TWI739367B - Tool magazine controlling system and the controlling method thereof - Google Patents
Tool magazine controlling system and the controlling method thereof Download PDFInfo
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本發明關於一種工具機刀庫換刀技術領域，特別是關於一種刀庫智能化控制系統及其控制方法。The present invention relates to the technical field of tool change for a tool magazine of a machine tool, in particular to an intelligent control system of the tool magazine and a control method thereof.
工具機的刀庫系統是加工過程中儲刀和換刀需求的一種裝置，由於此刀庫系統可以一次儲放多把刀具，且能夠依據程式控制正確地選擇刀具，在加工過程中，先讓下一把預設要使用的刀具事先儲備，在需要使用的時候再進行刀具交換，相較於現有技術中的手動換刀的方式，可以大幅地減少人力與縮短加工時間。The tool magazine system of the machine tool is a device for tool storage and tool change requirements in the machining process. Because this tool magazine system can store multiple tools at a time, and can select the tools correctly according to program control. The next preset tool to be used is stored in advance, and the tool is exchanged when it is needed. Compared with the manual tool change method in the prior art, it can greatly reduce the manpower and shorten the processing time.
刀庫系統根據電控配置的不同，又可以分為非伺服刀庫與伺服刀庫兩種，非伺服刀庫使用的備刀流程如圖1所示。在圖1中，非伺服刀庫採用變頻器搭配變頻馬達，如步驟S100：由外部I/O裝置的O點開始(on)。此步驟是透過外部I/O裝置的控制，需要刀庫旋轉時會觸發O點。接著，步驟S102：變頻馬達旋轉。當刀庫旋轉時會觸發O點，進而讓變頻馬達旋轉帶動刀庫轉動。步驟S104：刀庫轉到定位。當變頻馬達旋轉帶動刀庫轉動時，刀庫到達定位。步驟S106：外部I/O裝置的O點關閉(off)。當刀庫轉到定位之後，外部I/O裝置觸發I點，並使O點關閉(off)。最後步驟S108：變頻馬達停止運轉。但，此種刀庫的缺點在於：變頻馬達只能以固定的轉速轉動，無法達到最佳化的備刀速度。另一缺點在於：使用外部I/O裝置容易有損壞的問題，進而導致刀庫機構容易受損。The tool magazine system can be divided into non-servo tool magazine and servo tool magazine according to the different electronic control configuration. The tool preparation process used by the non-servo tool magazine is shown in Figure 1. In Figure 1, the non-servo tool magazine uses a frequency converter with a frequency conversion motor, as in step S100: start from point O of the external I/O device (on). This step is controlled by an external I/O device, and point O will be triggered when the tool magazine needs to rotate. Next, step S102: the inverter motor rotates. When the tool magazine rotates, the O point is triggered, and the frequency conversion motor rotates to drive the tool magazine to rotate. Step S104: The tool magazine turns to the positioning. When the variable frequency motor rotates to drive the tool magazine to rotate, the tool magazine reaches the position. Step S106: Point O of the external I/O device is turned off. When the tool magazine is turned to position, the external I/O device triggers the I point and turns off the O point. Last step S108: the inverter motor stops running. However, the disadvantage of this type of tool magazine is that the frequency conversion motor can only rotate at a fixed speed and cannot achieve the optimal tool preparation speed. Another disadvantage is that the use of an external I/O device is prone to damage, which in turn causes the tool magazine mechanism to be easily damaged.
另外，伺服刀庫則是採用驅動器搭配伺服馬達，透過控制單元串列命令進行動程規劃，透過驅動器讓伺服馬達轉到定位，可實現高速、高加減速、精確定位的特點。相較於非伺服刀庫以外部I/O裝置控制，伺服刀庫只需要馬達裝配編碼器即可使用，耐用度高且配線容易。In addition, the servo tool magazine uses a drive with a servo motor. The stroke planning is carried out through serial commands of the control unit. The servo motor can be turned to positioning through the drive, which can achieve the characteristics of high speed, high acceleration and deceleration, and precise positioning. Compared with the non-servo tool magazine which is controlled by an external I/O device, the servo tool magazine only needs the motor to be equipped with an encoder, which has high durability and easy wiring.
現有技術中的伺服刀庫在旋轉時，並未考慮刀庫內的刀具的重量來調整動程的加減速與速度，若刀庫承載的刀具重量較重時，整體的加減速規劃需要比較和緩：若刀庫承載的刀具重量較輕時，可以承受較劇烈的加減速規劃。但是因為現有技術中，並未考慮刀庫的負載來調變刀庫旋轉的動程規劃，因此只能採取最保守的加減速規劃來進行運轉。同樣的情況也會出現在刀臂式換刀，刀臂式換刀若對於大型刀具以較快速度旋轉，機構容易震動且造成損壞，有些控制單元提供了解決方法，其方法是利用開放幾個轉速讓使用者根據刀具重量去設定，但此機制設定較耗時，且通常只能以使用者的經驗值輸入，因此控制單元無法針對正確刀具重量做精確的動程規劃，因此具有改善的空間。The servo tool magazine in the prior art does not consider the weight of the tool in the tool magazine to adjust the acceleration, deceleration and speed of the stroke. : If the weight of the tool carried by the tool magazine is lighter, it can withstand more severe acceleration and deceleration planning. However, in the prior art, the load of the tool magazine is not considered to adjust the stroke planning of the tool magazine rotation, so only the most conservative acceleration and deceleration planning can be adopted for operation. The same situation can also occur in the tool arm type tool change. If the tool arm type tool changes a large tool at a faster speed, the mechanism is prone to vibration and damage. Some control units provide a solution. The method is to open several The speed allows the user to set according to the weight of the tool, but this mechanism setting is time-consuming and can only be input by the user's experience value. Therefore, the control unit cannot make accurate stroke planning for the correct tool weight, so there is room for improvement. .
另外，刀庫若為圓盤式刀庫或是鍊式刀庫，為了將刀具與主軸側交換，常需要搭配刀臂式換刀，在此情況下，刀庫內的刀具會隨著持續換刀，位置不斷地變化。倘若刀庫內仍有數把重量不同的刀具，在不斷換刀下，會有重刀具(刀具負載較大者)同時在刀庫的同一側的可能，在此情況下會造成刀庫偏載，刀庫在旋轉時會有偏心，導致刀庫壽命的減少。除非使用者留意刀庫偏載的問題，並且將自動換刀的程序改為手動換刀，不然刀庫偏載的問題難以被發現。In addition, if the tool magazine is a disc or chain tool magazine, in order to exchange the tool with the spindle side, it is often necessary to use a tool arm type tool changer. In this case, the tools in the tool magazine will continue to be changed. The position of the knife is constantly changing. If there are still several tools with different weights in the tool magazine, under constant tool change, there may be heavy tools (the one with larger tool load) on the same side of the tool magazine at the same time. In this case, the tool magazine will be unbalanced. The tool magazine will be eccentric when rotating, resulting in a reduction in the life of the tool magazine. Unless the user pays attention to the problem of the unbalanced load of the tool magazine and changes the automatic tool change program to manual tool change, the problem of the unbalanced load of the tool magazine is difficult to be found.
另外，若機台正在進行精密加工(後續統一稱為精加工)時，刀庫若進行備刀的動作，刀庫的旋轉會導致機台的震動，亦有可能會導致工件表面的加工效果不佳。所以在考慮不影響工件的加工效果的前提下，刀庫旋轉的動程規劃又會多了其他限制條件，亦會更為保守的來進行，最終使得單一一組的刀庫轉動速度規劃無法滿足各種情境需求，進而以影響加工效率。In addition, if the machine is undergoing precision machining (hereinafter collectively referred to as finishing), if the tool magazine is preparing the tool, the rotation of the tool magazine will cause the machine to vibrate, and it may also cause the processing effect of the workpiece surface to be inferior. good. Therefore, under the premise of not affecting the processing effect of the workpiece, the movement planning of the tool magazine rotation will have other restrictions, and it will be carried out more conservatively. In the end, a single set of tool magazine rotation speed planning will not be possible. Meet the needs of various situations, and then affect the processing efficiency.
為了解決上述的技術問題，本發明的主要目的是提供一種刀庫控制系統及其控制方法，利用刀臂式刀庫上刀的動作，透過刀臂負載計算每一把刀具的重量，透過刀具重量資訊調整刀庫轉速、刀臂轉速與編排刀具在刀庫的位置以減少刀庫偏載，進而提升刀庫換刀效率與刀庫的使用壽命。In order to solve the above-mentioned technical problems, the main purpose of the present invention is to provide a tool magazine control system and a control method thereof, which utilizes the action of the tool on the tool arm type tool magazine to calculate the weight of each tool through the load of the tool arm, and calculates the weight of each tool through the weight of the tool. The information adjusts the speed of the tool magazine, the speed of the tool arm and the position of the arranged tools in the tool magazine to reduce the unbalanced load of the tool magazine, thereby improving the efficiency of tool change and the service life of the tool magazine.
本發明的另一目的在於提供一種刀庫控制系統及其控制方法，透過刀具負載來計算刀庫的載重以及刀庫偏載量，並且與刀庫的機構規格相比，以提醒使用者刀庫是否到達機構上限，若是，則將刀庫旋轉速度降低，以避免刀庫偏載又在高速轉速下造成刀庫受損。Another object of the present invention is to provide a tool magazine control system and a control method thereof, which calculates the tool magazine load and the tool magazine eccentric load through the tool load, and compares the tool magazine with the mechanical specifications of the tool magazine to remind the user of the tool magazine Whether it reaches the upper limit of the mechanism, if yes, reduce the rotation speed of the tool magazine to avoid the tool magazine being damaged at high speed due to the unbalanced load of the tool magazine.
本發明的再一目的在於提供一種刀庫控制系統及其控制方法，判斷加工的刀具是否在精加工製程中，若是則降低刀庫在提前備刀時的旋轉加減速度，或甚至不進行備刀製程，據此以維持在精加工製程時，工件有良好的表面品質。Another object of the present invention is to provide a tool magazine control system and a control method thereof, which can determine whether the processed tool is in the finishing process, and if so, reduce the rotation acceleration and deceleration speed of the tool magazine when preparing the tool in advance, or even not preparing the tool. According to this, the workpiece has a good surface quality during the finishing process.
根據上述目的，本發明揭露一種刀庫控制系統，包括：刀庫、刀臂及控制單元，其中刀庫具有多個刀杯，且每一個刀杯容置一把刀具；刀臂，由刀庫中取放刀具和更換刀具在主軸上；以及控制單元，用以控制刀庫旋轉至對應的刀杯，並控制刀臂旋轉，使得刀具由主軸上轉換並容置於刀庫的刀杯或由刀庫的刀杯內轉換容置於主軸上，且控制單元估算每一把刀具的刀具負載及刀庫的總載重以及調整刀庫的轉速，並根據刀具的刀具負載來編排該把刀具在刀庫的任意一個刀杯上。According to the above objective, the present invention discloses a tool magazine control system, including: a tool magazine, a tool arm and a control unit, wherein the tool magazine has a plurality of tool cups, and each tool cup contains a tool; the tool arm consists of the tool magazine. Take and place the tools and change the tools on the spindle; and the control unit to control the rotation of the tool magazine to the corresponding tool cup, and control the rotation of the tool arm, so that the tool is converted from the spindle and stored in the tool cup of the tool magazine or by The tool cup of the tool magazine is converted and contained on the spindle, and the control unit estimates the tool load of each tool and the total load of the tool magazine and adjusts the speed of the tool magazine, and arranges the tool in the tool according to the tool load of the tool. Any knife cup in the library.
在本發明的較佳實施例中，控制單元更包含根據刀庫負載將刀庫的總載重及總偏載與刀庫的參考值比對以判斷刀庫的總載重是否異常，以實時地調整刀庫的轉速。In a preferred embodiment of the present invention, the control unit further includes comparing the total load and total partial load of the tool magazine with the reference value of the tool magazine according to the load of the tool magazine to determine whether the total load of the tool magazine is abnormal, so as to adjust in real time. The speed of the tool magazine.
在本發明的較佳實施例中，刀庫的參考值為刀庫可承受的刀具總負載。In a preferred embodiment of the present invention, the reference value of the tool magazine is the total tool load that the tool magazine can bear.
在本發明的較佳實施例中，控制單元在判斷刀庫中的每一把刀具是否在精加工階段時，用以調整刀庫的轉速。In a preferred embodiment of the present invention, the control unit is used to adjust the rotational speed of the tool magazine when judging whether each tool in the tool magazine is in the finishing stage.
在本發明的較佳實施例中，控制單元在判斷刀庫中的每一把刀具是否在精加工階段時，則刀庫不執行備刀程序。In a preferred embodiment of the present invention, when the control unit judges whether each tool in the tool magazine is in the finishing stage, the tool magazine does not execute the tool preparation program.
在本發明的較佳實施例中，刀庫可以是圓盤式刀庫或是鍊式刀庫。In a preferred embodiment of the present invention, the tool magazine can be a disc-type tool magazine or a chain-type tool magazine.
在本發明的較佳實施例中，刀具負載可以由驅動器的電流計算得到或是由感測器感測得到。In a preferred embodiment of the present invention, the tool load can be calculated from the current of the drive or sensed by the sensor.
在本發明的較佳實施例中，刀具負載、總載重及總偏載儲存於控制單元的儲存單元中。In a preferred embodiment of the present invention, the tool load, the total load and the total eccentric load are stored in the storage unit of the control unit.
根據上述刀庫控制系統，本發明還揭露一種用於刀庫控制系統的刀庫控制方法，其步驟包括: 執行刀具上主軸步驟，將刀具置放於主軸上；執行刀庫旋轉步驟，旋轉刀庫使得刀庫對應任意刀杯；執行刀臂旋轉步驟，利用刀臂將刀具由主軸上將刀具取下，並旋轉夾持有刀具的刀臂，且於旋轉刀臂時量測或是計算刀具負載；執行刀庫上刀具步驟，旋轉刀臂，使得在主軸上的刀具轉換到刀庫的任意刀杯上；以及重複刀具上主軸步驟及刀庫上刀具步驟，使得在主軸的下一把刀具放置在刀庫的其他的刀杯上，其中放置刀杯的位置為前一把刀具的向量總和相反的位置，直至刀具已完全轉換至刀庫的刀杯為止。According to the above-mentioned tool magazine control system, the present invention also discloses a tool magazine control method for the tool magazine control system. The steps include: executing the step of upper spindle of the tool, placing the tool on the spindle; executing the step of rotating the tool magazine, rotating the tool The library makes the tool magazine correspond to any tool cup; execute the tool arm rotation step, use the tool arm to remove the tool from the spindle, rotate the tool arm holding the tool, and measure or calculate the tool when rotating the tool arm Load; execute the tool on the tool magazine step, rotate the tool arm, so that the tool on the spindle is transferred to any tool cup in the tool magazine; and repeat the tool on the spindle step and the tool on the tool magazine step to make the next tool on the spindle Place it on other tool cups in the tool magazine, where the position of the tool cup is the opposite of the vector sum of the previous tool, until the tool has been completely converted to the tool cup of the tool magazine.
在本發明的較佳實施例中，刀庫控制方法更包含量測刀庫的總載重及總偏載，並與刀庫的參考值比對以判斷總載重是否異常，若是，則調整刀庫的轉速。In a preferred embodiment of the present invention, the tool magazine control method further includes measuring the total load and total eccentric load of the tool magazine, and comparing with the reference value of the tool magazine to determine whether the total load is abnormal, and if so, adjust the tool magazine的rpm。
在本發明的較佳實施例中，刀庫控制方法更包含判斷刀庫中的每一把刀具是否在精加工階段，若是，則調整刀庫在備刀階段時的轉速。In a preferred embodiment of the present invention, the tool magazine control method further includes determining whether each tool in the tool magazine is in the finishing stage, and if so, adjusting the rotation speed of the tool magazine in the tool preparation stage.
在本發明的較佳實施例中，刀庫控制方法更包含判斷刀庫中的每一把刀具是否在精加工階段，若是，則對刀庫不執行備刀程序。In a preferred embodiment of the present invention, the tool magazine control method further includes judging whether each tool in the tool magazine is in the finishing stage, and if so, the tool preparation program is not executed for the tool magazine.
在本發明的較佳實施例中，在刀庫控制方法中，量測刀具的刀具負載的步驟還包括：利用編碼器讀取刀具在刀庫的刀杯的位置訊號；利用控制單元將位置訊號換算成角加速度，且將驅動器內部的負載當成扭力以計算刀臂的轉動慣量；以及根據轉動慣量與刀臂的機構慣量以得到刀具慣量並根據刀臂的旋轉半徑可以得到刀具負載。In a preferred embodiment of the present invention, in the tool magazine control method, the step of measuring the tool load of the tool further includes: using an encoder to read the position signal of the tool in the tool cup of the tool magazine; using the control unit to send the position signal Convert it into angular acceleration, and use the load inside the driver as torque to calculate the moment of inertia of the tool arm; and get the tool inertia according to the moment of inertia and the mechanism inertia of the tool arm, and get the tool load according to the radius of rotation of the tool arm.
在本發明的較佳實施例中，在刀庫控制方法中，重複刀具上主軸步驟及刀庫上刀具步驟還包含編排刀具步驟，且編排刀具步驟包括：計算在刀庫中的每一把刀具位置對於刀庫的圓心的方向的向量總和、以及將下一個刀具編排在向量總和的相反位置的刀杯上。In a preferred embodiment of the present invention, in the tool magazine control method, repeating the step of spindle up the tool and the step of the tool in the tool magazine also includes the step of arranging tools, and the step of arranging the tools includes: calculating each tool in the tool magazine The vector summation of the position relative to the center of the tool magazine, and the next tool is arranged on the tool cup at the opposite position of the vector summation.
以下提供本發明具體實施例的詳細內容說明，然而本發明並不受限於下述實施例，且本發明中的圖式均屬於示意圖式，主要意在表示各模組之間的連接關係，於此實施方式搭配各圖式作詳細說明如下。The following provides detailed descriptions of specific embodiments of the present invention. However, the present invention is not limited to the following embodiments, and the drawings in the present invention are schematic diagrams, which are mainly intended to represent the connection relationship between the modules. The detailed description of this embodiment with various drawings is as follows.
首先請參考圖2。圖2是根據本發明所揭露的技術，表示刀庫控制系統的方塊圖。在圖2中，刀庫控制系統1至少由刀庫2、刀杯4、刀臂6及控制單元8所構成，其中刀庫2內具有多個刀杯4，每一個刀杯4用以容置一把刀具(未在圖中表示)，刀臂6是由主軸(未在圖中表示)取放刀具(未在圖中表示)以及將刀具(未在圖中表示)更換在刀庫2內的刀杯4上，以及控制單元8，用以控制刀庫2旋轉至對應的刀杯4，並且可以控制刀臂6旋轉，使得刀臂將刀具(未在圖中表示)由主軸(未在圖中表示)上取下，並旋轉刀臂，且於旋轉刀臂時量測或是計算刀具負載，控制單元8用以估算每一把刀具(未在圖中表示)的刀具負載及刀庫2的總載重以調整刀庫2的旋轉時的轉速，並根據每一把刀具(未在圖中表示)的刀具負載用以編排刀具(未在圖中表示)在刀庫2的任意一個刀杯4上。Please refer to Figure 2 first. Fig. 2 is a block diagram of a tool magazine control system according to the disclosed technology of the present invention. In Fig. 2, the tool
在本發明較佳的實施例中，控制單元8還可以根據刀具負載，將刀庫2的總載重及總偏載與刀庫2的參考值進行比對，以判斷刀庫2的總載重是否異常，以實時地調整刀庫2的轉速，在本發明的實施例中，刀庫2的參考值為刀庫2可承受的刀具總負載。另外，刀庫2可以是圓盤式刀庫或是鍊式刀庫。而在以下的實施例，則是以圓盤式刀庫來舉例說明。In a preferred embodiment of the present invention, the
接著請參考圖3。圖3是根據本發明所揭露的技術，表示用於刀庫控制系統的刀庫控制方法。並同時一併參考圖2進行說明。刀庫控制方法的步驟包括：步驟S10：執行刀具上主軸步驟。於此步驟中利用主軸(未在圖中表示)來置放刀具(未在圖中表示)。步驟S12：執行刀庫旋轉步驟。於此步驟中，旋轉刀庫2，使得主軸上的刀具轉換到刀庫2的任意刀杯4上。步驟S14：執行刀臂旋轉步驟。於此步驟中，利用刀臂6將刀具由主軸上將刀具(未在圖中表示)取下之後，並旋轉夾持有刀具的刀臂6，在旋轉的過程中，可以量測或計算刀具(未在圖中表示)的刀具負載，並將刀具負載記錄至控制單元8(如圖2所示)內。步驟S16：執行刀庫上刀具步驟。於此步驟中，旋轉刀臂6使得在主軸上的刀具轉換到刀庫2的任意刀杯4上。步驟S18：重複刀具上主軸步驟及刀庫上刀具步驟。於此步驟是重覆上述步驟S10至步驟S16，使得在主軸(未在圖中表示)的下一把刀具(未在圖中表示)放置在刀庫2的其他刀杯4上，其中放置刀杯4的位置為刀具(未在圖中表示)的向量總和相反的位置，直至刀具(未在圖中表示)已完全轉換至刀庫2的刀杯4為止。Then please refer to Figure 3. Fig. 3 shows a tool magazine control method used in a tool magazine control system according to the disclosed technology of the present invention. And also refer to Figure 2 for description. The steps of the tool magazine control method include: Step S10: Execute the step of upper spindle of the tool. In this step, the spindle (not shown in the figure) is used to place the tool (not shown in the figure). Step S12: Execute the tool magazine rotation step. In this step, the
接下來是根據上述的刀庫控制系統及其刀庫控制方法具體的進一步說明。請參考圖4A－圖4D。圖4A－圖4D表示刀臂式上刀流程各步驟示意圖。在本實施例中，是以圓盤式刀庫來進行說明。刀臂式上刀流程如圖4A所示，刀庫10中具有多個刀杯102a、102b、104a、104b、106a、106b、108a、108b，每一個刀杯102a、102b、104a、104b、106a、106b、108a、108b用以容置一把刀具30，刀具30放置在主軸20上，並且利用刀臂40將刀具30從主軸取出並放置於刀庫10的刀杯中。在本發明的較佳實施例中，刀杯102a與刀杯102b、刀杯104a與刀杯104b以及刀杯106a與刀杯106b以對角線的方式設置。The following is a specific further description based on the above-mentioned tool magazine control system and its tool magazine control method. Please refer to Figure 4A-Figure 4D. Figures 4A-4D show schematic diagrams of each step of the knife arm type loading process. In this embodiment, a disc-type tool magazine is used for description. The knife arm type knife loading process is shown in Figure 4A. The
接著如圖4B所示，當控制單元8(如圖2所示)發出換刀命令時，刀庫10會朝著如圖4B中箭頭所指示的方向旋轉，使得刀庫10旋轉至預設的刀杯102a之後。如圖4C所示，控制單元8(如圖2所示)繼續發出命令讓刀臂40旋轉(如圖4C中的箭頭所指示的方向)，使得刀具30從主軸20換到刀庫10。接著如圖4D所示，完成刀具30上刀至刀庫10的動作。Then as shown in Figure 4B, when the control unit 8 (as shown in Figure 2) issues a tool change command, the
在上述上刀的步驟中，一定會經過刀臂40旋轉的階段，而在圖4A－圖4D中是表示在刀庫10中無任何刀具30，故可以計算要放在刀庫10中的該把刀具30的負載，並且將此刀具30的負載記錄在控制單元8(如圖2所示)內。刀具30的計算方法如式(1)所示：
在得到刀具30的負載資訊之後，在繼續上刀的流程中，為了要解決各把刀具30的負載有可能會不同，當不同負載的刀具30上刀至刀庫10時，可能會造成刀庫10偏載的問題，因此，在刀具30上刀至刀庫10時，必需要對刀具30位於刀庫10的位置進行編排，以解決由於各把刀具30的負載不同所造成的刀庫10偏載的問題。After obtaining the load information of the
接著請參考圖5A－圖5D。圖5A－圖5D是根據本發明所揭露的技術，表示在刀庫中根據各把刀具的重量編排刀杯位置的各步驟流程示意圖。如圖5A中，每一個刀杯102a、102b、104a、104b、106a、106b、108a、108b的位置對於刀庫10的圓心都有個方向向量，此向量的量值為負載大小。為了減少刀庫10的偏載，需要將向量總和降到最小值，因此在連續上刀的步驟中，需要將下一把刀具30b置放在相對應於上一把刀具30a向量總和的相反位置上。當上一把刀具30a利用上述式(1)－式(3)計算出刀具30a的負載之後，例如6公斤，再利用如圖4A－圖4D的上刀步驟流程，將刀具30a上刀置放在任意一個刀杯102a、102b、104a、104b、106a、106b、108a、108b的位置，如刀杯102a。接著，要再對下一把刀具30b進行上刀時，可計算出其刀具30的負載為8公斤，由於刀具向量總和是朝著時鐘12點鐘的方向，故下一把刀具30b需置放在離時鐘6點鐘方向最接近的位置，如圖4B中，將刀具30b放在刀杯102b的位置。Then please refer to Figure 5A-Figure 5D. Figures 5A-5D are schematic diagrams showing the steps of arranging the positions of the tool cups in the tool magazine according to the weight of each tool according to the technology disclosed in the present invention. As shown in FIG. 5A, the position of each
接下來，要再置放第三把刀具30c時，由於在刀庫10上，刀具30a及刀具30b的刀具向量總和指向時鐘6點鐘方向，因此負載為4公斤的第三把刀具30c，須放置離時鐘12點鐘方向最接近的位置，如圖5C中，將刀具30c放在刀杯104b的位置。Next, when the
接著，再置放第四把刀具30d時，目前在刀庫10上，刀具30a、刀具30b及刀具30c的刀具向量總和指向時鐘9-10點鐘之間的方向，因此第四把刀具30d，其負載為2公斤，須放置離時鐘3-4點鐘之間的方向最接近的位置，如圖4D中，將刀具30d放在刀杯104a的位置。以此類推，後續要上刀至刀庫10的刀具可以根據目前刀庫10上所承載的刀具向量總和，置放在刀具向量總和的相反位置即可。Then, when the
根據上述利用刀具負載及刀具向量總和的方式，可以將不同負載的刀具編排在刀庫10中適當的刀杯102a、102b、104a、104b、106a、106b、108a、108b的位置，來避免刀庫10因刀具負載分配不均而產生刀庫10偏載的問題。According to the above method of using the tool load and the sum of tool vectors, the tools of different loads can be arranged in the appropriate positions of the
當所有的刀具都上刀至刀庫10之後，由於控制單元已經知道目前在刀庫10上承載的所有刀具的負載，故進一步的可以針對刀庫10與刀臂40的動程作細節最佳化。請同時參考圖6A及圖6B。圖6A及圖6B是根據本發明所揭露的技術，表示不同負載大小的動程規劃的示意圖，其中，圖6A表示的是負載大的動程規劃以及圖6B表示的是負載小的動程規劃。在本發明的較佳實施例中，最佳化的方向是負載愈重，旋轉速度與加速度愈慢，如此一來可以讓刀庫10所承受的衝擊力減低，進而可以提升整個刀庫控制系統1的使用壽命。再者，動態將慣量同步至驅動器，配合位置環/速度環/扭力環的三環控制，可以提升速度環的控制，並且可以讓驅動器內部的三環控制可以更加的平穩。After all the tools are loaded to the
此外，當刀庫10平常在進行換刀時，控制單元8(如圖2所示)檢測負載與偏載是否有超過刀庫10機構的上限值，若是超過機構上限，則刀庫控制系統1會提醒使用者，並且自動降低刀庫10的轉速。平常換刀檢測的優點在於：能在針對當下的刀具配置做檢驗，使用者則無需定時檢測，而計算負載的方式則與同前述計算刀具負載相同，因此針對刀庫10是否承受過多的載重如以下所述並一併參考圖7，圖7是根據本發明所揭露的技術，表示刀庫旋轉定位時的速度回授與負載的示意圖。如圖7所示，刀庫10旋轉定位包含加減速段以及等速段，其中加減速段受到的負載會等同慣性力加上動摩擦力，由於等速段的負載幾乎是等於動摩擦力，故要先從等速段計算動摩擦力，並將加減速段的負載扣除動摩擦力，才會是單純的慣性力，因此得到了慣性力之後，利用上述式(1)計算出刀庫10與刀具的總負載。另外，計算刀庫10的負載必須扣掉已知刀庫10本身的機構負載才會是刀具所造成的負載，一般來說，刀庫廠皆會提供刀庫可承受的刀具總負載資訊，據此，可以來判斷刀庫10是否承受過多的負載。In addition, when the
另外，在本發明中的刀庫控制系統1還可以計算刀庫偏載，如圖8所示。圖8是根據本發明所揭露的技術，表示刀庫偏載/無偏載的速度迴授與負載的示意圖。在圖8中，由於負載會因偏心產生如同大波的波動，故對於負載做頻域轉換可以在低頻處發現偏載的振幅較大，進而偵測偏載。偵測的低頻頻率可由刀庫轉速從式(4)計算得到，
由於帶有刀庫10的工具機(未在圖中表示)為了節省換刀的速度，因此會在某把刀具進行加工時，刀庫10會預先旋轉備妥下一把需要用的刀具，而為了追求精加工的良好品質，在任何的加工過程中，機台的震動都可能影響工件的良率，也就是說，在精加工的情況下，若為了備刀而旋轉刀庫10，進而造成機構震動，就有可能在工件表面產生不必要的紋路，為了解決在精加工的情況下，避免機台震動而影響工件良率，本發明提出了一種在精加工階段，調整刀庫轉速的方法，如圖9所示。圖9是根據本發明所揭露的技術，表示在精加工階段，調整刀庫轉速的步驟流程示意圖。步驟S20：設定刀具對應的加工條件。於此步驟中，由使用者先在刀具管理介面輸入使用刀號的加工場合，舉例來說，使用者設定各把刀具所對應的加工條件是粗加工或是精加工。接著於步驟S22：設定在精加工時，刀庫的速度、加速度及/或加加速度。步驟S24：根據刀具管理，判斷目前加工階段是否在精加工。於此步驟中，是在步驟S22設定好精加工的各種條件之後，開啟精加工模式的刀庫智能化功能，藉由智能化功能來判斷目前加工是在何種階段。若是在精加工階段，則進行步驟S26：刀庫根據精加工設定的速度、加速度及/或加加速度進行旋轉。於此步驟，由於刀庫智能化可以判斷目前的加工階段，若是在精加工階段，則依據上述所設定的動程參數進行刀庫10的轉動，甚至可以讓使用者決定在精加工的狀態下，不進行刀庫10旋轉的備刀動作。若刀庫智能化功能判斷目前的加工階段不是在精加工階段，則進行步驟S28：根據刀庫的負載調整刀庫轉速。因此透過刀庫智能化的應用，可以對工件的加工效率及工件的加工品質上做到最佳化的設計。Since the machine tool with the tool magazine 10 (not shown in the figure) saves the speed of tool change, when a certain tool is processed, the
以上所述僅為本發明較佳的實施方式，並非用以限定本發明權利的範圍；同時以上的描述，對於相關技術領域中具有通常知識者應可明瞭並據以實施，因此其他未脫離本發明所揭露概念下所完成之等效改變或修飾，應均包含於申請專利範圍中。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of rights of the present invention. At the same time, the above descriptions should be understood by those with ordinary knowledge in the relevant technical fields and implemented accordingly. Therefore, other aspects do not deviate from this The equivalent changes or modifications completed under the concept disclosed in the invention should all be included in the scope of the patent application.
S100~S108:非伺服刀庫使用的備刀流程步驟
1:刀庫控制系統
2、10:刀庫
4:刀杯
6、40:刀臂
8:控制單元
102a、102b、104a、104b、106a、106b、108a、108b:刀杯
20:主軸
30、30a~30d:刀具
S10~S18:刀庫控制方法步驟流程
S20~S28:在精加工階段，調整刀庫轉速的步驟S100~S108: Tool preparation process steps used by non-servo tool magazines
1: Tool
圖1是根據現有技術，表示非伺服刀庫使用的備刀流程步驟示意圖。 圖2是根據本發明所揭露的技術，表示刀庫控制系統的方塊圖。 圖3是根據本發明所揭露的技術，表示用於刀庫控制系統的刀庫控制方法步驟流程示意圖。 圖4A－圖4D是根據本發明所揭露的技術，表示刀臂式上刀流程各步驟示意圖。 圖5A－圖5D是根據本發明所揭露的技術，表示在刀庫中根據各把刀具的重量編排刀杯位置的各步驟流程示意圖。 圖6A及圖6B是根據本發明所揭露的技術，表示不同負載大小的動程規劃的示意圖。 圖7是根據本發明所揭露的技術，表示刀庫旋轉定位時的速度迴授與負載的示意圖。 圖8是根據本發明所揭露的技術，表示刀庫偏載/無偏載的速度迴授與負載的示意圖。 圖9是根據本發明所揭露的技術，表示在精加工階段，調整刀庫轉速的步驟流程示意圖。 Fig. 1 is a schematic diagram showing the steps of a tool preparation process used in a non-servo tool magazine according to the prior art. Fig. 2 is a block diagram of a tool magazine control system according to the disclosed technology of the present invention. FIG. 3 is a schematic flow chart showing the steps of a tool magazine control method used in a tool magazine control system according to the technology disclosed in the present invention. 4A-4D are schematic diagrams showing the steps of the knife arm type knife loading process according to the technology disclosed in the present invention. Figures 5A-5D are schematic diagrams showing the steps of arranging the positions of the tool cups in the tool magazine according to the weight of each tool according to the technology disclosed in the present invention. 6A and 6B are schematic diagrams showing the motion planning of different load sizes according to the technology disclosed in the present invention. FIG. 7 is a schematic diagram showing the speed feedback and load during the rotation and positioning of the tool magazine according to the technology disclosed in the present invention. FIG. 8 is a schematic diagram showing the speed feedback and load of the tool magazine with unbiased load and unbiased load according to the technology disclosed in the present invention. FIG. 9 is a schematic flow chart showing the steps of adjusting the rotation speed of the tool magazine during the finishing process according to the technology disclosed in the present invention.
S10~S18:刀庫控制方法步驟流程 S10~S18: Step process of tool magazine control method
Claims (14)
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| TWM536127U (en) * | 2016-10-12 | 2017-02-01 | Te Shin Cam Co Ltd | Improved automatic tool changing device |
| TWI645933B (en) * | 2017-12-08 | 2019-01-01 | 財團法人工業技術研究院 | Method for confirming tool position and machine tool system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM536127U (en) * | 2016-10-12 | 2017-02-01 | Te Shin Cam Co Ltd | Improved automatic tool changing device |
| TWI645933B (en) * | 2017-12-08 | 2019-01-01 | 財團法人工業技術研究院 | Method for confirming tool position and machine tool system |
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| TW202138107A (en) | 2021-10-16 |
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