Method, device, processor and computer-readable storage medium for identifying collision of crossbeam of motor-driven gantry machine tool

Abstract

The present invention relates to a method for realizing the identification of collisions of the crossbeam of a motor-driven gantry machine tool, comprising the following steps: setting the starting coordinates and the stopping coordinates of the crossbeam on the Y-axis during calibration, allowing the crossbeam to move uniformly from the starting point to the end point on the Y-axis at a set speed, and calculating the average value of the resultant torque within the motion interval; setting the coordinate values of the Z-axis corresponding to the left, middle, and right positions of the crossbeam, moving the Z-axis to the leftmost, middle, and rightmost sides of the crossbeam respectively, and allowing the crossbeam to move uniformly at a set speed to obtain the average resultant torque respectively; and calibrating the average value of the resultant torque of multiple speed values. The present invention also relates to a device, processor, and storage medium for realizing the identification of collisions of the crossbeam of a motor-driven gantry machine tool. The method, device, processor, and computer-readable storage medium for realizing the identification of collisions of the crossbeam of a motor-driven gantry machine tool of the present invention are adopted, and collision identification is performed through the resultant torque, which mainly improves the accuracy of collision identification to ensure the reliability of collision prevention.

Description

Technical Field

[0001] The present invention relates to the field of safety of CNC machine tools, in particular to the field of motor-driven machine tools, and specifically refers to a method, device, processor and computer-readable storage medium for realizing crossbeam collision identification of motor-driven gantry machine tools. Background Art

[0002] The present invention relates to the field of CNC machine tool safety, encompassing both equipment safety and personnel safety. Equipment safety refers to preventing equipment from colliding with objects during operation, potentially causing damage; personnel safety refers to preventing equipment from colliding with people during operation, potentially causing casualties. When a machine tool collides, to prevent further damage to the equipment and the object being collided, the machine tool must be able to identify the collision and shut down.

[0003] For motor-driven machine tools, collision detection relies primarily on comparing the motor feedback torque obtained by the driver with a reference torque during normal operation. For a single drive axis, this method of comparing feedback torque with a reference torque has achieved good results.

[0004] For gantry machine tools, there are two drive shafts in the same direction to drive the horizontal beam in that direction. The existing anti-collision recognition technology for the horizontal beam still regards the drive shafts of the two horizontal beams as two independent drive shafts. Each shaft compares its own feedback torque with its reference torque. As long as the torque of one shaft exceeds the reference torque, it is considered that a collision has occurred. Figure 1 Shown is a schematic diagram of a gantry machine tool.

[0005] However, a crossbeam collision is different from a single-axis collision. The reaction force generated by a single-axis collision ultimately acts on the motor of that axis, and the torque peak of that motor is significantly greater than the reference torque, so it is easy to identify the collision. However, for a dual-axis, the impact torque of the collision is ultimately dispersed to the two drive shafts. The torque peaks of the two drive shafts after the collision are not significantly higher than their respective reference torques, resulting in failure to identify the collision. In addition, due to dual drive, there is also the problem of synchronization. Poor synchronization will cause large fluctuations in the torque of each drive shaft, which will trigger a collision alarm when it is greater than the torque reference value, resulting in misidentification. In summary, the existing technology for dual-axis collision recognition is prone to errors such as misidentification and failure to identify collisions, and has low reliability.

[0006] Figure 2 This is the torque curve when the beam moves normally at a constant speed. As can be seen from the figure, under the condition of no-load operation, the torque of each axis fluctuates greatly. Summary of the Invention

[0007] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a method, device, processor and computer-readable storage medium for identifying collisions of the crossbeam of a motor-driven gantry machine tool, which are high in accuracy, easy to operate and have a wide range of applications.

[0008] To achieve the above objectives, the present invention provides a method, device, processor, and computer-readable storage medium for identifying collisions of a crossbeam of a motor-driven gantry machine tool as follows:

[0009] The main feature of the method for identifying collision of a crossbeam of a motor-driven gantry machine tool is that the method comprises the following steps:

[0010] (1) Set the starting and ending coordinates of the beam on the Y axis during calibration, let the beam move uniformly from the starting point to the end point on the Y axis at the set speed, and calculate the average value of the resultant torque within the motion range;

[0011] (2) Set the coordinate values of the Z axis at the left, middle, and right positions of the beam, move the Z axis to the leftmost, middle, and rightmost positions of the beam, respectively, and obtain the average resultant torque by moving the beam at a constant speed;

[0012] (3) Determine the method for calculating the resultant torque and calibrate the average value of the resultant torque of multiple speed values;

[0013] (4) Setting the abnormal torque threshold and determining whether the torque is abnormal;

[0014] (5) Torque abnormality monitoring;

[0015] (6) Perform collision shutdown processing;

[0016] The step (3) specifically includes the following steps:

[0017] (3.1) The beam is moved uniformly at an arbitrary speed for a certain distance. The torque data of this period of movement is collected and the summed torque T is calculated. y + The resultant torque T is obtained by taking the difference y - The average value of T y + and T y - The variance of T y + The variance and T y - The size of the variance value is used to obtain the resultant torque in a way that minimizes the variance value.

[0018] (3.2) Calibrate the average value of the total torque at 10 speed values, calculate and display the average value of the total torque at that speed and the corresponding maximum torque fluctuation percentage.

[0019] Preferably, the step (2) specifically includes the following steps:

[0020] (2.1) Move the Z axis to the far left of the beam, close to the Y1 axis. The beam moves uniformly from the starting coordinate to the ending coordinate at a set speed. The average resultant torque of the Z axis on the left side of the beam is obtained.

[0021] (2.2) Move the Z axis from the leftmost side of the beam to the middle. The beam moves from the end coordinate to the start coordinate at the set speed. The average resultant torque of the Z axis in the middle of the beam is obtained.

[0022] (2.3) Move the Z axis from the middle of the beam to the rightmost side, close to the Y2 axis. The beam moves from the starting coordinate to the ending coordinate at the set speed. The average resultant torque value of the Z axis on the right side of the beam is obtained.

[0023] Preferably, the summed torque T calculated in step (3.1) is y + The resultant torque T is obtained by taking the difference y - The average value is:

[0024] The summed torque T is calculated according to the following formula y + The resultant torque T is obtained by taking the difference y - The average value of:

[0025]

[0026] Where, N is the number of torque data collected, T y1 (k) is the k-th torque data of Y1 axis, T y2 (k) is the k-th torque data of the Y2 axis.

[0027] Preferably, in step (3.1), T is calculated y + and T y - The variance of is:

[0028] Calculate T according to the following formula y + and T y - Variance of:

[0029]

[0030] Where N is the number of torque data collected, The sum of the torque T y + The average value of The resultant torque T obtained by calculating the difference y - The average value of is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) and, is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) difference.

[0031] Preferably, the maximum torque fluctuation percentage is calculated in step (3.2) as follows:

[0032] Calculate the maximum torque fluctuation percentage according to the following formula:

[0033]

[0034] Among them, T y is the resultant torque on the Y axis, is the Y-axis torque T y The average value of .

[0035] Preferably, the minimum value of the combined torque abnormality threshold in step (4) is set to be greater than the maximum torque fluctuation percentage of all calibrated speeds.

[0036] Preferably, the step (5) specifically includes the following steps:

[0037] Real-time monitoring is performed to determine whether the deviation between the feedback torque and the reference torque exceeds the set threshold. If the deviation exceeds the threshold for N consecutive sampling cycles, it is considered that a collision has occurred, an alarm is issued, and the machine is prepared to shut down. Otherwise, the monitoring is normal.

[0038] The main features of the device for identifying collisions of the crossbeam of a motor-driven gantry machine tool are as follows:

[0039] a processor configured to execute computer-executable instructions;

[0040] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned method for identifying collision of the crossbeam of the motor-driven gantry machine tool are implemented.

[0041] The main feature of the processor for realizing the identification of collision of the crossbeam of the motor-driven gantry machine tool is that the processor is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the various steps of the above-mentioned method for realizing the identification of collision of the crossbeam of the motor-driven gantry machine tool are realized.

[0042] The computer-readable storage medium has the main feature of storing a computer program thereon, which can be executed by a processor to implement the various steps of the above-mentioned method for identifying collision of the crossbeam of a motor-driven gantry machine tool.

[0043] The present invention employs a method, device, processor, and computer-readable storage medium for identifying collisions of the crossbeam of a motor-driven gantry machine tool. For gantry machines, the fluctuations of the two drive shafts Y1 and Y2 of the crossbeam are large. On the one hand, this can easily lead to misjudgments of collisions, affecting the accuracy of collision identification. On the other hand, collision identification can only be performed when the torque caused by the collision is greater than the maximum fluctuation of normal operation, affecting the sensitivity of collision identification. The fluctuation of the combined torque must be smaller than the fluctuation of the torques of Y1 and Y2 individually. Using the combined torque for collision identification primarily improves the accuracy of collision identification to ensure the reliability of collision prevention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a gantry machine tool that implements a method for identifying collisions of a crossbeam of a motor-driven gantry machine tool according to the present invention.

[0045] Figure 2 A schematic diagram of torque fluctuation during idle operation of a method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to the present invention.

[0046] Figure 3 The waveform diagram of the resultant torque curve and its average value obtained by difference calculation in the method for identifying collision of the crossbeam of a motor-driven gantry machine tool according to the present invention is shown.

[0047] Figure 4 The figure is a schematic diagram of the movement path of the Z axis in the OXY plane for realizing the method for identifying collision of the crossbeam of a motor-driven gantry machine tool according to the present invention.

[0048] Figure 5 This is a schematic diagram of the average value of the resultant torque at a speed of 1 m / min when the Z axis is located on the left side of the beam, for realizing the method for identifying collision of the beam of a motor-driven gantry machine tool of the present invention. DETAILED DESCRIPTION

[0049] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0050] The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to the present invention comprises the following steps:

[0051] (1) Set the starting and ending coordinates of the beam on the Y axis during calibration, let the beam move uniformly from the starting point to the end point on the Y axis at the set speed, and calculate the average value of the resultant torque within the motion range;

[0052] (2) Set the coordinate values of the Z axis at the left, middle, and right positions of the beam, move the Z axis to the leftmost, middle, and rightmost positions of the beam, respectively, and obtain the average resultant torque by moving the beam at a constant speed;

[0053] (3) Determine the method for calculating the resultant torque and calibrate the average value of the resultant torque of multiple speed values;

[0054] (4) Setting the abnormal torque threshold and determining whether the torque is abnormal;

[0055] (5) Torque abnormality monitoring;

[0056] (6) Perform collision shutdown processing;

[0057] The step (3) specifically includes the following steps:

[0058] (3.1) The beam is moved uniformly at an arbitrary speed for a certain distance. The torque data of this period of movement is collected and the summed torque T is calculated. y + The resultant torque T is obtained by taking the difference y - The average value of T y + and T y - The variance of T y + The variance and T y - The size of the variance value is used to obtain the resultant torque in a way that minimizes the variance value.

[0059] (3.2) Calibrate the average value of the total torque at 10 speed values, calculate and display the average value of the total torque at that speed and the corresponding maximum torque fluctuation percentage.

[0060] As a preferred embodiment of the present invention, the step (2) specifically includes the following steps:

[0061] (2.1) Move the Z axis to the far left of the beam, close to the Y1 axis. The beam moves uniformly from the starting coordinate to the ending coordinate at a set speed. The average resultant torque of the Z axis on the left side of the beam is obtained.

[0062] (2.2) Move the Z axis from the leftmost side of the beam to the middle. The beam moves from the end coordinate to the start coordinate at the set speed. The average resultant torque of the Z axis in the middle of the beam is obtained.

[0063] (2.3) Move the Z axis from the middle of the beam to the rightmost side, close to the Y2 axis. The beam moves from the starting coordinate to the ending coordinate at the set speed. The average resultant torque value of the Z axis on the right side of the beam is obtained.

[0064] As a preferred embodiment of the present invention, the summed torque T calculated in step (3.1) is y + The resultant torque T is obtained by taking the difference y - The average value is:

[0065] The summed torque T is calculated according to the following formula y + The resultant torque T is obtained by taking the difference y - The average value of:

[0066]

[0067] Where, N is the number of torque data collected, T y1 (k) is the k-th torque data of Y1 axis, T y2 (k) is the k-th torque data of the Y2 axis.

[0068] As a preferred embodiment of the present invention, the step (3.1) in which T is calculated is: y + and T y - The variance of is:

[0069] Calculate T according to the following formula y + and T y - Variance of:

[0070]

[0071] Where N is the number of torque data collected, The sum of the torque T y + The average value of The resultant torque T obtained by calculating the difference y - The average value of is the kth Y1-axis torque T y1 (k) and the kth Y2 torque Ty2 (k) and, is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) difference.

[0072] As a preferred embodiment of the present invention, the maximum torque fluctuation percentage is calculated in step (3.2) as follows:

[0073] Calculate the maximum torque fluctuation percentage according to the following formula:

[0074]

[0075] Among them, T y is the resultant torque on the Y axis, is the Y-axis torque T y The average value of .

[0076] As a preferred embodiment of the present invention, the minimum value of the combined torque abnormality threshold in step (4) is set to be greater than the maximum torque fluctuation percentage of all calibrated speeds.

[0077] As a preferred embodiment of the present invention, the step (5) specifically includes the following steps:

[0078] Real-time monitoring is performed to determine whether the deviation between the feedback torque and the reference torque exceeds the set threshold. If the deviation exceeds the threshold for N consecutive sampling cycles, it is considered that a collision has occurred, an alarm is issued, and the machine is prepared to shut down. Otherwise, the monitoring is normal.

[0079] The device for identifying collisions of a beam of a motor-driven gantry machine tool according to the present invention comprises:

[0080] a processor configured to execute computer-executable instructions;

[0081] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned method for identifying collision of the crossbeam of the motor-driven gantry machine tool are implemented.

[0082] The processor of the present invention is used to realize the identification of the collision of the crossbeam of the motor-driven gantry machine tool, wherein the processor is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the various steps of the above-mentioned method for realizing the identification of the collision of the crossbeam of the motor-driven gantry machine tool are realized.

[0083] The computer-readable storage medium of the present invention stores a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned method for identifying collision of the crossbeam of a motor-driven gantry machine tool.

[0084] In view of the large torque fluctuations during normal operation of the dual drive shafts of the gantry machine tool, it is easy to cause false alarms or no alarms of crossbeam collisions, thereby reducing the reliability of the crossbeam anti-collision function. To address this problem, the present invention provides a new method. For the anti-collision of the crossbeam, the torques of the two drive shafts are vectored and summed to obtain a resultant torque. The resultant torque is used to characterize the torque of the crossbeam along the direction of motion, thereby integrating the two axes into one axis, reducing the number of calibrations of the reference torque values, simplifying the algorithm, and facilitating use. From a mechanical point of view, it is reasonable to use the resultant torque to represent the force in the direction of motion of the crossbeam. Torque, also known as moment of force, is the cross product of the lever arm and the force. Like force, it is also a vector, so the resultant torque can be obtained by directly performing vector summation.

[0085] The present invention uses the resultant torque to identify crossbeam collisions, instead of treating the dual axes as two independent axes for separate collision identification, thereby improving the accuracy of collision identification. The present invention provides automatic identification of the resultant torque calculation method based on variance or standard deviation.

[0086] In a specific embodiment of the present invention, in order to improve the stability and reliability of gantry machine tool crossbeam collision and avoid false alarms and non-alarms, a motor-driven gantry machine tool crossbeam collision identification and control method is designed, which mainly includes the following steps:

[0087] S1: Automatic identification of the method for calculating the total torque. The direction of motion of the beam is the Y axis, and Y1 and Y2 are the two drive shafts of the beam. Due to differences in machine tool design, the directions of the drive motors of Y1 and Y2 may be in the same direction or in opposite directions. When the two motors rotate in the same direction, the total torque of the two motors is equal to the algebraic sum of the torques of the two motors, T y + =T y1 +T y2 , T y + is the summed torque, T y1 is the torque of the Y1 axis, T y2 is the torque of the Y2 axis; when the two motors are installed in opposite directions, the total torque is equal to the algebraic difference of their respective torques, T y - =T y1 -T y2 , T y - In order to reduce the burden on machine operators, the program needs to automatically identify the resultant torque as T before calibration. y =T y + Still T y =T y - , Ty is the resultant torque of the Y axis. The present invention uses the standard deviation as the basis for the method of calculating the resultant torque. The beam moves at a constant speed for a certain distance at an arbitrary set speed, and the system collects the torque data of this running process. After obtaining the data, first calculate T y + and T y - The average value of T y + and T y - The variance of T y + and T y - The variance of the two is smaller, and the method is used to calculate the torque. The average value is calculated as:

[0088]

[0089] Where, N is the number of torque data collected; T y1 (k) is the k-th torque data of Y1 axis; T y2 (k) is the k-th torque data of the Y2 axis.

[0090] Calculation of variance:

[0091]

[0092] S2: Calibrate the torque reference values corresponding to the net torque at different speeds. The relationship between motor power P, motor torque T, and motor speed ω satisfies: P = Tω. Different speeds correspond to different torques. In actual engineering, due to factors such as mechanical manufacturing errors, assembly errors, and noise, the net torque under normal operating conditions fluctuates around a certain value. This value is used as the net torque reference value for that speed. To calculate the net torque reference value, torque data is collected over a certain distance and the average net torque value of this data is taken as the net torque reference value. After setting the speed and distance, the program automatically collects torque data on the Y1 and Y2 axes during the movement process. The average net torque value and the maximum fluctuation percentage are then calculated. Fluctuation amplitude = net torque during the collection process - average net torque value. The maximum fluctuation amplitude is the absolute value of the fluctuation amplitude. For normalization, the maximum fluctuation percentage = maximum fluctuation amplitude / average net torque value * 100%. The average net torque value and maximum fluctuation percentage at that speed are recorded. Considering that it is impossible to traverse and calibrate the reference torque at all speeds, the user can select and calibrate several speeds. The reference torque of the uncalibrated speed is calculated by piecewise linear interpolation. For example, the speed v∈[v i ,v i+1 ],v i and vi+1 are two adjacent speeds that have been calibrated with reference torque, and v i <v i+1 , and Corresponding reference torque.

[0093]

[0094] S3: Check whether the combined torque exceeds the reference value during operation. During operation, monitor the size of the combined torque. If the real-time feedback combined torque exceeds the reference value, If this continues for N data points, a collision is considered to have occurred, an alarm is issued, and the machine is shut down. ΔT is the combined torque threshold, expressed as a percentage. ΔT must be greater than the maximum fluctuation percentage.

[0095] In this embodiment, the double gantry machine tool structure is as follows: Figure 1 As shown, the travels of the X, Y, and Z axes are 1500mm, 3000mm, and 300mm, respectively. The Y axis is driven by a rack and pinion. The two geared drive motors for the crossbeam are mounted at the base of the gantry's two columns. The motor shafts are oriented in the negative direction of the X axis. When both motors rotate forward, the crossbeam moves in the positive Y direction.

[0096] The present invention realizes the identification and control of the crossbeam collision of the gantry machine tool based on the resultant torque, and the specific steps are as follows:

[0097] S1: Set the start and stop coordinates of the beam on the Y axis during calibration. Calibration involves moving the beam at a set speed from the start point to the end point along the Y axis at a constant speed and calculating the average combined torque during this motion. This average value serves as the reference torque value for normal operation of the beam at the set speed. In this example, the start coordinate is 0.0 and the stop coordinate is 3000.

[0098] S2: Set the coordinate values of the Z axis at the left, middle, and right positions of the beam. Considering that the Z axis at different positions on the beam may cause differences in the resultant torque calibrated at the same speed, the Z axis is made to follow an "S"-shaped path in the OXY plane. Specifically, first, the Z axis is located at the leftmost side of the beam, close to the Y1 axis, and the beam moves at a constant speed from the starting coordinate to the ending coordinate at the set speed to obtain the average resultant torque of the Z axis on the left side of the beam. Secondly, move the Z axis from the leftmost side of the beam to the middle, and the beam moves from the end coordinate to the starting coordinate at the same speed to obtain the average torque of the Z axis in the middle of the beam. Finally, move the Z axis from the middle of the beam to the far right, close to the Y2 axis. The beam moves from the starting coordinate to the ending coordinate at the same speed, and the average resultant torque value of the Z axis on the right side of the beam is obtained. Because when the Z axis is in the middle of the beam, the beam moves in the negative direction of the Y axis, so The reference torque value of the beam at this speed is The purpose is to calibrate the torque at this speed. Use three sets of torque at the same speed (the cutting head is located at the left, middle, and right positions of the beam) and take the average as the calibrated torque at this speed. Figure 4 It is a schematic diagram of the movement path of the Z axis in the OXY plane.

[0099] In this embodiment, since the travel of the X-axis is 1500 mm, the coordinate values of the Z-axis at the left, center, and right of the beam are 0, 750, and 1500, respectively.

[0100] S3: Calibrate the average value of the resultant torque at different speeds. Because the resultant torque is used as the basis for collision identification, the resultant torque value under normal operating conditions must be known first. Also, due to noise and other reasons, the resultant torque in a certain motion range is not a constant value, but fluctuates around a certain value. The value around which the torque fluctuates is used to represent the resultant torque in this motion range. In fact, this value is the average value in this motion range. Figure 5 The figure shows the average value of the resultant torque at a speed of 1 m / min with the Z axis located on the left side of the beam.

[0101] S31: Before calibrating the resultant torque, determine the method for obtaining the resultant torque: sum or difference. Because the two drive motors of the beam may rotate in the same direction or in opposite directions, the resultant torque may be T y1 +T y2 It could also be T y1 -T y2 .from Figure 3 It can be seen that T y1 +T y2 and T y1 -T y2 The torque fluctuation is different. Because the variance and standard deviation are both indicators to measure the degree of data deviation, the variance is used to determine whether to use the summation or difference method to calculate the torque. When calibrating the first data, first determine whether the method of calculating the torque has been determined. If it has not been determined, calculate T separately. y1 +T y2 and T y1 -T y2 The variance of the two motors is calculated and then compared. The smaller the value, the smaller the fluctuation. This method is used to calculate the total torque. When the shafts of the two motors are in the same direction, the total torque of the two motors is equal to the algebraic sum of the torques of the two motors, T y + =T y1 +T y2 , T y +is the summed torque, T y1 is the torque of the Y1 axis, T y2 is the torque of the Y2 axis; when the two motors are installed in opposite directions, the total torque is equal to the algebraic difference of their respective torques, T y - =T y1 -T y2 , T y - In order to reduce the burden on machine operators, the program needs to automatically identify the resultant torque as T before calibration. y =T y + Still T y =T y - , T y is the resultant torque on the Y axis.

[0102] The present invention uses standard deviation as the basis for the method of calculating the resultant torque. The beam moves at a constant speed for a certain distance at an arbitrary set speed, and the system collects the torque data of this running process. After obtaining the data, first calculate T y + and T y - The average value of T y + and T y - The variance of T y + and T y - The variance of the two is smaller, and the method is used to calculate the torque. The average value is calculated as:

[0103]

[0104] Where, N is the number of torque data collected; T y1 (k) is the k-th torque data of Y1 axis; T y2 (k) is the k-th torque data of the Y2 axis.

[0105] Calculation of variance:

[0106]

[0107] Where N is the number of torque data collected, The sum of the torque T y + The average value of The resultant torque T obtained by calculating the difference y -The average value, T stands for torque, subscript y stands for Y-axis, superscript + stands for sum, superscript - stands for difference, and the k in the brackets stands for the kth torque data; is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) and, is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 Difference of (k):

[0108]

[0109] S32: In this embodiment, the average combined torque values at the following 10 speeds are calibrated: 1 m / min, 5 m / min, 10 m / min, 15 m / min, 20 m / min, 25 m / min, 30 m / min, 35 m / min, 40 m / min, and 45 m / min. After each speed is calibrated, the average combined torque value and the corresponding maximum torque fluctuation percentage at that speed are displayed.

[0110]

[0111] Among them, T y is the resultant torque on the Y axis, is the Y-axis torque T y The superscript ~ indicates the average.

[0112] S4: Set the net torque anomaly threshold. This threshold indicates when the deviation between the real-time feedback net torque and the net torque reference exceeds a certain percentage of the reference value, a torque anomaly is considered. Otherwise, it is considered torque fluctuation under normal operation. The net torque anomaly threshold is a percentage, and the minimum value must be set greater than the maximum torque fluctuation percentage for all calibrated speeds to prevent false alarms.

[0113] S5: Torque Abnormality Monitoring. Enable the crossbar anti-collision function and complete calibration. The software will monitor in real time whether the deviation between the feedback torque and the reference torque exceeds the set threshold. If the deviation exceeds the threshold for N sampling cycles, a collision is considered to have occurred, an alarm is issued, and the machine is prepared for shutdown. N can be set by the user, because after a collision, the torque gradually increases to a peak value and then gradually decreases to a stable value. If N is set to 1, false alarms may occur due to noise spikes.

[0114] S6: Collision shutdown processing.

[0115] The specific implementation scheme of this embodiment can be found in the relevant descriptions in the above embodiments and will not be repeated here.

[0116] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0117] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0118] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0119] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0120] Those skilled in the art will understand that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing related hardware through a program, and the corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0121] Furthermore, the functional units in the various embodiments of the present invention may be integrated into a single processing module, each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0123] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0124] The present invention employs a method, device, processor, and computer-readable storage medium for identifying collisions of the crossbeam of a motor-driven gantry machine tool. For gantry machines, the fluctuations of the two drive shafts Y1 and Y2 of the crossbeam are large. On the one hand, this can easily lead to misjudgments of collisions, affecting the accuracy of collision identification. On the other hand, collision identification can only be performed when the torque caused by the collision is greater than the maximum fluctuation of normal operation, affecting the sensitivity of collision identification. The fluctuation of the combined torque must be smaller than the fluctuation of the torques of Y1 and Y2 individually. Using the combined torque for collision identification primarily improves the accuracy of collision identification to ensure the reliability of collision prevention.

[0125] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A method for identifying collisions of a crossbeam of a motor-driven gantry machine tool, characterized in that: The method comprises the following steps: (1) Set the starting and ending coordinates of the beam on the Y axis during calibration, let the beam move uniformly from the starting point to the end point on the Y axis at the set speed, and calculate the average value of the resultant torque within the motion range; (2) Set the coordinate values of the Z axis at the left, middle, and right positions of the beam, move the Z axis to the leftmost, middle, and rightmost positions of the beam, respectively, and obtain the average resultant torque by moving the beam at a constant speed; (3) Determine the method for calculating the resultant torque and calibrate the average value of the resultant torque of multiple speed values; (4) Setting the abnormal torque threshold and determining whether the torque is abnormal; (5) Torque abnormality monitoring; (6) Perform collision shutdown processing; The step (3) specifically includes the following steps: (3.1) The beam is moved uniformly at an arbitrary speed for a certain distance. The torque data of this period of movement is collected and the summed torque T is calculated. y + The resultant torque T obtained by taking the difference y - The average value of T y + and T y - The variance of T y + The variance and T y - The size of the variance value is used to obtain the resultant torque in a way that minimizes the variance value. (3.2) Calibrate the average value of the total torque at 10 speed values, calculate and display the average value of the total torque at that speed and the corresponding maximum torque fluctuation percentage.

2. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: The step (2) specifically includes the following steps: (2.1) Move the Z axis to the far left of the beam, close to the Y1 axis. The beam moves uniformly from the starting coordinate to the ending coordinate at a set speed. The average resultant torque of the Z axis on the left side of the beam is obtained. (2.2) Move the Z axis from the leftmost side of the beam to the middle. The beam moves from the end coordinate to the start coordinate at the set speed. The average resultant torque of the Z axis in the middle of the beam is obtained. (2.3) Move the Z axis from the middle of the beam to the rightmost side, close to the Y2 axis. The beam moves from the starting coordinate to the ending coordinate at the set speed. The average resultant torque value of the Z axis on the right side of the beam is obtained.

3. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: The total torque T calculated and summed in step (3.1) is y + The resultant torque T is obtained by taking the difference y - The average value is: The summed torque T is calculated according to the following formula y + The resultant torque T is obtained by taking the difference y - The average value of: Where, N is the number of torque data collected, T y1 (k) is the k-th torque data of Y1 axis, T y2 (k) is the k-th torque data of the Y2 axis.

4. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: Calculate T in step (3.1) y + and T y - The variance of is: Calculate T according to the following formula y + and T y - Variance of: Where N is the number of torque data collected, The sum of the torque T y + The average value of The resultant torque T obtained by calculating the difference y - The average value of is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) and, is the kth Y1-axis torque T y1 (k) and the kth Y2 torque T y2 (k) difference.

5. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: The maximum torque fluctuation percentage is calculated in step (3.2) as follows: Calculate the maximum torque fluctuation percentage according to the following formula: Among them, T y is the resultant torque on the Y axis, is the Y-axis torque T y The average value of .

6. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: The minimum value of the combined torque abnormality threshold in step (4) is set to be greater than the maximum torque fluctuation percentage of all calibrated speeds.

7. The method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to claim 1, characterized in that: The step (5) specifically includes the following steps: Real-time monitoring is performed to determine whether the deviation between the feedback torque and the reference torque exceeds the set threshold. If the deviation exceeds the threshold for N consecutive sampling cycles, it is considered that a collision has occurred, an alarm is issued, and the machine is prepared to shut down. Otherwise, the monitoring is normal.

8. A device for detecting collision of a beam of a motor-driven gantry machine tool, characterized in that: The device comprises: a processor configured to execute computer-executable instructions; A memory storing one or more computer-executable instructions, wherein when the computer-executable instructions are executed by the processor, the steps of the method for identifying collision of a crossbeam of a motor-driven gantry machine tool according to any one of claims 1 to 7 are implemented.

9. A processor for realizing the recognition of collision of a crossbeam of a motor-driven gantry machine tool, characterized in that: The processor is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the method for identifying collision of a motor-driven gantry machine tool crossbeam as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the method for identifying collision of a crossbeam of a motor-driven gantry machine tool as described in any one of claims 1 to 7.

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