Balancing Control Method, Device, Machine Tool and Readable Storage Medium

Abstract

The present invention discloses a balance control method, device, machine tool and readable storage medium, relating to the technical field of machine tools. The machine tool includes a column, a crossbeam and a spindle box. A crossbeam driving pair is provided on the column, and the crossbeam is driven by the crossbeam driving pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; wherein, the balance control method includes: obtaining the horizontal position of the identification position of the spindle box on the crossbeam; controlling the thrust provided by the balance cylinders according to the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam and the horizontal distances from the identification position of the spindle box to the two balance cylinders. The present invention supports specifically reducing the working burden of the crossbeam driving pair in the lifting and lowering action state.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tools, and particularly to a balance control method, device, machine tool and readable storage medium. Background Art

[0002] In a machine tool, the lifting drive of a lifting member such as a crossbeam is often involved. During the lifting drive process, in order for the lifting member to lift and lower smoothly, existing compensation methods such as nitrogen balance are adopted to ensure the lifting stability of the lifting member.

[0003] As Figure 1 shown, a spindle balance system is presented, which includes an accumulator 100, a hydraulic station 300 and a balance oil cylinder 400. Under normal circumstances, a hydraulic control valve is used to control the accumulator 100 to be in communication with the oil outlet pipe 220. When the spindle assembly descends, the balance oil cylinder 400 is in a retracted state, and the hydraulic oil 101 in the balance oil cylinder 400 flows back to the accumulator 100, causing the internal air pressure of the accumulator 100 to gradually rise to buffer the impact force when the spindle assembly descends; when the spindle assembly ascends, the balance oil cylinder 400 is in an extended state, and the high-pressure gas in the accumulator 100 releases energy, causing the hydraulic oil 101 to flow back into the balance oil cylinder 400 again to boost the ascent of the spindle assembly.

[0004] However, during the actual operation process, a spindle box that can move horizontally is usually provided on the crossbeam, and the change in the position of the spindle box on the crossbeam may cause wear to the crossbeam drive pair that drives the crossbeam to lift. Summary of the Invention

[0005] The main object of the present invention is to provide a balance control method, device, machine tool and readable storage medium, which can support controlling the thrust of the balance cylinder according to the position change of the spindle box.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a balance control method applied to a machine tool. The machine tool includes a column, a crossbeam and a spindle box. A crossbeam drive pair is provided on the column, and the crossbeam is driven by the crossbeam drive pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; the method includes:

[0008] Obtaining the horizontal position of the identification position of the spindle box on the crossbeam;

[0009] Controlling the thrust provided by the balance cylinder according to the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam and the horizontal distances from the identification position of the spindle box to the two balance cylinders.

[0010] In an embodiment of the balance control method, the method includes:

[0011] Obtain machining planning parameters, where the machining planning parameters at least include the machining planning height;

[0012] Determine the induction area on the column according to the interval where the machining planning height is located, where at least a first position induction area and a second position induction area at different heights of the column are provided on the column;

[0013] If it is sensed that the crossbeam moves to the corresponding induction area, then control the thrust provided by the balance cylinder according to the lifting action state of the crossbeam and the lateral distance.

[0014] In an embodiment of the balance control method, the determining the induction area on the column according to the interval where the machining planning height is located includes:

[0015] Obtain the estimated machining duration distribution of each interval where the machining planning height is located;

[0016] If the estimated machining duration is greater than the machining duration threshold, then obtain the area where the estimated machining duration is greater than the machining duration threshold as the induction area on the column.

[0017] In an embodiment of the balance control method, the balance cylinder is a multi-stage balance cylinder, the multi-stage balance cylinder includes a primary balance cylinder and a final-stage balance cylinder, and the final-stage balance cylinder is connected to the crossbeam; the method further includes:

[0018] After it is sensed that the crossbeam enters the induction area, if the action state is in the ascending stroke, after the primary balance cylinder extends a first preset length, the next-level balance cylinder extends a first preset length in sequence until the crossbeam moves to the current machining control height; and / or,

[0019] After it is sensed that the crossbeam enters the induction area, if the action state is in the descending stroke, after the final-stage balance cylinder retracts a second preset length, the next-level balance cylinder retracts a second preset length in sequence until the crossbeam moves to the current machining control height.

[0020] In an embodiment of the balance control method, the method includes:

[0021] Import the finite element analysis data of the column;

[0022] Use the deformation area determined based on the finite element analysis data as the induction area of the column.

[0023] In an embodiment of the balance control method, the method includes controlling the thrust provided by the balance cylinders according to the lifting action state of the crossbeam, the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam, and the lateral distances from the identification position of the main spindle box to the two balance cylinders.

[0024] When the action state is the ascending stroke, if the lateral distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a first thrust to the crossbeam; and / or,

[0025] When the action state is the descending stroke, if the lateral distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a second thrust to the crossbeam; and / or

[0026] When the action state is the stopping state, if the lateral distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a third thrust to the crossbeam, where the second thrust is less than the third thrust, and the third thrust is less than the first thrust.

[0027] In an embodiment of the balance control method, the crossbeam driving pair is arranged on the vertical central axis of the crossbeam, and controlling the thrust provided by the balance cylinders by the lateral distance includes:

[0028] When the identification position of the main spindle box is not between the two balance cylinders, control the balance cylinders to output thrusts. Let the thrust output by the balance cylinder on the side where the main spindle box is located be F 1 , and the thrust output by the balance cylinder on the other side be F 2 , and the output thrusts satisfy the following relational expression:

[0029] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 2 ) / 2( L 1 – L 2 ),

[0030] F 2 = (M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L 2 ) / 2( L 1 – L 2 );

[0031] Among them, dv / dt is the value at the corresponding position of the speed control curve when the crossbeam moves from one position to the target position; k 1 is the adjustment coefficient of the lifting action state of the balance cylinder on the side where the main spindle box is located; k 2 is the adjustment coefficient of the lifting action state of the balance cylinder on the side other than the side where the main spindle box is located; M is the mass of the crossbeam; m is the mass of the main spindle box; L 1 is the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam, L 2 is the lateral distance from the force application point of the balance cylinder to the identification position of the main spindle box.

[0032] In an embodiment of the balance control method, when the identification position of the main spindle box is between the two balance cylinders, control the two balance cylinders to output thrust, and the output thrust satisfies the following relational expression:

[0033] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 1 ) / 2( L 1 + L 2 ),

[0034] F 2 = ( M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L 1 ) / 2( L 1 + L 2 )。

[0035] In an embodiment of the balance control method, the method includes:

[0036] When the action state is the ascending stroke, k 1 Take 1.2, k 2 Take 1;

[0037] When the action state is the descending stroke, k 1 Take 0.8, k 2 Take 0.67.

[0038] In an embodiment of the balance control method, the crossbeam drive pair includes sub-drive pairs respectively located on both sides of the vertical central axis of the crossbeam, and the method includes:

[0039] After sensing that the crossbeam enters the sensing area and the identification position of the spindle box is not between the two balance cylinders, control the sub-drive pair on the side where the spindle box is located to increase the output torque, and the two sub-drive pairs drive the crossbeam to move synchronously.

[0040] In a second aspect, the present invention further provides a balance control device applied to a machine tool. The machine tool includes a column, a crossbeam and a spindle box. A crossbeam drive pair is provided on the column, and the crossbeam is driven by the crossbeam drive pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; the device includes:

[0041] An acquisition module, configured to acquire the horizontal position of the identification position of the spindle box on the crossbeam;

[0042] A control module, configured to control the thrust provided by the balance cylinders according to the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam and the lateral distances from the identification position of the main spindle box to the two balance cylinders.

[0043] In an embodiment of the balance control device, the acquisition module is further configured to acquire machining planning parameters, where the machining planning parameters at least include a machining planning height; the device further includes:

[0044] A determination module, configured to determine an induction area on the column according to the interval where the machining planning height is located, where at least a first position induction area and a second position induction area at different heights of the column are provided on the column.

[0045] In an embodiment of the balance control device, the crossbeam driving pair is arranged on the vertical central axis of the crossbeam, and the control module is further configured to, when the identification position of the main spindle box is not between the two balance cylinders, control the balance cylinders to output thrust, and denote the thrust output by the balance cylinder on the side where the main spindle box is located as F 1 and the thrust output by the balance cylinder on the other side as F 2 , and the output thrust satisfies the following relational expression:

[0046] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 2 ) / 2( L 1 – L 2 ),

[0047] F 2 = ( M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L2 ) / 2( L 1 – L 2 );

[0048] wherein, dv / dt is the value at the corresponding position of the speed control curve of the crossbeam moving from one position to the target position; k 1 is the adjustment coefficient of the lifting action state of the balance cylinder on the side where the main spindle box is located; k 2 is the adjustment coefficient of the lifting action state of the balance cylinder on the side other than the side where the main spindle box is located; M is the mass of the crossbeam; m is the mass of the main spindle box; L 1 is the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam, L 2 is the lateral distance from the force application point of the balance cylinder to the identification position of the main spindle box.

[0049] In a third aspect, the present invention provides a machine tool, which includes a column, a crossbeam, a main spindle box and a machine tool control system. A crossbeam driving pair is vertically arranged on the column, and the crossbeam is driven by the crossbeam driving pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the main spindle box is horizontally movably arranged on the crossbeam; the machine tool control system includes the balance control device as described above.

[0050] In a fourth aspect, the present invention provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the balance control method as described above are implemented.

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] The balance control method provided by the present invention obtains the thrust provided by the balance cylinder by acquiring the position of the main spindle box on the crossbeam, so that the thrust applied by the balance cylinder is associated with the position of the main spindle box, thereby supporting the targeted reduction of the working burden of the crossbeam driving pair in the lifting action state. Description of the Drawings

[0053] Figure 1 is a schematic structural diagram of a prior art nitrogen balance system;

[0054] Figure 2 is a flowchart of the balance control method provided by the present invention in an embodiment;

[0055] Figure 3 It is a schematic structural diagram of the machine tool provided by the present invention in an operating state;

[0056] Figure 4 It is a schematic structural diagram of the machine tool provided by the present invention in another operating state;

[0057] Figure 5 It is a flowchart of the balance control method provided by the present invention under another embodiment;

[0058] Figure 6 It is a functional module diagram of the balance control device provided by the present invention.

[0059] Explanation of reference numerals:

[0060] Cross beam 11; Column 12; Spindle box 13; Balance cylinder 14;

[0061] Balance control device 101; Acquisition module 102; Control module 103. Embodiment

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0063] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may also be an intermediate element. When an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or there may also be an intermediate element.

[0064] In addition, it should also be understood that all directional indications (such as up, down, left, right, middle...) in the embodiments are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the figure). If this specific posture changes, then the directional indication also changes accordingly; terms such as "first" and "second" are used to distinguish different structural components. These terms are only for the convenience of describing the present invention and should not be construed as a limitation of the present invention.

[0065] The balance control method provided by the present invention is mainly applied to a machine tool control system. The machine tool adopting this machine tool control system may include a column, a crossbeam and a spindle box. A crossbeam driving pair is vertically arranged on the column, and the crossbeam is driven by the crossbeam driving pair to move up and down on the column. The crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam. The spindle box is horizontally movably arranged on the crossbeam. The balance control method provided by the present invention can be controlled according to the position and state of the spindle box, which can reduce the wear caused by the position change of the spindle box to the crossbeam driving pair, so as to reduce the influence on the accuracy of the crossbeam driving pair and extend the service life.

[0066] See Figure 2 , which is a flowchart of the balance control method provided by the present invention in an embodiment. This flowchart only schematically shows some control steps for the machine tool, so some steps can be added and / or the order of some steps can be adjusted according to different application scenarios and environmental conditions.

[0067] Figure 2 In, the balance control method of this embodiment may include the following steps:

[0068] S101: Obtain the horizontal position of the identification position of the spindle box on the crossbeam.

[0069] In this embodiment, the identification position of the spindle box can be obtained by obtaining the machine tool control data, or the identification position of the spindle box can be obtained by using a position sensor.

[0070] The identification position of the spindle box can be the center of gravity identification position of the spindle box, or the edge identification positions at both ends of the spindle box or other identification positions. In this embodiment, the center of gravity identification position of the spindle box is used for illustration.

[0071] S102: Control the thrust provided by the balance cylinders according to the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam and the horizontal distances from the identification position of the spindle box to the two balance cylinders.

[0072] In this embodiment, an identification position can also be set on the crossbeam. The identification position of the crossbeam can be the center of gravity identification position of the crossbeam. After obtaining the horizontal position of the identification position of the spindle box on the crossbeam, the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam and the horizontal distances from the identification position of the spindle box to the two balance cylinders can be obtained. This obtaining method can be through a calculation method, or the corresponding distance values can be directly measured by setting multiple sensors.

[0073] It can be understood that the horizontal distances from the identification position of the spindle box to the two balance cylinders can be the horizontal distances from the identification position of the spindle box to the connection points of the two balance cylinders and the crossbeam, that is, the horizontal distances from the identification position of the spindle box to the force application points of the two balance cylinders.

[0074] The two balance cylinders can be a first balance cylinder and a second balance cylinder respectively, and the number of balance cylinders on both sides of the vertical central axis of the crossbeam is not limited to 1. That is, the balance cylinders on one side of the vertical central axis of the crossbeam can be collectively referred to as the first balance cylinder, and the balance cylinders on the other side can be collectively referred to as the second balance cylinder.

[0075] Here, the position information of the first balance cylinder and the second balance cylinder is pre-entered into the machine tool system. By retrieving the position information of the two balance cylinders and combining it with the position information of the spindle box, it can be determined whether the horizontal position of the identification position of the spindle box is between the first balance cylinder and the second balance cylinder.

[0076] In this embodiment, the balance control method can also control the thrust provided by the balance cylinder according to the lifting action state of the crossbeam, the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam, and the horizontal distance from the identification position of the spindle box to the two balance cylinders. Among them, the lifting action state of the crossbeam can be obtained by acquiring machine tool control data. Of course, a preset sensor such as a position sensor or an acceleration sensor can also be used for induction to obtain the current lifting action state of the crossbeam.

[0077] In a specific application example of this embodiment, controlling the thrust provided by the balance cylinder according to the lifting action state of the crossbeam, the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam, and the horizontal distance from the identification position of the spindle box to the two balance cylinders can be specifically:

[0078] ① When the action state is the ascending stroke, if the horizontal distance is greater than the preset distance, control the balance cylinder on the side where the spindle box is located to apply a first thrust to the crossbeam.

[0079] ② When the action state is the descending stroke, if the horizontal distance is greater than the preset distance, control the balance cylinder on the side where the spindle box is located to apply a second thrust to the crossbeam.

[0080] ③ When the action state is the stopping state, if the horizontal distance is greater than the preset distance, control the balance cylinder on the side where the spindle box is located to apply a third thrust to the crossbeam.

[0081] Among them, the second thrust is less than the third thrust, and the third thrust is less than the first thrust.

[0082] In this embodiment, the first thrust F 1 can satisfy the following relationship: F 1 ∈( F 3 , G , where F3 is the third thrust force; G is the sum of the gravity of the crossbeam and the spindle box it bears; the second thrust force F 2 can satisfy the following relationship: F 2 ∈[0, F 3 ). Preferably, the third thrust force F 3 is equal to the dead weight of the crossbeam.

[0083] In another specific application example of this embodiment, refer to Figure 3 and Figure 4 , which respectively show the schematic diagrams of the state structures of the spindle box at the vertical central axis position of the crossbeam and at a position on one side of the central axis of the crossbeam, and display the distance relationship between the spindle box and the central axis of the crossbeam at different positions. The crossbeam drive pair can be a lead screw pair, and this lead screw pair is preferably arranged on the vertical central axis of the crossbeam. In the specific application example of this embodiment, in combination with part of the description of the above embodiment, when the identification position of the spindle box is not between the two balance cylinders according to the change of the spindle box position, control the balance cylinders to output thrust, and record the thrust output by the balance cylinder on the side where the spindle box is located as F 1 , and the thrust output by the balance cylinder on the other side is F 2 , and the output thrust satisfies the following relational formula:

[0084] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 2 ) / 2( L 1 – L 2 ),

[0085] F 2 = ( M + m ) g / 2 + k 2 ×[( M + m) / 2]× dv / dt - ( mg × L 2 ) / 2( L 1 – L 2 );

[0086] wherein, dv / dt is the value at the corresponding position of the speed control curve when the crossbeam moves from one position to the target position; k 1 is the adjustment coefficient of the lifting action state of the balance cylinder on the side where the main spindle box is located; k 2 is the adjustment coefficient of the lifting action state of the balance cylinder on the side other than the side where the main spindle box is located; M is the mass of the crossbeam; m is the mass of the main spindle box; L 1 is the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam, L 2 is the lateral distance from the force application point of the balance cylinder to the identification position of the main spindle box. It can be understood that g is the acceleration due to gravity.

[0087] When the identification position of the main spindle box is between the two balance cylinders, control the two balance cylinders to output thrust, and the output thrust satisfies the following relational expression:

[0088] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 1 ) / 2( L 1 + L 2 ),

[0089] F 2 = ( M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L 1 ) / 2( L 1 + L 2 )。

[0090] During the actual operation process of this specific application example, according to the lifting action state of the crossbeam, when the action state is the ascending stroke, k 1 it can take 1.2, k 2 and it can take 1; when the action state is the descending stroke, k 1 it takes 0.8, k 2 and it takes 0.67.

[0091] Here, the balance cylinder can adopt an electric cylinder, and the thrust output by the balance cylinder can also satisfy: F = T×2π×R / L×N , at this time, the thrust change of the electric cylinder can be controlled by controlling the output torque. Here, T is the output torque, R is the reduction ratio, L is the lead of the screw rod, N is the overall efficiency.

[0092] In this specific application example, the thrust provided by the balance cylinder can be controlled by obtaining the position of the headstock on the crossbeam and the lifting action state of the crossbeam, so that the thrust applied by the balance cylinder is associated with the position of the headstock, thereby supporting the targeted reduction of the operating burden of the crossbeam driving pair in the lifting action state.

[0093] It can be understood that in other specific application examples, the crossbeam driving pair can also be a linear motor, and this linear motor can also be arranged on the vertical central axis of the crossbeam to drive the crossbeam to lift.

[0094] See Figure 5, which is a flowchart of the balance control method provided by the present invention in another embodiment. The difference from the previous embodiment is that in this embodiment, the machine tool is also provided with a plurality of induction areas, and the crossbeam drive pair includes sub-drive pairs respectively located on both sides of the vertical central axis of the crossbeam. The crossbeam drive pair is controlled according to the induction area to drive the crossbeam with the possibility of changing the position of the spindle box up and down more smoothly. Similarly, this flowchart only schematically shows some control steps for the machine tool, so some steps can be added or subtracted and / or the order of some steps can be adjusted according to different application scenarios and environmental conditions.

[0095] In this embodiment, the crossbeam drive pair is a lead screw drive pair, and the lead screw drive pair may further include two sub-drive pairs (lead screw drive assemblies), and the two sub-drive pairs can be symmetrically arranged on both sides of the vertical central axis of the crossbeam respectively.

[0096] Figure 6 In this embodiment, the balance control method may include the following steps:

[0097] S201: Obtain the horizontal position of the identification position of the spindle box on the crossbeam.

[0098] S202: Calculate the horizontal distance from the identification position of the spindle box to the identification position of the crossbeam and the horizontal distances from the identification position of the spindle box to the two balance cylinders. It can be understood that the trigger condition for this step can be that the identification position of the spindle box is not between the two balance cylinders, or this step can be directly executed after S201.

[0099] S203: Obtain the machining planning parameters, and the machining planning parameters at least include the machining planning height.

[0100] In this embodiment, the machining planning parameters are the parameters determined by the machine tool according to the input machining data, and may include machining planning height parameters, machining duration, etc.

[0101] It can be understood that this step can be executed synchronously with step S201, or executed before step S201.

[0102] S204: Determine the induction area on the column according to the interval where the machining planning height is located, where at least a first position induction area and a second position induction area at different heights of the column are provided on the column.

[0103] In this embodiment, the determining the induction area on the column according to the interval where the machining planning height is located may be specifically: obtain the estimated machining duration distribution of each interval in the machining planning interval; if the estimated machining duration is greater than the machining duration threshold, obtain the area where the estimated machining duration is greater than the machining duration threshold as the induction area on the column.

[0104] It is understandable that when the machining planning parameter includes the machining duration, it serves as the estimated machining duration. If the machining planning parameter does not include the machining duration, the estimated machining duration can be calculated based on the machining area, etc.

[0105] In addition, the induction area can be determined in the following way, that is, first import the finite element analysis data of the column, and then, the deformation area determined based on the finite element analysis data is used as the induction area of the column.

[0106] S205: If it is sensed that the crossbeam has moved to the corresponding induction area and the identification position of the spindle box is not between the two balance cylinders, then control the sub-driving pair on the side where the spindle box is located to increase the output torque, and the two sub-driving pairs drive the crossbeam to move synchronously.

[0107] In this embodiment, by controlling the sub-driving pair on the side where the spindle box is located to output a greater torque, it is ensured that the sub-driving pair where the spindle box is located can provide sufficient driving force for the crossbeam on this side, so as to ensure that the crossbeam can rise or fall more smoothly.

[0108] Preferably, this embodiment adopts the method of reducing speed and increasing torque, that is, after sensing that the crossbeam has moved to the corresponding induction area, the crossbeam can be ensured to rise and fall smoothly by reducing speed and keeping the output power unchanged.

[0109] S206: Control the thrust provided by the balance cylinder according to the lateral distance from the identification position of the spindle box to the identification position of the crossbeam and the lateral distances from the identification position of the spindle box to the two balance cylinders.

[0110] Compared with the previous embodiment, in addition to being able to control the thrust output by the balance cylinder according to the position of the spindle box, this embodiment also controls the crossbeam driving pair to cooperate with the balance cylinder to act on the crossbeam together, which helps to ensure that the crossbeam can rise and fall more smoothly. At the same time, it is also controlled in combination with the machining planning parameter, which can reduce the wear on the crossbeam driving pair and the long-time machining part of the crossbeam driving pair, and is beneficial to extending the service life of the crossbeam driving pair.

[0111] In this embodiment, if the balance system included in the machine tool is a nitrogen balance system, the balance cylinder can also be a multi-stage balance cylinder. The multi-stage balance cylinder includes a primary balance cylinder and a final balance cylinder, and the final balance cylinder is connected to the crossbeam. The multi-stage balance cylinder can be a two-stage balance cylinder, and the two-stage balance cylinder is respectively the primary balance cylinder and the final balance cylinder. Of course, the multi-stage balance cylinder can also be a three-stage or higher-stage balance cylinder. Therefore, one or more balance cylinders can also be included between the primary balance cylinder and the final balance cylinder. At this time, in the balance control method provided by this embodiment, when controlling the multi-stage balance cylinder to expand and contract to provide a balance force for the crossbeam, the following control steps can also be included:

[0112] (1) After sensing that the crossbeam enters the sensing area, if the action state is in the ascending stroke, after the first preset length extends from the primary balance cylinder, the first preset length extends from the balance cylinders of the next levels in sequence until the crossbeam is moved to the current machining control height.

[0113] (2) After sensing that the crossbeam enters the sensing area, if the action state is in the descending stroke, after the second preset length retracts from the last-stage balance cylinder, the second preset length retracts from the balance cylinders of the next levels in sequence until the crossbeam is moved to the current machining control height.

[0114] Here, by adopting a multi-stage telescopic balance cylinder, balance support can be provided for the lifting operation with a large stroke. And according to different lifting action states, different telescopic methods are adopted to reduce the force loss during the telescopic process of the balance cylinder, making the response of the multi-stage telescopic balance cylinder to telescopic with the lifting and lowering of the crossbeam more sensitive.

[0115] It can be understood that the balance cylinder can also be a multi-stage electric cylinder and has the same telescopic control method as the nitrogen balance cylinder.

[0116] It can be understood that the thrust in the present invention is for the balance cylinder body located on the lower side in the vertical direction of the crossbeam. In some scenarios, the balance cylinder body can also be arranged on the upper side in the vertical direction of the crossbeam. Correspondingly, the thrust is changed to a pulling force.

[0117] See Figure 6 , which is a functional module diagram of the balance control device provided by the present invention. The balance control device 101 is mainly applied to a machine tool. The machine tool includes a column, a crossbeam and a spindle box. A crossbeam driving pair is vertically arranged on the column. The crossbeam is driven by the crossbeam driving pair to move up and down on the column. The crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam. The spindle box is horizontally movably arranged on the crossbeam.

[0118] Figure 6 In, the balance control device 101 may include an acquisition module 102 and a control module 103, where,

[0119] The acquisition module 102 is used to acquire the horizontal position of the identification bit of the spindle box on the crossbeam. In addition, this module can also be used to acquire machining planning parameters, acquire the estimated machining duration distribution of each interval where the machining planning height is located, etc.

[0120] The control module 103 is configured to control the thrust provided by the balance cylinders according to the lateral distance from the identification position of the spindle headstock to the identification position of the crossbeam and the lateral distances from the identification position of the spindle headstock to the two balance cylinders. Meanwhile, it can also control the thrust provided by the balance cylinders according to the lifting action state of the crossbeam, the lateral distance from the identification position of the spindle headstock to the identification position of the crossbeam, and the lateral distances from the identification position of the spindle headstock to the two balance cylinders, including: when the action state is the ascending stroke, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the spindle headstock is located to apply a first thrust to the crossbeam; and / or, when the action state is the descending stroke, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the spindle headstock is located to apply a second thrust to the crossbeam; and / or when the action state is the stopping state, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the spindle headstock is located to apply a third thrust to the crossbeam, where the second thrust is less than the third thrust, and the third thrust is less than the first thrust.

[0121] In addition, the control module 103 is further configured to control the sub-driving pair on the side where the spindle headstock is located to increase the output torque, and the two sub-driving pairs synchronously drive the crossbeam to move; and to control the balance cylinders to output thrust. When the identification position of the spindle headstock is not between the two balance cylinders, controlling the balance cylinders to output thrust, and denoting the thrust output by the balance cylinder on the side where the spindle headstock is located as F 1 and the thrust output by the balance cylinder on the other side as F 2 , the output thrust satisfies the following relational expression:

[0122] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 2 ) / 2( L 1 – L 2 ),

[0123] F 2 = ( M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L 2 ) / 2( L 1 – L 2 );

[0124] Among them, dv / dt is the value at the corresponding position of the speed control curve when the crossbeam moves from one position to the target position; k 1 is the adjustment coefficient of the lifting action state of the balance cylinder on the side where the main spindle box is located; k 2 is the adjustment coefficient of the lifting action state of the balance cylinder on the side other than the side where the main spindle box is located; M is the mass of the crossbeam; m is the mass of the main spindle box; L 1 is the lateral distance from the identification position of the main spindle box to the identification position of the crossbeam, L 2 is the lateral distance from the force application point of the balance cylinder to the identification position of the main spindle box.

[0125] The control module 103 is further configured to control the two balance cylinders to output thrust when the identification position of the main spindle box is between the two balance cylinders, and the output thrust satisfies the following relational expression:

[0126] F 1 = ( M + m ) g / 2 + k 1 ×[( M + m ) / 2]× dv / dt + ( mg × L 1 ) / 2( L 1 + L 2 ),

[0127] F 2= ( M + m ) g / 2 + k 2 ×[( M + m ) / 2]× dv / dt - ( mg × L 1 ) / 2( L 1 + L 2 )。

[0128] When the action state is the ascending stroke, k 1 can take 1.2, k 2 can take 1; when the action state is the descending stroke, k 1 take 0.8, k 2 take 0.67.

[0129] In addition, the balance control device 101 may further include a determination module, configured to determine the induction area on the column according to the interval where the machining planned height is located, wherein at least a first position induction area and a second position induction area at different heights of the column are provided on the column.

[0130] Of course, it can be understood that the balance control device 101 provided by the present invention may not be limited to the above-mentioned various functional modules, and corresponding functional modules can be appropriately increased or decreased according to different application scenarios and / or detection conditions.

[0131] The present invention further provides a machine tool, which includes a column, a cross beam, a spindle box and the above-mentioned machine tool control system. A cross beam driving pair is vertically arranged on the column, and the cross beam is driven by the cross beam driving pair to move up and down on the column; the cross beam is connected with balance cylinders respectively located on both sides of the vertical central axis of the cross beam; the spindle box is horizontally movably arranged on the cross beam; the machine tool control system includes the above-mentioned balance control device 101.

[0132] In addition, the present invention further provides a computer, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. Wherein, when the processor executes the computer program, the steps of the above-mentioned various balance control methods are implemented, for example Figure 2 the steps S101 to S102 shown, Figure 5Steps 201 to S206 shown above, etc. Alternatively, when the processor executes the computer program, it implements the functions of each module or unit in the above device embodiments.

[0133] Exemplarily, the computer program can be segmented into one or more modules / units. One or more modules / units are stored in the memory and executed by the processor to complete the present invention. The above one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program in the terminal device.

[0134] The above processor can be a Central Processing Unit (CPU), or can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the terminal device and connects various parts of the entire terminal device through various interfaces and lines.

[0135] The above memory can be used to store computer programs and / or modules. The processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by invoking the data stored in the memory. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as acquisition function, control function, etc.); the data storage area can store data created according to the use of the terminal device (such as feature position data, sensing data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, memory, plug-in hard disks, SmartMedia Cards (SMCs), Secure Digital (SD) cards, Flash Cards, at least one magnetic disk storage device, flash device, or other volatile solid-state storage devices.

[0136] When a computer-integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above balance control method, the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above balance control method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0137] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0138] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of functional module units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0142] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0143] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A balance control method is applied to a machine tool. The machine tool includes a column, a crossbeam, and a spindle box. A crossbeam driving pair is provided on the column, and the crossbeam is driven by the crossbeam driving pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; and it is characterized in that, The method includes: Obtaining the lateral position of the identification bit of the main spindle box on the crossbeam; Controlling the thrust provided by the balance cylinders according to the lifting action state of the crossbeam, the lateral distance from the identification bit of the main spindle box to the identification bit of the crossbeam, and the lateral distances from the identification bit of the main spindle box to the two balance cylinders; When the action state is the ascending stroke, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the main spindle box is located to apply a first thrust to the crossbeam; and / or, When the action state is the descending stroke, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the main spindle box is located to apply a second thrust to the crossbeam; and / or When the action state is the stop state, if the lateral distance is greater than a preset distance, controlling the balance cylinder on the side where the main spindle box is located to apply a third thrust to the crossbeam, where the second thrust is less than the third thrust, and the third thrust is less than the first thrust.

2. The balance control method according to claim 1, wherein The method includes: Obtaining machining planning parameters, where the machining planning parameters at least include the machining planning height; Determining the induction area on the column according to the interval where the machining planning height is located, where at least a first position induction area and a second position induction area at different heights of the column are provided on the column; If it is sensed that the crossbeam moves into the corresponding induction area, controlling the thrust provided by the balance cylinders according to the lifting action state of the crossbeam and the lateral distance.

3. The balance control method according to claim 2, wherein The determining the induction area on the column according to the interval where the machining planning height is located includes: Obtaining the estimated machining duration distribution of each interval where the machining planning height is located; If the estimated machining duration is greater than the machining duration threshold, obtaining the area where the estimated machining duration is greater than the machining duration threshold as the induction area on the column.

4. The balance control method according to claim 2, wherein The balance cylinders are multi-stage balance cylinders, the multi-stage balance cylinders include a primary balance cylinder and a final-stage balance cylinder, and the final-stage balance cylinder is connected to the crossbeam; the method further includes: After it is sensed that the crossbeam enters the induction area, if the action state is in the ascending stroke, after the primary balance cylinder extends a first preset length, the next-level balance cylinder extends the first preset length in sequence until the crossbeam is moved to the current machining control height; and / or, After it is sensed that the crossbeam enters the induction area, if the action state is in the descending stroke, after the final-stage balance cylinder retracts a second preset length, the next-level balance cylinder retracts the second preset length in sequence until the crossbeam is moved to the current machining control height.

5. The balance control method according to claim 2, characterized in that The method includes: Importing the finite element analysis data of the column; Taking the deformation area determined based on the finite element analysis data as the induction area of the column.

6. The balance control method according to any one of claims 1 to 5, characterized in that, The crossbeam driving pair is arranged on the vertical central axis of the crossbeam, and the controlling the thrust provided by the balance cylinders according to the lateral distance includes: When the identification bit of the main spindle box is not between the two balance cylinders, controlling the balance cylinders to output thrust, setting the thrust output by the balance cylinder on the side where the main spindle box is located as F1 and the thrust output by the balance cylinder on the other side as F2, and the output thrust satisfies the following relational expression: F1 = (M + m)g / 2 + k1×[(M + m) / 2]×dv / dt + (mg×L2) / 2(L1–L2), F2 = (M + m)g / 2 + k2×[(M + m) / 2]×dv / dt - (mg×L2) / 2(L1–L2); wherein, dv / dt is taken from the value at the corresponding position of the speed control curve when the crossbeam moves from one position to the target position; k1 is the adjustment coefficient of the lifting action state of the balance cylinder on the side where the main spindle box is located; k2 is the adjustment coefficient of the lifting action state of the balance cylinder on the side other than the side where the main spindle box is located; M is the mass of the crossbeam; m is the mass of the main spindle box; L1 is the horizontal distance from the identification position of the main spindle box to the identification position of the crossbeam, and L2 is the horizontal distance from the force application point of the balance cylinder to the identification position of the main spindle box.

7. The balance control method according to claim 6, wherein When the identification position of the main spindle box is between the two balance cylinders, control the two balance cylinders to output thrust, and the output thrust satisfies the following relational expression: F1 = (M + m)g / 2 + k1×[(M + m) / 2]×dv / dt + (mg×L1) / 2(L1 + L2), F2 = (M + m)g / 2 + k2×[(M + m) / 2]×dv / dt - (mg×L1) / 2(L1 + L2).

8. The balance control method according to claim 6, characterized in that The method includes: When the action state is the ascending stroke, k1 takes 1.2 and k2 takes 1; When the action state is the descending stroke, k1 takes 0.8 and k2 takes 0.

67.

9. The balance control method according to claim 3, characterized in that, The crossbeam driving pair includes sub-driving pairs respectively located on both sides of the vertical central axis of the crossbeam, and the method includes: After sensing that the crossbeam enters the sensing area and the identification position of the main spindle box is not between the two balance cylinders, control the sub-driving pair on the side where the main spindle box is located to increase the output torque, and the two sub-driving pairs drive the crossbeam to move synchronously.

10. A balance control device is applied to a machine tool. The machine tool includes a column, a crossbeam, and a spindle box. A crossbeam driving pair is provided on the column, and the crossbeam is driven by the crossbeam driving pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; and it is characterized in that, The device includes: An acquisition module, configured to acquire the horizontal position of the identification position of the main spindle box on the crossbeam; A control module, configured to control the thrust provided by the balance cylinder according to the lifting action state of the crossbeam, the horizontal distance from the identification position of the main spindle box to the identification position of the crossbeam, and the horizontal distance from the identification position of the main spindle box to the two balance cylinders; and is further configured to, when the action state is the ascending stroke, if the horizontal distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a first thrust to the crossbeam; and / or, Is further configured to, when the action state is the descending stroke, if the horizontal distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a second thrust to the crossbeam; and / or Is further configured to, when the action state is the stop state, if the horizontal distance is greater than a preset distance, control the balance cylinder on the side where the main spindle box is located to apply a third thrust to the crossbeam, wherein the second thrust is less than the third thrust, and the third thrust is less than the first thrust.

11. The balance control device according to claim 10, wherein The acquisition module is further configured to acquire machining planning parameters, and the machining planning parameters at least include the machining planning height; the device further includes: A determination module, configured to determine an induction area on the column according to an interval where a machining planning height is located, wherein at least a first position induction area and a second position induction area at different heights of the column are provided on the column.

12. The balance control device according to claim 10, wherein, The crossbeam driving pair is arranged on the vertical central axis of the crossbeam. The control module is further configured to control the balance cylinders to output thrust when an identification position of the spindle box is not between the two balance cylinders. Denote the thrust output by the balance cylinder on the side where the spindle box is located as F1, and the thrust output by the balance cylinder on the other side as F2. The output thrust satisfies the following relational expression: F1 = (M + m)g / 2 + k1×[(M + m) / 2]×dv / dt + (mg×L2) / 2(L1–L2), F2 = (M + m)g / 2 + k2×[(M + m) / 2]×dv / dt - (mg×L2) / 2(L1–L2); wherein, dv / dt is taken from a value at a corresponding position of a speed control curve when the crossbeam moves from one position to a target position; k1 is an adjustment coefficient for the lifting action state of the balance cylinder on the side where the spindle box is located; k2 is an adjustment coefficient for the lifting action state of the balance cylinder on the side other than the side where the spindle box is located; M is the mass of the crossbeam; m is the mass of the spindle box; L1 is the lateral distance from the identification position of the spindle box to the identification position of the crossbeam, and L2 is the lateral distance from the force application point of the balance cylinder to the identification position of the spindle box.

13. A machine tool, characterized in that, The machine tool includes a column, a crossbeam, a spindle box, and a machine tool control system. A crossbeam driving pair is vertically arranged on the column. The crossbeam is driven by the crossbeam driving pair to move up and down on the column; the crossbeam is connected with balance cylinders respectively located on both sides of the vertical central axis of the crossbeam; the spindle box is horizontally movably arranged on the crossbeam; the machine tool control system includes the balance control device according to any one of claims 10 to 12.

14. A readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, the steps of the balance control method according to any one of claims 1 to 9 are implemented.

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