Servo tool rest

Abstract

The servo tool rest comprises a first ARM processor, a second ARM processor and a control module, wherein a PLC control module is integrated on the first ARM processor; a servo driving module is integrated on the second ARM processor; the l / O interface is used for exchanging l / O data between the numerical control machine tool and the PLC control module and / or the servo driving module; and an FPGA. According to the overall structural design of the servo tool rest, a numerical control machine tool can achieve complex logic actions of the tool rest only by controlling l / O signals, the motion control function and the servo driving function are integrated on the ARM processor in the servo tool rest, high-speed data communication can be conducted inside, cables and space needed by external connection are reduced, and the service life of the tool rest is prolonged. Therefore, the compactness and the cost efficiency of the system are improved. By means of the design of the system, the transmission speed and reliability of data are remarkably improved, meanwhile, the applicability of the servo tool rest is enhanced due to the fact that l / O communication is adopted, and the servo tool rest can be flexibly matched with upper control systems of different brands.

Description

Technical Field

[0001] This application relates to the technical fields of industrial automation and numerical control machine tools, and more particularly, to a servo turret. Background Art

[0002] Currently, in industrial production, machine tools are widely used. Some machine tools are equipped with servo turrets, that is, turrets driven by servo motors for rotation and positioning, which mainly consist of servo motors, servo motor drivers, hydraulic clutches, turret tool holders, etc.

[0003] However, existing servo turrets generally have a large volume, low integration, limited applicability, and require a relatively large variety of signal data to guide complex logical actions of the turret, with a complex control logic. Utility Model Content

[0004] In view of at least one defect or improvement requirement of the prior art, this application provides a servo turret, which is used to at least overcome the technical defects that existing servo turrets generally have a large volume, low integration, limited applicability, and require a relatively large variety of signal data to guide complex logical actions of the turret, with a complex control logic.

[0005] To achieve the above object, this application provides a servo turret, including:

[0006] A first ARM processor, on which a PLC control module is integrated; the PLC control module is used to receive feedback data and process it to output turret control instructions;

[0007] A second ARM processor, on which a servo drive module is integrated; the servo drive module receives the turret control instructions to drive the motor to rotate, and feeds back the rotation data of the motor to the PLC control module;

[0008] An I / O interface, which is used for the exchange of I / O data between the numerical control machine tool and the PLC control module and / or the servo drive module;

[0009] An FPGA, which is used to process the PLC control data provided by the numerical control machine tool obtained by the I / O interface and transmit it to the PLC control module and / or the servo drive module;

[0010] Wherein, the numerical control machine tool can control the movement of the turret only by controlling the I / O data.

[0011] Further, the PLC control data provided by the numerical control machine tool is transmitted to the PLC control module integrated on the first ARM processor via the AXI bus by the FPGA;

[0012] The I / O function of the I / O interface is defined and processed by the PLC control module itself.

[0013] Furthermore, it also includes a parameter interaction shared memory.

[0014] The attribute data of the application parameters is transmitted from the first ARM processor to the second ARM processor through the parameter interaction shared memory.

[0015] Furthermore, the PLC control module includes one or more functional units such as turret logic control, turret motor shaft motion control, tool position compensation, and speed interpolation.

[0016] Generally speaking, compared with the prior art through the above technical solutions conceived in this application, the following beneficial effects can be achieved:

[0017] The servo turret disclosed in this application includes: a first ARM processor integrated with a PLC control module; a second ARM processor integrated with a servo drive module; an I / O interface for the exchange of I / O data between the numerical control machine tool and the PLC control module and / or the servo drive module; and an FPGA. The overall structural design of the servo turret in this application enables the numerical control machine tool to achieve complex logic actions of the turret only by controlling I / O signals. The motion control and servo drive functions are integrated on the ARM processor inside the servo turret, enabling high-speed data communication internally, reducing the cables and space required for external connections, thereby improving the compactness and cost efficiency of the system. The design of this system significantly improves the data transmission speed and reliability. At the same time, due to the use of I / O communication, the applicability of the servo turret is enhanced, and it can be flexibly adapted to upper control systems of different brands. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of the architecture of the servo turret provided by the embodiment of this application;

[0020] Figure 2 It is an electrical wiring diagram of the control system provided by the embodiment of this application;

[0021] Figure 3 It is a timing diagram of automatic tool change of the servo turret provided by the embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the objectives, technical solutions, and advantages of this application more clearly understood, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. In addition, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0023] The terms "including" or "having" in the specification, claims, or the above-mentioned drawings of this application, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, systems, products, or devices.

[0024] As described in the background art section of the specification, existing servo turrets generally have a relatively large volume, insufficient integration, limited applicability, and require a relatively large variety of signal data to guide the complex logical actions of the turret, resulting in a complex control logic. In view of this, this application proposes a servo turret and control system to at least overcome the above technical defects.

[0025] Referring to Figure 1 , an embodiment of this application provides a servo turret, which at least includes: a first ARM processor (i.e., ARM1), a second ARM processor (i.e., ARM2), an I / O interface, and an FPGA (Field Programmable Gate Array). A servo turret is a precise and efficient tool control system that can accurately control and adjust the position of the turret. The servo turret of this embodiment has functions such as single-step tool change, continuous tool change, automatic tool change, and tool setting and zero clearing.

[0026] ARM1: Runs the Linux operating system, integrates a PLC control module, receives feedback data and processes it to output turret control instructions, and realizes functions such as turret logic control, turret motor shaft movement control, tool position compensation, and speed interpolation. A PLC (Programmable Logic Controller) is a digital computing operation electronic system specifically designed for use in industrial environments. It uses a programmable memory to store instructions for performing operations such as logical operations, sequential control, timing, counting, and arithmetic operations, and controls various types of mechanical equipment or production processes through digital or analog inputs and outputs.

[0027] ARM2: Runs in bare core mode and integrates a servo drive module. It receives tool rest control instructions to drive the motor to rotate and feeds back the rotation data of the motor to the PLC control module to complete the basic functions of servo drive. The servo drive module receives the instructions output by the PLC control module to make the motor rotate and feeds back the position information of the motor to the PLC control module. The PLC control module processes this information and adjusts the rotation direction and speed of the motor, thereby controlling the position of the tool rest. The motor is used to control the position change and movement of the tool rest. The servo tool rest usually uses an AC motor or a DC brushless motor, and its speed and torque can be adjusted by the servo control system. An encoder is required to feed back information to the PLC control module. The encoder is installed on the motor shaft and can measure the rotation angle and speed of the motor and feed back the measurement results to the servo driver and the controller, and the controller makes adjustments based on this. The accuracy of the encoder determines the position control accuracy of the tool rest.

[0028] The motor of the servo tool rest usually has a relatively high speed. In order to reduce the speed of the tool rest during operation and increase the torque of the motor, preferably, a speed reducer is required for the servo tool rest. The speed reducer can convert the high-speed rotation of the motor into low-speed high-torque rotation, thereby better controlling the position of the tool rest.

[0029] The ARM architecture, formerly known as Advanced RISC Machine, was earlier called Acorn RISC Machine. It is a 32-bit reduced instruction set (RISC) processor architecture. The ARM processor is the first RISC microprocessor with low power consumption and cost designed by Acorn Limited in the UK. It is fully called Advanced RISC Machine. The ARM processor itself is designed as 32-bit, but it also has a 16-bit instruction set. Generally speaking, it can save up to 35% compared with equivalent 32-bit code while retaining all the advantages of a 32-bit system.

[0030] The I / O interface is used for the exchange of I / O data between an external numerical control machine tool and a PLC control module and / or a servo drive module. The I / O interface is a link for the host to exchange information with the controlled object. The host exchanges data with external devices through the I / O interface. Most I / O interface circuits are programmable, that is, their working modes can be controlled by a program. External data enters the servo turret through the I / O interface and is then transmitted to the PLC control module of ARM1 via the FPGA through the AXI (Advanced eXtensible Interface, a bus protocol, which is the most important part of the AMBA (Advanced Microcontroller Bus Architecture) 3.0 protocol proposed by ARM Corporation and is an on-chip bus oriented to high performance, high bandwidth, and low latency). The I / O function is defined and processed by the PLC control module itself.

[0031] The FPGA may include an I / O processing module, a motor control module, etc., which are used to process the PLC control data provided by the numerical control machine tool obtained through the I / O interface and transmit it to the PLC control module and / or the servo drive module.

[0032] Some special custom application functions can be implemented through parameter configuration. The parameter configuration is defined by the application program itself. ARM2 allocates a certain number of application parameters for the application program to use. The attributes (such as the maximum value, minimum value, and default value) of this part of the application parameters are transmitted from ARM1 to ARM2 through the parameter interaction shared memory during the power-on initialization stage. The power-off detection and power-off parameters are stored in the servo, and the definition of the power-off parameters is defined by the PLC control module itself.

[0033] Through integrated design, the servo turret of this application significantly reduces the volume and weight of the system, making the deployment more flexible, especially suitable for application scenarios with limited space. Due to the high integration, this servo turret has a lower cost while maintaining high performance, which makes it highly competitive in the cost-sensitive numerical control machine tool market. The high-integration design makes the installation and commissioning process simpler and more convenient, and also facilitates maintenance and repair, which helps to improve production efficiency and reduce maintenance costs. The overall structural design of the servo turret of this application enables the numerical control machine tool to achieve complex logic actions of the turret only by controlling the I / O signals. Because of the use of I / O communication, the applicability of the servo turret is enhanced, and it can be flexibly adapted to different brands of upper control systems.

[0034] Reference Figure 2 , another embodiment of this application provides a control system, which includes the aforementioned servo turret and a numerical control machine tool.

[0035] A numerically controlled machine tool is an automated machine tool equipped with a program control system. This control system can logically process a program with control codes or other symbolic instructions, decode it, represent it in coded numbers, and input it into the numerical control device through an information carrier. After being processed by arithmetic operations, the numerical control device sends out various control signals to control the actions of the machine tool, and automatically processes parts according to the shape and size required by the drawing. Numerically controlled machine tools have better solved the problems of processing complex, precise, small-batch, and multi-variety parts. They are flexible and high-performance automated machine tools, representing the development direction of modern machine tool control technology and being a typical mechatronic product.

[0036] The motion control type servo driver in this embodiment is connected to the CNC (Computer numerical control machine tools, that is, numerically controlled machine tools) through the I / O interface. The CNC is responsible for writing the PLC program related to I / O. After the PLC control module of the servo turret receives the l / O signal, it performs turret logic control, turret motor shaft motion control, tool position compensation, and / or speed interpolation, and then sends the corresponding data to the servo drive module through parameter interaction and shared memory, and finally drives the motor to rotate. Taking the automatic tool change function as an example, the specific implementation can include the following steps. Changing the tool from tool number 2 to tool number 3 in the automatic mode:

[0037] Step 1: Switch to the automatic mode. The CNC sends the l / O combined signal to the servo turret, and the PLC control module of the servo turret switches to the automatic mode.

[0038] Step 2: Enable the servo motor through the external l / O of the servo turret.

[0039] Step 3: Input the tool number to be changed to tool number 3.

[0040] Step 4: Start the automatic tool change process at the rising edge of the action in Step 3.

[0041] Step 5: When the PLC control module of the servo turret detects the start of automatic tool change, it reads the input target tool number, and the torque reduction becomes invalid. Then, it controls the motor to start operating and path planning according to the turret (turret) operation parameters, and outputs the current tool number through DO.

[0042] Step 6: After the turret runs in place, when the servo detects that the positioning deviation is less than the Pn207 positioning deviation threshold, it is considered that the positioning is completed, and the tool change completion signal is output. The tool change completion signal is a pulse with a width of 25 ms. After the tool change is completed, the torque reduction is enabled.

[0043] Step 7: Complete an automatic tool change process.

[0044] Those skilled in the art will understand that the technical features recited in the various embodiments and / or claims of the present application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly recited in the present application. In particular, without departing from the spirit and teachings of the present application, the technical features recited in the various embodiments and / or claims of the present application can be combined and / or combined in various ways, and all such combinations and / or combinations fall within the scope of the present application.

[0045] Although the present application has been shown and described with reference to specific exemplary embodiments of the present application, those skilled in the art should understand that various changes in form and detail can be made to the present application without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents. Therefore, the scope of the present application should not be limited to the above embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A servo tool holder, characterized in that: include: A first ARM processor having a PLC control module integrated thereon; the PLC control module is used to receive feedback data and process it to output tool holder control instructions; a second ARM processor on which a servo drive module is integrated; the servo drive module receives the tool holder control instruction to drive the motor to rotate, and feeds back the rotation data of the motor to the PLC control module; An I / O interface, which is used for exchanging I / O data between the CNC machine tool and the PLC control module and / or the servo drive module; FPGA, which is used to process the PLC control data provided by the CNC machine tool acquired by the I / O interface and transmit it to the PLC control module and / or servo drive module; The CNC machine tool can control the movement of the tool holder by only controlling the I / O data.

2. The servo tool holder according to claim 1, characterized in that: The PLC control data provided by the CNC machine tool is transmitted to the PLC control module integrated on the first ARM processor via the FPGA through the AXI bus; The I / O functions of the I / O interface are defined and processed by the PLC control module.

3. The servo tool holder according to claim 1, characterized in that: It also includes parameter interactive shared memory; The attribute data of the application parameters is transmitted from the first ARM processor to the second ARM processor through the parameter interactive shared memory.

4. The servo tool holder according to claim 1, characterized in that: The PLC control module includes one or more functional units of tool holder logic control, tool holder motor shaft motion control, tool position compensation and speed interpolation.

Images