can be set as needed, but cannot exceed the maximum motor speed; the heavy tool operating speed: the motor speed is 800 rpm or lower. Generally, at 800 rpm, the tool arm 3 already runs very smoothly.

[0042] Specifically, in this embodiment, by predefined the heavy tool preselection signal for the tools that are prone to tool change abnormalities, all special tools (heavy tools and non - heavy tools with abnormal shapes) have special tool flag bits, so that all tools with tool change abnormalities can be smoothly changed at the heavy tool operating speed without omission. The normal tools that are not predefined still achieve fast tool change at the normal operating speed, solving the problem of coexistence of efficiency and special working conditions.

[0043] In this embodiment, preferably, during the process of controlling the motor 1 to rotate at the normal operating speed to execute the tool change operation, if it is detected that the output current of the driver driving the motor 1 to rotate is greater than the preset threshold, control the motor 1 to rotate at the heavy tool operating speed in the remaining tool change stroke.

[0044] In this way, for a heavy tool whose heavy tool preselection signal is not predefined due to negligence or mistake, it can also be identified by detecting the current signal during the tool change process, and the tool change is performed at the heavy tool running speed to avoid tool change abnormalities such as tool dropping or tool tilting. In addition, for the tools that are prone to tool change abnormalities during normal tool change, they are identified by predefined heavy tool preselection signals. Therefore, the preset threshold here can be set relatively large, so as to avoid the light and small tools mentioned in the background art being mistakenly changed at the heavy tool running speed due to temperature reasons.

[0045] In this embodiment, the tool change condition being ready can specifically be:

[0046] The tool is positioned ready, the height of the tool spindle 4 is positioned ready, and the position of the tool spindle 4 is positioned ready.

[0047] In this embodiment, the types of tools that are prone to tool change abnormalities include large tools, heavy tools, and long tools.

[0048] In a specific example, a large tool refers to a tool with a diameter of 80 mm or more; a heavy tool refers to a tool with a weight exceeding 4 kg; a long tool refers to a tool with a length exceeding 300 mm and a diameter less than 12 mm. The definitions of various tools are determined according to specific circumstances and are not limited thereto.

[0049] In this embodiment, during the process of controlling the motor 1 to rotate to perform the tool clamping action and during the process of controlling the motor 1 to rotate to return to the original position, the motor 1 is controlled to rotate at the normal running speed.

[0050] In this way, even for the tools that are prone to tool change abnormalities, they only rotate at the heavy tool running speed during the process of the tool arm 3 driving the tool to rotate, and the tool change efficiency is still relatively high.

[0051] Next, in combination with a more detailed embodiment, the solutions involved in the above embodiment will be introduced in detail.

[0052] (a) Before the tool change starts, the numerical control system (hereinafter referred to as the "host computer") confirms whether the tool change condition is ready (whether the tool is positioned ready, whether the height of the tool spindle 4 is positioned ready, and whether the position of the tool spindle 4 is positioned ready);

[0053] (b) After confirming readiness, the host computer issues the start signal for the first time. After the driver reads the first start signal, it controls the motor 1 to rotate to perform the tool clamping action;

[0054] (c) During the tool clamping action, according to the comparison between the feedback position data of the motor 1 and the position setting parameter value of the driver, a feedback signal is given to the host computer. After the host computer reads this signal, it disconnects the start signal and executes the tool unclamping output control, and the external performs the tool unclamping action;

[0055] (d) After the host computer detects the tool loosening in - place feedback, it sends out the start signal for the second time. When the driver reads the second start signal, it synchronously reads the heavy - tool pre - selection signal. When the heavy - tool pre - selection signal is valid, the special tool flag bit is valid. At this time, the software program puts the heavy - tool running speed into the running variable; otherwise, the software program puts the normal running speed into the running variable;

[0056] (e) The host computer controls the motor 1 to rotate at the running variable through the driver to achieve the tool - changing action. During the tool - changing action, according to the comparison between the feedback position data of the motor 1 and the position - setting parameter value of the driver, a feedback signal is given to the host computer. After the host computer reads this signal, it disconnects the start signal and executes the tool - clamping control, and the external performs the tool - clamping action;

[0057] (f) After the host computer detects the tool - clamping in - place feedback, it updates the tool magazine data table and synchronously outputs the third start signal;

[0058] (g) When the driver reads the third start signal, it controls the motor 1 to rotate. When the driver reads the origin signal of the tool arm 3, it outputs a feedback signal to the host computer and synchronously performs precise positioning of the origin position;

[0059] (h) After the host computer reads the feedback signal, it disconnects the start signal and executes the control for the tool sleeve of the tool magazine 2 to return to the horizontal position. When the host computer detects that the tool - sleeve horizontal - position feedback is valid, the tool - changing ends.

[0060] Preferably, in step (e), in the case where the heavy - tool pre - selection signal is invalid, at the beginning, the tool - changing is carried out at the normal speed (high speed). If the motor 1 runs to the position where the current - detection window is opened (the motor 1 has an encoder, and the feedback data of the encoder can be used to confirm whether the current - detection window is opened), the detected current value of the driver is read and compared with the set heavy - tool current value. If, before the current - detection window is closed, the detected current value is greater than the set current value (heavy - tool current value), then the software puts the heavy - tool running speed into the variable, and the "remaining tool - changing stroke" controls the motor 1 at the heavy - tool running speed; otherwise, the remaining tool - changing stroke controls the motor 1 at the normal speed.

[0061] In the above, a complete tool - changing process is described. The heavy - tool pre - selection process is processed at the second start signal of the tool - changing. Because during the entire tool - changing process, when the tool arm is running, during the first and third start - signal actions, the tool arm is unloaded and there is no tool on the tool arm. During the entire tool - changing process, the timing description of each signal is as Figure 3 shown.

[0062] To facilitate the understanding of the above - mentioned entire detailed tool - changing process, the relevant content is explained as follows:

[0063] Start signal: A signal used to trigger the operation of the tool arm 3. When the constraint conditions (tool arm origin signal, tool arm operation sequence) are satisfied and the drive reads that the start signal is valid, the motor 1 is controlled to rotate, and through the transmission chain, the operation of the tool arm 3 is controlled.

[0064] Heavy tool preselection signal: A signal used to switch the operating speed of the tool arm 3. In the control sequence, if the drive reads that the heavy tool preselection signal is valid, the drive control program switches to the heavy tool operating speed (slow speed), controls the motor 1 to rotate, and slowly controls the operation of the tool arm 3.

[0065] Current detection window: Due to special application conditions (when the tool is exchanged, there is a process of tool pulling down → tool exchange → tool inserting up), since the current detection needs to be performed during the tool exchange process to best reflect the tool load size, a detection interval is required. This interval is determined by the operating position of the motor 1, and this detection interval is also called the "current detection window".

[0066] Heavy tool current value: The factory test stipulates the tool weight (such as a 4-kilogram tool). When changing tools with this weight tool, the average value of the current load values during multiple tool grasping and tool changing is set in the open parameters as a reference benchmark. This reference benchmark is what we call the "heavy tool current value".

[0067] Remaining tool change travel: The current detection window is a small interval during the tool exchange process. After this interval ends, the tool arm still needs to continue to perform the tool exchange and tool inserting up actions of the tool arm 3. The rotation angle of the motor 1 from when the current comparison result in the software is established to when the tool is inserted in place is what we call the "remaining tool change travel".

[0068] To facilitate understanding of the timing of each signal, the signal names and timing are described as follows:

[0069] Signal name description:

[0070]

[0071] Node label description:

[0072] For the convenience of description, the high level (24V voltage relative to 0V) is defined as 1, and the low level (0V voltage relative to 0V) is defined as 0.

[0073] Label 1: Initial state. Before tool change, the states of each signal are as follows: the tool clamping signal is 1, the tool clamping in place signal is 1, the brake signal is 0, the origin signal is 0, and the tool unclamping in place signal is 0;

[0074] Label 2: The host computer sets the start signal to 1. After the drive reads this signal, it controls the motor 1 to rotate and performs the tool clamping action;

[0075] Label 3: When the brake signal status changes from 1 to 0, the host computer sets the start signal to 0, and the synchronous tool release control starts to execute;

[0076] Label 4: When the host computer reads that the tool release in-place signal is 1, the tool release is in place. The synchronous start signal is set to 1. After the drive reads this signal, it controls the rotation of Motor 1 to perform the tool change operation;

[0077] Label 5: When using a standard tool (the heavy tool preselection signal is invalid, that is, this signal is 0), during tool change (tool exchange action), Motor 1 runs at a higher speed;

[0078] Label 6: When the brake signal status changes from 1 to 0, the host computer sets the start signal to 0, and the synchronous tool clamping control starts to execute;

[0079] Label 7: When the host computer's tool clamping in-place signal is 1, the tool clamping is in place. The synchronous start signal is set. After the drive reads this signal, it controls the rotation of Motor 1 to perform the home return operation;

[0080] Label 8: When the home signal status changes from 1 to 0, the drive sets the brake signal to 0, and the host computer sets the start signal to 0;

[0081] Label 9: When the heavy tool preselection signal is valid, the host computer sets the heavy tool preselection signal to 1;

[0082] Label 10: The same function as Label 2;

[0083] Label 11: The same function as Label 3;

[0084] Label 12: The same function as Label 4;

[0085] Label 13: When the heavy tool preselection signal is valid (this signal is 1), during tool change (tool exchange action), Motor 1 runs at a slower speed;

[0086] Label 14: The same function as Label 6;

[0087] Label 15: The same function as Label 7;

[0088] Label 16: The same function as Label 8.

[0089] In the timing diagram, we can well solve the applications under efficiency (no heavy tool preselection situation) and special working conditions (with heavy tool preselection signal). With a small amount of resources occupied (only one output point needs to be added to the host computer), the special working condition problem can be perfectly solved.

[0090] In addition, in the comparison timing, when there is a heavy tool preselection signal, what we change is the rotation speed of Motor 1. In terms of control logic, it is simple and clear. In the control field, it has good portability. At least in the tool magazine field, if a variable speed device (such as a servo drive, frequency converter, etc.) is configured, this control logic can be completed to solve the coexistence problem of efficiency and special working conditions.

[0091] An apparatus, comprising:

[0092] a memory for storing a computer program;

[0093] a processor for executing the computer program, and when the computer program is executed by the processor, the steps of the tool change control method as described in the above embodiments are implemented.

[0094] A readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the tool change control method as described in the above embodiments are implemented.

[0095] A computer program product, comprising a computer program, and when the computer program is executed by a processor, the steps of the tool change control method as described in the above embodiments are implemented.

[0096] Enlightened by the above ideal embodiments according to the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A tool change control method, characterized in that: It includes: Confirm whether the tool change condition is ready. After confirming that the tool change condition is ready, control the motor to rotate to implement the tool clamping action; During the tool clamping action, when receiving the feedback that the motor reaches the end position of tool clamping, control the motor to stop and execute the tool loosening output control; When receiving the feedback that the tool is loosened in place, read the signal of preselecting the heavy tool; wherein, the signal of preselecting the heavy tool is a signal predefined for the tool that is prone to abnormality during tool change; If a valid signal of preselecting the heavy tool is read, control the motor to rotate at a heavy tool running speed slower than the normal running speed to perform the tool change action; If a valid signal of preselecting the heavy tool is not read, control the motor to rotate at the normal running speed to perform the tool change action.

2. The tool change control method according to claim 1, characterized in that: The method further includes: During the process of controlling the motor to rotate at the normal running speed to perform the tool change action, if it is detected that the output current of the driver driving the motor rotation is greater than the preset threshold, control the motor to rotate at the heavy tool running speed in the remaining tool change stroke.

3. The tool change control method according to claim 1, characterized in that: The tool change condition being ready specifically means: The tool positioning is ready, the tool spindle height positioning is ready, and the tool spindle position positioning is ready.

4. The tool change control method according to claim 1, characterized in that: The types of the tools that are prone to abnormality during tool change include large tools, heavy tools, and long tools.

5. The tool change control method according to claim 1, characterized in that: The method further includes: During the tool change action, when receiving the feedback of the tool change end position, control the motor to stop and execute the tool clamping output control; During the tool clamping output control process, after receiving the feedback that the tool clamping is in place, update the tool magazine data table and control the motor to rotate to return to the original position.

6. The tool change control method according to claim 5, characterized in that: During the process of controlling the motor to rotate to implement the tool clamping action and during the process of controlling the motor to rotate to return to the original position, control the motor to rotate at the normal running speed.

7. A device, characterized in that: It includes: A memory for storing a computer program; A processor for executing the computer program, and when the computer program is executed by the processor, it realizes the steps of the tool change control method according to any one of claims 1-6.

8. A readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, it realizes the steps of the tool change control method according to any one of claims 1-6.

9. A computer program product, including a computer program, characterized in that: When the computer program is executed by a processor, it realizes the steps of the tool change control method according to any one of claims 1-6.

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