A high-precision automatic dividing device control system and a control method thereof

Abstract

The application discloses a high-precision automatic dividing device control system and a control method thereof, realizes quick alignment of a frame part to be machined and automatic replacement of a machined surface, and uses RS232 bus, RS485 bus and logic control technology to communicate with various hardware through PLC to complete construction of the automatic dividing device control system. The control system mainly controls automatic surface replacement and accurate positioning, uses Modbus protocol programming to complete motion control of a servo motor, thereby ensuring accurate positioning of the motor position, and uses PLC to control the logic sequence of a zero module and positions of two servo motors to realize target functions through analysis of a part machining process.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a high-precision automatic sorting device control system and its control method. Background Technology

[0002] Currently, in the traditional machining methods for box-type parts in machining centers, manual clamping and alignment are required. Furthermore, manual clamping and alignment must be performed again for each surface being machined, which takes up more time than the actual machining time. In the entire part machining process, auxiliary time such as clamping and alignment accounts for the vast majority of the time, which seriously restricts the machining efficiency of the parts. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a high-precision automatic sorting device control system and its control method, realizing the functions of rapid alignment and automatic changing of the processing surface of frame-type parts. Utilizing RS232 bus, RS485 bus, and logic control technologies, a PLC communicates with various hardware components to complete the construction of the automatic sorting device control system. The control system mainly focuses on two functions: automatic surface changing and precise positioning. Modbus protocol programming is used to implement motion control of the servo motors, thereby ensuring precise positioning of the motors. Through analysis of the part processing technology, the PLC is used to achieve the target function by controlling the logical sequence of the zero-point module and the positions of the two servo motors.

[0004] A high-precision automatic grading device control system includes:

[0005] Central Control Unit: The central control unit includes a PLC controller, a power supply module, a communication module, an input module, and an output module; the power supply module supplies power to the central control unit; the PLC controller collects pressure data from the input modules and outputs control signals in coordination with the communication and output modules;

[0006] Communication module: The communication module controls the motion control unit of the dividing device via a servo driver;

[0007] Output module: The output module is the logic action unit of the balancing device controlled by a solenoid valve;

[0008] Input module: The input module is a pressure sensor, which detects the coordinated action pressure between the motion control unit and the logic action unit.

[0009] Preferably, the servo driver receives control signals from the PLC controller via RS485 serial communication through the communication module, and the servo driver controls the first servo motor and the second servo motor of the balancing device respectively; the first servo motor provides axial extension power to the spindle of the balancing device; the second servo motor provides circumferential rotation power to the spindle of the balancing device.

[0010] Preferably, the logic action unit is arranged on the bottom surface of the tray of the sorting device to control the positioning attitude of the tray, including the rotation angle and tilt angle. The logic action unit includes a center zero point module arranged on the bottom surface of the middle of the tray and a four-sided zero point module arranged on the bottom surface of the four sides of the tray.

[0011] Preferably, the PLC controller of the main control unit is also connected to the CNC machine tool and the human-machine interaction unit via RS232 serial communication.

[0012] A control method for a high-precision automatic grading device control system includes the following steps:

[0013] Step 1, Work Preparation: Before starting work, manually click the Work Preparation button on the human-machine interface to perform the zero-point return operation; the first servo motor controls the spline spindle to rotate, so that the center zero point is located at the zero-point angle; the second servo motor drives the center zero point module at the end of the spindle to the initial position, that is, inside the retracted device, lower than the zero point end face around it.

[0014] Step 2, Install the tray: After the work preparation is completed, all the components of the sorting device are in the initial position. Then, click the "Install" button on the human-machine interface to open the zero-point modules around the four sides. Next, use the robotic arm to install the tray with the parts on the four zero-point modules around the four sides using the four pull studs on its back. Then, click the "Clamp Tray" button on the human-machine interaction unit. The zero-point clamping and positioning function will fix the tray and parts to the side of the sorting device, so that the parts are in the 0-degree position when the tray opening is facing down. Then, the processing of the first surface can be carried out.

[0015] Step 3, Automatic Face Changing: During part machining, after machining the first face, the second face needs to be machined. The CNC machine tool sends a signal to the PLC controller to automatically change to the second face, thus performing the automatic conversion from the first face to the second face. Initially, the spindle is in a retracted state, away from the pallet, with the pallet clamped at all four zero points and the pallet opening facing downwards. In the first step, the first servo motor drives the spline spindle to move forward from the initial position to the center position, where the two sets of zero points exchange the pallet, with the pallet being clamped at the center zero point. Then, the center position moves forward to the end position, and the pallet continues to extend with the spindle under the drive of the first servo motor, disengaging from the four zero points. Next, the second servo motor is controlled to rotate at a fixed position, driving the pallet to rotate at a fixed angle to reach the second face. Finally, the spindle retracts under the drive of the first servo motor, transferring the pallet to the four zero points and locking it. Finally, it retracts to the initial position, allowing machining of the second face to begin, completing the automatic conversion from the first face to the second face. The automatic changing principle for other faces is the same.

[0016] Step 4, unload the pallet: After all surfaces have been machined, the pallet needs to be unloaded for pallet and part replacement. The CNC machine tool sends a signal or the unload the pallet button is manually pressed, and the splitting device performs the retraction and disassembly action. After the retraction and disassembly is completed, the pallet opening faces downwards, which is the position for the robotic arm to grip. Then, the pallet is released at the zero point on all four sides, and the robotic arm can then unload the pallet for replacement, thus completing the pallet unloading process.

[0017] Preferably, in step one, before starting formal work, the device needs to be reset to ensure that the device can work normally in the future. When preparing for work, it is necessary to consider whether the device was shut down normally after the last use. If it was shut down normally, the tray on the device will be removed and the motor will be near the zero point. Only the motor position needs to be calibrated to accurately restore it to the zero position. If the last shutdown was abnormal, the system cannot determine whether the tray is still clamped on the device, and it is necessary to determine whether the motor position is at the zero point.

[0018] Preferably, the automatic face-changing process in step three consists of five states, specifically:

[0019] A. The initial state of the sorting device is that the tray is clamped by the zero points around the four sides, and the center zero point follows the spline spindle in the initial position. This state is called state 1.

[0020] B. When performing automatic face changing operation, the first servo motor drives the spindle to extend to the center position, the center zero point opens and is flush with the end face of the four zero points, then the center zero point clamps the tray, and the pressure sensor is used to check whether the clamping is complete. After the check is completed, the four zero points are released. This is called state 2.

[0021] C. The first servo motor drives the spindle and causes the tray to extend to the end position. The tray is separated from the zero point around the perimeter. The second servo motor drives the spindle to rotate at a fixed angle. Since the spindle is connected to the nut of the lead screw, the nut rotates along with the spindle when the second servo motor drives the spindle to rotate. Since the nut is also connected to the lead screw, the shaft will have a forward and backward displacement when it rotates at a certain angle. Therefore, it is necessary to link the first servo motor to drive the lead screw and the second servo motor to ensure that the tray remains stationary at the end position and finally complete the replacement of the machining surface. This is called state 3.

[0022] D. The first servo motor drives the spindle to retract the tray to the center position until the center zero point is flush with the end face of the surrounding zero points. At this time, the surrounding zero points clamp the tray. The pressure sensor is used to check whether the clamping is complete. After the check is completed, the center zero point is released. This is called state 4.

[0023] E. After releasing the center zero point, continue to retract the spindle to the initial position until the center zero point is released from the pallet and the zero points around the perimeter clamp the pallet for processing. This is called state 5.

[0024] During the automatic face-changing process, the torque of the two servo motors is read and fed back to the control program. If the motor torque exceeds the limit, the motor will automatically stop. The pressure sensor detects whether the tray is clamped in states 2 and 4. If it is not clamped, the tray status needs to be checked manually and the process restarts.

[0025] The advantages and technical effects of this invention are as follows:

[0026] This invention discloses a high-precision automatic sorting device control system and its control method, equipped with specialized part fixtures and a tray. Mounting the parts onto the corresponding fixtures enables rapid part alignment. The fixtures are fixed to the tray, which, via pull studs mounted on its back, allows for quick assembly and disassembly with the zero point installed at the end of the sorting device. The high repeatability of the zero point ensures consistent positioning datum across different parts, guaranteeing not only the machining datum and positional accuracy of the parts but also enabling rapid clamping, significantly reducing auxiliary time such as manual clamping and improving processing efficiency.

[0027] The control system of the high-precision automatic sorting device is built according to the structural components of the machine body, and can meet the required control functions. The control method is developed based on the control system and the machining process of the parts. The entire control system is centered on a PLC, using 485 communication and logic output to control servo motors and zero-point systems to ensure the execution function of the entire device. Additionally, pressure sensors and other sensing elements are added to detect the position of actions, ensuring the integrity of the device's functions. Furthermore, the automatic sorting device control system can not only communicate with the machine tool to automatically switch machining surfaces using machine tool processing signals, but also features an interactive interface for manual operation. This interface is simple and easy to use, and includes features to prevent accidental operation, ensuring the safety of operators and equipment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a conventional merging and dividing device in this invention;

[0029] Figure 2 This is a structural block diagram of the control system of the balancing device in this invention;

[0030] Figure 3 This is a flowchart of the control method of the merging and dividing device control system in this invention;

[0031] Figure 4 This is the electrical control diagram of the balancing device control system in this invention;

[0032] Figure 5 A flowchart illustrating the preparatory control steps for the control method of the merging and dividing device control system in this invention;

[0033] Figure 6 This is a flowchart of the automatic changing processing surface control steps of the control method of the sizing device control system in this invention;

[0034] Figure 7 This is a flowchart of the tray unloading control steps in the control method of the balancing device control system of the present invention;

[0035] In the diagram: 1-Tray; 2-Logic action unit; 3-Second servo motor; 4-First servo motor; 5-Spindle. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] The hardware design of a high-precision automatic grading device control system according to the present invention is as follows: The hardware of the automatic grading device control system mainly includes a central control unit, a motion control unit, a logic action unit 2, a human-machine interaction unit, and a detection unit, etc. Figure 2 The diagram shown is a block diagram of the control system for the automatic balancing device.

[0038] The central control unit uses a Delta PLC and integrates multiple modules, including a power supply module, CPU module, input module, output module, and communication module. The central control unit is responsible for the motion control, signal processing, and algorithm processing of the entire winding and sizing device; therefore, its hardware performance directly affects the processing speed of the automatic winding machine control system. As the core of the entire control system, it is responsible for human-machine interaction, data calculation, control command issuance, and status monitoring.

[0039] The motion control unit is the actuating component of the automatic sorting device, directly determining its execution capability. The actuator is driven by servo motors; the first servo motor 4 and the second servo motor 3 control the spindle 5 via a program to perform forward, backward, and rotary indexing functions. A center zero-point module is installed at the end of the spindle, which can be quickly connected to the center pull stud on the back of the tray 1. The servo motors are set to absolute value type, with 100,000 pulses per revolution, enabling high-precision positioning and accurate zeroing, thus ensuring the high-precision function of the sorting device.

[0040] The PLC communicates with both the CNC machine tool and the touch screen via RS232 serial communication. After the CNC lathe completes machining, it transmits the signal to the PLC, which then performs operations such as automatic conversion of the machined surface. The touch screen enables human-machine interaction, allowing operators to monitor the working progress, turntable angle, current status, and alarm information of the automatic sorting device in real time. The touch screen also enables manual operation such as starting, stopping, and speed adjustment of the device.

[0041] The detection unit mainly consists of pressure sensors, which are used to perform air pressure checks on the zero-point system. After the zero-point clamping operation is completed, air pressure checks are performed to ensure that the tray can be clamped.

[0042] Introduction to the structure of existing high-precision automatic sorting devices:

[0043] The high-precision automatic sorting device has an overall square structure. The front of the machine body features zero-point modules: a center zero-point and four surrounding zero-points. These correspond to the pull studs on the tray, enabling quick assembly and disassembly of the tray. The surrounding zero-points are fixed to the outside of the machine body, evenly arranged around the center zero-point. During normal workpiece processing, the tray is secured using these surrounding zero-points. The center zero-point is installed on the end face of the spline spindle, on the same side as the surrounding zero-points, located at the center. The rear end of the spindle is connected to a first servo motor via a lead screw and nut, while the spindle shaft is connected to a second servo motor via gears. The two servo motors work together, controlled by the lead screw, nut, and gear set, to achieve the forward and backward displacement and rotation of the spline spindle. When the tray is clamped at the center zero-point, it follows the spline spindle, thus achieving forward and backward displacement and rotation indexing functions.

[0044] The rivets on the back of the pallet are divided into two parts: the center rivet part and the four-sided rivet part. They are quickly connected to the center zero point module and the four-sided zero point module at the front of the sorting device. By controlling the opening and closing of the zero points and the movement of the two motors through the program, the pallet can be clamped between the two zero points, so as to automatically change the processing surface and ultimately achieve the rapid installation and alignment of parts.

[0045] Functional analysis of existing high-precision automatic sorting devices:

[0046] The first servo motor drives the spline spindle to rotate through a reducer and gear transmission. The high resolution of the motor enables the device to rotate and perform high-precision indexing, which is the basic condition for the sorting device to drive the parts to automatically change surfaces. In addition, the spline spindle is connected to the second servo motor through a reducer and lead screw nut transmission, which controls the spindle to perform forward and backward displacement movements, realizing the exchange connection between the center zero point module and the four zero point modules at the end of the spline spindle and the tray.

[0047] The spline spindle, controlled by the second servo motor, has three positions during its forward and backward displacement, meaning the center zero point also has three positions. In the initial position, the center zero point module is inside the front panel of the machine body and is not in contact with the center pull stud on the tray. In the middle position, the end face of the center zero point and the end faces of the surrounding zero points are on the same vertical plane. In the final position, the center zero point module extends outward with the spindle, beyond the plane of the surrounding zero points. When the center zero point clamps the tray, the surrounding zero points are not in contact with the surrounding pull studs on the tray.

[0048] The center zero-point module connects quickly to the center rivet of the pallet, driving the pallet to perform forward and backward movement and rotational indexing. The four zero-points are fixed to the front of the sorting device. During normal processing, the parts follow the pallet and are clamped and fixed to the sorting device using the four zero-points and rivets. The four zero-points not only firmly fix the pallet to the side of the device through tension but also ensure the machining position accuracy of the parts through their positioning function. Two servo motors work in conjunction with the center and four zero-points, controlling the actions of each component through a program to ensure normal part processing and automatic surface changing.

[0049] The control method of the present invention includes the following steps: The working process of the automatic sorting device is mainly divided into four steps, namely, work preparation, tray installation, automatic sorting, and tray removal. Before the start of work, the main power supply and main air supply are first connected, and then the servo is started to power on the servo motor, completing the pre-work preparation work. Then the device can start normal operation.

[0050] Preparation: Before starting work, manually click the "Preparation" button on the human-machine interface to perform a zero-point return operation. The first servo motor controls the rotation of the spline spindle, so that the center zero point is located at the zero-point angle; the second servo motor drives the center zero-point module at the end of the spindle to the initial position, that is, inside the retracted device, lower than the surrounding zero-point end faces.

[0051] Installing the tray: After the work preparation is completed, all components of the sorting device are in their initial positions. Then, click the "Install" button on the human-machine interface to open the zero-point modules around the four sides. Next, use the robotic arm to install the tray with the parts on the four zero points using the four pull studs on its back. Then, click the "Clamp the tray" button. The zero-point clamping and positioning function will fix the tray and parts to the side of the sorting device, with the parts in the 0-degree position (the tray opening is facing down). Then, the processing of the first surface can be carried out.

[0052] Automatic Face Changing: During part machining, after machining the first face, machining of the second face is required. The CNC machine tool sends a signal to the PLC of the parting device to automatically change to the second face, thus automatically converting from the first face to the second face. Initially, the spindle is retracted, away from the pallet, with the pallet clamped at all four zero points and the pallet opening facing downwards. First, the first servo motor drives the spline spindle forward, moving it from the initial position to the center position. The two sets of zero points exchange pallets, with the pallet being clamped at the center zero point. Then, the center position moves forward to the end position, and the pallet, driven by the first servo motor, continues to extend with the spindle, disengaging from the four zero points. Next, the second servo motor rotates to a fixed position, driving the pallet to rotate by a fixed angle to reach the second face. Finally, the spindle retracts under the drive of the first servo motor, transferring the pallet to the four zero points and locking it. Finally, it retracts to the initial position, allowing machining of the second face to begin, completing the automatic conversion from the first face to the second face. The automatic changing principle for other faces is the same.

[0053] Removing the Pallet: After machining all surfaces, the pallet needs to be removed for pallet and part replacement. The CNC machine tool sends a signal or the user manually clicks the "Remove Pallet" button. The disassembly device then retracts into position. Once retracted, the pallet opening faces downwards, which is the gripping position for the robotic arm. The pallet is then released at all four points, allowing the robotic arm to remove it for replacement, thus completing the pallet removal process.

[0054] The control method of the present invention has the following control principle:

[0055] The automatic sorting device is mainly controlled by the program to position two servo motors to ensure the accuracy of the tray rotation angle and forward displacement. The PLC controller output is a transistor output, which needs to control the solenoid valve through an intermediate relay to realize the control of the zero point system. In addition, pressure sensors are used to detect the pressure position to ensure that the actions of each zero point module are in place and the target action is successfully completed.

[0056] like Figure 3 As shown, the air source for the balancing and distributing device enters through a filter and pressure reducing valve and is connected to each solenoid valve. A throttle valve is designed before the air intake of the cylinder, and the speed can be controlled by adjusting the throttle valve. The zero-point system includes three air inlets: pressure holding, on / off, and air blowing. On / off controls the opening and locking of the zero point, while pressure holding increases the clamping force. A pressure sensor is added to the air blowing port for air detection to ensure that the zero-point clamping action is in place before proceeding with subsequent actions.

[0057] (1) Work preparation procedures

[0058] Before commencing formal work, the device needs to be reset to ensure its normal operation. During preparation, it's necessary to consider whether the device was properly shut down after its last use. If it was properly shut down, the tray on the device will be removed, and the motor will be near the zero point. Only motor position calibration is needed (since the motor doesn't have a brake, there will be some positional deviation after a power outage and restart, requiring recalibration) to accurately return it to the zero position. If the last shutdown was abnormal, the system cannot determine whether the tray is still clamped to the device, and it's necessary to determine whether the motor position is at zero.

[0059] Therefore, in the work preparation control procedure, it is first necessary to determine whether the motor is at the zero point position and whether the tray exists. If the device is at the zero point position, only the motor position needs to be reset, and no other actions are required. The operator can start working directly or clamp the tray and then start normal operation based on whether the tray exists. If the device is not at the zero point position, it is necessary to determine whether there is a tray through the zero point air detector. If there is a tray, the automatic face-changing and zero-point return action needs to be performed. If there is no tray, the motor can be rotated back to the zero point directly.

[0060] (2) Automatic surface changing program

[0061] When a part has completed the machining of one side and is about to be machined on the next side, an automatic face-changing operation is required. There are 5 states in total, as follows:

[0062] a) The initial state of the balancing device is that the tray is clamped by the zero points around the four sides, and the center zero point follows the spline spindle in the initial position. This state is called state 1.

[0063] b) When performing automatic face changing operation, the first servo motor drives the spindle to extend to the center position, the center zero point opens and is flush with the end face of the four zero points, then the center zero point clamps the tray, and the pressure sensor is used to check whether the clamping is complete. After the check is completed, the four zero points are released. This is called state 2.

[0064] c) The first servo motor drives the spindle and causes the tray to extend to the end position. The tray is separated from the zero point around the perimeter. The second servo motor drives the spindle to rotate at a fixed angle. Since the spindle is connected to the nut of the lead screw, the nut rotates along with the spindle when the second servo motor drives the spindle to rotate. Since the nut is also connected to the lead screw, the shaft will have a forward and backward displacement when it rotates at a certain angle. Therefore, it is necessary to link the first servo motor to drive the lead screw and the second servo motor to ensure that the tray remains stationary at the end position and finally complete the change of the machining surface. This is called state 3.

[0065] d) The first servo motor drives the spindle to retract the tray to the center position until the center zero point is flush with the end face of the surrounding zero points. At this time, the surrounding zero points clamp the tray. The pressure sensor is used to check whether the clamping is complete. After the check is completed, the center zero point is released. This is called state 4.

[0066] e) After releasing the center zero point, continue to retract the spindle to the initial position until the center zero point is detached from the pallet and the zero points around the perimeter clamp the pallet for processing. This is called state 5.

[0067] Throughout the automatic repackaging process, the torque of the two servo motors is read and fed back to the control program. If the motor torque exceeds the limit, the motor automatically stops. The pressure sensor detects whether the tray is clamped in states 2 and 4. If it is not clamped, the tray status needs to be manually checked and the process restarted. The following figure is the flowchart of the automatic repackaging program.

[0068] (3) Pallet removal control procedure

[0069] After all machined surfaces of the part are completed, the device is generally not in the disassembly position and needs to be returned to the disassembly position. Click the "Remove Pallet" button. If it was originally in the disassembly position, no action is required; simply release the zero points around the perimeter to allow the robotic arm to remove the pallet. If it is not in the disassembly position, an automatic surface-changing operation is required first. Only after the pallet rotates to the disassembly position can subsequent disassembly work be performed.

[0070] Finally, any aspects not fully described in this invention utilize existing mature products and technologies.

[0071] In the description of this specification, references to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in the embodiments or examples of the present invention.

[0072] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A high-precision automatic dividing device control system, characterized by, It comprises: The general control unit comprises a PLC controller, a power module, a communication module, an input module and an output module; The power module supplies power to the general control unit; the PLC controller collects pressure data of the input module and outputs control signals through the communication module and the output module; The communication module controls the motion control unit of the dividing device through the servo driver; The output module controls the logic action unit of the dividing device through the electromagnetic valve; The input module is a pressure sensor that detects the cooperative action pressure between the motion control unit and the logic action unit; The servo driver receives the control signals of the PLC controller through the communication module in the RS485 serial communication mode, and controls the first servo motor and the second servo motor of the dividing device respectively; the first servo motor provides axial extension power for the main shaft of the dividing device; the second servo motor provides circumferential rotation power for the main shaft of the dividing device; The logic action unit is arranged on the bottom surface of the tray of the dividing device to control the positioning posture of the tray including the corner and the inclination, and comprises a center zero module arranged on the bottom surface of the middle part of the tray and four peripheral zero modules arranged on the bottom surface of the periphery of the tray; The PLC controller of the general control unit is also connected to the numerical control machine tool and the man-machine interaction unit through the RS232 serial communication mode.

2. A control method for a high-precision automatic dividing device control system as claimed in claim 1, characterized by, It comprises the following steps: Step one, work preparation: before formal work, manually click the work preparation button of the man-machine interaction interface, and perform the zero point operation; the first servo motor controls the spline main shaft to rotate, so that the center zero point is located at the zero angle position; the second servo motor drives the center zero module at the end of the main shaft to be located at the initial position, i.e. inside the retraction device, below the peripheral zero point end surface; Step two, install the tray: after the work preparation is completed, all parts of the dividing device are located at the initial position, then click the live button of the man-machine interface to open the four peripheral zero modules, then use the mechanical arm to install the tray with parts on the peripheral zero point through the four draw pins in the peripheral zero modules on the back of the tray, then click the clamping tray button of the man-machine interaction unit, so that the tray and the parts are fixed on the side of the dividing device through the clamping positioning function of the zero point, so that the parts are in the 0 degree position when the opening of the tray is installed downward, then the machining of the first surface can be carried out. Step three, automatic face changing: in the process of part machining, after the first face is machined, the second face needs to be machined, and the numerical control machine tool sends a signal to the PLC controller to automatically change the second face, and then the automatic conversion from the first face to the second face is performed; the spindle is initially retracted and away from the tray, the four peripheral zero points clamp the tray, and the tray opening is downward; in the first step, the first servo motor drives the spline spindle to displace forward from the initial position to the center position, and the two groups of zero points exchange the tray, and the tray is clamped by the intermediate zero point; then the center position moves to the end position, and the tray continues to extend under the drive of the first servo motor, and is separated from the four peripheral zero points; next, the second servo motor is controlled to rotate at a fixed position, which drives the tray to rotate by a fixed angle and reaches the second face; finally, the spindle is retracted under the drive of the first servo motor, and the tray is transferred to the four peripheral zero points and locked, and finally retracts to the initial position, so that the second face can be machined, and the automatic conversion from the first face to the second face is completed, and the automatic changing principles of other faces are the same; Step four, unloading the tray: after all the faces are machined, the tray needs to be unloaded for replacing the tray and the part; the numerical control machine tool sends a signal or manually clicks the unloading tray button, and the dividing device performs a back disassembly action, and after the back disassembly is completed, the tray opening is downward, which is the position for the mechanical arm to grab, and then the four peripheral zero points are loosened, so that the tray can be unloaded by the mechanical arm for replacing the tray, that is, the unloading tray process is completed.

3. The control method for the control system of the high-precision automatic dividing device according to claim 2, characterized in that: In step one, before starting formal work, the device needs to be reset to ensure normal subsequent work; when preparing for work, it needs to be considered whether the device was normally shut down after the last use. If it is normally shut down, the tray on the device will be unloaded, and the motor is near the zero position, so only the motor position needs to be corrected and accurately restored to zero; if it is not normally shut down, the system cannot determine whether the tray is still clamped on the device, and whether the motor position is at zero needs to be determined.

4. The control method for the control system of the high-precision automatic dividing device according to claim 2, characterized in that: The automatic face changing process of step three is divided into five states, which are as follows: A, the initial state of the dividing device is that the four peripheral zero points clamp the tray, and the center zero point follows the spline spindle at the initial position, which is called state 1; B, when the automatic face changing operation is performed, the first servo motor drives the spindle to extend to the center position, the center zero point is opened and flush with the end face of the four peripheral zero points, then the center zero point clamps the tray, and whether the clamping is complete is checked by the pressure sensor, after the checking is completed, the four peripheral zero points are loosened, which is called state 2; C. The first servo motor drives the main shaft and the tray extends to the end position, the tray is separated from the zero point, the second servo motor drives the main shaft to rotate a fixed angle. Since the main shaft is connected with the nut of the lead screw, when the second servo motor drives the main shaft to rotate, the nut rotates with it. Since the nut is also connected with the lead screw, when the rotating shaft rotates a certain angle, it will produce a front and back displacement. Therefore, the first servo motor drives the lead screw and the second servo motor to link up to ensure that the tray remains stationary at the end position, and finally completes the replacement of the processing surface. At this time, it is called state 3. D. The first servo motor drives the main shaft to drive the tray to retract to the center position until the center zero point is flush with the end face of the peripheral zero point. At this time, the peripheral zero point clamps the tray, and whether the clamping is complete is checked by the pressure sensor. After the test is completed, the center zero point is released. At this time, it is called state 4. E. After releasing the center zero point, continue to retract the main shaft to the initial position until the center zero point is separated from the tray. The peripheral zero point clamps the tray and can perform processing work. It is called state 5. During the whole automatic surface replacement process, the torque of the two servo motors is read and fed back to the control program. If the motor torque exceeds the limit value, the motor will automatically stop. The pressure sensor detects whether the tray is clamped in states 2 and 4. If it is not clamped, manual inspection of the tray state is required and the process is restarted.

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