CN107885168A - Tool magazine motion control method, apparatus and system - Google Patents
Tool magazine motion control method, apparatus and system Download PDFInfo
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- CN107885168A CN107885168A CN201711117755.XA CN201711117755A CN107885168A CN 107885168 A CN107885168 A CN 107885168A CN 201711117755 A CN201711117755 A CN 201711117755A CN 107885168 A CN107885168 A CN 107885168A
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- broach shell
- identification code
- interval
- knife chain
- motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Milling, Broaching, Filing, Reaming, And Others (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The present invention provides a kind of tool magazine motion control method, apparatus and system.Scheme provided by the invention is by receiving control command；Determine the first interval broach shell number；When the first interval broach shell number is more than predetermined threshold value, control knife chain is with the first predetermined movement regular motion；When the first interval broach shell number is less than or equal to predetermined threshold value, control knife chain is with the second predetermined movement regular motion；Wherein, average movement velocity of the knife chain under the first predetermined movement rule is more than average movement velocity of the knife chain under the second predetermined movement rule；When the first interval broach shell number that the identification code of acquisition is target identification code or determination is zero, brake signal is generated, so as to the stop motion of knife chain and cause broach shell corresponding to target identification code to stop at dismounting mouth.I.e. the program can make target broach shell stop accurate stopping to dismounting mouth, while also reduce the run duration of knife chain, contribute to the efficiency of lifting dismounting cutter.
Description
Technical field
The present invention relates to numerical control machine tool technique field, in particular to a kind of tool magazine motion control method, device and is
System.
Background technology
In Modern NC Machine Tool manufactures and processes, in order to save process time, operating personnel are generally in the knife chain of tool magazine
On fill multiple cutters.And the cutter on knife chain needs to be dismounted.For example the cutter on knife chain goes wrong, just need to change.
But in the prior art, operationally, knife chain movement speed, it is not easy to stop the cutter on knife chain to the position specified
Dismounted.Although knife chain can be made persistently to keep low-speed motion, by artificially braking so that the cutter for needing to change stops at finger
Positioning is put, but so understands the delay time at stop, causes the efficiency for changing cutter low.Therefore, above-mentioned ask can be solved by how providing one kind
The scheme of topic is with the technical problem as those skilled in the art's urgent need to resolve.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the present invention provides a kind of tool magazine motion control method, device and is
System, can make target tool stop at dismounting mouth, accelerate the movement velocity of knife chain, shorten the run duration of knife chain, with lifting
The efficiency of cutter is dismounted, and then is solved the above problems.
To achieve these goals, the technical scheme that present pre-ferred embodiments are provided is as follows：
Present pre-ferred embodiments provide a kind of tool magazine motion control method, for dismounting the cutter in tool magazine, the knife
Storehouse includes movable closed knife chain, and at least one broach shell for being used to connect cutter is provided with the knife chain, and the tool magazine is opened
Provided with the dismounting mouth for dismounting the cutter, methods described includes：
Control instruction is received, the control instruction includes needing the identification code for dismounting broach shell corresponding to cutter, and this is marked
Code is known as target identification code；
Judge whether the knife chain moves；
If the knife chain is kept in motion, the current identification code of broach shell and the fortune of knife chain corresponding to the dismounting mouth are obtained
Dynamic direction, according to the direction of motion of the current identification code and the knife chain of acquisition, determines knife corresponding to the target identification code
Set is along the interval broach shell number between direction of motion broach shell corresponding with the current identification code, to be used as the first interval broach shell
Number；
Judge whether first interval broach shell number is more than predetermined threshold value；
When to be, the knife chain is controlled with the first predetermined movement regular motion；
For it is no when, control the knife chain with the second predetermined movement regular motion, wherein, the knife chain is pre- described first
If the average movement velocity under sports rule is more than average movement velocity of the knife chain under the second predetermined movement rule；
It is zero in first interval broach shell number that the current identification code of acquisition is the target identification code or determination
When, the knife chain stop motion is controlled with so that broach shell corresponding to the target identification code stops at the dismounting mouth.
In the preferred embodiment, before the step of above-mentioned reception control instruction, methods described also includes：
The broach shell on knife chain is identified according to preset rules, to obtain the identification code of each broach shell；
Identification code corresponding to the broach shell is associated with the cutter being connected on the broach shell.
In the preferred embodiment, if judging, obtaining the knife chain remains static, and methods described also includes：
The current identification code of broach shell corresponding to the dismounting mouth is obtained, by broach shell corresponding to the target identification code along first
Interval broach shell number between the broach shell corresponding with the current identification code of direction is as the second interval broach shell number, by the target mark
Know broach shell corresponding to code in a second direction the interval broach shell number between broach shell corresponding with the current identification code as between the 3rd
Every broach shell number, wherein, the first direction and second direction are the default two reverse motions directions of knife chain；
Compare the second interval broach shell number and the 3rd interval broach shell number；
When the described second interval broach shell number is less than or equal to the described 3rd interval broach shell number, the first movement instruction is generated, with
The knife chain is set to be moved along the first direction；
When the described second interval broach shell number is more than the described 3rd interval broach shell number, the second movement instruction is generated, so that institute
Knife chain is stated to move along the second direction.
In the preferred embodiment, it is above-mentioned when to be, control the knife chain to be transported with the first predetermined movement rule
Dynamic step, including：
When the described first interval broach shell number is more than the predetermined threshold value, the knife chain is controlled to be transported with the first pre-set velocity
It is dynamic, or control the knife chain to be accelerated with the first predetermined acceleration.
In the preferred embodiment, it is above-mentioned for it is no when, control the knife chain with the second predetermined movement rule transport
Dynamic step, including：
When the described first interval broach shell number is less than or equal to the predetermined threshold value, the knife chain is controlled with the second pre-set velocity
Motion, or the control knife chain is with the second predetermined acceleration retarded motion.
Presently preferred embodiments of the present invention provides a kind of tool magazine motion control device, described for dismounting the cutter in tool magazine
Tool magazine includes movable closed knife chain, and at least one broach shell for being used to connect cutter, the tool magazine are provided with the knife chain
The dismounting mouth for dismounting the cutter is offered, the tool magazine motion control device includes：
Receiving unit, for receiving control instruction, the control instruction includes needing the mark for dismounting broach shell corresponding to cutter
Know code, and using the identification code as target identification code；
First judging unit, for judging whether the knife chain moves；
Acquiring unit, for when the judged result of first judging unit is is, obtaining corresponding to the dismounting mouth
The current identification code of broach shell and the direction of motion of knife chain, according to the direction of motion of the current identification code and the knife chain of acquisition,
Determine broach shell corresponding to the target identification code along the interval between direction of motion broach shell corresponding with the current identification code
Broach shell number, to be used as the first interval broach shell number；
Second judging unit, judges whether first interval broach shell number is more than predetermined threshold value；
First control unit, for when the judged result of second judging unit is is, controlling the knife chain with the
One predetermined movement regular motion；
Second control unit, for second judging unit judged result for it is no when, control the knife chain with the
Two predetermined movement regular motions, wherein, average movement velocity of the knife chain under the first predetermined movement rule is more than institute
State average movement velocity of the knife chain under the second predetermined movement rule；
Brake unit, between the current identification code of acquisition is described the first of the target identification code or determination
When broach shell number is zero, the knife chain stop motion is controlled with so that broach shell corresponding to the target identification code stops at described tear open
Fill mouth.
In the preferred embodiment, above-mentioned tool magazine motion control device also includes comparing unit, the first instruction life
Into unit and the second instruction generation unit；
The acquiring unit is additionally operable to, and the current identification code of broach shell corresponding to the dismounting mouth is obtained, by the target mark
Know broach shell corresponding to code in the first direction the interval broach shell number between broach shell corresponding with the current identification code as between second
Every broach shell number, by between broach shell corresponding to the target identification code in a second direction broach shell corresponding with the current identification code
Broach shell number is spaced as the 3rd interval broach shell number, wherein, the first direction is that default two of knife chain is opposite with second direction
The direction of motion；
The comparing unit, for comparing the second interval broach shell number and the 3rd interval broach shell number；
First instruction generation unit, for being less than or equal to the described 3rd interval broach shell in the described second interval broach shell number
During number, the first movement instruction is generated, so that the knife chain moves along the first direction；
Second instruction generation unit, for being more than the described 3rd interval broach shell number in the described second interval broach shell number
When, the second movement instruction is generated, so that the knife chain moves along the second direction.
In the preferred embodiment, above-mentioned first control unit is additionally operable to, when the described first interval broach shell number is big
When the predetermined threshold value, the knife chain is controlled to be moved with the first pre-set velocity, or the control knife chain is preset with first and added
Speed accelerates.
Presently preferred embodiments of the present invention also provides a kind of tool magazine kinetic control system, and the tool magazine kinetic control system includes
The tool magazine motion control device being electrically connected with the knife chain in tool magazine, the tool magazine include movable closed knife chain, the knife
Storehouse motion control device includes the directive generation module being electrically connected with the knife chain；
The tool magazine motion control device is used for：
Control instruction is received, the control instruction includes needing the identification code for dismounting broach shell corresponding to cutter, and this is marked
Code is known as target identification code；
Judge whether the knife chain moves；
If the knife chain is kept in motion, the current identification code of broach shell and the fortune of knife chain corresponding to the dismounting mouth are obtained
Dynamic direction, according to the direction of motion of the current identification code and the knife chain of acquisition, determines knife corresponding to the target identification code
Set is along the interval broach shell number between direction of motion broach shell corresponding with the current identification code, to be used as the first interval broach shell
Number；
Judge whether first interval broach shell number is more than predetermined threshold value；
When to be, the knife chain is controlled with the first predetermined movement regular motion；
For it is no when, control the knife chain with the second predetermined movement regular motion, wherein, the knife chain is pre- described first
If the average movement velocity under sports rule is more than average movement velocity of the knife chain under the second predetermined movement rule；
It is zero in first interval broach shell number that the current identification code of acquisition is the target identification code or determination
When, the knife chain stop motion is controlled with so that broach shell corresponding to the target identification code stops at the dismounting mouth.
In the preferred embodiment, above-mentioned directive generation module includes at least one in button, knob, keyboard
Kind.
In terms of existing technologies, tool magazine motion control method provided by the invention, apparatus and system at least have with
Lower beneficial effect：Scheme provided by the invention is by receiving control command；Determine the first broach shell number；When the first interval broach shell number is big
When predetermined threshold value, control knife chain is with the first predetermined movement regular motion；When the first interval broach shell number is less than or equal to predetermined threshold value
When, control knife chain is with the second predetermined movement regular motion；Wherein, average movement velocity of the knife chain under the first predetermined movement rule
More than average movement velocity of the knife chain under the second predetermined movement rule；It is target identification code or determination in the identification code of acquisition
The first interval broach shell number when being zero, brake signal is generated, so as to the stop motion of knife chain and cause knife corresponding to target identification code
Set stops at dismounting mouth.I.e. the program can make target broach shell stop accurate stopping to dismounting mouth, while also reduce the fortune of knife chain
The dynamic time, contribute to the efficiency of lifting dismounting cutter.
To enable the above objects, features and advantages of the present invention to become apparent, present pre-ferred embodiments cited below particularly,
And accompanying drawing appended by coordinating, it is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described.It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the block diagram for the tool magazine kinetic control system that present pre-ferred embodiments provide.
Fig. 2 is a kind of schematic flow sheet for the tool magazine motion control method that present pre-ferred embodiments provide.
Fig. 3 is another part schematic flow sheet for the tool magazine motion control method that present pre-ferred embodiments provide.
Fig. 4 is one of block diagram of tool magazine motion control device that present pre-ferred embodiments provide.
Fig. 5 is the two of the block diagram for the tool magazine motion control device that present pre-ferred embodiments provide.
Icon：10- tool magazine kinetic control systems；11- knife chains；12- broach shells；13- target broach shells；14- dismounts mouth；100- knives
Storehouse motion control device；110- receiving units；The judging units of 120- first；130- acquiring units；The judging units of 140- second；
The control units of 151- first；The control units of 152- second；160- brake units；170- comparing units；The instruction generations of 181- first
Unit；The instruction generation units of 182- second；190- directive generation modules.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes.Obviously, described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on embodiments of the invention, people in the art
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.In addition, term " the
One ", " second " etc. is only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 is refer to, is the block diagram for the tool magazine kinetic control system 10 that present pre-ferred embodiments provide.This hair
The tool magazine kinetic control system 10 that bright embodiment provides in the cutter in dismounting tool magazine, can control the motion state of knife chain 11,
By improving average speed of the knife chain 11 in motion process, shorten the run duration of knife chain 11, to improve in knife chain 11
The disassembly efficiency of cutter.Wherein, the tool magazine can be the tool magazine of the Digit Control Machine Tool of boring and milling class, for by cutter by material to be processed
Material (such as sheet metal, plastic plate) is processed into the parts specified.
In the present embodiment, the tool magazine kinetic control system 10 includes transporting with the tool magazine that the knife chain 11 in tool magazine is electrically connected with
Dynamic control device 100, the tool magazine include movable closed knife chain 11, and the tool magazine motion control device 100 includes and institute
State the directive generation module 190 of the electric connection of knife chain 11.It is understood that in the present embodiment, the knife set on knife chain 11
The quantity of set 12 can be not especially limited to the quantity of broach shell 12 on knife chain 11 here than more or less shown in Fig. 1.
Wherein, directive generation module 190 includes at least one of button, knob, keyboard.Such as instruction generation mould
Block 190 may be, but not limited to, digital encoding band switch, push button toggle switch, numeric keypad etc..The instruction generates mould
Block 190 is used to generate control instruction, and the control instruction is used to make target broach shell 13 move to dismounting mouth 14, it will be appreciated that ground, target
Broach shell 13 is broach shell 12 corresponding to target identification code, and the target identification code can need the cutter institute dismounted for operating personnel
The numbering of corresponding broach shell 12.
For example if directive generation module 190 is digital encoding band switch, 2 or 3 digital encoding wave bands can be used
The device as control instruction generation is switched, and sends what is pre-set into tool magazine motion control device 100 with binary-coded decimal form
Processing module (processing module can be central processing unit, single-chip microcomputer etc.), to obtain target identification code.For non-binary-coded decimal
Input, can be converted into binary-coded decimal by processing module, in order to extend the quantity of control broach shell 12.
The tool magazine motion control device 100 can be used for performing tool magazine motion control method as shown in Figure 2, to cause mesh
Broach shell 13 is marked quickly to stop to dismounting mouth 14.When target broach shell 13 stops at dismounting mouth 14, operating personnel can carry out detachable knife
The operation of tool.For example if desired the cutter on replacing target broach shell 13, operating personnel can manually trigger and be set in advance on tool magazine
Unload knife button, knife signal is unloaded with generation, so that the loosening cutter of target broach shell 13, and then causes the replaceable target of operating personnel
Cutter on broach shell 13.Wherein, this unloads knife button and is electrically connected with the broach shell 12 in knife chain 11.
Fig. 2 is refer to, is a kind of schematic flow sheet for the tool magazine motion control method that present pre-ferred embodiments provide.This
The tool magazine motion control method that invention provides can apply to above-mentioned tool magazine kinetic control system 10, to cause on knife chain 11
Target broach shell 13 rapidly and accurately stops dismounting cutter to target broach shell 13 to dismounting mouth 14, personnel easy to operation.
Each step of the tool magazine motion control method shown in Fig. 2 will be described in detail below, in the present embodiment, should
Tool magazine motion control method may comprise steps of：
Step S210, receives control instruction, and the control instruction includes needing the mark for dismounting broach shell 12 corresponding to cutter
Code, and using the identification code as target identification code.
In the present embodiment, the control instruction can be believed by above-mentioned directive generation module 190 according to the triggering of reception
Number generation.For example operating personnel input a numeral by numeric keypad, the numeral, should in the Serial Number Range pre-set
For numbering namely with 12 corresponding identification code of broach shell, the numeral of input is just target identification code.
Before step S210, this method can also include：Rower is entered to the broach shell 12 on knife chain 11 according to preset rules
Know, to obtain the identification code of each broach shell 12；By identification code corresponding to the broach shell 12 and the cutter being connected on the broach shell 12
It is associated.
Understandably, can be numbered by being set to broach shell 12, to be used as corresponding identification code.The numbering of the broach shell 12 can be with
For the numbering of the integer more than 0 continuously set or the positive integer digital number set into equal difference, do not limit specifically here
It is fixed.And can be set corresponding with broach shell 12 on cutter or be identically numbered, cutter corresponding to personal identification easy to operation and dismounting.
Step S220, judges whether the knife chain 11 moves.
Understandably, when knife chain 11 remains static, then the target tool path nearest from dismounting mouth 14 can be calculated,
So that knife chain 11 moves along the path, shorten the run duration of knife chain 11.
Step S230, if the knife chain 11 is kept in motion, obtain the current of broach shell 12 corresponding to the dismounting mouth 14
The direction of motion of identification code and knife chain 11, according to the direction of motion of the current identification code and the knife chain 11 of acquisition, determine institute
Broach shell 12 corresponding to target identification code is stated along the interval knife between direction of motion broach shell 12 corresponding with the current identification code
Tricks, to be used as the first interval broach shell number.
In the present embodiment, dismounting the current identification code of broach shell 12 corresponding to mouth 14 can be accumulated by by counter, than
Such as, at the beginning of knife chain 11 moves, the identification code for dismounting knife chain 11 corresponding to mouth 14 is the identification code of counter records, when knife chain
After 11 motions, the direction of motion of knife chain 11 can be coordinated according to counter, record broach shell 12 by dismounting mouth 14 number, according to working as
The number of preceding record, it also can just obtain being currently located at the identification code of the broach shell 12 of dismounting mouth 14, that is, current identification code.When
So, the current identification code can also be obtained by other means, for example the broach shell of dismounting mouth 14 is currently located at by IMAQ
12 identification code, current identification code is directly obtained, the mode for obtaining current identification code is not especially limited here.
Understandably, when knife chain 11 is kept in motion, target identification can be determined along the current direction of motion of knife chain 11
Broach shell number difference between broach shell 12 corresponding to code and dismounting mouth 14, to be used as the first interval broach shell number.For example, the broach shell set
12 identification code is continuous numeral, it is assumed that 50 broach shells 12 are provided with knife chain 11, the identification code being correspondingly arranged is 1 to 50,
Target identification code is 20, and is 39 in the identification code of broach shell 12 corresponding to the dismounting mouth 14 currently obtained, if the motion of knife chain 11
Direction is the incremental direction of identification code, then just for 19, (namely target identification code is corresponding with dismounting mouth 14 for the first interval broach shell number
Broach shell 12 identification code difference absolute value).If the direction of motion of knife chain 11 is the direction that identification code successively decreases, between first
Just it is 31 every broach shell number, that is, maximum identification code subtracts target identification code and the identification code of the corresponding broach shell 12 of dismounting mouth 14
The absolute value (that is, 50- | 20-39 |=31) of difference.
Certainly, if identification code is other be not 1 equal difference form numbering, it is necessary to be converted into numbering that equal difference is 1 (here
Do not repeat), the first interval broach shell number then can be calculated by above-mentioned mode.
Step S240, judges whether first interval broach shell number is more than predetermined threshold value.
In the present embodiment, the predetermined threshold value can be configured according to actual conditions, it is preferable that the predetermined threshold value is smaller
Numerical value, such as 1,2,3 etc..
Step S250, when to be, the knife chain 11 is controlled with the first predetermined movement regular motion.
Further, step S250 can be：When the described first interval broach shell number is more than the predetermined threshold value, institute is controlled
State knife chain 11 to move with the first pre-set velocity, or the control knife chain 11 is accelerated with the first predetermined acceleration.Wherein,
One pre-set velocity and the first predetermined acceleration can be configured according to actual conditions, be not especially limited here.
Step S260, for it is no when, control the knife chain 11 with the second predetermined movement regular motion, wherein, the knife chain
11 average movement velocity under the first predetermined movement rule is more than the knife chain 11 under the second predetermined movement rule
Average movement velocity.
Further, step S260 can be：When the described first interval broach shell number is less than or equal to the predetermined threshold value, control
Make the knife chain 11 to move with the second pre-set velocity, or the control knife chain 11 is with the second predetermined acceleration retarded motion.Its
In, the first pre-set velocity is more than the second pre-set velocity, and the second predetermined acceleration can be more than the first predetermined acceleration, to cause mesh
Mark broach shell 13 can quickly move to dismounting mouth 14.
Understandably, during knife chain 11 is with the first predetermined movement rule, the first interval broach shell number will persistently be judged
Whether it is more than predetermined threshold value, when the first interval broach shell number is less than or equal to predetermined threshold value, just controls knife chain 11 with the second default fortune
Dynamic regular motion.
Step S270, it is the target identification code or first interval knife of determination in the current identification code of acquisition
When tricks is zero, the stop motion of knife chain 11 is controlled with so that broach shell 12 corresponding to the target identification code stops at described tear open
Fill mouth 14.
In the present embodiment, when target broach shell 13 moves to dismounting mouth 14, that is, the identification code obtained is institute
First interval broach shell number for stating target identification code or determination is zero, just generates brake signal, so that the stop motion of knife chain 11,
Also allow for target broach shell 13 and stop at dismounting mouth 14
Incorporated by reference to reference picture 1 and Fig. 3, wherein, Fig. 3 is the tool magazine motion control method that present pre-ferred embodiments provide
Another part schematic flow sheet.If judgement obtains the knife chain 11 and remained static, this method can also include step S221
To step S224.If namely detecting, knife chain 11 remains static, it is thus necessary to determine that the direction of motion of knife chain 11, so that knife chain
11 move along minimal path so that target broach shell 13 quickly moves to dismounting mouth 14.
Step S221, the current identification code of broach shell 12 corresponding to the dismounting mouth 14 is obtained, the target identification code is right
The broach shell 12 answered in the first direction the interval broach shell number between broach shell 12 corresponding with the current identification code as the second interval
Broach shell number, by between broach shell 12 corresponding to the target identification code in a second direction broach shell 12 corresponding with the current identification code
Interval broach shell number as the 3rd interval broach shell number, wherein, the first direction and second direction are 11 default two, knife chain
Reverse motions direction.
Understandably, first direction is 11 default forward direction of knife chain, and second direction can be that knife chain 11 is default anti-
Turn direction, or first direction is 11 default reverse directions of knife chain, second direction can be 11 default forward direction of knife chain.
Because knife chain 11 is the shape of closure, i.e. the interval broach shell number between target broach shell 13 and dismounting mouth 14 has two kinds of situations, also
Need to judge the size of interval broach shell number corresponding to two kinds of situations, that is, step S222.
Step S222, compare the second interval broach shell number and the 3rd interval broach shell number.
Step S223, when the described second interval broach shell number is less than or equal to the described 3rd interval broach shell number, the fortune of generation first
Dynamic instruction, so that the knife chain 11 moves along the first direction.
Step S224, when the described second interval broach shell number is more than the described 3rd interval broach shell number, the motion of generation second refers to
Order, so that the knife chain 11 moves along the second direction.
Understandably, by judging that the second interval broach shell number and the 3rd is spaced the size of broach shell number, it may be determined that knife chain 11
Minimum movement path, and select the minimal path to move, then perform step S230 to step S270.Namely by minimal path
Then corresponding second interval broach shell number or the 3rd interval broach shell number perform step S240 to step as the first interval broach shell number
S270 (identical with above-mentioned steps S240- steps S270, to repeat no more here), further to shorten the run duration of knife chain 11,
It is favorably improved the efficiency of dismounting cutter.
Refer to Fig. 4, be present pre-ferred embodiments provide tool magazine motion control device 100 block diagram it
One.Tool magazine motion control device 100 provided by the invention is engaged with above-mentioned tool magazine motion control method, and operating personnel can root
Target broach shell 13 (for example broach shell 12 corresponding to target broach shell 13 is inputted by instruction input module) is determined according to demand, by this
Tool magazine motion control device 100 makes the target broach shell 13 on knife chain 11 rapidly and accurately stop to dismounting mouth 14.The tool magazine moves
Control device 100 can include receiving unit 110, the first judging unit 120, acquiring unit 130, the second judging unit 140, the
One control unit 151, the second control unit 152 and brake unit 160.
The receiving unit 110, for receiving control instruction, the control instruction includes needing to dismount knife corresponding to cutter
The identification code of set 12, and using the identification code as target identification code.The receiving unit 110 can be used for performing the step shown in Fig. 2
Rapid S210, specific operating procedure can refer to the detailed description to step S210.
First judging unit 120, for judging whether the knife chain 11 moves.First judging unit 120 can be with
For performing the step S220 shown in Fig. 2, specific operating procedure can refer to the detailed description to step S220.
The acquiring unit 130, for when the judged result of first judging unit 120 is, obtaining the dismounting
The current identification code of broach shell 12 and the direction of motion of knife chain 11 corresponding to mouth 14, according to the current identification code and the knife of acquisition
The direction of motion of chain 11, determine that broach shell 12 is corresponding with the current identification code along the direction of motion corresponding to the target identification code
Broach shell 12 between interval broach shell number, to be used as the first interval broach shell number.The acquiring unit 130 can be used for performing Fig. 2 institutes
The step S230 shown, specific operating procedure can refer to the detailed description to step S230.
Second judging unit 140, judges whether first interval broach shell number is more than predetermined threshold value.Second judgement
Unit 140 can be used for performing the step S240 shown in Fig. 2, and specific operating procedure can refer to retouching in detail to step S240
State.
First control unit 151, for when the judged result of second judging unit 140 is is, controlling institute
Knife chain 11 is stated with the first predetermined movement regular motion.First control unit 151 can be used for performing the step shown in Fig. 2
S250, specific operating procedure can refer to the detailed description to step S250.
Second control unit 152, for when the judged result of second judging unit 140 is no, controlling institute
Knife chain 11 is stated with the second predetermined movement regular motion, wherein, the knife chain 11 being averaged under the first predetermined movement rule
Movement velocity is more than average movement velocity of the knife chain 11 under the second predetermined movement rule.Second control unit 152 can
For performing the step S260 shown in Fig. 2, specific operating procedure can refer to the detailed description to step S260.
The brake unit 160, for being the target identification code or the institute of determination in the current identification code of acquisition
When to state the first interval broach shell number be zero, the stop motion of knife chain 11 is controlled to cause broach shell 12 corresponding to the target identification code
Stop at the dismounting mouth 14.The brake unit 160 can be used for performing the step S270 shown in Fig. 2, specific operating procedure
It can refer to the detailed description to step S270.
Refer to Fig. 5, be present pre-ferred embodiments provide tool magazine motion control device 100 block diagram it
Two.Tool magazine motion control device 100 also includes comparing unit 170, the first instruction generation unit 181 and the second instruction generation unit
182。
The acquiring unit 130 is additionally operable to, and when knife chain 11 remains static, obtains knife corresponding to the dismounting mouth 14
The current identification code of set 12, broach shell 12 corresponding to the target identification code is corresponding with the current identification code in the first direction
Interval broach shell number between broach shell 12 is as the second interval broach shell number, by broach shell 12 corresponding to the target identification code along second party
To the interval broach shell number between broach shell 12 corresponding with the current identification code as the 3rd interval broach shell number, wherein, described the
One direction and second direction are 11 default two reverse motions directions of knife chain.The acquiring unit 130 can be used for performing Fig. 3 institutes
The step S221 shown, specific operating procedure can refer to the detailed description to step S221.
The comparing unit 170, for comparing the second interval broach shell number and the 3rd interval broach shell number.The comparing unit
170 can be used for performing the step S222 shown in Fig. 3, and specific operating procedure can refer to the detailed description to step S222.
First instruction generation unit 181, for being less than or equal to the described 3rd interval in the described second interval broach shell number
During broach shell number, the first movement instruction is generated, so that the knife chain 11 moves along the first direction.First instruction generation unit
181 can be used for performing the step S223 shown in Fig. 3, and specific operating procedure can refer to the detailed description to step S223.
Second instruction generation unit 182, for being more than the described 3rd interval broach shell in the described second interval broach shell number
During number, the second movement instruction is generated, so that the knife chain 11 moves along the second direction.Second instruction generation unit 182
It can be used for performing the step S224 shown in Fig. 3, specific operating procedure can refer to the detailed description to step S224.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can lead to
Hardware realization is crossed, the mode of necessary general hardware platform can also be added by software to realize, based on such understanding, this hair
Bright technical scheme can be embodied in the form of software product, and the software product can be stored in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are causing a Digit Control Machine Tool to perform this hair
Method described in bright each implement scene.
In summary, the present invention provides a kind of tool magazine motion control method, apparatus and system.Scheme provided by the invention is led to
Cross reception control command；Determine the first broach shell number；When the first interval broach shell number is more than predetermined threshold value, control knife chain is pre- with first
If sports rule moves；When the first interval broach shell number is less than or equal to predetermined threshold value, control knife chain is with the second predetermined movement rule
Motion；Wherein, average movement velocity of the knife chain under the first predetermined movement rule is more than the knife chain in the second predetermined movement rule
Under average movement velocity；When the first interval broach shell number that the identification code of acquisition is target identification code or determination is zero, generation
Brake signal so that the stop motion of knife chain and cause broach shell corresponding to target identification code stop at dismounting mouth.I.e. the program can make
Target broach shell stops accurate stopping to dismounting mouth, while also reduces the run duration of knife chain, contributes to lifting dismounting cutter
Efficiency.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of tool magazine motion control method, for dismounting the cutter in tool magazine, it is characterised in that the tool magazine includes movable
Closed knife chain, at least one broach shell for being used to connect cutter is provided with the knife chain, the tool magazine is offered for dismounting
The dismounting mouth of the cutter, methods described include：
Control instruction is received, the control instruction includes needing the identification code for dismounting broach shell corresponding to cutter, and by the identification code
As target identification code；
Judge whether the knife chain moves；
If the knife chain is kept in motion, the current identification code of broach shell and the motion side of knife chain corresponding to the dismounting mouth are obtained
To according to the direction of motion of the current identification code and the knife chain of acquisition, determining broach shell edge corresponding to the target identification code
Interval broach shell number between direction of motion broach shell corresponding with the current identification code, to be used as the first interval broach shell number；
Judge whether first interval broach shell number is more than predetermined threshold value；
When to be, the knife chain is controlled with the first predetermined movement regular motion；
For it is no when, control the knife chain with the second predetermined movement regular motion, wherein, the knife chain is in the described first default fortune
Average movement velocity under dynamic rule is more than average movement velocity of the knife chain under the second predetermined movement rule；
When first interval broach shell number that the current identification code of acquisition is the target identification code or determination is zero, control
The knife chain stop motion is made with so that broach shell corresponding to the target identification code stops at the dismounting mouth.
2. according to the method for claim 1, it is characterised in that before described the step of receiving control instruction, methods described
Also include：
The broach shell on knife chain is identified according to preset rules, to obtain the identification code of each broach shell；
Identification code corresponding to the broach shell is associated with the cutter being connected on the broach shell.
3. according to the method for claim 1, it is characterised in that if judging, obtaining the knife chain remains static, described
Method also includes：
The current identification code of broach shell corresponding to the dismounting mouth is obtained, by broach shell corresponding to the target identification code in the first direction
Interval broach shell number between broach shell corresponding with the current identification code is as the second interval broach shell number, by the target identification code
Corresponding broach shell in a second direction the interval broach shell number between broach shell corresponding with the current identification code as the 3rd interval knife
Tricks, wherein, the first direction and second direction are the default two reverse motions directions of knife chain；
Compare the second interval broach shell number and the 3rd interval broach shell number；
When the described second interval broach shell number is less than or equal to the described 3rd interval broach shell number, the first movement instruction is generated, so that institute
Knife chain is stated to move along the first direction；
When the described second interval broach shell number is more than the described 3rd interval broach shell number, the second movement instruction is generated, so that the knife
Chain moves along the second direction.
4. according to the method for claim 1, it is characterised in that it is described when to be, control the knife chain default with first
The step of sports rule moves, including：
When the described first interval broach shell number is more than the predetermined threshold value, the knife chain is controlled to be moved with the first pre-set velocity, or
Person controls the knife chain to be accelerated with the first predetermined acceleration.
5. according to the method for claim 4, it is characterised in that it is described for it is no when, control the knife chain default with second
The step of sports rule moves, including：
When the described first interval broach shell number is less than or equal to the predetermined threshold value, the knife chain is controlled to be transported with the second pre-set velocity
It is dynamic, or the control knife chain is with the second predetermined acceleration retarded motion.
6. a kind of tool magazine motion control device, for dismounting the cutter in tool magazine, it is characterised in that the tool magazine includes movable
Closed knife chain, at least one broach shell for being used to connect cutter is provided with the knife chain, the tool magazine is offered for dismounting
The dismounting mouth of the cutter, the tool magazine motion control device include：
Receiving unit, for receiving control instruction, the control instruction includes needing the identification code for dismounting broach shell corresponding to cutter,
And using the identification code as target identification code；
First judging unit, for judging whether the knife chain moves；
Acquiring unit, for when the judged result of first judging unit is is, obtaining broach shell corresponding to the dismounting mouth
Current identification code and knife chain the direction of motion, according to the direction of motion of the current identification code and the knife chain of acquisition, it is determined that
Broach shell corresponding to the target identification code is along the interval broach shell between direction of motion broach shell corresponding with the current identification code
Number, to be used as the first interval broach shell number；
Second judging unit, judges whether first interval broach shell number is more than predetermined threshold value；
First control unit, for when the judged result of second judging unit is is, controlling the knife chain pre- with first
If sports rule moves；
Second control unit, for when the judged result of second judging unit is no, controlling the knife chain pre- with second
If sports rule moves, wherein, average movement velocity of the knife chain under the first predetermined movement rule is more than the knife
Average movement velocity of the chain under the second predetermined movement rule；
Brake unit, for being the target identification code or first interval knife of determination in the current identification code of acquisition
When tricks is zero, the knife chain stop motion is controlled with so that broach shell corresponding to the target identification code stops at the dismounting
Mouthful.
7. tool magazine motion control device according to claim 6, it is characterised in that the tool magazine motion control device also wraps
Include comparing unit, the first instruction generation unit and the second instruction generation unit；
The acquiring unit is additionally operable to, and the current identification code of broach shell corresponding to the dismounting mouth is obtained, by the target identification code
Corresponding broach shell in the first direction the interval broach shell number between broach shell corresponding with the current identification code as the second interval knife
Tricks, by the interval between broach shell corresponding to the target identification code in a second direction broach shell corresponding with the current identification code
Broach shell number is spaced broach shell number as the 3rd, wherein, the first direction and second direction are default two reverse motions of knife chain
Direction；
The comparing unit, for comparing the second interval broach shell number and the 3rd interval broach shell number；
First instruction generation unit, for being less than or equal to the described 3rd interval broach shell number in the described second interval broach shell number
When, the first movement instruction is generated, so that the knife chain moves along the first direction；
Second instruction generation unit, for when the described second interval broach shell number is more than the described 3rd interval broach shell number, giving birth to
Into the second movement instruction, so that the knife chain moves along the second direction.
8. tool magazine motion control device according to claim 6, it is characterised in that first control unit is additionally operable to,
When the described first interval broach shell number is more than the predetermined threshold value, the knife chain is controlled to be moved with the first pre-set velocity, or control
The knife chain is made to accelerate with the first predetermined acceleration.
9. a kind of tool magazine kinetic control system, it is characterised in that the tool magazine kinetic control system includes and the knife chain in tool magazine
The tool magazine motion control device of electric connection, the tool magazine include movable closed knife chain, the tool magazine motion control device
Including the directive generation module being electrically connected with the knife chain；
The tool magazine motion control device is used for：
Control instruction is received, the control instruction includes needing the identification code for dismounting broach shell corresponding to cutter, and by the identification code
As target identification code；
Judge whether the knife chain moves；
If the knife chain is kept in motion, the current identification code of broach shell and the motion side of knife chain corresponding to the dismounting mouth are obtained
To according to the direction of motion of the current identification code and the knife chain of acquisition, determining broach shell edge corresponding to the target identification code
Interval broach shell number between direction of motion broach shell corresponding with the current identification code, to be used as the first interval broach shell number；
Judge whether first interval broach shell number is more than predetermined threshold value；
When to be, the knife chain is controlled with the first predetermined movement regular motion；
For it is no when, control the knife chain with the second predetermined movement regular motion, wherein, the knife chain is in the described first default fortune
Average movement velocity under dynamic rule is more than average movement velocity of the knife chain under the second predetermined movement rule；
When first interval broach shell number that the current identification code of acquisition is the target identification code or determination is zero, control
The knife chain stop motion is made with so that broach shell corresponding to the target identification code stops at the dismounting mouth.
10. tool magazine kinetic control system according to claim 9, it is characterised in that the directive generation module includes pressing
At least one of button, knob, keyboard.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117755.XA CN107885168B (en) | 2017-11-13 | 2017-11-13 | Tool magazine motion control method, apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117755.XA CN107885168B (en) | 2017-11-13 | 2017-11-13 | Tool magazine motion control method, apparatus and system |
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| CN107885168A true CN107885168A (en) | 2018-04-06 |
| CN107885168B CN107885168B (en) | 2019-11-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829105A (en) * | 2021-09-16 | 2021-12-24 | 珠海格力智能装备有限公司 | Tool magazine zero-returning control method and device, processor, storage medium and machine tool equipment |
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| JP2011240424A (en) * | 2010-05-17 | 2011-12-01 | Toshiba Mach Co Ltd | Automatic tool replacing apparatus for precision roll lathe |
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| CN113829105A (en) * | 2021-09-16 | 2021-12-24 | 珠海格力智能装备有限公司 | Tool magazine zero-returning control method and device, processor, storage medium and machine tool equipment |
| CN113829105B (en) * | 2021-09-16 | 2024-05-03 | 珠海格力智能装备有限公司 | Tool magazine return-to-zero control method, device, processor, storage medium and machine tool equipment |
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|---|---|
| CN107885168B (en) | 2019-11-01 |
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