Tool changing control method and system for hydraulic inverted translation tool magazine

Abstract

The invention relates to the technical field of machine tool tool magazines, in particular to a hydraulic inverted translation tool magazine tool changing control method and system.The hydraulic inverted translation tool magazine tool changing control method comprises the steps that S10, the tool storage positions of a tool magazine are numbered clockwise from 1 to n, and n is the tool storage upper limit; labeling each cutter to form a cutter number and installing the cutter number; s20, the tool magazine is initialized, tool storage position numbers and tool numbers are recorded into n columns and two rows, a comparison table is formed, and all tools are recorded; s30, according to the tool changing instruction, shortest path L calculation is conducted on the tool storage position number y corresponding to the target tool and the tool storage position number z of the tool changing position where the target tool is located; s40, the tool magazine is moved according to the calculation result of the L, and the target tool is moved to a tool changing position; s50, whether the tool changing position tool number is consistent with the target tool number or not is recognized, and if yes, the tool changing action is conducted; s60, the spindle tool is installed at the tool storage position where the tool changing position is located, the comparison table is updated, and the tool changing action is finished; the tool changing efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of machine tool tool magazines, and in particular to a tool changing control method and system for a hydraulic inverted translation tool magazine. Background Art

[0002] With the development of modern manufacturing industry, CNC machine tools, as one of the important tools for precision machining, have higher and higher requirements in production efficiency and machining accuracy; hydraulic inverted translational tool magazine, as an efficient tool management system, plays a vital role in CNC machine tools; it realizes rapid positioning and smooth exchange of tools through hydraulic drive, which can significantly improve the tool change speed and machining efficiency of machine tools; traditional hydraulic inverted translational tool magazine is usually composed of tool magazine body, hydraulic drive system, tool storage rack and control system; among them, the tool storage rack is used to store different types of tools, while the control system is responsible for tool selection and tool change execution.

[0003] Although the hydraulic inverted translation tool magazine has made significant progress in improving tool changing efficiency, the existing technology still has some shortcomings; the traditional tool magazine does not select the optimal route for tool changing when changing tools, and because the tool storage position number needs to be placed one-to-one with the tool number, after the spindle tool is changed, the tool magazine still needs to continue to operate to the tool storage position corresponding to the replaced tool number; in actual work, the tool magazine cannot independently check the accuracy of tool storage, and is not flexible enough in handling changes in the correspondence between tool numbers and tool storage position numbers. Once tools are frequently changed, it will cause the tools to be easily stored incorrectly, and problems will arise in tool changing, thereby affecting the tool changing efficiency and further affecting the smooth progress of the entire machining process; the existing tool magazine control system often lacks effective monitoring of tool usage and is unable to evaluate the degree of tool wear and replacement cycle, which may lead to excessive tool wear or premature replacement, which increases costs and reduces production efficiency.

[0004] Therefore, there is an urgent need for a hydraulic inverted translational tool magazine tool changing control method and system that can effectively solve the above-mentioned problems. Summary of the invention

[0005] In view of at least one of the above technical problems, the present invention provides a hydraulic inverted translational tool magazine tool change control method and system, which optimizes the process of storing tools in the tool magazine and checks the actual tool storage situation to effectively improve the tool change efficiency.

[0006] According to a first aspect of the present invention, a method for controlling tool change in a hydraulic inverted translational tool magazine is provided, comprising: S10: Number the tool storage positions in the tool storage from 1 to n in a clockwise order, where n is the upper limit of the number of tools in the tool storage; label each tool to form a tool number, the tool number corresponds to the tool storage position number one by one, and install the tool in the tool storage position according to the corresponding number; S20: The tool magazine is initialized, and the tool position number and the tool number are recorded into n columns and two rows to form a comparison table, one row is the tool position number, and the other row is the corresponding tool number. After all tools are recorded, the initialization setting is completed; S30: According to the received tool change command, the shortest path L is calculated between the tool storage position number y corresponding to the target tool number and the tool storage position number z of the current tool change position, specifically: set the clockwise movement of the tool magazine as positive rotation, calculate L1=yz, and then calculate L2=n-|L1|; L=min(|L1|, L2); if |L1|=L2, set L=|L1|; S40: Move the tool magazine according to the calculation result of the shortest path L, and move the target tool to the tool change position, specifically: When L=|L1| and L1>0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=|L1| and L1≤0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1>0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1≤0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; S50: Identify whether the tool number stopped at the tool change position is consistent with the target tool number, and if they are consistent, perform tool change action; S60: After the target tool and the spindle tool are replaced, the spindle tool is directly installed in the tool storage position where the tool change position is located; after the spindle tool number is identified, the spindle tool number replaces the tool number corresponding to the current tool storage position number and the comparison table is updated, and the tool change action is completed.

[0007] Furthermore, it also includes: S51: When the tool number of the tool change position is inconsistent with the target tool number, the tool magazine moves clockwise to identify each tool number one by one; S52: If the target tool number is identified, the rotation of the tool magazine is stopped directly and the tool change action is performed, and the corresponding relationship between the tool position number and the tool number stored in the comparison table is updated; if the tool number in the tool magazine is identified but the target tool number is not identified, an alarm is issued and the tool magazine operation is stopped; S53: Record the tool storage location number a where the target tool B is actually located, and record the tool number A corresponding to the tool storage location number a in the comparison table as an error number; if an error number already exists, divide the error number into the first error number A1, the second error number A2, ... the tth error number At according to the time sequence of the records.

[0008] Furthermore, it also includes: S61: Record the target tool number as B, the tool storage location number where the target tool is actually located as a, and record the tool number corresponding to the tool storage location number a in the comparison table as A; S62: moving the tool magazine to the tool storage location corresponding to the tool number B in the comparison table according to the shortest path, and the tool storage location number is recorded as b; S63: Identify the actual tool number at the tool storage position b and record it as C; Update the corresponding relationship in the comparison table according to the stored tool position number b and the actual tool number C; Then judge: if C=A, stop the loop and go to the next step; If C≠A, update the value of B to C, update the value of a to b, and then return to S62.

[0009] Furthermore, it also includes: When executing steps S61 to S63, if the tool magazine receives a tool change command, stop checking the error number and execute the tool change command; after the tool change is completed, continue to check the error number; when there are multiple error numbers, in the order of the first error number A1, the second error number A2...the tth error number At, bring them into steps S61 to S63 for checking, and delete the error number after the checking is completed.

[0010] Furthermore, step S60 also includes: recording the number of times and time each tool is used to evaluate the tool life and replacement cycle; when using tools of the same type, comparing their number of times of use, determining the tool with fewer times of use and using it.

[0011] Furthermore, the method further includes S70: in a standby state, executing a self-checking program of the tool magazine to maintain the storage of tools in the tool magazine.

[0012] According to a second aspect of the present invention, there is also provided a hydraulic inverted translation tool magazine tool changing control system, comprising: Central controller: used to receive instructions, calculate the shortest path L, and control the movement of the tool magazine; Tag module: includes a reader and n tags; the reader faces the tool change position and is used to read the tags; the n tags are attached to n tools one by one; Database: used to store and update the correspondence between the tool storage location number and the tool number, forming a comparison table with n columns and two rows, one row for the tool storage location number and the other row for the corresponding tool number, and each row for the corresponding tool storage location number and tool number; Troubleshooting library: used to write and delete error numbers; Detection module: used to detect whether the target tool number is consistent with the tool number of the tool change position, and send an abnormal signal if they are inconsistent; Maintenance module: According to abnormal signals, check all tool labels in the tool magazine and update the comparison table; if the target tool label is not identified, an alarm is issued.

[0013] Furthermore, there are at least two readers distributed along the circumference of the tool changing position; and the label is attached to the handle of the tool.

[0014] The technical solution of the present invention can achieve the following technical effects: The present invention determines the moving direction and distance of the tool magazine by calculating the shortest path, thereby effectively reducing the time of tool magazine movement; when the tool number does not match the tool storage position number, the target tool is searched first so that the machine tool can quickly enter work; the tool storage status of the tool magazine is updated in time by checking the wrong number, which effectively reduces the number of tool magazine movements compared to traversing the tools in the tool magazine for checking; and in the process of checking, the tool change instruction is executed first, which greatly improves the tool change efficiency and ensures the continuity of processing; the self-check program will be executed in the standby state, reducing the need for regular maintenance and the need for manual intervention; and the efficiency and accuracy of the tool change process of the hydraulic inverted translation tool magazine are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 Schematic diagram of the steps of the hydraulic inverted translation tool magazine tool changing control method in an embodiment of the present invention; Figure 2 Schematic diagram of steps S51 to S53 of the tool changing control method of the hydraulic inverted translation tool magazine in an embodiment of the present invention; Figure 3 Schematic diagram of steps S61 to S63 of the tool changing control method of the hydraulic inverted translational tool magazine in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0020] like Figure 1 The hydraulic inverted translation tool magazine tool changing control method shown includes the following steps: S10: Number the tool storage positions in the tool storage from 1 to n in a clockwise order, where n is the upper limit of the number of tools in the tool storage; label each tool to form a tool number, the tool number corresponds to the tool storage position number one by one, and install the tool in the tool storage position according to the corresponding number; S20: The tool magazine is initialized, and the tool storage location number and the tool number are recorded into n columns and two rows to form a comparison table, one row is the tool storage location number, and the other row is the corresponding tool number. After all the tools are recorded, the initialization setting is completed, so that the tool storage location number and the tool number in the comparison table correspond to each other one by one; the initialization step records the tool storage location number in the comparison table. Through this recording method, it is no longer necessary to install an additional device for identifying the tool storage location number; S30: According to the received tool change command, the shortest path L is calculated between the tool storage location number y corresponding to the target tool number and the tool storage location number z of the current tool change location; the tool change command is generated by the machine tool control system during the machining process according to the machine tool program, and includes information about the next tool to be used (i.e., the target tool number); S40: moving the tool magazine according to the calculation result of the shortest path L. The calculation result includes the rotation direction and rotation amount of the tool magazine, so as to control the tool magazine action to move the target tool to the tool change position; the tool change position is a fixed position in the tool magazine. By moving each tool storage position to this position, the tool on the tool storage position can be driven to this position, and then the tool change work is performed at this position; S50: Identify whether the tool number stopped at the tool change position is consistent with the target tool number, and if they are consistent, perform tool change action; S60: After the target tool and the spindle tool are replaced, the spindle tool is directly installed in the tool storage position where the tool change position is located; after the spindle tool number is identified, the spindle tool number replaces the tool number corresponding to the current tool storage position number and updates the record, and the tool change action is completed. The difference from the traditional tool change is that after the spindle tool is replaced, it does not wait on the robot arm for the tool magazine to move until the tool storage position corresponding to the spindle tool is in place before installation, but is directly installed in the tool storage position after the target tool is replaced, saving the tool magazine movement time and number of times.

[0021] In step S30, the shortest path L is calculated between the tool storage location number y corresponding to the target tool number and the tool storage location number z of the current tool change location: Set the clockwise movement of the tool magazine as positive rotation, calculate L1=yz, and then calculate L2=n-|L1|; L=min(|L1|, L2); if |L1|=L2, let L=|L1|; calculate the minimum tool storage distance that the tool magazine needs to move, and prepare for the movement of the tool magazine.

[0022] In step S40, the tool magazine is moved according to the calculation result of the shortest path L as follows: When L=|L1| and L1>0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=|L1| and L1≤0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1>0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1≤0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; By judging the positive and negative relationship between the value of L and L1, the choice of the tool magazine moving direction is obtained, and the tool magazine is moved in the shortest path combined with the tool storage position distance to be moved.

[0023] Preferably, Figure 2 As shown, the following steps are also included: S51: When the tool number of the tool change position is inconsistent with the target tool number, it means that there is a problem with the tool in the tool magazine. At this time, the tool magazine needs to be moved clockwise to identify each tool number one by one to help the system find the correct target tool to ensure processing; S52: If the target tool number is identified, the rotation of the tool magazine is stopped directly and the tool change action is performed, giving priority to subsequent processing work, and then the corresponding relationship between the tool storage position number and the tool number at the tool change position in the comparison table is updated; if the tool number in the tool magazine is identified but the target tool number is not identified, it means that a serious error has occurred in the tool magazine, and an alarm needs to be issued and the tool magazine operation needs to be stopped to avoid damage to equipment and personnel; S53: Record the actual storage location number a of the target tool B, and record the tool number A corresponding to the storage location number a in the comparison table as an error number; if an error number already exists, divide the error number into the first error number A1, the second error number A2...the tth error number At in the order of recorded time; this step facilitates subsequent tool magazine inspection, thereby updating the error number in the comparison table.

[0024] like Figure 3 As shown, the following steps are also included: S61: the target tool number is recorded as B, the tool storage position number where the target tool is actually located is recorded as a, and the tool number corresponding to the tool storage position number a in the comparison table is recorded as A; S62: moving the tool magazine to the tool storage location corresponding to the tool number B in the comparison table according to the shortest path, and the tool storage location number is recorded as b; S63: Identify the actual tool number at the tool storage position b and record it as C; Update the corresponding relationship in the comparison table according to the stored tool position number b and the actual tool number C; Then judge: if C=A, stop the loop and go to the next step; If C≠A, update the value of B to C, update the value of a to b, and then return to S62; The above steps detect the wrong number in the tool magazine by verifying whether the actual situation is consistent with the information in the comparison table, and timely update the information in the comparison table to reflect the actual situation to avoid errors when changing tools; if steps S61 to S63 are executed once, the investigation is completed, indicating that the actual storage positions of the two tools are wrong, and each additional cycle thereafter indicates that the actual storage position of an additional tool is inconsistent with the comparison table.

[0025] The following example will be used to illustrate this. If the initial comparison table is as follows: Table 1. Initial comparison table

[0026] The correspondence between the actual tool number and the stored tool position number is shown in the following table: Table 2. Actual correspondence table

[0027] At this time, tool No. 8 is waiting to exchange with target tool No. 6; S61: The target tool number 6 is recorded as B, the tool storage location number 9 where the target tool is actually located is recorded as a, and the tool number 3 corresponding to the tool storage location number a in the comparison table is recorded as A; S62: The tool storage location number corresponding to the tool number B in the comparison table is 8 and is recorded as b. After calculating the shortest path between a and b, the tool magazine moves to the tool storage location b. S63: Identify the actual tool number 9 at the tool storage position b and record it as C; First, the identified tool number C9 and the tool storage location number b8 are updated in the comparison table in correspondence; At this time, C=9, A=3, and 3≠9, that is, C≠A, we need to continue the loop, bring C9 into B6 and update it to B9, bring b8 into a9 and update it to a8; S62: At this time, the tool storage location number corresponding to the tool number B9 in the comparison table is 6, denoted as b. After calculating the shortest path between a and b, the tool magazine moves to the tool storage location b. S63: Identify the actual tool number 3 at the tool storage position b and record it as C; First, update the identified tool number C3 and the tool storage location number b6 in the comparison table. The updated comparison table is as follows: Table 3. Final comparison table

[0028] At this time, C=3, A=3, so C=A, stop the cycle, and the tool magazine enters the next step.

[0029] Preferably, when executing steps S61 to S63, if the tool magazine receives a tool change command, the error number is stopped from being checked and the tool change command is executed; after the tool change is completed, the error number is continued to be checked; when there are multiple error numbers, the first error number A1, the second error number A2 ... the tth error number At are sequentially brought into steps S61 to S63 for checking, and after the checking is completed, the error number is deleted; When the tool magazine receives a new tool change instruction, the system will suspend the error number troubleshooting work and give priority to executing the tool change instruction. This ensures that the machining process will not be interrupted due to error troubleshooting, thereby improving machining efficiency. After completing the tool change instruction, the system will continue to check the remaining error numbers, ensuring that even when processing other tasks, the system can continue to correct errors when idle, improving the system's self-maintenance capabilities. When there are multiple error numbers, the system will check them in the order of the first error number A1, the second error number A2...the tth error number At, giving priority to the first error, ensuring that all errors can be corrected, helping to update the correct comparison table and improve subsequent tool change efficiency. After all error numbers are checked, the written error numbers are deleted to save system space.

[0030] Preferably, step S60 also includes: recording the number of times and time each tool works to evaluate the tool life and replacement cycle; when using tools of the same type, comparing their number of times they work to determine which tool to use with less work; helping to predict when a tool may need to be replaced, thereby avoiding quality problems or downtime caused by tool wear; when using tools of the same type, by comparing their number of times they work, selecting tools with less work to use, so that the tool usage burden can be more evenly distributed and the overall tool life can be extended.

[0031] It also includes step S70: in the standby state, the self-check program of the tool magazine is executed to maintain the storage of tools in the tool magazine; through the self-check program, it can be verified whether the corresponding relationship between the tool number and the tool storage position number is correct. If the corresponding relationship is inconsistent with the comparison table, it can be updated in time to do preventive work on the tool magazine; and the standby state can be entered when the machine tool is performing long-term processing and will not receive a tool change instruction in a short time, or it can be that the machine tool has stopped working and the tool magazine enters the standby state to perform the self-check program.

[0032] According to a second aspect of the present invention, there is also provided a hydraulic inverted translation tool magazine tool changing control system, comprising: Central controller: used to receive instructions, calculate the shortest path L, and control the movement of the tool magazine; Tag module: includes a reader and n tags; the reader faces the tool change position and is used to read the tags; the n tags are attached to n tools one by one; Database: used to store and update the correspondence between the tool storage location number and the tool number, forming a comparison table with n columns and two rows, one row for the tool storage location number and the other row for the corresponding tool number, and each row for the corresponding tool storage location number and tool number; Troubleshooting library: used to write and delete error numbers; Detection module: used to detect whether the target tool number is consistent with the tool number of the tool change position, and send an abnormal signal if they are inconsistent; Maintenance module: According to abnormal signals, check all tool labels in the tool magazine and update the comparison table; if the target tool label is not identified, an alarm is issued.

[0033] There are at least two readers distributed along the circumference of the tool changing position; the label is attached to the tool handle so that it will not be touched by the tool changing robot, thereby effectively reducing the damage of the label during operation; by setting up multiple readers, even if one of the readers has a problem or is blocked, the other reader can still read the tool label, ensuring the normal operation of the system.

[0034] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A hydraulic inverted translation tool magazine tool change control method, characterized in that: The following steps are involved: S10: Number the tool storage positions in the tool storage from 1 to n in a clockwise order, where n is the upper limit of the number of tools in the tool storage; label each tool to form a tool number, the tool number corresponds to the tool storage position number one by one, and install the tool in the tool storage position according to the corresponding number; S20: The tool magazine is initialized, and the tool position number and the tool number are recorded into n columns and two rows to form a comparison table, one row is the tool position number, and the other row is the corresponding tool number. After all tools are recorded, the initialization setting is completed; S30: According to the received tool change command, the shortest path L is calculated between the tool storage position number y corresponding to the target tool number and the tool storage position number z of the current tool change position, specifically: set the clockwise movement of the tool magazine as positive rotation, calculate L1=yz, and then calculate L2=n-|L1|; L=min(|L1|, L2); if |L1|=L2, set L=|L1|; S40: Move the tool magazine according to the calculation result of the shortest path L, and move the target tool to the tool change position, specifically: When L=|L1| and L1>0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=|L1| and L1≤0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1>0, the tool magazine moves clockwise, and the tool magazine rotates by the distance of L tool storage positions; When L=L2 and L1≤0, the tool magazine moves counterclockwise, and the tool magazine rotates by the distance of L tool storage positions; S50: Identify whether the tool number stopped at the tool change position is consistent with the target tool number, and if they are consistent, perform tool change action; S60: After the target tool and the spindle tool are replaced, the spindle tool is directly installed in the tool storage position where the tool change position is located; after the spindle tool number is identified, the spindle tool number replaces the tool number corresponding to the current tool storage position number and the comparison table is updated, and the tool change action is completed.

2. The hydraulic inverted translation tool magazine tool change control method according to claim 1, characterized in that: Also includes: S51: When the tool number of the tool change position is inconsistent with the target tool number, the tool magazine moves clockwise to identify each tool number one by one; S52: If the target tool number is identified, the rotation of the tool magazine is stopped directly and the tool change action is performed, and the corresponding relationship between the tool position number and the tool number stored in the comparison table is updated; if the tool number in the tool magazine is identified but the target tool number is not identified, an alarm is issued and the tool magazine operation is stopped; S53: Record the tool storage location number a where the target tool B is actually located, and record the tool number A corresponding to the tool storage location number a in the comparison table as an error number; if an error number already exists, divide the error number into the first error number A1, the second error number A2, ... the tth error number At according to the time sequence of the records.

3. The hydraulic inverted translation tool magazine tool change control method according to claim 2, characterized in that: Also includes: S61: Record the target tool number as B, the tool storage location number where the target tool is actually located as a, and record the tool number corresponding to the tool storage location number a in the comparison table as A; S62: moving the tool magazine to the tool storage location corresponding to the tool number B in the comparison table according to the shortest path, and the tool storage location number is recorded as b; S63: Identify the actual tool number at the tool storage position b and record it as C; Update the corresponding relationship in the comparison table according to the stored tool position number b and the actual tool number C; Then judge: if C=A, stop the loop and go to the next step; If C≠A, update the value of B to C, update the value of a to b, and then return to S62.

4. The hydraulic inverted translation tool magazine tool change control method according to claim 3, characterized in that: Also includes: When executing steps S61 to S63, if the tool magazine receives a tool change command, stop checking the error number and execute the tool change command; after the tool change is completed, continue to check the error number; when there are multiple error numbers, in the order of the first error number A1, the second error number A2...the tth error number At, bring them into steps S61 to S63 for checking, and delete the error number after the checking is completed.

5. The hydraulic inverted translation tool magazine tool change control method according to claim 1, characterized in that: Step S60 also includes: recording the number of times and time each tool is used to evaluate the tool life and replacement cycle; when using tools of the same type, comparing their number of times of use, determining the tool with less number of times of use and using it.

6. The hydraulic inverted translation tool magazine tool change control method according to claim 1, characterized in that: Also includes: S70: In the standby state, the tool magazine self-check program is executed to maintain the storage of tools in the tool magazine.

7. A hydraulic inverted translation tool magazine tool change control system, characterized in that: The tool changing control method for the hydraulic inverted translation tool magazine as claimed in any one of claims 1 to 6 comprises: Central controller: used to receive instructions, calculate the shortest path L, and control the movement of the tool magazine; Tag module: including a reader and n tags; the reader faces the tool change position and is used to read the tags; the n tags are attached to n tools one by one; Database: used to store and update the correspondence between the tool storage location number and the tool number, forming a comparison table with n columns and two rows, one row for the tool storage location number and the other row for the corresponding tool number, and each row for the corresponding tool storage location number and tool number; Troubleshooting library: used to write and delete error numbers; Detection module: used to detect whether the target tool number is consistent with the tool number of the tool change position, and send an abnormal signal if they are inconsistent; Maintenance module: According to abnormal signals, check all tool labels in the tool magazine and update the comparison table; if the target tool label is not identified, an alarm is issued.

8. The hydraulic inverted translation tool magazine tool changing control system according to claim 7, characterized in that: There are at least two readers distributed along the circumference of the tool changing position; the label is attached to the handle of the tool.

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