TWI548958B - Numeric Control System and Method of Tool Changing Function - Google Patents
Numeric Control System and Method of Tool Changing Function Download PDFInfo
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Description
本發明係有關於一種數值控制系統，特別是有關於一種具有換刀功能之數值控制系統及其數值控制方法。The present invention relates to a numerical control system, and more particularly to a numerical control system having a tool change function and a numerical control method thereof.
數值控制之工具機進行機械加工時，因應不同加工效果而需要利用不同功能之刀具進行加工，故於工具機中配置一換刀功能以達成此目的。然而，一般工具機進行換刀的過程中，將加工結束的刀具往上拉升至一定位檢查點時，必定將刀具主軸上升的速度降至為0，用以確認刀具主軸之定位是否正確，確保後續刀具收回至刀庫時，刀具可準確地卡合於刀庫的卡栓，接著，當確認刀具主軸已定位後，刀具之上升速度再次從0開始加速並上升至換刀安全點，其代表刀具已確實收入刀庫中，當換上另一刀具後，另一刀具往下降至定位檢查點時，同樣必須進行減速再加速的動作，故整體換刀過程到可進行加工的時間大幅增加，為此，縮短換刀時間為目前所需改善的問題。When the numerically controlled machine tool is machined, it is necessary to use different tools for machining according to different machining effects. Therefore, a tool change function is arranged in the machine tool to achieve this. However, in the process of tool change in the general machine tool, when the tool that has finished machining is pulled up to a positioning check point, the speed of the tool spindle rise must be reduced to 0 to confirm whether the tool spindle is positioned correctly. When the subsequent tool is retracted to the tool magazine, the tool can be accurately engaged with the card holder of the tool magazine. Then, after confirming that the tool spindle has been positioned, the tool's rising speed starts to accelerate from 0 again and rises to the tool change safety point. The representative tool has indeed been included in the tool magazine. When another tool is replaced and the other tool is lowered to the positioning check point, the deceleration and acceleration must also be performed, so the time from the overall tool change to the process can be greatly increased. For this reason, shortening the tool change time is a problem that is currently required to be improved.
針對縮短換刀時間的方式，目前多數是以改善工具機的機構形狀所達成，然而，由於機構須依據各種不同的刀庫進行設計，而非可通用的形式，工具機的成本因而增加。再者，機構的磨損會隨著使用時間增加而產生，故換刀的過程中會有些許誤差而導致換刀效率降低，以改良機構的方式縮短換刀時間相當有限。In view of the way in which the tool change time is shortened, most of them are currently achieved by improving the shape of the machine tool. However, since the mechanism has to be designed according to various tool magazines, rather than a general form, the cost of the machine tool is increased. Furthermore, the wear of the mechanism will increase with the use time, so there will be some errors in the process of changing the tool, which will lead to a decrease in the efficiency of the tool change, and the time for shortening the tool change by means of the improved mechanism is rather limited.
為了解決先前技術所述之問題，本發明之主要目的在於提供一種具有換刀功能之數值控制系統，藉由偵測器偵測刀具主軸之旋轉角度，且數值控制裝置判斷刀具主軸之轉速、位置及旋轉角度後，產生判斷訊號，數值控制裝置根據判斷訊號規劃刀具主軸之轉速與旋轉角度及承載軸之位置以進行換刀，如此一來，在數值控制系統進行換刀時，可視刀具實際移動狀況而決定是否停止垂直拉升，因而達成減少換刀時間、增加產能及提升換刀效率之目的。In order to solve the problems described in the prior art, the main object of the present invention is to provide a numerical control system having a tool change function, wherein the detector detects the rotation angle of the tool spindle, and the numerical control device determines the rotation speed and position of the tool spindle. After the rotation angle, the judgment signal is generated, and the numerical control device plans the rotation speed of the tool spindle and the rotation angle and the position of the bearing shaft according to the determination signal to perform the tool change, so that when the numerical control system performs the tool change, the visible tool actually moves. The situation determines whether to stop the vertical pull, thus achieving the purpose of reducing tool change time, increasing production capacity and improving tool change efficiency.
根據上述目的，本發明主要目的在於提供一種具有換刀功能之數值控制系統，係由一數值控制裝置、一驅動裝置及一加工裝置所組成，加工裝置係由一承載軸馬達、一與承載軸馬達之一端電性連接之承載軸、一刀具主軸馬達、一刀具主軸、一刀庫轉軸馬達、一與刀庫轉軸馬達之一端電性連接之刀庫轉軸、一與刀庫轉軸電性連接之刀庫及一與刀具主軸電性連接之偵測器所組成，驅動裝置電性連接於數值控制裝置、刀庫轉軸馬達、刀具主軸馬達及承載軸馬達，刀庫包含複數個刀具，承載軸電性連接至承載軸馬達、刀具主軸及偵測器，刀具主軸連接於承載軸、刀具主軸馬達、偵測器及這些刀具之其中之一，刀具主軸承載於承載軸上，偵測器電性連接至刀具主軸、承載軸、刀庫轉軸及數值控制裝置，刀具主軸馬達帶動刀具主軸進行旋轉，刀具主軸係沿一實體運動軸X、一實體運動軸Y或一實體運動軸Z運動，實體運動軸X、實體運動軸Y及實體運動軸Z係兩兩互相垂直，其特徵在於:數值控制裝置接收使用者所輸入之一加工檔案，並解析該加工檔案為一換刀指令，該數值控制裝置輸出換刀指令至驅動裝置，驅動裝置藉由換刀指令驅動刀具主軸馬達帶動刀具主軸之轉速減速，且驅動裝置藉由換刀指令驅動承載軸馬達帶動承載軸與刀具主軸沿實體運動軸Z拉升，偵測器偵測刀具主軸之旋轉角度與偵測承載軸之位置，並輸出刀具主軸之旋轉角度與承載軸之位置至數值控制裝置，數值控制裝置根據刀具主軸之旋轉角度計算出刀具主軸之轉速，數值控制裝置根據承載軸之位置以判斷刀具主軸之位置，數值控制裝置判斷刀具主軸之轉速、位置及旋轉角度後，產生一判斷訊號，數值控制裝置根據判斷訊號規劃刀具主軸之轉速、位置及旋轉角度以進行換刀。In view of the above objects, the main object of the present invention is to provide a numerical control system having a tool change function, which is composed of a numerical control device, a driving device and a processing device. The processing device is composed of a bearing shaft motor, a bearing shaft and a bearing shaft. a bearing shaft electrically connected to one end of the motor, a tool spindle motor, a tool spindle, a tool spindle motor, a tool magazine rotating shaft electrically connected to one end of the tool shaft rotating motor, and a knife electrically connected to the tool shaft The library and a detector electrically connected to the tool spindle are electrically connected to the numerical control device, the tool spindle motor, the tool spindle motor and the bearing shaft motor. The tool magazine comprises a plurality of tools, and the bearing shaft is electrically charged. Connected to the bearing shaft motor, the tool spindle and the detector, the tool spindle is connected to the bearing shaft, the tool spindle motor, the detector and one of the tools, the tool spindle is carried on the bearing shaft, and the detector is electrically connected to Tool spindle, bearing shaft, tool magazine shaft and numerical control device, the tool spindle motor drives the tool spindle to rotate, and the tool spindle is along the real axis. The motion axis X, a solid motion axis Y or a solid motion axis Z motion, the physical motion axis X, the physical motion axis Y and the physical motion axis Z are perpendicular to each other, and the numerical control device receives the input by the user. a processing file, and parsing the processing file as a tool change command, the numerical control device outputs a tool change command to the driving device, and the driving device drives the tool spindle motor to drive the spindle speed of the tool to be decelerated by the tool change command, and the driving device is driven by The tool change command drives the bearing shaft motor to drive the bearing shaft and the tool spindle to rise along the solid motion axis Z. The detector detects the rotation angle of the tool spindle and detects the position of the bearing shaft, and outputs the rotation angle of the tool spindle and the bearing shaft. The position-to-value control device calculates the rotation speed of the tool spindle according to the rotation angle of the tool spindle, and the numerical control device determines the position of the tool spindle according to the position of the bearing shaft, and the numerical control device determines the rotation speed, position and rotation angle of the tool spindle After that, a judgment signal is generated, and the numerical control device plans the rotation speed of the tool spindle according to the determination signal. , position and angle of rotation for tool change.
根據上述目的，本發明再一目的在於提供一種具有換刀功能之數值控制方法，用以控制一驅動裝置、一加工裝置之一刀具主軸及該加工裝置之一承載軸，刀具主軸係沿一實體運動軸X、一實體運動軸Y或一實體運動軸Z運動，實體運動軸X、實體運動軸Y及實體運動軸Z係兩兩互相垂直，包括:輸入一換刀指令；降低一刀具主軸之轉速並將用以承載與連接刀具主軸之一承載軸沿實體運動軸Z垂直拉升；判斷刀具主軸之轉速是否為零；根據承載軸之位置判斷刀具主軸之位置是否到達一換刀安全點；將承載軸持續沿實體運動軸Z垂直拉升；進行換刀；判斷是否完成換刀；將承載軸沿實體運動軸Z垂直下降；及根據承載軸之位置判斷刀具主軸之位置是否到達一定位檢查點。According to the above object, another object of the present invention is to provide a numerical control method having a tool change function for controlling a driving device, a tool spindle of a machining device, and a bearing shaft of the machining device, the tool spindle being along an entity The motion axis X, a solid motion axis Y or a solid motion axis Z motion, the solid motion axis X, the physical motion axis Y and the solid motion axis Z system are perpendicular to each other, including: inputting a tool change command; lowering a tool spindle The rotation speed is used to carry and vertically support the bearing shaft of one of the connected tool spindles along the solid motion axis Z; determine whether the rotation speed of the tool spindle is zero; and determine whether the position of the tool spindle reaches a tool change safety point according to the position of the bearing shaft; The bearing shaft is continuously pulled up along the solid motion axis Z; the tool change is performed; whether the tool change is completed; the load bearing shaft is vertically lowered along the solid motion axis Z; and the position of the tool spindle is determined according to the position of the bearing shaft to determine whether the position of the tool spindle reaches a positioning check point.
經上述可知藉由偵測器偵測刀具主軸之旋轉角度與偵測承載軸之位置，且數值控制裝置判斷刀具主軸之轉速、位置及定位資訊後，產生判斷訊號，數值控制裝置根據判斷訊號規劃刀具主軸之轉速與旋轉角度及承載軸之位置以進行換刀，如此一來，在數值控制系統進行換刀時，可視刀具實際移動狀況而決定是否停止垂直拉升，因而達成減少換刀時間、增加產能及提升換刀效率之目的。According to the above, the detector detects the rotation angle of the tool spindle and detects the position of the bearing shaft, and the numerical control device determines the rotation speed, the position and the positioning information of the tool spindle, and generates a judgment signal, and the numerical control device plans according to the judgment signal. The rotation speed of the tool spindle and the rotation angle and the position of the bearing shaft are used for tool change. In this way, when the numerical control system performs the tool change, it is determined whether to stop the vertical lifting according to the actual movement condition of the tool, thereby reducing the tool change time. Increase production capacity and increase the efficiency of tool change.
由於本發明揭露一種具有換刀功能之數值控制系統，其中所利用之刀具主軸馬達帶動刀具、承載軸馬達帶動承載軸及刀庫轉軸馬達帶動刀庫轉軸的方式，已為相關技術領域具有通常知識者所能明瞭，故以下文中之說明，不再作完整描述。同時，以下文中所對照之圖式，係表達與本發明之具有換刀功能之數值控制系統特徵有關之系統結構及功能示意，並未依據實際尺寸完整繪製，盍先敘明。The invention discloses a numerical control system with a tool changing function, wherein the tool spindle motor used to drive the tool, the bearing shaft motor to drive the bearing shaft and the tool magazine shaft motor to drive the tool magazine rotating shaft have common knowledge in the related art. The person can understand, so the description below will not be fully described. At the same time, the drawings in the following texts express the system structure and function diagrams related to the characteristics of the numerical control system with the tool change function of the present invention, and are not completely drawn according to the actual size, which will be described first.
本發明系有關於一種具有換刀功能之數值控制系統，特別是有關於包含一數值控制裝置、一驅動裝置及一加工裝置之具有換刀功能之數值控制系統。The present invention relates to a numerical control system having a tool change function, and more particularly to a numerical control system having a tool change function including a numerical control device, a drive device and a processing device.
首先，請參閱第1圖，第1圖係本發明一實施例之具有換刀功能之數值控制系統的示意圖。First, please refer to FIG. 1. FIG. 1 is a schematic diagram of a numerical control system having a tool change function according to an embodiment of the present invention.
如第1圖所示，本發明一實施例之具有換刀功能之數值控制系統係由一數值控制裝置1、一驅動裝置2及一加工裝置3所組成，驅動裝置2具有一第一端、一第二端、一第三端及一第四端，數值控制裝置1具有一讀取單元11、一程式解析單元12、一判斷單元13、一動程規劃單元14及一計算單元15，動程規劃單元14具有一第一端、一第二端及一第三端，加工裝置3係由一承載軸馬達31、一與該承載軸馬達31之一端電性連接之承載軸32、一刀具主軸馬達33、一刀具主軸34、一刀庫轉軸馬達35、一與刀庫轉軸馬達35之一端電性連接之刀庫轉軸36、一與刀庫轉軸36連接之刀庫37及一與刀具主軸34電性連接之偵測器38所組成，刀庫37包含複數個刀具，本發明實施例之刀庫37包含三個刀具371、372、373，刀庫37所包含的刀具數量在此並不設限，偵測器38具有一角度偵測單元381、一位置偵測單元382及一換刀偵測單元383，角度偵測單元381具有一第一端、一第二端及一第三端，承載軸32具有一第一端、一第二端及一第三端，刀具主軸34具有一第一端、一第二端、一第三端及一第四端；其中，讀取單元11之一端連接至程式解析單元12之一端，程式解析單元12之另一端連接至動程規劃單元14之第二端，判斷單元13之一端連接至動程規劃單元14之第一端，判斷單元13之另一端連接至計算單元15之一端、角度偵測單元381之第二端與位置偵測單元382之一端，動程規劃單元14之第三端連接至驅動裝置2之第一端，驅動裝置2之第二端電性連接至刀庫轉軸馬達35，驅動裝置2之第三端電性連接至刀具主軸馬達33之一端，驅動裝置2之第四端電性連接至承載軸馬達31之一端，承載軸馬達31之另一端連接至承載軸32之第一端，承載軸32之第二端連接至刀具主軸34之第二端，承載軸32之第三端電性連接至位置偵測單元382，刀具主軸34之第一端連接至刀具主軸馬達33之另一端，刀具主軸34之第三端連接至刀具371，刀具主軸34之第四端電性連接至角度偵測單元381之第一端，角度偵測單元381之第二端電性連接至計算單元15與判斷單元13，換刀偵測單元383之一端電性連接至刀庫轉軸36，換刀偵測單元383之另一端電性連接至判斷單元13；其中，刀具主軸馬達33帶動刀具主軸34進行旋轉，刀具主軸34係沿一實體運動軸X(顯示於第2圖)、一實體運動軸Y(顯示於第2圖)或一實體運動軸Z(顯示於第2圖)運動，實體運動軸X、實體運動軸Y及實體運動軸Z係兩兩互相垂直，而刀具主軸34承載於承載軸32上，刀具主軸34係隨著承載軸32沿實體運動軸Z上下移動而沿實體運動軸Z方向位移；角度偵測單元381用以即時偵測刀具主軸34之於旋轉角度，位置偵測單元382用以即時偵測承載軸32於實體運動軸Z之垂直方向之位置，換刀偵測單元383用以偵測刀庫轉軸36之轉角。As shown in FIG. 1, a numerical control system having a tool change function according to an embodiment of the present invention comprises a numerical control device 1, a driving device 2 and a processing device 3. The driving device 2 has a first end, a second terminal, a third terminal and a fourth terminal, the numerical control device 1 has a reading unit 11, a program analyzing unit 12, a determining unit 13, a motion planning unit 14, and a calculating unit 15, The planning unit 14 has a first end, a second end and a third end. The processing device 3 is composed of a carrying shaft motor 31, a carrying shaft 32 electrically connected to one end of the carrying shaft motor 31, and a tool spindle. The motor 33, a tool spindle 34, a magazine spindle motor 35, a magazine rotating shaft 36 electrically connected to one end of the magazine rotating shaft motor 35, a tool magazine 37 connected to the tool magazine rotating shaft 36, and a tool spindle 34 The tool holder 37 includes a plurality of tools. The tool magazine 37 of the embodiment of the present invention includes three tools 371, 372, and 373. The number of tools included in the tool magazine 37 is not limited thereto. The detector 38 has an angle detecting unit 381 and a position detecting The 382 and the tool change detecting unit 383 have a first end, a second end and a third end. The carrying shaft 32 has a first end, a second end and a third end. The tool spindle 34 has a first end, a second end, a third end and a fourth end. One end of the reading unit 11 is connected to one end of the program parsing unit 12, and the other end of the program parsing unit 12 is connected. To the second end of the motion planning unit 14, one end of the determining unit 13 is connected to the first end of the motion planning unit 14, and the other end of the determining unit 13 is connected to one end of the computing unit 15 and the second end of the angle detecting unit 381. One end of the end and position detecting unit 382, the third end of the motion planning unit 14 is connected to the first end of the driving device 2, and the second end of the driving device 2 is electrically connected to the tool spindle motor 35, and the driving device 2 The third end is electrically connected to one end of the tool spindle motor 33, the fourth end of the driving device 2 is electrically connected to one end of the bearing shaft motor 31, and the other end of the bearing shaft motor 31 is connected to the first end of the bearing shaft 32, and the bearing is carried. The second end of the shaft 32 is coupled to the second end of the tool spindle 34. The third end of the shaft 32 is electrically connected to the position detecting unit 382, the first end of the tool spindle 34 is connected to the other end of the tool spindle motor 33, and the third end of the tool spindle 34 is connected to the tool 371, and the tool spindle 34 is The fourth end is electrically connected to the first end of the angle detecting unit 381. The second end of the angle detecting unit 381 is electrically connected to the calculating unit 15 and the determining unit 13. The one end of the tool changing detecting unit 383 is electrically connected to the knife. The other end of the tool spindle 36, the tool change detecting unit 383 is electrically connected to the judging unit 13; wherein the tool spindle motor 33 drives the tool spindle 34 to rotate, and the tool spindle 34 is along a solid motion axis X (shown in FIG. 2) ), a solid motion axis Y (shown in Figure 2) or a solid motion axis Z (shown in Figure 2), the solid motion axis X, the physical motion axis Y, and the physical motion axis Z are perpendicular to each other, The tool spindle 34 is carried on the carrier shaft 32. The tool spindle 34 is displaced along the solid motion axis Z direction as the carrier shaft 32 moves up and down along the solid motion axis Z. The angle detecting unit 381 is used to instantly detect the tool spindle 34. The rotation angle, the position detecting unit 382 is used to Detecting the vertical position of the carrier 32 Z-axis is to the physical movement of the shaft, the tool change angle detecting unit 383 configured to detect the rotation shaft 36 of the magazine.
接著，請同時參閱第1圖與第2圖，第2圖係本發明一實施例之換刀路徑圖，讀取單元11之一端接收使用者所輸入之加工檔案並輸出至程式解析單元12，程式解析單元12將加工檔案解析為換刀指令並輸出至動程規劃單元14進行動程規劃，動程規劃單元14輸出一啟動訊號至驅動裝置2，驅動裝置2根據啟動訊號驅動刀具主軸馬達33帶動刀具主軸34之轉速減速且驅動承載軸馬達31帶動承載軸32沿實體運動軸Z垂直拉升，角度偵測單元381與位置偵測單元382同時分別將所偵測刀具主軸34之停止旋轉後的旋轉角度與承載軸32之位置輸出至判斷單元13，角度偵測單元381另將所偵測之刀具主軸34之旋轉角度輸出至計算單元15，計算單元15根據刀具主軸34之旋轉角度計算出刀具主軸34之轉速後輸出至判斷單元13，判斷單元13接收角度偵測單元381所輸出之刀具主軸34之旋轉角度、位置偵測單元382所輸出之承載軸32位置及計算單元15所輸出之刀具主軸34之轉速後，判斷單元13根據承載軸32之位置以判斷刀具主軸34之位置，且判斷單元13判斷刀具主軸34之轉速、位置及旋轉角度後，輸出判斷訊號至動程規劃單元14進行動程規劃。Next, please refer to FIG. 1 and FIG. 2 simultaneously. FIG. 2 is a diagram of a tool change path according to an embodiment of the present invention. One end of the reading unit 11 receives a processing file input by a user and outputs the processed file to the program analyzing unit 12, The program analysis unit 12 parses the processing file into a tool change command and outputs it to the motion planning unit 14 for motion planning. The motion planning unit 14 outputs an activation signal to the driving device 2, and the driving device 2 drives the tool spindle motor 33 according to the activation signal. The rotation speed of the tool spindle 34 is decelerated and the drive carrier shaft motor 31 drives the carrier shaft 32 to vertically extend along the solid motion axis Z. The angle detecting unit 381 and the position detecting unit 382 respectively stop the rotation of the detected tool spindle 34. The rotation angle and the position of the load bearing shaft 32 are output to the judging unit 13, and the angle detecting unit 381 further outputs the detected rotation angle of the tool main shaft 34 to the calculation unit 15, and the calculation unit 15 calculates the rotation angle of the tool main shaft 34. The rotation speed of the tool spindle 34 is output to the determination unit 13, and the determination unit 13 receives the rotation angle and position detection list of the tool spindle 34 output by the angle detection unit 381. After the position of the load bearing shaft 32 outputted by the element 382 and the rotational speed of the tool spindle 34 output by the calculation unit 15, the judging unit 13 judges the position of the tool main shaft 34 based on the position of the load bearing shaft 32, and the judging unit 13 judges the rotational speed of the tool main shaft 34. After the position and the rotation angle, the judgment signal is output to the motion planning unit 14 for motion planning.
更具體而言，判斷單元13接收角度偵測單元381所輸出之刀具主軸34之旋轉角度、位置偵測單元382所輸出之承載軸32位置及計算單元15所輸出之刀具主軸34之轉速後，判斷單元13先判斷刀具主軸34之轉速是否為0，當判斷單元13判斷刀具主軸34之轉速為0，則判斷單元13進一步判斷刀具主軸34之旋轉角度是否達到一預設值，意即判斷刀具主軸34是否完成定位，當判斷單元13判斷刀具主軸34之旋轉角度已達預設值，代表刀具主軸34已完成定位，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃承載軸32之位置，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32往沿實體運動軸Z垂直方向拉升，也因此承載與連接於承載軸32之刀具主軸34也同時沿實體運動軸Z方向拉升，接著，位置偵測單元382偵測拉升後承載軸32之位置並輸出承載軸32之位置至判斷單元13，判斷單元13根據承載軸32之位置判斷刀具主軸34是否到達換刀安全點B，若判斷單元13根據承載軸32之位置判斷刀具主軸34已到達換刀安全點B，則輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃刀庫轉軸36之轉速並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動刀庫轉軸馬達35帶動刀庫轉軸36轉動，將刀具371更換為刀具372，刀具主軸34連接至刀具372，完成換刀後，換刀偵測單元383偵測刀庫轉軸36是否完成換刀，並輸出刀庫轉軸36之轉動角度至判斷單元13，判斷單元13判斷是否完成換刀，並輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃承載刀具主軸34之承載軸32之位置，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32沿實體運動軸Z往下降，承載與連接於承載軸32之刀具主軸34同時也沿實體運動軸Z往垂直方向下降，接著，位置偵測單元382偵測承載軸32之位置，並輸出所偵測到的承載軸32之位置至判斷單元13，判斷單元13根據承載軸32之位置判斷刀具主軸34是否到達定位檢查點C，若判斷單元13判斷刀具主軸34已到達定位檢查點C，則代表換刀流程結束，則判斷單元13輸出判斷訊號至動程規劃單元14規劃承載軸32之位置並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32沿實體運動軸Z往下降，承載與連接於承載軸32連接之刀具主軸34同時也繼續沿實體運動軸Z往下降並開始轉動，最後移動至下一個加工定位點(圖中未示)；此外，當判斷單元13判斷刀具主軸34之位置未到達換刀安全點B，則輸出判斷訊號至動程規劃單元14規劃承載軸32之位置並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32持續沿實體運動軸Z往上拉升直到刀具主軸34到達換刀安全點B；再者，當已完成換刀後，承載軸32沿實體運動軸Z往下降且刀具主軸34未到達定位檢查點C，則承載軸32持續沿實體運動軸Z往下降直到刀具主軸34到達定位檢查點C。More specifically, the determining unit 13 receives the rotation angle of the tool spindle 34 output by the angle detecting unit 381, the position of the bearing shaft 32 output by the position detecting unit 382, and the rotational speed of the tool spindle 34 output by the calculating unit 15, The determining unit 13 first determines whether the rotation speed of the tool spindle 34 is 0. When the determining unit 13 determines that the rotation speed of the tool spindle 34 is 0, the determining unit 13 further determines whether the rotation angle of the tool spindle 34 reaches a preset value, that is, determines the tool. Whether the spindle 34 is positioned or not, when the determining unit 13 determines that the rotation angle of the tool spindle 34 has reached a preset value, indicating that the tool spindle 34 has completed positioning, the determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 The position of the bearing shaft 32 is planned according to the determination signal, and the driving signal is outputted to the driving device 2. The driving device 2 drives the bearing shaft motor 31 according to the driving signal to drive the bearing shaft 32 to rise in the vertical direction along the physical movement axis Z, thereby carrying and connecting. The tool spindle 34 of the load bearing shaft 32 is also pulled up along the solid motion axis Z direction, and then the position detecting unit 382 detects the load bearing shaft after being pulled up. The position of the load bearing shaft 32 is output to the judging unit 13, and the judging unit 13 judges whether the tool main shaft 34 reaches the tool change safety point B based on the position of the load bearing shaft 32, and if the judging unit 13 judges the tool main shaft 34 based on the position of the load bearing shaft 32. When the tool change safety point B is reached, the judgment signal is output to the motion planning unit 14. The motion planning unit 14 plans the rotation speed of the magazine rotation shaft 36 according to the determination signal and outputs a driving signal to the driving device 2, and the driving device 2 is driven according to the driving signal. The tool magazine shaft motor 35 drives the tool magazine rotating shaft 36 to rotate, and the tool 371 is replaced with a tool 372. The tool spindle 34 is connected to the tool 372. After the tool change is completed, the tool change detecting unit 383 detects whether the tool magazine shaft 36 has completed the tool change. And outputting the rotation angle of the magazine rotation shaft 36 to the judging unit 13, the judging unit 13 judges whether the tool change is completed, and outputs a judgment signal to the motion planning unit 14, and the motion planning unit 14 plans to carry the bearing shaft of the tool spindle 34 according to the judgment signal. Position 32, and output driving signal to the driving device 2, the driving device 2 drives the bearing shaft motor 31 according to the driving signal to drive the bearing shaft 32 along the physical movement axis Z The tool spindle 34, which is carried and connected to the carrier shaft 32, also descends in the vertical direction along the solid motion axis Z. Then, the position detecting unit 382 detects the position of the carrier shaft 32 and outputs the detected carrier shaft 32. The position of the determination unit 13 determines whether the tool spindle 34 has reached the positioning check point C based on the position of the load bearing shaft 32. If the determination unit 13 determines that the tool spindle 34 has reached the positioning check point C, it represents that the tool change process is completed. The determining unit 13 outputs a determination signal to the motion planning unit 14 to plan the position of the carrier shaft 32 and outputs a driving signal to the driving device 2. The driving device 2 drives the bearing shaft motor 31 to drive the bearing shaft 32 to descend along the physical movement axis Z according to the driving signal. The tool spindle 34 connected to the load bearing shaft 32 also continues to descend along the solid motion axis Z and starts to rotate, and finally moves to the next machining positioning point (not shown); in addition, when the determining unit 13 determines the tool spindle When the position of 34 does not reach the tool change safety point B, the judgment signal is output to the motion planning unit 14 to plan the position of the load bearing shaft 32 and output the driving signal to the driving device 2 The driving device 2 drives the bearing shaft motor 31 according to the driving signal to drive the carrying shaft 32 to continue to rise up along the physical movement axis Z until the tool spindle 34 reaches the tool change safety point B. Further, when the tool change has been completed, the bearing shaft 32 is loaded. As the solid motion axis Z descends and the tool spindle 34 does not reach the positioning checkpoint C, the carrier shaft 32 continues to descend along the solid motion axis Z until the tool spindle 34 reaches the positioning checkpoint C.
此外，當判斷單元13判斷刀具主軸34之轉速不為0，則判斷單元13進一步判斷刀具主軸34是否到達定位檢查點A，若判斷刀具主軸34已到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷單元規劃承載軸32之位置與刀具主軸34之轉速並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達21停止帶動承載軸32沿實體運動軸Z垂直拉升，也因此與承載軸32連接之刀具主軸34停止沿實體運動軸Z垂直拉升，並降低刀具主軸34之轉速，接著，角度偵測單元381將經過轉速減速之刀具主軸34之旋轉角度輸出至計算單元15計算轉速，計算單元15將所計算之轉速輸出至判斷單元13，判斷單元13再次判斷刀具主軸34之轉速是否0；當判斷單元13判斷刀具主軸34未到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷單元13規劃刀具主軸34之轉速並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動刀具主軸馬達33，使刀具主軸34之轉速降低，且角度偵測單元381將經過減速之刀具主軸34之旋轉角度輸出至計算單元15，計算單元15將刀具主軸34之旋轉角度計算出刀具主軸34之轉速後輸出至判斷單元13，則判斷單元13再次判斷刀具主軸34之轉速是否0。Further, when the judging unit 13 judges that the rotation speed of the tool spindle 34 is not 0, the judging unit 13 further judges whether the tool spindle 34 has reached the positioning check point A, and if it is judged that the tool spindle 34 has reached the positioning check point A, the judging unit 13 outputs a judgment. The signal to the motion planning unit 14, the motion planning unit 14 plans the position of the carrier shaft 32 and the rotational speed of the tool spindle 34 according to the determining unit, and outputs a driving signal to the driving device 2, and the driving device 2 drives the bearing shaft motor 21 to stop according to the driving signal. The load bearing shaft 32 is vertically pulled up along the solid motion axis Z, and thus the tool spindle 34 connected to the load bearing shaft 32 stops pulling vertically along the solid motion axis Z, and reduces the rotational speed of the tool spindle 34. Then, the angle detecting unit 381 passes through The rotation angle of the tool spindle 34 of the speed deceleration is output to the calculation unit 15 to calculate the rotation speed, the calculation unit 15 outputs the calculated rotation speed to the determination unit 13, and the determination unit 13 determines again whether the rotation speed of the tool spindle 34 is 0; when the judgment unit 13 determines the cutter If the spindle 34 does not reach the positioning check point A, the determining unit 13 outputs the determination signal to the motion planning unit 14, the motion planning unit. The driving unit 2 drives the tool spindle motor 33 according to the driving signal to reduce the rotation speed of the tool spindle 34, and the angle detecting unit 381 will decelerate. The rotation angle of the tool spindle 34 is output to the calculation unit 15. The calculation unit 15 calculates the rotation angle of the tool spindle 34 and outputs the rotation speed of the tool spindle 34 to the determination unit 13, and the determination unit 13 determines again whether the rotation speed of the tool spindle 34 is zero.
再者，當判斷單元13已判斷刀具主軸34之轉速為0，且判斷單元13判斷刀具主軸34之旋轉角度未達到預設值時，意即刀具主軸34未完成定位時，則判斷單元13進一步判斷刀具主軸34之位置是否到達定位檢查點A，如判斷單元13判斷刀具主軸34之位置已到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃刀具主軸34之位置與旋轉角度，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31將承載軸32停止沿實體運動軸Z向上拉升，且驅動裝置2根據驅動訊號驅動刀具主軸馬達33帶動刀具主軸34之旋轉，角度偵測單元381將所偵測的已經過定位之刀具主軸34之旋轉角度輸出至判斷單元13，判斷單元13再次判斷刀具主軸34之旋轉角度是否達到預設值，意即判斷刀具主軸34是否完成定位；當判斷單元13已判斷刀具主軸34之轉速為0，且判斷單元13判斷刀具主軸34之旋轉角度未達到預設值時，則判斷單元13進一步判斷刀具主軸34之位置是否到達定位檢查點A，如判斷單元13判斷刀具主軸34之位置未到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃刀具主軸34之旋轉角度，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動刀具主軸馬達33帶動刀具主軸34之旋轉，角度偵測單元381將所偵測的已經過定位之刀具主軸34之旋轉角度輸出至判斷單元13，判斷單元13再次判斷刀具主軸34之旋轉角度是否達到預設值，意即判斷刀具主軸34是否完成定位。Furthermore, when the judging unit 13 has judged that the rotation speed of the tool spindle 34 is 0, and the judging unit 13 judges that the rotation angle of the tool spindle 34 has not reached the preset value, that is, when the tool spindle 34 is not positioned, the judging unit 13 further It is determined whether the position of the tool spindle 34 reaches the positioning check point A. If the determining unit 13 determines that the position of the tool spindle 34 has reached the positioning check point A, the determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 Determining the position and rotation angle of the tool spindle 34 and outputting the driving signal to the driving device 2, the driving device 2 drives the bearing shaft motor 31 to stop the loading shaft 32 from rising along the physical movement axis Z according to the driving signal, and the driving device 2 The tool spindle motor 33 drives the rotation of the tool spindle 34 according to the driving signal. The angle detecting unit 381 outputs the detected rotation angle of the tool spindle 34 that has been positioned to the determining unit 13, and the determining unit 13 determines the tool spindle 34 again. Whether the rotation angle reaches a preset value, that is, whether the tool spindle 34 is positioned or not; when the judgment unit 13 has judged the tool master When the rotation speed of the spindle 34 is 0, and the determination unit 13 determines that the rotation angle of the tool spindle 34 has not reached the preset value, the determination unit 13 further determines whether the position of the tool spindle 34 reaches the positioning check point A, and the determination unit 13 determines the tool spindle 34. If the position does not reach the positioning check point A, the determining unit 13 outputs a determination signal to the motion planning unit 14, the motion planning unit 14 plans the rotation angle of the tool spindle 34 according to the determination signal, and outputs a driving signal to the driving device 2, and the driving device 2 driving the tool spindle motor 33 according to the driving signal to drive the rotation of the tool spindle 34, the angle detecting unit 381 outputs the detected rotation angle of the tool spindle 34 that has been positioned to the determining unit 13, and the determining unit 13 determines the tool spindle 34 again. Whether the rotation angle reaches a preset value means that the tool spindle 34 is positioned.
最後，請參閱第3圖，第3圖係本發明一實施例之具有換刀功能之數值控制方法流程圖。Finally, please refer to FIG. 3, which is a flow chart of a numerical control method with a tool change function according to an embodiment of the present invention.
步驟S1:使用者輸入之加工檔案至讀取單元11並輸出至程式解析單元12，程式解析單元12將加工檔案解析為換刀指令並輸出至動程規劃單元14進行動程規劃。Step S1: The processing file input by the user is sent to the reading unit 11 and output to the program analyzing unit 12, and the program analyzing unit 12 parses the processing file into a tool change command and outputs it to the motion planning unit 14 for motion planning.
步驟S2:動程規劃單元14輸出啟動訊號至驅動裝置2，驅動裝置2根據啟動訊號驅動刀具主軸馬達33帶動刀具主軸34之轉速減速且驅動承載軸馬達31帶動承載軸32沿實體運動軸Z垂直拉升，角度偵測單元381與位置偵測單元382分別同時將所偵測刀具主軸34之旋轉角度與承載軸32之位置輸出至判斷單元13，角度偵測單元381另將所偵測到的刀具主軸34之旋轉角度輸出至計算單元15以計算刀具主軸34之轉速，計算單元15將所計算之刀具主軸34之轉速輸出至判斷單元13。Step S2: The motion planning unit 14 outputs an activation signal to the driving device 2. The driving device 2 drives the tool spindle motor 33 to drive the spindle spindle 34 to decelerate according to the activation signal, and the driving bearing shaft motor 31 drives the bearing shaft 32 to be perpendicular to the solid motion axis Z. The angle detecting unit 381 and the position detecting unit 382 simultaneously output the detected rotation angle of the tool spindle 34 and the position of the carrier shaft 32 to the determining unit 13, respectively, and the angle detecting unit 381 detects the detected The rotation angle of the tool spindle 34 is output to the calculation unit 15 to calculate the rotation speed of the tool spindle 34, and the calculation unit 15 outputs the calculated rotation speed of the tool spindle 34 to the determination unit 13.
步驟S3: 判斷單元13先判斷刀具主軸34之轉速是否為0，當判斷單元13判斷刀具主軸34之轉速為0，則執行步驟S4。Step S3: The determining unit 13 first determines whether the rotational speed of the tool spindle 34 is 0. When the determining unit 13 determines that the rotational speed of the tool spindle 34 is 0, step S4 is performed.
步驟S4:判斷單元13進一步判斷刀具主軸34之旋轉角度是否達到預設值，意即判斷刀具主軸34是否完成定位，當判斷單元13判斷刀具主軸34已達預設值，意即刀具主軸34已完成定位，則執行步驟S5。Step S4: The determining unit 13 further determines whether the rotation angle of the tool spindle 34 reaches a preset value, that is, whether the tool spindle 34 is positioned or not, and when the determining unit 13 determines that the tool spindle 34 has reached a preset value, that is, the tool spindle 34 has After the positioning is completed, step S5 is performed.
步驟S5:判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃承載軸32之位置，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32沿實體運動軸Z拉升，刀具主軸34隨著承載軸32拉升而沿實體運動軸Z拉升，位置偵測單元382偵測拉升後的承載軸32之位置並輸出承載軸32的位置至判斷單元13，接著，執行步驟S6。Step S5: The determining unit 13 outputs a determining signal to the motion planning unit 14, the motion planning unit 14 plans the position of the carrying shaft 32 according to the determining signal, and outputs a driving signal to the driving device 2, and the driving device 2 drives the bearing shaft motor according to the driving signal. 31 drives the load bearing shaft 32 to rise along the solid motion axis Z, and the tool spindle 34 is pulled up along the physical motion axis Z as the load bearing shaft 32 is pulled up, and the position detecting unit 382 detects the position of the loaded load bearing shaft 32 and outputs the same. The position of the shaft 32 is carried to the judging unit 13, and then, step S6 is performed.
步驟S6:判斷單元13判斷刀具主軸34之位置是否到達換刀安全點B，若判斷單元13判斷刀具主軸34之位置已到達換刀安全點B，輸出判斷訊號至動程規劃單元14，並執行步驟S7，若判斷單元13判斷刀具主軸34之位置未到達換刀安全點B，則再次執行步驟S5，重複步驟S5與S6直到刀具主軸34之位置到達換刀安全點B。Step S6: The judging unit 13 judges whether the position of the tool spindle 34 reaches the tool change safety point B. If the judging unit 13 judges that the position of the tool spindle 34 has reached the tool change safety point B, it outputs a judgment signal to the motion planning unit 14, and executes In step S7, if the judging unit 13 judges that the position of the tool spindle 34 has not reached the tool change safety point B, step S5 is executed again, and steps S5 and S6 are repeated until the position of the tool spindle 34 reaches the tool change safety point B.
步驟S7:，動程規劃單元14根據判斷訊號規劃刀庫轉軸36之轉速並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動刀庫轉軸馬達35帶動刀庫轉軸36轉動，將刀具371更換為刀具372，刀具主軸34連接至刀具372，接著，執行步驟S8。Step S7: The motion planning unit 14 plans the rotation speed of the magazine rotation shaft 36 according to the determination signal and outputs a driving signal to the driving device 2. The driving device 2 drives the magazine rotation shaft motor 35 according to the driving signal to drive the magazine rotation shaft 36 to rotate, and the cutter 371 Replaced by the tool 372, the tool spindle 34 is connected to the tool 372, and then, step S8 is performed.
步驟S8: 換刀偵測單元383偵測刀庫轉軸36是否完成換刀，並輸出刀庫轉軸36之轉動角度至判斷單元13，判斷單元13判斷是否完成換刀，若判斷已完成換刀，則輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃承載刀具主軸34之承載軸32之位置，並輸出驅動訊號至驅動裝置2，接著，執行步驟S9。另一方面，若判斷單元13判斷未完成換刀，則再次執行步驟S7，重複執行步驟S7~S8直到判斷單元13判斷已完成換刀。Step S8: The tool change detecting unit 383 detects whether the tool magazine shaft 36 completes the tool change, and outputs the rotation angle of the tool magazine shaft 36 to the judging unit 13, and the judging unit 13 judges whether the tool change is completed, and if it is judged that the tool change has been completed, Then, the determination signal is output to the motion planning unit 14, and the motion planning unit 14 plans to carry the position of the bearing shaft 32 of the tool spindle 34 according to the determination signal, and outputs a driving signal to the driving device 2, and then proceeds to step S9. On the other hand, if the judging unit 13 judges that the tool change has not been completed, step S7 is executed again, and steps S7 to S8 are repeatedly executed until the judging unit 13 judges that the tool change has been completed.
步驟S9:驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32沿實體運動軸Z下降，承載與連接於承載軸32之刀具主軸34同時也沿實體運動軸Z下降，接著，執行步驟S10。Step S9: The driving device 2 drives the bearing shaft motor 31 to drive the bearing shaft 32 to descend along the physical movement axis Z according to the driving signal, and the bearing spindle 34 connected to the carrier shaft 32 also descends along the physical movement axis Z. Then, step S10 is performed. .
步驟S10:位置偵測單元382偵測承載軸32之位置，並輸出所偵測到的承載軸32之位置至判斷單元13，判斷單元13根據承載軸32之位置判斷刀具主軸34之位置是否到達定位檢查點C，若判斷單元13判斷刀具主軸34之位置已到達定位檢查點C，則代表換刀流程結束，接著，執行步驟S11。若判斷單元13判斷刀具主軸34未到達刀具定位檢查點C，則重複步驟S9與S10直到刀具主軸34之位置到達定位檢查點C。Step S10: The position detecting unit 382 detects the position of the carrying shaft 32, and outputs the detected position of the carrying shaft 32 to the judging unit 13, and the judging unit 13 judges whether the position of the tool main shaft 34 is reached according to the position of the carrying shaft 32. When the judgment unit C determines that the position of the tool spindle 34 has reached the positioning check point C, it represents that the tool change flow is completed, and then proceeds to step S11. If the judging unit 13 judges that the tool spindle 34 has not reached the tool positioning check point C, steps S9 and S10 are repeated until the position of the tool spindle 34 reaches the positioning check point C.
步驟S11:判斷單元13輸出判斷訊號至動程規劃單元14規劃承載軸32之位置並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31帶動承載軸32沿實體運動軸Z往下降，承載與連接於之刀具主軸34同時也繼續沿實體運動軸Z往下降並開始轉動，接著，執行步驟S12。Step S11: The determining unit 13 outputs a determination signal to the motion planning unit 14 to plan the position of the carrier shaft 32 and outputs a driving signal to the driving device 2. The driving device 2 drives the bearing shaft motor 31 according to the driving signal to drive the bearing shaft 32 along the physical movement axis Z. As it descends, the load and the connected tool spindle 34 continue to descend along the solid motion axis Z and start to rotate, and then step S12 is performed.
最後，執行步驟S12:刀具主軸34移動至下一個加工定位點。Finally, step S12 is executed: the tool spindle 34 is moved to the next machining positioning point.
此外，當步驟S3之判斷刀具主軸34之轉速不為0，則執行步驟S13。Further, when it is judged at step S3 that the rotational speed of the tool spindle 34 is not 0, step S13 is performed.
步驟S13: 判斷刀具主軸34之位置是否到達定位檢查點A，若判斷刀具主軸34之位置已到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷單元13規劃承載軸32之位置與刀具主軸34之轉速並輸出驅動訊號至驅動裝置2，接著，執行步驟S14。Step S13: determining whether the position of the tool spindle 34 reaches the positioning check point A. If it is determined that the position of the tool spindle 34 has reached the positioning check point A, the determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 The judging unit 13 plans the position of the carrying shaft 32 and the rotational speed of the tool spindle 34 and outputs a driving signal to the driving device 2, and then performs step S14.
步驟S14:驅動裝置2根據驅動訊號驅動承載軸馬達31停止帶動承載軸32沿實體運動軸Z拉升，接著，也因此承載與連接於承載軸32之刀具主軸34停止沿實體運動軸Z拉升，接著，執行步驟S15。Step S14: The driving device 2 drives the bearing shaft motor 31 to stop driving the bearing shaft 32 to be pulled along the physical movement axis Z according to the driving signal. Then, the tool spindle 34 that is carried and connected to the carrier shaft 32 stops pulling along the physical movement axis Z. Then, step S15 is performed.
步驟S15:降低刀具主軸34之轉速，且角度偵測單元381將經過減速之刀具主軸34之旋轉角度輸出至計算單元15計算轉速，計算單元15將所計算之轉速輸出至判斷單元13，接著，再次執行步驟S3，即判斷單元13再次判斷刀具主軸34之轉速是否0。Step S15: the rotation speed of the tool spindle 34 is lowered, and the angle detecting unit 381 outputs the rotation angle of the decelerated tool spindle 34 to the calculation unit 15 to calculate the rotation speed, and the calculation unit 15 outputs the calculated rotation speed to the determination unit 13, and then, Step S3 is executed again, that is, the judging unit 13 judges again whether the rotation speed of the tool spindle 34 is zero.
當步驟S13之判斷刀具主軸34之位置未到達定位檢查點A，則判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷單元規劃刀具主軸34之轉速並輸出驅動訊號至驅動裝置2，接著，直接執行步驟S15，進行刀具主軸轉速之減速。When it is determined in step S13 that the position of the tool spindle 34 has not reached the positioning check point A, the determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 plans the rotation speed of the tool spindle 34 according to the determining unit and outputs a driving signal to The drive device 2, next, directly executes step S15 to decelerate the tool spindle speed.
此外，當步驟S4之判斷單元13判斷刀具主軸34之旋轉角度未達預設值，意即判斷刀具主軸34未完成定位，則執行步驟S16。Further, when the judging unit 13 of the step S4 judges that the rotation angle of the tool spindle 34 has not reached the preset value, that is, it is judged that the tool spindle 34 has not been positioned, step S16 is performed.
步驟S16: 判斷單元13進一步判斷刀具主軸34之位置是否到達定位檢查點A，如判斷單元13判斷刀具主軸34之位置已到達定位檢查點A，則執行步驟S17。Step S16: The judging unit 13 further judges whether or not the position of the tool spindle 34 has reached the positioning check point A. If the judging unit 13 judges that the position of the tool spindle 34 has reached the positioning check point A, step S17 is performed.
步驟S17:判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃承載軸32之位置與刀具主軸34之旋轉角度，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動承載軸馬達31將承載軸停止沿實體運動軸Z向上拉升，接著，執行步驟S18。Step S17: The determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 plans the rotation angle of the bearing shaft 32 and the tool spindle 34 according to the determination signal, and outputs a driving signal to the driving device 2, and the driving device 2 The load bearing shaft 31 is pulled up according to the drive signal to drive the load bearing shaft 31 upward along the solid motion axis Z, and then step S18 is performed.
步驟18:驅動裝置2根據驅動訊號驅動刀具主軸馬達33帶動刀具主軸34之旋轉，進行刀具主軸34之定位，角度偵測單元381將所偵測的已經過定位之刀具主軸34之旋轉角度輸出至判斷單元13，接著，再次執行步驟S4。Step 18: The driving device 2 drives the tool spindle motor 33 to drive the tool spindle 34 according to the driving signal to perform positioning of the tool spindle 34. The angle detecting unit 381 outputs the detected rotation angle of the tool spindle 34 that has been positioned to The judging unit 13 then proceeds to step S4 again.
當步驟16之判斷刀具主軸34之位置未到達定位檢查點A，則直接執行步驟S18，即判斷單元13輸出判斷訊號至動程規劃單元14，動程規劃單元14根據判斷訊號規劃刀具主軸34之旋轉角度，並輸出驅動訊號至驅動裝置2，驅動裝置2根據驅動訊號驅動刀具主軸馬達33帶動刀具主軸34之旋轉，意即進行刀具主軸之定位，角度偵測單元381將所偵測的已經過定位之刀具主軸34之旋轉角度輸出至判斷單元13，接著，再次執行步驟S4。When it is determined in step 16 that the position of the tool spindle 34 does not reach the positioning check point A, step S18 is directly executed, that is, the determining unit 13 outputs a determination signal to the motion planning unit 14, and the motion planning unit 14 plans the tool spindle 34 according to the determination signal. Rotating the angle and outputting the driving signal to the driving device 2, the driving device 2 drives the tool spindle motor 33 to drive the rotation of the tool spindle 34 according to the driving signal, that is, the positioning of the tool spindle, and the angle detecting unit 381 detects the detected The rotation angle of the positioned tool spindle 34 is output to the determination unit 13, and then step S4 is executed again.
藉由偵測器偵測刀具主軸之旋轉角度與承載軸之位置，且數值控制裝置判斷刀具主軸之轉速、位置及旋轉角度後，產生判斷訊號，數值控制裝置根據判斷訊號規劃刀具主軸之轉速與旋轉角度及承載軸之位置以進行換刀，如此一來，在數值控制系統進行換刀時，可視刀具主軸實際移動狀況與刀具主軸之旋轉狀況而決定是否停止沿實體運動軸Z垂直拉升，因而達成減少換刀時間、增加產能及提升換刀效率之目的。The detector detects the rotation angle of the tool spindle and the position of the bearing shaft, and the numerical control device determines the rotation speed, the position and the rotation angle of the tool spindle, and generates a determination signal, and the numerical control device plans the rotation speed of the tool spindle according to the determination signal. The rotation angle and the position of the bearing shaft are used for tool change. In this way, when the numerical control system performs the tool change, the actual movement state of the tool spindle and the rotation state of the tool spindle determine whether to stop the vertical pulling along the solid motion axis Z. Therefore, the purpose of reducing tool change time, increasing production capacity and improving tool change efficiency is achieved.
以上所述僅為本發明之較佳實施例，並非用以限定本發明之權利範圍；同時以上的描述，對於相關技術領域之專門人士應可明瞭及實施，因此其他未脫離本發明所揭示之精神下所完成的等效改變或修飾，均應包含在申請專利範圍中。The above description is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above description should be understood and implemented by those skilled in the relevant art, so that the other embodiments are not disclosed. Equivalent changes or modifications made under the spirit shall be included in the scope of the patent application.
1‧‧‧控制器
11‧‧‧讀取單元
12‧‧‧程式解析單元
13‧‧‧判斷單元
14‧‧‧動程規劃單元
15‧‧‧計算單元
2‧‧‧驅動裝置
3‧‧‧加工裝置
31‧‧‧承載軸馬達
32‧‧‧承載軸
33‧‧‧刀具主軸馬達
34‧‧‧刀具主軸
35‧‧‧刀庫轉軸馬達
36‧‧‧刀庫轉軸
37‧‧‧刀庫
371、372、373‧‧‧刀具
38‧‧‧偵測器
381‧‧‧角度偵測單元
382‧‧‧位置偵測單元
383‧‧‧換刀偵測單元
A、C‧‧‧定位檢查點
B‧‧‧換刀安全點
S1~S18‧‧‧步驟1‧‧‧ controller
11‧‧‧Reading unit
12‧‧‧Program parsing unit
13‧‧‧judging unit
14‧‧‧Motion planning unit
15‧‧‧Computation unit
2‧‧‧ drive
3‧‧‧Processing device
31‧‧‧bearing shaft motor
32‧‧‧bearing shaft
33‧‧‧Tool spindle motor
34‧‧‧Tool spindle
35‧‧‧Magazine shaft motor
36‧‧‧Magnetic reel
37‧‧‧Tools
371, 372, 373‧‧ Tools
38‧‧‧Detector
381‧‧‧Angle detection unit
382‧‧‧Location detection unit
383‧‧‧Tool change detection unit
A, C‧‧‧ Positioning checkpoints
B‧‧‧Tool change point
S1~S18‧‧‧Steps
第1圖係本發明一實施例之具有換刀功能之數值控制系統的示意圖。 第2圖係本發明一實施例之換刀路徑圖。 第3圖係本發明一實施例之具有換刀功能之數值控制方法流程圖。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of a numerical control system having a tool change function in accordance with an embodiment of the present invention. Fig. 2 is a view showing a tool change path of an embodiment of the present invention. Fig. 3 is a flow chart showing a numerical control method having a tool change function according to an embodiment of the present invention.
1‧‧‧數值控制裝置 1‧‧‧ numerical control device
11‧‧‧讀取單元 11‧‧‧Reading unit
12‧‧‧程式解析單元 12‧‧‧Program parsing unit
13‧‧‧判斷單元 13‧‧‧judging unit
14‧‧‧動程規劃單元 14‧‧‧Motion planning unit
15‧‧‧計算單元 15‧‧‧Computation unit
2‧‧‧驅動裝置 2‧‧‧ drive
3‧‧‧加工裝置 3‧‧‧Processing device
31‧‧‧承載軸馬達 31‧‧‧bearing shaft motor
32‧‧‧承載軸 32‧‧‧bearing shaft
33‧‧‧刀具主軸馬達 33‧‧‧Tool spindle motor
34‧‧‧刀具主軸 34‧‧‧Tool spindle
35‧‧‧刀庫轉軸馬達 35‧‧‧Magazine shaft motor
36‧‧‧刀庫轉軸 36‧‧‧Magnetic reel
37‧‧‧刀庫 37‧‧‧Tools
371、372、373‧‧‧刀具 371, 372, 373‧‧ Tools
38‧‧‧偵測器 38‧‧‧Detector
381‧‧‧角度偵測單元 381‧‧‧Angle detection unit
382‧‧‧位置偵測單元 382‧‧‧Location detection unit
383‧‧‧換刀偵測單元 383‧‧‧Tool change detection unit
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| TWM414289U (en) * | 2011-01-12 | 2011-10-21 | Coyo Prec Co Ltd | Tool magazine and tool guide and change device of cutting processing machine |
| CN103551900A (en) * | 2013-11-13 | 2014-02-05 | 桂林正菱第二机床有限责任公司 | Automatic cutter changing system for numerically-controlled machine tool |
| TWM472584U (en) * | 2013-11-26 | 2014-02-21 | Kun-Hong Chen | Automatic tool changing control system |
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| Publication number | Publication date |
|---|---|
| TW201704911A (en) | 2017-02-01 |
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