CN102476305A - Intelligent numerical control machine tool cutter changing manipulator and operation method thereof - Google Patents
Intelligent numerical control machine tool cutter changing manipulator and operation method thereof Download PDFInfo
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- CN102476305A CN102476305A CN2010105533536A CN201010553353A CN102476305A CN 102476305 A CN102476305 A CN 102476305A CN 2010105533536 A CN2010105533536 A CN 2010105533536A CN 201010553353 A CN201010553353 A CN 201010553353A CN 102476305 A CN102476305 A CN 102476305A
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Abstract
The invention discloses an intelligent numerical control machine tool cutter changing manipulator and an operation method thereof. The intelligent numerical control machine tool cutter changing manipulator specifically comprises a manipulator system and a control system and is installed between a tool changer and a numerical control machine tool cutter rest by a lower support; a manipulator stepping motor and a worm-and-gear speed reducer drive a middle arm on an upper bracket to rotate the manipulator in a vertical plane; the middle arm is provided with a middle arm cylinder which drives a front arm slideway to stretch along a middle arm direction to realize cutter loading and unloading action; the front arm slideway is provided with a front arm cylinder which drives a front arm sliding block to stretch along the front arm direction so as to cooperate with a paw clamping cylinder on the front arm sliding block to realize cutter catching action; the tool changer is rotated by a tool changer stepping motor and the worm-and-gear speed reducer; the manipulator and the tool charger are controlled by a programmable logic controller (PLC) control module; the PLC control module is wirelessly controlled by a movable handheld controller; and the communication of the intelligent numerical control machine tool cutter changing manipulator is realized by a movable Bluetooth module and a manipulator Bluetooth module.
Description
Technical field
The present invention relates to a kind of manipulator tool changing device; Specifically relate to a kind of intelligent Digit Control Machine Tool tool-changing mechanical arm and method of operating thereof; Be the auxiliary equipment of Digit Control Machine Tool, specifically by the straight-line motion mechanism and the stepper motor driven automatic tool changer manipulator that rotatablely moves of air cylinder driven.
Background technology
At present, a lot of medium-sized and small enterprises do not use machining center, and tool changing is leaned on artificial basically; Existing many tool changing devices have been realized the tool changing action fully, but cost an arm and a leg, and basic all uses wire communication control, also more or less exist inapplicable and diseconomy (cam drive, microcomputerized control, servomotor, hydraulic drive etc.).Contrast more existing patents and can obviously find out this point; Can know (1) patent name according to the patent retrieval of Department of Intellectual Property of Chinese name republic: uprightly crouch that (application number: 200820014416.9), this utility model provides a kind of tool changing device of machining apparatus to the combined type tool changing device; Comprise support and the body that horizontally rotates that is connected with rack shaft; Horizontally rotate oil cylinder, angling cylinder, structures such as positional cylinder.Be connected with vertical rotation and carry with horizontally rotating axon, be provided with vertical rotational fuel tank horizontally rotating to put on, angling cylinder is installed in vertical rotation and puts on, and manipulator is rotated.This patent is used hydraulic oil cylinder driving, and use and maintenance cost are higher, complex structure, and part is more, causes volume huge relatively.(2) patent name: the cam-type horizontal-vertical double-purpose tool-changing mechanical arm (patent No.: 03218445.
X), cam-type horizontal-vertical double-purpose tool-changing mechanical arm mainly is made up of cam mechanism, the upright switching mechanism of crouching, support component, two manipulators, sliding straight guide rail, cylinder, negative, servomotor etc.The axle that uses servomotor to drive in the cam mechanism rotates, and on cam mechanism, is provided with two driven members, and a driven member drives the base plate in the support component, realizes transverse movement; Another driven member drives the base plate in the support component, realizes vertically moving.This patent is used cam mechanism and servomotor, and the driven member load-bearing of cam mechanism is bigger, and cam mechanism own is easy to wear, and precision reduces fast, be difficult to the service life of manipulator guarantee, and replacing or maintenance cost is than higher; (3) patent name: lathe automatic tool changer (application number: 200720073669.9); It is a kind of lathe automatic tool changer; Comprise by the main shaft of microcomputer controller control, chuck that the main shaft below connects, connect tool magazine in a row by a plurality of tool rests, the microcomputer controller action.This patent control section adopts microcomputer controller, and it is higher to control cost, and is applicable to the tool changing of large-scale tool magazine, is not suitable for the special-purpose processing of Digit Control Machine Tool of the frequent tool changing of a small amount of cutter.
Summary of the invention
The object of the present invention is to provide a kind of suitable cutter less, but need a kind of intelligent Digit Control Machine Tool tool-changing mechanical arm and the method for operating thereof of frequent tool changing, and use radio communication control, Pneumatic Transmission, it is convenient to clean, and is easy to expansion.The part bigger to processing dimension, that operation is relatively concentrated, when needing the frequent change cutter in the process, the cost of automatic tool changer is very high, and common medium-sized and small enterprises are beyond affordability; The control system, wire communication exists line many, easy break-down, install more loaded down with trivial details, wiring inconvenience; Complex management, flexibility is not good enough; The equipment that is not easy to expands.The present invention has overcome the deficiency of prior art.
A kind of intelligent Digit Control Machine Tool tool-changing mechanical arm of the present invention and method of operating thereof are installed between tool magazine and the numerically-controlled machine tool rest through undersetting, and the middle arm that uses manipulator stepper motor and turbine and worm decelerator to drive on the upper bracket is realized the rotation in the manipulator perpendicular; In be equipped with on the arm in the arm cylinder drive the forearm slideway along in the arm direction stretch and realize loading and unloading the cutter action; It is flexible along the forearm direction that forearm cylinder drive forearm slide block is housed on the forearm slideway, cooperates the paw gripper cylinder on the forearm slide block to realize grabbing the cutter action; Tool magazine is realized rotating through tool magazine stepper motor and turbine and worm decelerator; Manipulator and tool magazine are controlled through PLC control module 202, and PLC control module 202 realizes communicating by letter through the usB interface with Digit Control Machine Tool; Come controlled in wireless PLC control module 202 through removable handheld controller 20l, its communication is to realize through removable bluetooth module and manipulator bluetooth module.
Beneficial effect of the present invention has:
(1) tool-changing mechanical arm is used for Digit Control Machine Tool, can reduces the service working time of installation, adjustment cutter, improve the particularly production efficiency of Medium and Small Manufacture Enterprises of manufacturing enterprise, reduce production costs.
(2) this manipulator is with respect to other like product, and manufacturing cost is lower, and price is relatively cheap, and under the active demand of current medium-sized and small enterprises, its application prospect is boundless.
(3) the manipulator slipper adopts line slideway, and l can guarantee accurately grabbing the cutter life-span of manipulator like this, and maintenance cost is low.
(4) control system has adopted radio receiving transmitting module, has removed the transmission cable in the legacy network, utilizes microwave, radio frequency wireless technologys such as (RF) to constitute network; More empty transmitting-receiving data, it is many that this has just solved line, easy break-down; Install more loaded down with trivial details, the problem of wiring inconvenience;
(5) control system is with good expansibility, and numerical control device of every increase only needs that a next RFDC card is inserted this numerical control device communication serial port and can realize communication, needn't expand the communication interface of main control computer.
Description of drawings
Figure l is a kind of intelligent Digit Control Machine Tool tool-changing mechanical arm tool changing sketch map
Fig. 2 is a kind of intelligent Digit Control Machine Tool tool-changing mechanical arm general assembly drawing
Fig. 3 is the tool magazine general assembly drawing
Fig. 4 is the automatic tool changer flow chart
Fig. 5 is a tool-changing mechanical arm Bluetooth control schematic diagram
Among the figure, 10l, numerically-controlled machine tool rest; 102, tool-changing mechanical arm; 103, tool magazine .1, undersetting; 2, upper bracket; : 3, middle arm; 4, arm cylinder .6, forearm slide block in the forearm slideway melon; 7, forearm cylinder .8, paw support; 9, gripper cylinder; 10, the paw joint one; 11, the paw joint two; 12, shaft coupling; 13, turbine and worm decelerator; 14, manipulator stepper motor; 15, broach shell; 16, cutterhead; 17, axle head fixture; 18, axis; 19, decelerator loam cake; 20, decelerator bearing; 2l, worm gear; 22, worm screw; 202, PLc control module; 203, manipulator status signal; 204, manipulator bluetooth module; 205, removable bluetooth module; 206 tool change control signals; 207, removable handheld controller control end; 208, the control signal I/O shows.
The specific embodiment
Accompanying drawing is a specific embodiment of the present invention:
Below in conjunction with accompanying drawing content of the present invention is described further.
Shown in figure l, tool magazine 103 is placed on the Digit Control Machine Tool headstock, and Digit Control Machine Tool tool-changing mechanical arm 102 is placed between headstock and the numerically-controlled machine tool rest 10l; Tool plane on the cutterhead, tool-changing mechanical arm clamping face, knife rest dress cutter plane three are in same plane; The dress cutter position of numerically-controlled machine tool rest is fixed, and tool magazine cutter tool change position is fixed.
Referring to shown in Figure 2, undersetting l is placed in ground, and upper bracket 2 is installed on the undersetting l, and both add Upper gasket in the junction, to realize the small adjustment of manipulator upper-lower position; In be equipped with on the arm 3 in parts such as arm cylinder 5, forearm slideway 4, be contained in rotating stepper motor 14 on the upper bracket 2 drive through turbine and worm decelerators 13 on the arm 3 forearm slideway 4 rotate with the rotation that realizes changing to manipulator 163 degree between numerically-controlled machine tool rest 10l and tool magazine 103 and get cutter and adorn cutter realizing; Whole forearm partly is connected on the middle arm 3; Arm cylinder 5 and forearm cylinder 7 during middle arm 3 is equipped with respectively with forearm slideway 4; Wherein slipper adopts linear guides and adopts the precision adjustment of the relative numerically-controlled machine tool rest 10l of tool-changing mechanical arm, tool magazine 103 in the crack adjustment exchanging knives process that disappears, thereby reaches accurate tool changing and avoid bumping with Digit Control Machine Tool and tool magazine 103 etc.
With reference to figure 3 tool magazine general assembly drawings, step motor drive worm screw 22 drives cutterhead 16 through worm gear 2l and rotates, and, is made and selects the cutter track footpath the shortest according to the determining positions main story of manipulator tool changing needs and broach shell 16 or the number of degrees of counter-rotating by the control system; Corner and rotating speed by PLC control step motor had both played decelerating effect with worm-and-wheel gear, and it is fixed to play the braking cutterhead again
Position effect overcomes the rotator inertia of cutterhead 16, guarantees that safety and precise gets cutter and put cutter.
Referring to Fig. 4 automatic tool changer flow chart, (1) at first is to start PLC, resets, and touches request tool changing signal by knife rest 10l; (2) PLC receives request cutter signal and judges that target location and present position confirm shortest path, draws the rotation direction of tool magazine 103; (3) drive the tool magazine stepper motor and drive the position that tool magazine turns to required cutter; (4) drives mechanical hand stepper motor 14 forwards the tool magazine position to; (5) arm cylinder 5 actions in arrive the fair face of tool-holder; (6) forearm cylinder 7 actions overlap mechanical paw center line and center cutter line; (7) cutter is clamped in gripper cylinder 9 actions; (8) 5 actions of arm cylinder are extracted cutterhead to cutter in; (9) manipulator stepper motor 14 actions drive manipulator and turn to the knife rest position.(10) arm gas in
Control of the present invention system adopts Bluetooth communication and PLC control technology, and this system comprises the removable bluetooth module that the removable handheld controller control end of the direct-connected manipulator bluetooth module of a PLC control module of controlling the Digit Control Machine Tool tool-changing mechanical arm 202, and PLc control module 202,207, and removable handheld controller control end 207 are direct-connected.Optimum control scheme is implemented is to use bluetooth module; It is with the PLC control module 202 of removable handheld controller control end 207 of short range dedicated radio link and tool-changing mechanical arm; Replace the cable that connects portable and/or stationary electronic device, it follows the Bluetooth protocol of Sven-Gan Eriksson company.But it does not limit to and bluetooth module, uses other modules (such as the bluetooth equipment on the Pc machine) of Local Radio Communications also can.In optimum implementation of the present invention, main frame is removable bluetooth module, and it carries out radio communication with the manipulator bluetooth module.
Concrete Bluetooth control is embodied as: referring to Fig. 5 tool-changing mechanical arm Bluetooth control schematic diagram; Working site at the Digit Control Machine Tool tool-changing mechanical arm; The Digit Control Machine Tool tool-changing mechanical arm is by directly control of PLc control module 202; When carrying out Bluetooth communication, be to feed back to manipulator bluetooth module 204 to the status signal of manipulator earlier with removable handheld controller 20l; Manipulator bluetooth module 204 is transferred to the removable bluetooth module 205 of removable handheld controller 20 l through bluetooth radio then; And then be transferred to removable handheld controller control end 207 by removable bluetooth module 205; Equally, when removable handheld controller 20l transmits control signal for the Digit Control Machine Tool tool-changing mechanical arm, be the manipulator status signal of at first judging feedback, send tool change control signal 206 then and give removable bluetooth module 205; Removable then bluetooth module 205 is transferred to manipulator bluetooth module 204 through bluetooth radio, is transferred to PLC control module 202 by manipulator bluetooth module 204 again, drives the tool-changing mechanical arm action by PLC control module 202.Wherein manipulator bluetooth module 204 is made up of memory 204.1, vibrator 204.3, manipulator bluetooth controller 204.2, reception/transmitter 204.3.
Sequence of movement such as Fig. 4 of removable handheld controller 20l control manipulator and tool magazine.Wherein selecting cutter is the crucial technology of comparison, and mode is for select cutter at random.Wherein select the cutter principle following: (1) record current cutter number.When the l cutter is in when getting cutter position, the closed pairing travel switch that puts in place imports data l into to data register VWO; When No. 2 cutters were in position of manipulator, the closed pairing travel switch that puts in place imported data 2 into to data register VWO.By that analogy, write down current cutter number.
(2) record current request cutter number.When the l cutter was selected in request, PLc obtained signal, and constant l is imported into to data register Vw2, made the inner mark bit simultaneously, and other request signals are invalid; When No. 2 cutters were selected in request, PLC obtained signal, and constant 2 is imported into to data register VW2, made the inner mark bit simultaneously, other request signals
Invalid; By that analogy, the current request cutter of record number.
(3) after internal register set, compare instruction makes:
If 1. register data VWO>VW2, then carry out subtraction VWO-Vw2, operation result deposits among the VW6, then the data among the VW6 is compared in next logical line.If VW6>3, then tool magazine is nearest from request cutter reverse direction, and stepper motor reverses to eastern tool magazine.If VW6-3, then tool magazine is nearest from request cutter number clockwise direction; In like manner, < 3, then the motor drives tool magazine is clockwise as if VW6.
If 2. register data VWO-VW2, the indicator lamp that then puts in place is bright, and manipulator begins to get cutter.
If 8. register data VWO VW2, directly subtracting each other is a negative, the result makes mistakes, thereby VWO is added the sum of fixing a cutting tool deducts VW2 after 6, with the data that draw in next logical line relatively.Repeat above process, make Vw0-Vw2, manipulator get the cutter operation at last.
Claims (3)
1. an intelligent Digit Control Machine Tool tool-changing mechanical arm is characterized in that, be made up of tool-changing mechanical arm system and digital control system, the tool-changing mechanical arm system is made up of numerically-controlled machine tool rest, tool-changing mechanical arm and tool magazine; Tool magazine is placed on the Digit Control Machine Tool headstock; Tool-changing mechanical arm 102 is placed between headstock and the numerically-controlled machine tool rest; Tool plane on the cutterhead, tool-changing mechanical arm clamping face, knife rest dress cutter plane three are in same plane; The dress cutter position of numerically-controlled machine tool rest is fixed, and tool magazine cutter tool change position is fixed; Tool-changing mechanical arm is made up of undersetting, upper bracket, middle arm, forearm slideway, middle arm cylinder, forearm slide block, forearm cylinder, paw support, gripper cylinder, paw joint one, paw joint two, shaft coupling, turbine and worm decelerator and manipulator stepper motor; Undersetting is placed in ground, and upper bracket is installed on the undersetting, and both add Upper gasket in the junction; Parts such as arm cylinder, forearm slideway in being equipped with on the middle arm, the manipulator stepper motor that is contained on the upper bracket rotates through forearm slideway on the arm in the drive of turbine and worm decelerator; Whole forearm partly is connected on the middle arm; Arm cylinder and forearm cylinder during middle arm and forearm slideway are equipped with respectively, slipper wherein adopt linear guides and adopt the crack that disappears to adjust the precision adjustment of the relative numerically-controlled machine tool rest of tool-changing mechanical arm, tool magazine in the exchanging knives process; Tool magazine is made up of broach shell, cutterhead, axle head fixture, axis, decelerator loam cake, decelerator bearing, worm gear and worm screw; Manipulator step motor drive worm screw is rotated through the worm gear drives cutterhead,, is made and selects the cutter track footpath the shortest according to the determining positions main story of manipulator tool changing needs and broach shell or the number of degrees of counter-rotating by the control system; Corner and rotating speed by PLC control step motor; The direct-connected manipulator bluetooth module of the PLC control module, that the digital control system turnkey is drawn together a control tool-changing mechanical arm and PLC control module, removable handheld controller control end, one and the direct-connected removable bluetooth module of removable handheld controller control end; Removable bluetooth module is followed the Bluetooth protocol of Sven-Gan Eriksson company; Said manipulator bluetooth module is made up of memory, vibrator, manipulator bluetooth controller, reception/transmitter.
2. the method for operating of an intelligent Digit Control Machine Tool tool-changing mechanical arm is characterized in that, when PLC control module and removable handheld controller carry out Bluetooth communication, feeds back to the manipulator bluetooth module to the status signal of tool-changing mechanical arm earlier; The hand bluetooth module is transferred to the removable bluetooth module of removable handheld controller through bluetooth radio then; Be transferred to removable handheld controller control end by removable bluetooth module again; When removable handheld controller transmits control signal to tool-changing mechanical arm, at first judge the tool-changing mechanical arm status signal of feedback, send the tool change control signal then and give removable bluetooth module; Removable then bluetooth module is transferred to the manipulator bluetooth module through bluetooth radio, is transferred to the PLC control module by the manipulator bluetooth module again, drives the tool-changing mechanical arm action by the PLC control module.
Intelligent Digit Control Machine Tool tool-changing mechanical arm and method of operating thereof select the cutter method, it is characterized in that step is following:
(1) record current cutter number; When the l cutter is in when getting cutter position, the closed pairing travel switch that puts in place imports data l into to data register VWO; When No. 2 cutters were in position of manipulator, the closed pairing travel switch that puts in place imported data 2 into to data register VWO; By that analogy, write down current cutter number;
(2) record current request cutter number; When the l cutter was selected in request, PLC obtained signal, and constant l is imported into to data register VW2, made the inner mark bit simultaneously, and other request signals are invalid; When No. 2 cutters were selected in request, PLC obtained signal, and constant 2 is imported into to data register VW2, made the inner mark bit simultaneously, and other request signals are invalid; By that analogy, the current request cutter of record number;
(3) after internal register set, compare instruction makes:
If 1. register data VWO>VW2, then carry out subtraction VWO-VW2, operation result deposits among the VW6, then the data among the VW6 is compared in next logical line;
If VW6>3, then tool magazine is nearest from request cutter reverse direction, and stepper motor reverses to eastern tool magazine;
If VW6-3, then tool magazine is nearest from request cutter number clockwise direction; In like manner, < 3, then the motor drives tool magazine is clockwise as if VW6;
If 2. register data VWO-VW2, the indicator lamp that then puts in place is bright, and manipulator begins to get cutter;
If 3. register data VWO VW2, directly subtracting each other is a negative, the result makes mistakes, thereby VWO is added the sum of fixing a cutting tool deducts VW2 after 6, with the data that draw in next logical line relatively;
Repeat above process, make VWO-VW2, manipulator get the cutter operation at last.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010105533536A CN102476305A (en) | 2010-11-22 | 2010-11-22 | Intelligent numerical control machine tool cutter changing manipulator and operation method thereof |
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| CN2010105533536A CN102476305A (en) | 2010-11-22 | 2010-11-22 | Intelligent numerical control machine tool cutter changing manipulator and operation method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551903A (en) * | 2013-10-30 | 2014-02-05 | 桂林机床电器有限公司 | Device for implementing feeding of machine tool |
| CN108919748A (en) * | 2018-08-23 | 2018-11-30 | 苏州捷杰传感技术有限公司 | Numerically-controlled machine tool cutter head service life on-Line Monitor Device and numerically-controlled machine tool |
| CN113305280A (en) * | 2021-07-30 | 2021-08-27 | 江苏中科云控智能工业装备有限公司 | Deburring device based on automatic cutter replacement of die casting machining position |
-
2010
- 2010-11-22 CN CN2010105533536A patent/CN102476305A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551903A (en) * | 2013-10-30 | 2014-02-05 | 桂林机床电器有限公司 | Device for implementing feeding of machine tool |
| CN108919748A (en) * | 2018-08-23 | 2018-11-30 | 苏州捷杰传感技术有限公司 | Numerically-controlled machine tool cutter head service life on-Line Monitor Device and numerically-controlled machine tool |
| CN113305280A (en) * | 2021-07-30 | 2021-08-27 | 江苏中科云控智能工业装备有限公司 | Deburring device based on automatic cutter replacement of die casting machining position |
| CN113305280B (en) * | 2021-07-30 | 2021-11-05 | 江苏中科云控智能工业装备有限公司 | Deburring device based on automatic cutter replacement of die casting machining position |
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Application publication date: 20120530 |