With the emergence of machining centers in the manufacturing industry, as a key component of the machining center, the disc-type tool magazine has been used more and more. In the design and debugging process of the machining center, it is necessary to master the disc-shaped knife. The control logic of the library. The application of the tool magazine can effectively improve the machining efficiency and machining accuracy of the machining center. This paper takes the BT40 disc type tool magazine as an example, and introduces the control logic of the disc type tool magazine in detail, which provides a reference for designing the control logic of the disc type tool magazine.
1. Control logic analysis By analyzing the control logic of the disc magazine, it can be concluded that the tool change logic of the disc magazine is completed by the following stages. In the logic control of the machining center, it is also implemented in steps. The overall control logic of the disc magazine is shown in the attached drawing. For more technical articles in the metal processing industry, please pay attention to the metal processing online technical article center.
The overall control logic diagram can be seen from the above overall control logic, the entire control process can be divided into four stages: knife sleeve control, robotic gripper, robotic tool change and robot back to home. These four sections will be introduced separately below.
(1) Cutter selection knife In the entire tool change control logic processing, the first thing that needs to be completed is the cutter selection operation. Cutter selection can be done manually or automatically. The control logic of the manual knife selection and the automatic tool selection is the same, the difference is that the starting signal of the cutter selection knife is different. When the cutter start signal is supplied to the cutter rotary motor, the cutter rotates. When the cutter rotates to a position of the cutter, the cutter counter counts. When the position of the cutter is counted, the cutter is completed. The cutter motor stops rotating.
In the process of tool selection, it is necessary to consider the relationship between the rotation direction of the cutter head and the cutter head count. In the process of selecting the cutter, the sequential cutter and the nearest cutter can be designed. The sequential selection of the knife is the process of the cutter selection logic control. The cutter can only rotate the selector clockwise or counterclockwise. This control logic is simple, the addition or subtraction of the cutter counter is easy to judge, the control logic is easy to implement, but the efficiency is not high, and often a selection process takes a long time; the nearest selection knife is the current knife during the selection process. The position of the sleeve and the position of the target pocket are judged to find the nearest direction of rotation while correspondingly adding or subtracting the count. This kind of control logic is more complicated than sequential selection, but it is efficient, and this control method is generally used in the design process. For more technical articles in the metal processing industry, please pay attention to the metal processing online technical article center.
(2) Tool holder control The tool holder is the part in which the tool is mounted in the disc type magazine, and the tools in the disc type magazine are respectively installed in each tool holder. When a tool change is required, the tool holder is lowered, and the tool on the current spindle and the tool in the current falling tool cover are exchanged by the robot to realize the tool selection. Therefore, it is very important to determine the state of the current tool holder before the robot is changed. According to the mechanical structure and function analysis of the knife sleeve, it can be determined that the knife sleeve is divided into two states: the knife sleeve falls and the knife sleeve lifts. In the process of changing the tool, it is necessary to judge the current state of the tool holder, otherwise the entire tool change process cannot be realized.
During the entire tool change process, the actions required to determine the state of the tool holder are as follows: cutter cutter selection and robot tool change. The state of the tool holder must be judged before the cutter is selected. When the knife sleeve is in the state where the knife sleeve is falling down, the cutter head cannot be rotated, otherwise the cutter head will be stuck. After a certain time, the cutter disc rotation motor will be damaged. Therefore, in the logic design process of the cutter wheel rotation control, the state of the cutter head must be considered, and the protection logic of the cutterhead design is required.
Secondly, in the process of tool change, the state of the tool sleeve also needs to be judged. In the process of tool change, if the tool holder is in the raised state, the current tool holder is in the raised state during the tool change process. During the process of grasping the knife, the robot arm on the cutter head side is in an empty state. After the robot exchanges the tool, the corresponding tool is not exchanged on the current spindle, and the current tool change process has no meaning. Since there is no tool on the current spindle, it will affect the subsequent machining process. For more technical articles in the metal processing industry, please pay attention to the metal processing online technical article center.
It can be seen from the above analysis that it is very important to determine the state of the knife sleeve during the whole tool change process. In the process of tool change and robot change, the current state of the tool holder must be identified and the corresponding protection control should be designed. logic.
(3) The gripper of the robot gripper is the previous action of the robot to change the cutter. The gripper of the robot is the 90° rotation of the robot from the home position. The two ends of the robot respectively grasp the cutter of the current cutter sleeve and the cutter on the spindle. In order to facilitate the robot to exchange tools.
During the design process of the gripping action of the robot, it is necessary to determine the position of the current spindle. When the position of the spindle is unreasonable, the robot will hit the spindle or the robot will not grasp the tool on the spindle, causing damage to the robot and the spindle. The rotation action of the robot gripper is started by the external controller. When it is rotated to the gripping position, the magazine sends a knife completion signal, and the external controller controls the robot to stop rotating. For more technical articles in the metal processing industry, please pay attention to the metal processing online technical article center.
(4) Manipulator tool change The manipulator tool change is the most important step in the whole tool change process. When the manipulator is in the gripper position, the robot controller sends a tool change signal. When the robot receives the tool change start signal, the robot grasps the tool at both ends and first pulls down a certain distance, and then rotates 180° to realize the exchange of the tool on the tool holder and the tool on the spindle. Since the tool on the tool holder and the tool on the spindle are exchanged, the number of the tool on the current tool holder also changes synchronously. In order to effectively identify the tool holder number when the tool is selected, the tool number exchanged to the tool holder needs to be recorded, so as to avoid the tool change due to the wrong tool number on the tool holder when the tool is selected next time. Confused.
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