Machine tool monitoring method, monitoring device, machine tool and computer device

Abstract

The application relates to a machine tool monitoring method, a monitoring device, a machine tool and a computer device. The machine tool monitoring method comprises the following steps: acquiring current spindle coordinate data in a first coordinate system; constructing a current virtual image of a spindle in the first coordinate system according to the current spindle coordinate data; acquiring a position state of the spindle according to the current virtual image; and pushing a first reminding information if the position state of the spindle is a non-vertical state. According to the application, the spindle coordinate data of the spindle is acquired, the virtual image of the spindle in the first coordinate system is constructed according to the spindle coordinate data, the position state of the spindle is acquired according to the virtual image, and the reminding information reminding relevant personnel / equipment to maintain / adjust is pushed when the spindle is in a non-vertical state. In this way, the spindle deviation can be found in the first time, the spindle position of the relevant personnel is adjusted in time, the problem that the machining precision of the machine tool is reduced due to the spindle deviation is reduced, and the qualified rate of machined parts is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, and in particular to a machine tool monitoring method, monitoring device, machine tool, and computer equipment. Background Technology

[0002] Machine tools (such as CNC machine tools) are widely used in the machining of high-precision parts in the automotive, mold, aerospace, and military industries. Improving the machining accuracy of CNC machine tools is a crucial issue.

[0003] Factors affecting machine tool machining accuracy include spindle position. During machining, the spindle vibrates due to reaction forces while cutting parts, causing its position to shift. This shift is often small and difficult to detect in time, leading to decreased machining accuracy and resulting in substandard machined parts. Summary of the Invention

[0004] This application addresses the problem of substandard machining parts caused by decreased machining accuracy of existing machine tools by proposing a machine tool monitoring method, monitoring device, machine tool, and computer equipment. This machine tool monitoring method, monitoring device, machine tool, and computer equipment have the technical effect of timely detecting spindle misalignment and improving the pass rate of machined parts.

[0005] A machine tool monitoring method, comprising:

[0006] Get the current principal axis coordinate data in the first coordinate system;

[0007] Based on the current principal axis coordinate data, construct the current virtual image of the principal axis in the first coordinate system;

[0008] Based on the current virtual image, obtain the position state of the main axis;

[0009] If the position of the main shaft is not vertical, a first reminder message will be sent.

[0010] In one embodiment, obtaining the position state of the main axis based on the current virtual image of the main axis includes:

[0011] A reference image is constructed in the first coordinate system, wherein the reference image is the Z-axis image of the first coordinate system;

[0012] Determine a first relative offset of the current virtual image of the main axis relative to the reference image;

[0013] If the first relative offset satisfies the first preset condition, then the position of the main shaft is determined to be vertical.

[0014] If the first relative offset does not meet the first preset condition, then the position of the spindle is determined to be non-vertical.

[0015] In one embodiment, constructing a reference image in the first coordinate system includes:

[0016] Obtain the initial principal axis coordinate data in the first coordinate system;

[0017] Determine the initial set of coordinate points in the first coordinate system based on the initial principal axis coordinate data;

[0018] A reference image is constructed based on the initial set of coordinate points.

[0019] In one embodiment, it further includes:

[0020] Get the current beam coordinate data under the first coordinate;

[0021] Based on the current beam coordinate data, construct the current virtual image of the beam in the first coordinate system;

[0022] Determine the position and state of the beam based on the current virtual image of the beam;

[0023] If the spindle is not in a vertical position, a first reminder message will be sent, including:

[0024] If the beam is in a horizontal position and the spindle is not in a vertical position, a first reminder message will be sent.

[0025] In one embodiment, it is characterized by further comprising:

[0026] Obtain the current rack coordinate data;

[0027] Based on the current rack coordinate data, determine the rack's position status;

[0028] If the rack is not in a horizontal position, a second reminder message will be sent.

[0029] In one embodiment, if the spindle is not in a vertical position, a first reminder message is pushed, including:

[0030] If the spindle is not in a vertical position and the frame is in a horizontal position, then a first reminder message will be sent.

[0031] In one embodiment, obtaining the current rack coordinate data includes:

[0032] Obtain the initial set of rack coordinate data and the current set of rack coordinate data;

[0033] Based on the current rack coordinate data, determine the rack's position status, including:

[0034] Based on the sensor identifiers, the data from the initial rack coordinate data set and the data from the current rack coordinate data set are compared one by one to obtain multiple comparison results;

[0035] If all the comparison results meet the second preset condition, then the position of the rack is determined to be horizontal.

[0036] If at least one of the comparison results does not meet the second preset condition, then the position of the rack is determined to be non-horizontal.

[0037] In one embodiment, it further includes:

[0038] The initial rack coordinate data set is mapped to the second coordinate system to obtain the mapped rack coordinate data set.

[0039] Based on the set of mapped rack coordinate data, an initial virtual image of the rack is constructed in the second coordinate system;

[0040] Based on the sensor identifiers that do not meet the second preset condition according to the comparison result, the coordinate data of the mapped rack to be marked is obtained;

[0041] Mark the coordinate points in the initial virtual image of the rack that correspond to the coordinate data of the mapped rack to be marked.

[0042] A machine tool includes a frame, a spindle mounted on the frame, a data acquisition system, and a monitoring device. The spindle is rotatably mounted on the frame about a mounting axis parallel to the Z direction. The monitoring device is communicatively connected to the data acquisition system and is used to execute the machine tool monitoring method described in any of the above embodiments based on the coordinate data of the machine tool acquired by the data acquisition system.

[0043] In one embodiment, the data acquisition system includes a first sensing component; the first sensing component includes a plurality of first sensors, which are spaced apart along the Z-axis on the main axis, and each first sensor is used to acquire the main axis coordinate data of its location.

[0044] In one embodiment, the data acquisition system further includes a second sensing component, the machine tool includes a crossbeam, the spindle is mounted on the frame via the crossbeam, and the crossbeam is arranged longitudinally along the Y direction;

[0045] The second sensing component includes a plurality of second sensors, which are spaced apart along the Y-axis on the crossbeam. Each second sensor is used to collect the coordinate data of the crossbeam at its location; and / or,

[0046] The data acquisition system further includes a third sensing component, which contains multiple third sensors arranged on the rack along the same plane perpendicular to the Z-direction. Each third sensor is used to collect rack coordinate data at its location.

[0047] In one embodiment, the machine tool includes a leveling structure, the frame is supported on the leveling structure, the leveling structure includes a plurality of leveling parts, each of the leveling parts being configured to be dimensionally adjustable in the Z direction.

[0048] In one embodiment, the machine tool further includes a display device, and the monitoring device is communicatively connected to the display device. The display device is used to display a virtual image constructed by the monitoring device based on the coordinate data collected by the data acquisition system.

[0049] A monitoring device, comprising:

[0050] The data acquisition module is used to acquire the current principal axis coordinate data in the first coordinate system;

[0051] The construction module is used to construct the current virtual image of the main axis in the first coordinate system based on the current main axis coordinate data;

[0052] The processing and analysis module is used to obtain the position status of the main axis based on the current virtual image;

[0053] The push module is also used to push a first reminder message if the position of the main shaft is not vertical.

[0054] A computer device includes a processor and a memory, the memory storing a computer program, characterized in that the processor implements the machine tool monitoring method as described in any of the above embodiments when processing the computer program.

[0055] The aforementioned machine tool monitoring method, monitoring device, machine tool, and computer equipment acquire spindle coordinate data and construct a virtual image of the spindle in a first coordinate system based on this data. The spindle's position is then determined from the virtual image, and when the spindle is not vertical, a notification is sent to relevant personnel / equipment to request maintenance / adjustment. This allows for immediate detection of spindle misalignment, enabling timely adjustment of the spindle position by relevant personnel / equipment, reducing the decrease in machining accuracy caused by spindle misalignment, and improving the pass rate of machined parts. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the machine tool in one embodiment.

[0057] Figure 2 This is a flowchart illustrating a machine tool monitoring method in one embodiment.

[0058] Figure 3 This is a schematic diagram of a virtual image constructed in a first coordinate system in one embodiment.

[0059] Figure 4 for Figure 2 A detailed flowchart of step S300 in the process.

[0060] Figure 5 for Figure 4 A detailed flowchart of step S310 in the process.

[0061] Figure 6 This is a flowchart illustrating a machine tool monitoring method in another embodiment.

[0062] Figure 7 for Figure 6 A detailed flowchart of step S700 in the process.

[0063] Figure 8 This is a flowchart illustrating the machine tool monitoring method in yet another embodiment.

[0064] Figure 9 for Figure 1 Another view of the machine tool shown.

[0065] Figure 10 This is a schematic diagram of the leveling section in one embodiment.

[0066] Figure 11 This is a flowchart illustrating the machine tool monitoring method in another embodiment.

[0067] Figure 12 This is a flowchart illustrating a machine tool monitoring method in another embodiment.

[0068] Figure 13 This is a flowchart illustrating a machine tool monitoring method in another embodiment.

[0069] Figure 14 This is a schematic diagram of a virtual image constructed in a second coordinate system in one embodiment.

[0070] Figure 15 This is a logical judgment process in a machine tool in one embodiment.

[0071] Figure 16 This is a structural block diagram of the monitoring device in one embodiment.

[0072] Figure 17 This is an internal structural diagram of a computer device in one embodiment.

[0073] Explanation of reference numerals in the attached figures:

[0074] 1000, Machine tool; 100, Frame; 200, Spindle; F, Mounting axis; 300, Crossbeam; 400, Worktable; 500, Data acquisition system; 510, First sensing component; 511, First sensor; 520, Second sensing component; 521, Second sensor; 530, Third sensing component; 531, Third sensor;

[0075] 600, Leveling structure; 610, Leveling part; 611, Supporting foot; 612, Supporting column; 700, Display device; 800, Monitoring device; 810, Data acquisition module; 820, Construction module; 830, Processing and analysis module; 840, Push module. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0077] The machine tool monitoring method provided in this application is applied to machine tools. The machine tool provided in this application may be, but is not limited to, a CNC machine tool.

[0078] In one embodiment, such as Figure 1 The machine tool 1000 provided in this embodiment includes a frame 100, a spindle 200, a data acquisition system 500, and a monitoring device 800. The frame 100 forms the base of the machine tool 1000 and is used to support other structures, including but not limited to the spindle 200. The spindle 200 is mounted on the frame 100 about a mounting axis F parallel to the Z direction. The spindle 200 is a structure for mounting cutting tools. A drive mechanism may also be provided on the frame 100. The drive mechanism is connected to the spindle 200 and can drive the cutting tool to rotate when the spindle 200 is driven to rotate, so as to cut the workpiece to be processed.

[0079] The monitoring device 800 is communicatively connected to the data acquisition system 500. The two can communicate via wired, Wi-Fi, 2G, 3G, 5G, or other communication networks. The monitoring device 800 is a data processing device / organization, which may include, but is not limited to, a central processing unit, microprocessor, or embedded microcontroller. The monitoring device 800 can be mounted on rack 100 or located independently outside of rack 100. For example, the monitoring device 800 can be a remote computer, laptop, smartphone, tablet, IoT device, portable wearable device, or server.

[0080] The data acquisition system 500 is used to acquire coordinate data of the machine tool 1000. The coordinate data of the machine tool 1000 includes, but is not limited to, spindle coordinate data. Specifically, the spindle coordinate data acquired by the data acquisition system 500 can be coordinate data in a first coordinate system. The first coordinate system can be a world coordinate system or a device coordinate system established with a certain position on the machine frame 100 as the origin. Specifically, it can be a planar coordinate system or a spatial coordinate system. The data acquisition system 500 can be a system capable of acquiring spindle coordinate position, composed of position sensors, image sensors, etc.

[0081] The monitoring device 800 is used to execute the machine tool monitoring method provided in this embodiment based on the coordinate data of the machine tool 1000 collected by the data acquisition system 500. The monitoring device 800 may automatically acquire spindle coordinate data in the first coordinate system from the data acquisition system 500 based on requests triggered by a user terminal or program settings, and construct a current virtual image of the spindle 200 based on the spindle coordinate data. It then obtains the position status of the spindle 200 based on the current virtual image. If the position status of the spindle 200 is not vertical, a first reminder message is pushed. The first reminder message indicates that the spindle 200 has shifted relative to its mounting axis F. When relevant personnel receive the first reminder message, they are informed that the position of the spindle 200 needs to be adjusted.

[0082] The machine tool monitoring method provided in the embodiments of this application will be described in detail below.

[0083] In one embodiment, such as Figure 2 As shown, a method for inspecting a machine tool 1000 is provided, including the following steps:

[0084] S100, obtain the current principal axis coordinate data in the first coordinate system;

[0085] The monitoring device 800 can continuously or intermittently acquire spindle coordinate data based on user-triggered commands via the interactive interface, commands sent from the terminal, or automatic control of the program.

[0086] The first coordinate system can be the equipment coordinate system of the machine tool 1000. The equipment coordinate system of the machine tool 1000 is a coordinate system constructed with a certain position of the machine tool 1000 as the origin. Specifically, the data acquisition system 500 includes multiple position sensors, one of which is set at the origin of the machine tool 1000, and the other position sensors are configured with reference to the data of this position sensor to obtain the coordinate data of the current position in the first coordinate system. Of course, the first coordinate system can also be a world coordinate system. For example, if the position sensor is a GPS sensor, it can collect the coordinate data of the current position in the world coordinate system. Alternatively, the position sensor can be a vision sensor, which can acquire an image of the target position through a camera and use computer vision algorithms to calculate the coordinate data of the target position.

[0087] The data acquisition system 500 acquires at least the principal axis coordinate data of the principal axis 200. Specifically, a position sensor can typically be positioned on the principal axis 200, or a vision sensor can be directed towards the principal axis 200 to acquire the principal axis coordinate data. The principal axis coordinate data is coordinate data in a first coordinate system. The principal axis coordinate data acquired by the monitoring device 800 from the data acquisition system 500 can be multiple sets forming a principal axis coordinate data set, or the principal axis coordinate data itself can be a set of multiple position coordinate data sets, without limitation. When the first coordinate system is a planar coordinate system, the principal axis coordinate data is planar coordinates, such as including coordinate data in both the Z and X directions, or including coordinate data in both the Z and Y directions. When the first coordinate system is a spatial coordinate system, the principal axis coordinate data is spatial coordinates, including Z-axis coordinate data, X-axis coordinate data, and Y-axis coordinate data. Figure 1 In the embodiment shown, the X direction corresponds to the width direction of the rack 100, the Y direction corresponds to the length direction of the rack 100, and the Z direction corresponds to the height direction of the rack 100.

[0088] Since the spindle 200 is set to rotate around the mounting axis F parallel to the Z direction, when the spindle 200 is offset relative to the mounting axis F, the position of the spindle 200 in the first coordinate system will change. Based on this, it can be determined whether the spindle 200 has been offset relative to the mounting axis F based on the spindle coordinate data of the spindle 200.

[0089] It should be noted that the monitoring device 800 can directly obtain the principal axis coordinate data in the first coordinate system from the data acquisition system 500, or it can obtain the principal axis coordinate data in a non-first coordinate system from the data acquisition system 500, and then map the non-first coordinate system principal axis coordinate data to the first coordinate system to obtain the principal axis coordinate data in the first coordinate system, thereby obtaining the principal axis coordinate data in the first coordinate system.

[0090] Regarding the method for obtaining coordinate data of multiple position points on the spindle 200, in some embodiments, such as Figure 1 As shown, the data acquisition system 500 includes a first sensing component 510, which includes a plurality of first sensors 511. The plurality of first sensors 511 are spaced apart along the Z-axis on the main shaft 200, and each first sensor 511 is used to acquire the main shaft coordinate data of its position.

[0091] That is, in this specific embodiment, the data acquisition system 500 acquires the spindle coordinate data of the spindle 200 through the first sensing component 510. Specifically, it obtains a set of spindle coordinate data by acquiring the coordinates of the positions of multiple first sensors 511. That is, each first sensor 511 acquires the spindle coordinate data of a corresponding position point on the spindle 200, thus obtaining a set of spindle coordinate data.

[0092] S200, based on the current principal axis coordinate data, construct the current virtual image of principal axis 200 in the first coordinate system;

[0093] The principal axis 200 is a three-dimensional spatial structure. To construct a virtual image of the principal axis 200 in the first coordinate system, the principal axis coordinate data should be the coordinate data of at least two points on the principal axis 200. The virtual image of the principal axis 200 is determined based on the coordinate data of at least two points according to a preset construction rule. For example, as... Figure 3 As shown, the coordinate data of any position point is (MY, MZ), where MZ represents the Z-axis coordinate value and MY represents the Y-axis coordinate value. The first coordinate system is the YZ coordinate system. The virtual image of the main axis 200 constructed under the first coordinate system can be a straight line image T1 formed by connecting the coordinate points corresponding to the coordinate data of at least two position points (L1, L2).

[0094] Specifically, without limitation, the monitoring device 800 can construct a virtual image of the main axis 200 based on a preset linear equation in two variables and the coordinate data of at least two position points. In this case, the virtual image of the main axis 200 is a straight line image constructed in the first coordinate system, and the position state of the main axis 200 can be simulated through this straight line image. Of course, other construction methods can also be adopted regarding the rules for constructing the virtual image of the main axis 200; there are no specific limitations.

[0095] The virtual images mentioned in this application embodiment (including the current virtual image and the initial virtual image mentioned below) are image data. In further embodiments, such as Figure 1 As shown, the machine tool 1000 also includes a display device 700. The monitoring device 800 is communicatively connected to the display device 700, which displays a virtual image constructed by the monitoring device 800 based on coordinate data collected by the data acquisition system. Thus, the monitoring device 800 can send the image data of the current virtual image to the corresponding display device 700 for display. The monitoring device 800 and the display device 700 can be integrated or separate. The virtual images displayed by the display device 700 include the current virtual image of the spindle 200 mentioned in this embodiment, reference images, the current virtual image of the crossbeam 300, and the initial virtual image of the frame 100.

[0096] S300: Obtain the position status of the main axis 200 based on the current virtual image;

[0097] The spindle 200 can be positioned vertically or non-vertically. In the vertical position, the spindle 200 is set along its Z-axis, maintaining its initial mounting position after rotation around the mounting axis F; in this position, the spindle 200 is vertical. When the spindle 200 shifts relative to the mounting axis F, it is in a non-vertical position.

[0098] As described above, the virtual image of the main axis 200 can be, but is not limited to, a straight line image constructed in the first coordinate system. Taking a straight line image as an example, the position of the main axis 200 can be obtained based on the position of the straight line image in the first coordinate system. Specifically, when the straight line image is a Z-axis image (i.e., only the Z-axis coordinate data differs among the coordinate data forming the straight line image), it indicates that the main axis 200 is in a vertical state, and the monitoring device 800 obtains the position of the main axis 200 as vertical. Conversely, when the straight line image is a non-Z-axis image (i.e., in addition to the Z-axis coordinate data differing among the coordinate data forming the straight line image, the Y / X-axis coordinate data also differ), it indicates that the main axis 200 is in a non-vertical state, and the monitoring device 800 obtains the position of the main axis 200 as non-vertical.

[0099] S400, if the position of the main spindle 200 is not vertical, then push the first reminder message.

[0100] The first alert message indicates that the spindle 200 has shifted relative to the mounting axis F. When staff / maintenance equipment receives this first alert message, they can promptly know the position status of the spindle 200 and make timely adjustments accordingly.

[0101] Specifically, the first reminder message can be pushed via email, SMS, pop-up window, ringtone, alarm, etc.

[0102] The aforementioned machine tool monitoring method acquires the spindle coordinate data of the spindle 200, constructs a virtual image of the spindle 200 in a first coordinate system based on the spindle coordinate data, obtains the position status of the spindle 200 from the virtual image, and pushes a reminder message to relevant personnel / equipment for maintenance / adjustment when the spindle 200 is not in a vertical position. In this way, spindle 200 misalignment can be detected in the first instance, allowing relevant personnel / equipment to adjust the spindle 200 position in a timely manner, reducing the problem of decreased machining accuracy of the machine tool 1000 due to spindle 200 misalignment, and improving the pass rate of machined parts.

[0103] In one embodiment, such as Figure 4 As shown, S300 includes:

[0104] S310, Construct a reference image in the first coordinate system, wherein the reference image is the Z-axis image of the first coordinate system;

[0105] The reference image is a Z-axis image constructed in the first coordinate system, that is, a Z-axis straight line image. The reference image can be constructed based on preset coordinate data or by acquiring other coordinate data; there are no limitations. The reference image is set up to replace the installation axis F in comparing the position of the installation axis F with that of the main shaft 200.

[0106] S320, determine the first relative offset of the current virtual image of the spindle 200 relative to the reference image;

[0107] like Figure 3 As shown, Figure 3 The reference image and the current virtual image of the principal axis 200 are shown in the first coordinate system. In this embodiment, the reference image is the line image T0, and the current virtual image of the principal axis 200 is the line image T1.

[0108] The first relative offset can be an offset angle α, an offset displacement L, etc. Figure 3 For example, if the first relative offset is the offset angle α, the offset angle α can be determined by referring to the angle between the reference image and the current virtual image of the main axis 200. Figure 3 For example, if the first relative offset is the offset displacement L, then the offset displacement L of a certain coordinate point in the current virtual image of the main axis 200 relative to the reference image can be calculated using preset rules. Figure 5 In this embodiment, the first coordinate system is the YZ coordinate system. The current virtual image of the main axis 200 is constructed based on the data of coordinate points L1 and L2. Therefore, the position state of the main axis 200 can be determined by the offset L of coordinate point L1 relative to the reference image in the Y direction. As for the calculation rule of the offset L, it can be determined based on the distance between the Y coordinate value of coordinate point L1 and the reference image, or it can be determined based on the offset angle α and the length of the current virtual image. The specific method is not limited.

[0109] S330, if the first relative offset satisfies the first preset condition, then the position of the spindle 200 is determined to be vertical.

[0110] S340, if the first relative offset does not meet the first preset condition, then the position state of the spindle 200 is determined to be non-vertical.

[0111] When the first relative offset is the offset angle α, the first preset condition can be that α equals zero. If the offset angle α satisfies "α equals zero", then the main shaft 200 is determined to be in a vertical state. Conversely, if the offset angle α does not satisfy "α equals zero", then the main shaft 200 is determined to be in a non-vertical state.

[0112] When the first relative offset is the offset displacement L, the first preset condition can be that L equals zero. In this case, if the offset displacement L satisfies "L equals zero", then the main shaft 200 is determined to be in a vertical state. Conversely, if the offset displacement L does not satisfy "L equals zero", then the main shaft 200 is determined to be in a non-vertical state.

[0113] Of course, the first precondition is not limited to the above methods and can be flexibly designed according to the actual situation.

[0114] At this time, the monitoring device 800 obtains the position status of the spindle 200 by determining the relative offset between the reference image and the current virtual image of the spindle 200. It can not only determine whether the spindle 200 is vertical, but also guide relevant personnel to adjust the position of the spindle 200 by determining the relative offset, making it more convenient for staff to maintain.

[0115] In some embodiments, after determining the first relative offset, the monitoring device 800 can also push the first relative offset to the display device 700 and display the value of the first relative offset so that the staff can visualize the degree of offset of the spindle 200.

[0116] In one embodiment, such as Figure 5 As shown, step S310 includes:

[0117] S311, Obtain the initial principal axis coordinate data in the first coordinate system;

[0118] The initial spindle coordinate data refers to the spindle coordinate data when the spindle 200 is in a vertical state. This initial spindle coordinate data can be pre-stored data or data acquired by the monitoring device 800 from the data acquisition system 500 based on user control. For example, when the user determines that the spindle 200 is in a vertical state using third-party methods (such as manual measurement), the user sends an initial spindle 200 data acquisition command to the monitoring device 800. The monitoring device 800 responds to this command by acquiring the current spindle coordinate data from each of the first sensors 511 in the first sensing component 510 as the initial spindle coordinate data. It should be noted that the initial spindle coordinate data can be a collection of coordinate data from multiple positions on the spindle 200, such as a collection of spindle coordinate data acquired by each of the first sensors 511 when the spindle 200 is in a vertical state. Typically, the initial spindle coordinate data has the same format as the current spindle coordinate data mentioned above.

[0119] The initial principal axis coordinate data can be obtained directly from the coordinate data in the first coordinate system, or it can be obtained from coordinate data obtained in a non-first coordinate system and mapped to the first coordinate system to obtain the coordinate data in the first coordinate system.

[0120] S312, determine the set of initial coordinate points in the first coordinate system based on the initial principal axis coordinate data.

[0121] The initial principal axis coordinate data comprises a set of multiple coordinate data. Multiple initial coordinate points are determined based on the one-to-one correspondence of each coordinate data point in the first coordinate system, thus obtaining the initial coordinate point set. For example, if the initial principal axis coordinate data includes two coordinate data points, then two initial coordinate points can be determined based on these two coordinate data points in the first coordinate system.

[0122] S313, Construct a reference image based on the initial set of coordinate points.

[0123] After determining the initial set of coordinate points, a reference image can be constructed based on the same construction rules as the virtual image of the main axis 200. Typically, the construction rule for the reference image is to use a straight line image constructed from multiple initial coordinate points as the reference image. Since each of the first sensors 511 in the first sensing component 510 is located in the same vertical direction, each initial coordinate point in the initial coordinate point set obtained from the initial main axis coordinate data it collects is located on a straight line in the Z direction under the first coordinate system, thus obtaining a reference image as a Z-direction image.

[0124] At this point, the initial coordinate point set obtained by using the initial spindle coordinate data of spindle 200 is used to construct a reference image. If spindle 200 does not shift, the current virtual image of spindle 200 is the same as the reference image, which helps to simplify the calculation process and reduce hardware costs.

[0125] In one embodiment, such as Figure 6 As shown, the monitoring of the machine tool 1000 also includes:

[0126] S500, obtain the current beam coordinate data in the first coordinate system;

[0127] In some embodiments, such as Figure 1 As shown, the machine tool 1000 also includes a crossbeam 300, and the spindle 200 is mounted on the frame 100 via the crossbeam 300. The spindle 200 is rotatably mounted relative to the crossbeam 300. The crossbeam 300 is arranged along the Y-axis longitudinal length of the machine tool 1000.

[0128] The coordinate data of the crossbeam 300 in the first coordinate system typically includes the coordinate data of at least two points on the crossbeam 300. Specifically, sensors can be set at each point to acquire the coordinate data. To acquire the coordinate data of multiple points on the crossbeam 300, sensors (position sensors such as GPS sensors, vision sensors, etc.) can be set at each point. In some embodiments, such as... Figure 1As shown, the data acquisition system 500 also includes a second sensing component 520, which includes multiple second sensors 521. These second sensors 521 are spaced apart along the Y-axis on the crossbeam 300, and each second sensor 521 is used to collect the crossbeam coordinate data at its location. At this time, the coordinate points corresponding to the crossbeam coordinate data collected by each second sensor 521 in the first coordinate system are located on the same straight line.

[0129] S600, based on the current beam coordinate data, construct the current virtual image of beam 300 in the first coordinate system;

[0130] The beam 300 is a three-dimensional spatial structure. To construct a virtual image of the beam 300 in the first coordinate system, the beam's coordinate data should be the coordinate data of at least two points on the beam 300. The virtual image of the beam 300 is determined based on the coordinate data of at least two points according to preset construction rules. For example, as... Figure 3 As shown, Figure 3 The initial view shows the current virtual image of the beam 300 in the first coordinate system. The coordinate data of any position point is (MY, MZ), where MZ represents the Z-axis coordinate value and MY represents the Y-axis coordinate value. The first coordinate system is the YZ coordinate system. The virtual image of the beam 300 constructed in the first coordinate system can be a straight line image T2 formed by connecting the coordinate points corresponding to the coordinate data of at least two position points (L3, L4).

[0131] The rules for constructing the virtual image of the crossbeam 300 can be found in the rules for constructing the virtual image of the spindle 200, and will not be repeated here.

[0132] S700, determine the position status of the crossbeam 300 based on the current virtual image of the crossbeam 300;

[0133] The position of the crossbeam 300 includes both horizontal and non-horizontal states. Since the initial position of the crossbeam 300 on the frame 100 is horizontal, if the environment surrounding the machine tool 1000 remains unchanged (primarily due to ground subsidence), the crossbeam 300 should be horizontal. However, if the environment changes, such as ground subsidence causing the machine tool 1000 to become uneven, the crossbeam 300 will also shift along with the machine tool 1000 and become non-horizontal.

[0134] When the current virtual image of the beam 300 is a straight line image T2, its horizontal position can be determined by identifying whether the straight line image T2 is a Y-axis image in the first coordinate system. Specifically, this can be determined by judging whether the coordinate data of any two coordinate points on the straight line image T2 are the same in the Z-axis. If they are the same, it means that the straight line image T2 is a Y-axis image, and the position of the beam 300 can be determined to be horizontal; otherwise, the position of the beam 300 is determined to be non-horizontal. Of course, the current virtual image of the beam 300 is not limited to the form of a straight line image T2; for example, it can also be a curve image. The specific judgment rules can be adaptively adjusted.

[0135] S400 includes: S401, if the position of the crossbeam 300 is horizontal and the position of the main shaft 200 is not vertical, then push the first reminder message.

[0136] When the position of the crossbeam 300 is horizontal, it means that the frame 100 of the machine tool 1000 itself is horizontal, that is, environmental factors have not changed or have not caused a change in the horizontal position of the machine tool 1000.

[0137] At this time, if the spindle 200 is not in a vertical position, it can be ruled out that the spindle 200 is offset due to the machine tool 1000 not being horizontal. The reason why the spindle 200 is not in a vertical position is mainly due to its own offset. In this way, the conclusion that the spindle 200 is offset relative to the mounting axis F is more accurate. After the first reminder information is pushed, the probability of maintenance errors by relevant personnel / related maintenance equipment can be reduced.

[0138] In one embodiment, such as Figure 7 As shown, step S700 includes:

[0139] S710, in the first coordinate system, determine the second relative offset of the current virtual image of the beam 300 relative to the reference image;

[0140] like Figure 3 As shown, in one embodiment, the reference image is a straight line image T0, and the current virtual image of the beam 300 is a straight line image T2. The second relative offset can be the angle β between the straight line image T2 and the straight line image T0. When the beam 300 is in a horizontal state, the second relative offset should be 90°; if the beam 300 is in a non-horizontal state, the second relative offset is not equal to 90°.

[0141] S720, if the second relative offset meets the third preset condition, then it is determined that the crossbeam 300 is in a horizontal state;

[0142] S730, if the second relative offset does not meet the third preset condition, then it is determined that the crossbeam 300 is in a non-horizontal state.

[0143] For example, when the second relative offset is an included angle β, the third preset condition can be "equal to 90°". If the second relative offset, i.e., the included angle β, satisfies the condition "equal to 90°", then the beam 300 is determined to be in a horizontal state. If the second relative offset, i.e., the included angle β, does not satisfy the condition "equal to 90°", then the beam 300 is determined to be in a non-horizontal state.

[0144] At this point, the reference image mentioned above can be used not only as a reference object for the spindle position 200, but also as a reference object for the crossbeam position 300, which helps to reduce the computing power requirements and reduce hardware costs.

[0145] In one embodiment, such as Figure 8 As shown, machine tool monitoring methods also include:

[0146] S800, obtain the current rack coordinate data;

[0147] The current rack coordinate data can be coordinate data in a spatial coordinate system, i.e., three-dimensional coordinate data. In some embodiments, such as... Figure 1 and Figure 9 As shown, Figure 9 for Figure 1 Another view of the machine tool 1000 is shown. The data acquisition system 500 includes a third sensing component 530, which includes multiple third sensors 531. The third sensors 531 are arranged on the frame 100 along the same plane perpendicular to the Z-direction, and each third sensor 531 is used to collect frame coordinate data at its location. The monitoring device 800 obtains the current frame coordinate data from each third sensor 531.

[0148] In a further embodiment, a workbench 400 is provided on the frame 100, and each third sensor 531 is disposed on the workbench 400. The number of third sensors 531 can be two, three, four, or even more.

[0149] In a further embodiment, such as Figure 1 and Figure 9 As shown, the machine tool 1000 also includes a leveling structure 600, on which the frame 100 is supported. The leveling structure 600 includes multiple leveling parts 610, each of which is configured to be adjustable in the Z-direction. The arrangement of each sensor corresponds to the arrangement of each leveling part 610; specifically, when the Z-direction dimension of a leveling part 610 changes, the position of the corresponding sensor changes in the Z-direction. The leveling structure 600 can be directly connected to the frame 100 via each leveling part 610. The leveling structure 600 may also include a support plate, on which the frame 100 is mounted. The leveling parts 610 are connected to the support plate, and the leveling parts 610 change the horizontal position of the frame 100 via the support plate.

[0150] In a further embodiment, such as Figure 10 As shown, the leveling unit 610 includes a support leg 611 and a support column 612. The support column 612 is movably disposed on the support leg 611 along the Z-direction, and the frame 100 is disposed on the side of the support column 612 opposite to the support leg 611. When it is necessary to adjust the horizontal position of the frame 100, the position of the support column 612 in the Z-direction can be moved. Alternatively, the support column 612 can be threadedly connected to the support leg 611, and its position in the Z-direction can be changed by rotating the support column 612 to adjust the height of the frame 100. Of course, in other embodiments, multiple slots spaced apart along the Z-direction can be provided on the support leg 611, and corresponding elastic buckles can be provided on the support column 612. The elastic buckles can engage with any of the slots at any height, changing the height position of the slots engaged by the elastic buckles to adjust the position of the support column in the Z-direction.

[0151] exist Figure 1 and Figure 9 In the embodiment shown, there are four third sensors 531 and four leveling units 610. The four third sensors 531 are arranged in a rectangle in the same plane in the vertical Z direction, and each third sensor 531 corresponds to one leveling unit 610. When the Z-direction dimension of the leveling unit 610 is changed, the Z-direction data of the coordinate data collected by the corresponding third sensor 531 is changed.

[0152] S900, determine the position status of rack 100 based on the current rack coordinate data;

[0153] All the third sensors 531 are arranged in the same horizontal plane. Under normal conditions, the possibility of twisting or deformation of the frame 100 in the horizontal plane is very small. Environmental changes usually cause the frame 100 to be locally higher or lower in the height direction, resulting in the frame 100 being not level as a whole.

[0154] The position of the rack 100 includes both horizontal and non-horizontal states. Understandably, the coordinate data collected by each of the third sensors 531 includes Z-axis coordinate data.

[0155] For example, in step S900, the position state of rack 100 can be identified by comparing the Z-axis coordinate data of each current rack coordinate data collected by multiple third sensors 531. If the Z-axis coordinate data in two different current rack coordinate data sets are unequal, it indicates that rack 100 is not in a horizontal state. If the Z-axis coordinate data in all current rack coordinate data sets are equal, it indicates that rack 100 is in a horizontal state.

[0156] S1000, if the rack 100 is not in a horizontal position, a second reminder message will be pushed.

[0157] If the machine frame 100 is not level, it indicates that environmental changes have caused the machine frame 100 to be locally too high or too low. The spindle 200 mounted on the machine frame 100 will definitely be misaligned, leading to inaccurate machining by the machine tool 1000. Therefore, a second alert is needed. This second alert primarily indicates that the machine frame 100 is not level, allowing relevant personnel / maintenance equipment to adjust the machine frame 100 when this is detected. The second alert can be sent via email, SMS, pop-up window, ringtone, alarm, etc.

[0158] At this time, the monitoring device 800 can monitor the level status of the machine tool 1000. If the machine tool 1000 is not level, it can promptly notify relevant personnel / relevant maintenance equipment to reduce the risk of a decrease in the machining accuracy of the machine tool 1000 due to environmental changes, which in turn leads to a decrease in the pass rate of the machined parts.

[0159] In one embodiment, such as Figure 11 As shown, step S400 includes:

[0160] S402. If the position of the spindle 200 is not vertical and the position of the frame 100 is horizontal, then push the first reminder message.

[0161] When the position of the frame 100 is horizontal, it means that the frame 100 of the machine tool 1000 itself is horizontal, that is, environmental factors have not changed or have not caused a change in the horizontal position of the machine tool 1000.

[0162] At this time, if the spindle 200 is not in a vertical position, it can be ruled out that the spindle 200 is offset due to the machine tool 1000 not being horizontal. The reason why the spindle 200 is not in a vertical position is mainly due to its own offset. In this way, the conclusion that the spindle 200 is offset relative to the mounting axis F is more accurate. After the first reminder information is pushed, the probability of maintenance errors by relevant personnel / related maintenance equipment can be reduced.

[0163] In one embodiment, such as Figure 12 As shown, step S600 includes:

[0164] S610, obtain the initial rack coordinate data set and the current rack coordinate data set;

[0165] The initial frame coordinate data refers to the coordinates of the positions of each third sensor 531 in the data acquisition system 500 when the machine tool 1000 is in a horizontal position. Understandably, the initial frame coordinate data and the current frame coordinate data are coordinate data within the same coordinate system.

[0166] The initial frame coordinate data can be pre-stored data or data acquired by the monitoring device 800 from the data acquisition system 500 based on user control. For example, when the user determines that the machine tool 1000 is level using third-party methods (such as manual measurement), the user sends an initial data acquisition command for the machine tool 1000 to the monitoring device 800. In response to this command, the monitoring device 800 acquires the current frame coordinate data from each of the third sensors 531 in the third sensing component 530 as the initial frame coordinate data. It should be noted that the initial frame coordinate data is a collection of coordinate data from multiple positions on the frame 100.

[0167] The initial rack coordinate data set contains initial rack coordinate data from multiple third sensors 531, and the current rack coordinate data set contains initial rack coordinate data from multiple third sensors 531. The number of data points in the initial rack coordinate data set is the same as the number of data points in the current rack coordinate data set.

[0168] Step S900 includes:

[0169] S910 compares the data from the initial rack coordinate data set with the data from the current rack coordinate data set based on the sensor identifier, and obtains multiple comparison results;

[0170] There is a one-to-one correspondence between the initial coordinate data in the initial rack coordinate data set and the current rack coordinate data in the current rack coordinate data set. This one-to-one correspondence means that both have the same sensor identifier. Two data points with the same sensor identifier correspond to the data acquisition location of the same third sensor 531, which can be understood as the initial coordinate data and the current coordinate data of the same third sensor 531 location, respectively.

[0171] Sensor identifiers may include, but are not limited to, the device ID of each third sensor 531, the configured location number, etc.

[0172] The initial rack coordinate data with the same sensor identifier is compared with the current rack coordinate data to obtain a comparison result. This comparison can be a one-to-one comparison of the Z-axis, X-axis, and Y-axis coordinate data of the initial rack coordinate data and the current rack coordinate data, or it can be only a comparison of the Z-axis coordinate data of the initial rack coordinate data and the current rack coordinate data (usually the X-axis and Y-axis coordinate data of the rack coordinate data change very little).

[0173] S920, if all comparison results meet the second preset condition, then determine that the position of rack 100 is horizontal.

[0174] The second preset condition may be, but is not limited to, that each comparison value in each comparison result is zero (e.g., the comparison value of the Z-axis coordinate data is zero). Of course, in other embodiments, the second preset condition may also be that each comparison value in the comparison result is less than a positive number, depending on the required machine tool accuracy of 1000.

[0175] If the comparison result meets the second preset condition, it indicates that the position of the corresponding third sensor 531 has not changed in the Z direction. Conversely, if the comparison result does not meet the second preset condition, it indicates that the position of the corresponding third sensor 531 has changed in the Z direction.

[0176] When all the comparison structures meet the second preset condition, it means that the positions of all the third sensors 531 have not changed in the Z direction, and the machine tool 1000 is in a horizontal state.

[0177] S930, if at least one comparison result does not meet the second preset condition, then the position state of the rack 100 is determined to be non-horizontal.

[0178] If at least one comparison result does not meet the second preset condition, it means that the position of at least one third sensor 531 has changed in the Z direction, causing the machine tool 1000 to be locally too high or too low, resulting in the machine tool 1000 not being level. This achieves automatic judgment of whether the machine tool 1000 is level, making it convenient for relevant personnel / relevant maintenance equipment to adjust the position of the machine tool 1000 in a timely manner.

[0179] In one embodiment, such as Figure 13 As shown, the machine tool monitoring method also includes:

[0180] S1000: Map the initial rack coordinate data set to the second coordinate system to obtain the mapped rack coordinate data set;

[0181] The initial coordinate data can be spatial coordinate data, and the second coordinate system can be, but is not limited to, a planar coordinate system. Specifically, the second coordinate system includes coordinates with X and Y axes, and may also include a Z axis coordinate. In one specific embodiment, such as... Figure 14 As shown, the second coordinate system is the XY plane coordinate system, and the initial rack coordinate data includes Z-axis coordinate data, X-axis coordinate data, and Y-axis coordinate data. When the initial rack coordinate data is mapped to the second coordinate system, the X-axis coordinate data and Y-axis coordinate data from the initial rack coordinate data are displayed on the second coordinate system.

[0182] S1100. Based on the set of mapped rack coordinate data, construct an initial virtual image of the rack 100 in the second coordinate system;

[0183] In the second coordinate system, the construction rules for the initial virtual image of rack 100 are not limited, as long as the coordinate data of each mapped rack lies on the constructed virtual image. For example, in Figure 14 In the middle, the second coordinate system is the XY coordinate system. Under the XY coordinate system, the initial virtual image of rack 100 is a polygonal structure T3 constructed based on the intersection points of the coordinates of multiple mapped rack coordinate data.

[0184] S1200: Based on the sensor identifiers that do not meet the second preset condition according to the comparison result, obtain the mapping rack coordinate data to be marked;

[0185] If the comparison result does not meet the second preset condition, it indicates that the sensor position corresponding to the comparison result has shifted. Then, based on the sensor identifier, the mapping coordinate data carrying the sensor identifier or having a corresponding relationship with the sensor identifier is determined.

[0186] To establish the correspondence between sensor identifiers and mapped rack coordinate data, the initial rack coordinate data, mapped rack coordinate data, and sensor identifiers can be stored together in the database.

[0187] S1300, the coordinate points in the initial virtual image of the marking rack 100 that correspond to the coordinate data of the mapped rack to be marked.

[0188] After obtaining the coordinate data of the mapped rack to be marked, coordinate points corresponding to the coordinate data are marked in the initial virtual image of rack 100. Marking methods can include adding instructions to change the color, bold the coordinate point, or assign a label to it at the end of the coordinate point data. When the initial virtual image of rack 100 is displayed on the display device 700, the shape, color, etc., of the coordinate point can be changed to make it more prominent. Figure 14 As shown, the coordinate point "X" is marked to correspond to the coordinate position of the mapped rack coordinate data to be marked.

[0189] Thus, when relevant personnel are leveling the machine tool 1000, the position of the leveling part 610 that needs to be leveled can be roughly determined based on the marked coordinate points, so that the machine tool 1000 can be leveled in a targeted manner.

[0190] In one embodiment, the monitoring device 800 can also display the comparison results on the display device 700 for the convenience of relevant personnel to view and determine whether the leveling is in place based on the changes in the comparison results.

[0191] To facilitate understanding of the machine tool monitoring method of this application, a specific embodiment is provided below for illustration, such as... Figure 15 As shown, the specific process is as follows:

[0192] First, the sensors in the data acquisition system 500 are installed on the machine tool 1000. Specifically, two first sensors 511 are installed at intervals along the Z-axis on the spindle 200, and two second sensors 521 are installed at intervals along the Y-axis on the crossbeam 300. In the same height plane, four third sensors 531 are installed on the worktable 400 of the frame 100 in a rectangular arrangement, corresponding to the four leveling parts 610 on the machine tool 100 respectively. The frame 100 is leveled by the four leveling parts 610.

[0193] Then, online monitoring includes two parts: the first part is to monitor whether the spindle 200 is offset (relative to the mounting axis F), and the second part is to monitor whether the frame 100 is level.

[0194] Regarding the first part, first determine whether spindle 200 has shifted, specifically:

[0195] P1. Obtain the current principal axis coordinate data set and the initial principal axis coordinate data set from all the first sensors 511 of the first sensing component 510, map the current principal axis coordinate data set to the YZ coordinate system to obtain the current principal axis coordinate data set in the YZ coordinate system, and map the initial principal axis coordinate data set to the YZ coordinate system to obtain the initial principal axis coordinate data set in the YZ coordinate system.

[0196] P2. Based on the current set of principal axis coordinate data in the YZ coordinate system, construct the current virtual image of principal axis 200 in the YZ coordinate system. Based on the obtained initial set of principal axis coordinate data in the YZ coordinate system, construct the reference image in the YZ coordinate system.

[0197] P3. Obtain the current beam coordinate data set from all the second sensors 521 of the second sensing component 520, map the current beam coordinate data set to the above-mentioned YZ coordinate system to obtain the current beam coordinate data set in the YZ coordinate system, and construct the current virtual image of the beam 300 in the YZ coordinate system based on the current beam coordinate data set in the YZ coordinate system.

[0198] P4. Determine the offset angle α between the current virtual image of the main axis 200 and the reference image, and determine the offset angle β between the current virtual image of the beam 300 and the reference image. If the offset angle α is greater than 0, then the position of the main axis 200 is determined to be non-vertical; if the offset angle β is equal to 90°, then the position of the beam 300 is determined to be horizontal.

[0199] P5. If the spindle 200 is not in a vertical position and the crossbeam 300 is in a horizontal position, then the spindle 200 is determined to be offset relative to the mounting axis F.

[0200] Conversely, this confirms that spindle 200 has not shifted relative to the mounting axis F;

[0201] Regarding the first part, the analysis of the reasons for the spindle 200 offset is as follows:

[0202] P6. Obtain the current rack coordinate data set and the initial rack coordinate data set from all the third sensors 531 on the workbench 400 of rack 100. Compare the data in the initial rack coordinate data set and the data in the current rack coordinate data set one by one according to the sensor identifier to obtain multiple comparison results. If all comparison results are zero, the position state of rack 100 is determined to be horizontal. If there is a comparison result that is not zero, the position state of rack 100 is determined to be non-horizontal.

[0203] P7. If the position of the frame 100 is horizontal, it means that the frame 100 is horizontal. If it is determined that the spindle 200 has shifted, it can be determined that the cause of the spindle 200 shift is its own vibration. Then, the first reminder message is pushed to remind relevant personnel to adjust the position of the spindle 200.

[0204] Regarding the second part, firstly, the level of rack 100 is monitored. If rack 100 is found to be in a non-level position, its position is adjusted first. Specifically:

[0205] P8. If the rack 100 is not in a horizontal position, a second reminder message will be sent to inform the rack 100 that it is not in a horizontal position and needs to be leveled.

[0206] Regarding the second part, if the rack 100 is not level, the location causing the rack 100 to be level will be displayed and marked, so that relevant personnel can determine the leveling part 610 to be adjusted based on the marked coordinates, and make targeted adjustments to the leveling part 610. Specifically:

[0207] P9. Map the initial rack coordinate data set to the XY coordinate system to obtain the mapped rack coordinate data set. Based on the mapped rack coordinate data set, construct the initial virtual image of rack 100 in the XY coordinate system. Based on the sensor identifiers that do not meet the second preset condition according to the comparison results, obtain the mapped rack coordinate data to be marked. Mark the coordinate points in the initial virtual image of rack 100 that correspond to the mapped rack coordinate data to be marked.

[0208] Finally, continuously monitor whether the position of the machine tool 1000 is horizontal and whether the spindle 200 has shifted, until the position of the frame 100 is horizontal and it is confirmed that the spindle 200 has not shifted, then end the monitoring process.

[0209] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0210] Based on the same inventive concept, this application also provides a monitoring device 800 for implementing the machine tool monitoring method described above. The solution provided by the monitoring device 800 is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the monitoring device 800 provided below can be found in the limitations of the robot joint reducer selection method above, and will not be repeated here.

[0211] In one embodiment, such as Figure 16 As shown, a monitoring device 800 is provided, comprising:

[0212] Data acquisition module 810 is used to acquire the current principal axis coordinate data in the first coordinate system;

[0213] Module 820 is used to construct the current virtual image of the main axis 200 in the first coordinate system based on the current main axis coordinate data;

[0214] The processing and analysis module 830 is used to obtain the position status of the main axis 200 based on the current virtual image;

[0215] The push module 840 is used to push a first reminder message if the position of the main shaft 200 is not vertical.

[0216] In some embodiments, the construction module 820 is further configured to construct a reference image in a first coordinate system, wherein the reference image is a Z-axis image of the first coordinate system;

[0217] The processing and analysis module 830 is also used to determine the first relative offset of the current virtual image of the main axis 200 relative to the reference image; if the first relative offset meets the first preset condition, the position state of the main axis 200 is determined to be vertical; if the first relative offset does not meet the first preset condition, the position state of the main axis 200 is determined to be non-vertical.

[0218] In some embodiments, the data acquisition module 810 is further configured to acquire initial principal axis coordinate data in the first coordinate system;

[0219] The processing and analysis module 830 is also used to determine the initial set of coordinate points in the first coordinate system based on the initial principal axis coordinate data, and to construct a reference image based on the initial set of coordinate points.

[0220] In some embodiments, the data acquisition module 810 is further configured to acquire the current beam coordinate data under the first coordinate.

[0221] The construction module 820 is also used to construct the current virtual image of the beam 300 in the first coordinate system based on the current beam coordinate data;

[0222] The processing and analysis module 830 is also used to determine the position and state of the crossbeam 300 based on the current virtual image of the crossbeam 300;

[0223] The push module 840 is also used to push a first reminder message if the position of the crossbeam 300 is horizontal and the position of the main shaft 200 is not vertical.

[0224] In some embodiments, the data acquisition module 810 is further configured to acquire current rack coordinate data;

[0225] The processing and analysis module 830 is also used to determine the position status of rack 100 based on the current rack coordinate data;

[0226] The push module 840 is also used to push a second reminder message if the rack 100 is not in a horizontal position.

[0227] In some embodiments, the push module 840 is further configured to push a first reminder message if the position of the spindle 200 is not vertical and the position of the rack 100 is horizontal.

[0228] In some embodiments, the data acquisition module 810 is further configured to acquire an initial rack coordinate data set and a current rack coordinate data set;

[0229] The processing and analysis module 830 is also used to compare the data of the initial rack coordinate data set with the data of the current rack coordinate data set according to the sensor identification, and obtain multiple comparison results; if all comparison results meet the second preset condition, the position state of the rack 100 is determined to be horizontal; if at least one comparison result does not meet the second preset condition, the position state of the rack 100 is determined to be non-horizontal.

[0230] In some embodiments, the processing and analysis module 830 includes a mapping submodule, an analysis submodule, and a tagging submodule;

[0231] The mapping submodule is used to map the initial set of rack coordinate data to the second coordinate system to obtain the mapped set of rack coordinate data.

[0232] The construction module 820 is also used to construct an initial virtual image of rack 100 in the second coordinate system based on the set of mapped rack coordinate data;

[0233] The analysis submodule is used to obtain the coordinate data of the mapped rack to be marked based on the sensor identifiers that do not meet the second preset condition in the comparison results;

[0234] The marking submodule is used to mark the coordinate points in the initial virtual image of rack 100 that correspond to the coordinate data of the mapped rack to be marked.

[0235] Each module in the aforementioned monitoring device 800 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0236] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 17 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the 3D assembly model. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a method for selecting a robot joint reducer.

[0237] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0238] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0239] Get the current principal axis coordinate data in the first coordinate system;

[0240] Based on the current principal axis coordinate data, construct the current virtual image of principal axis 200 in the first coordinate system;

[0241] Based on the current virtual image, obtain the position state of the main axis 200;

[0242] If the position of the main shaft 200 is not vertical, a first reminder message will be sent.

[0243] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0244] A reference image is constructed in the first coordinate system, wherein the reference image is the Z-axis image of the first coordinate system;

[0245] Determine a first relative offset of the current virtual image of the main axis 200 relative to the reference image;

[0246] If the first relative offset satisfies the first preset condition, then the position of the main shaft 200 is determined to be vertical.

[0247] If the first relative offset does not meet the first preset condition, then the position of the spindle 200 is determined to be non-vertical.

[0248] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0249] Obtain the initial principal axis coordinate data in the first coordinate system;

[0250] Determine the initial set of coordinate points in the first coordinate system based on the initial principal axis coordinate data;

[0251] A reference image is constructed based on the initial set of coordinate points.

[0252] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0253] Get the current beam coordinate data under the first coordinate;

[0254] Based on the current beam coordinate data, construct the current virtual image of beam 300 in the first coordinate system;

[0255] The position and state of the beam 300 are determined based on the current virtual image of the beam 300.

[0256] If the spindle 200 is not in a vertical position, a first reminder message will be sent, including:

[0257] If the crossbeam 300 is in a horizontal position and the main shaft 200 is in a non-vertical position, then a first reminder message will be sent.

[0258] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0259] Obtain the current rack coordinate data;

[0260] Based on the current rack coordinate data, determine the position status of rack 100;

[0261] If the rack 100 is not in a horizontal position, a second reminder message will be sent.

[0262] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0263] If the spindle 200 is not in a vertical position and the frame 100 is in a horizontal position, then a first reminder message will be sent.

[0264] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0265] Obtain the initial set of rack coordinate data and the current set of rack coordinate data;

[0266] Based on the sensor identifiers, the data from the initial rack coordinate data set and the data from the current rack coordinate data set are compared one by one to obtain multiple comparison results;

[0267] If all the comparison results meet the second preset condition, then the position of the rack 100 is determined to be horizontal.

[0268] If at least one of the comparison results does not meet the second preset condition, then the position of the rack 100 is determined to be non-horizontal.

[0269] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0270] The initial rack coordinate data set is mapped to the second coordinate system to obtain the mapped rack coordinate data set.

[0271] Based on the set of mapped rack coordinate data, an initial virtual image of the rack 100 is constructed in the second coordinate system;

[0272] Based on the sensor identifiers that do not meet the second preset condition according to the comparison result, the coordinate data of the mapped rack to be marked is obtained;

[0273] Mark the coordinate points in the initial virtual image of the rack 100 that correspond to the coordinate data of the mapped rack to be marked.

[0274] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0275] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0276] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A machine tool monitoring method, characterized in that, include: Get the current principal axis coordinate data in the first coordinate system; Based on the current principal axis coordinate data, construct the current virtual image of the principal axis in the first coordinate system; Based on the current virtual image, obtain the position state of the main axis; If the position of the main shaft is not vertical, a first reminder message will be sent. Based on the current virtual image, obtain the position state of the main axis, including: A reference image is constructed in a first coordinate system, wherein the reference image is the Z-axis image of the first coordinate system; Determine a first relative offset of the current virtual image of the main axis relative to the reference image; If the first relative offset satisfies the first preset condition, then the position of the main shaft is determined to be vertical. If the first relative offset does not meet the first preset condition, then the position of the spindle is determined to be non-vertical.

2. The machine tool monitoring method according to claim 1, characterized in that, Constructing a reference image in the first coordinate system includes: Obtain the initial principal axis coordinate data in the first coordinate system; Determine the initial set of coordinate points in the first coordinate system based on the initial principal axis coordinate data; A reference image is constructed based on the initial set of coordinate points.

3. The machine tool monitoring method according to claim 1, characterized in that, Also includes: Obtain the current beam coordinate data in the first coordinate system; Based on the current beam coordinate data, construct the current virtual image of the beam in the first coordinate system; Determine the position and state of the beam based on the current virtual image of the beam; If the spindle is not in a vertical position, a first reminder message will be sent, including: If the beam is in a horizontal position and the spindle is not in a vertical position, a first reminder message will be sent.

4. The machine tool monitoring method according to any one of claims 1-3, characterized in that, Also includes: Obtain the current rack coordinate data; Based on the current rack coordinate data, determine the rack's position status; If the rack is not in a horizontal position, a second reminder message will be sent.

5. The machine tool monitoring method according to claim 4, characterized in that, If the spindle is not in a vertical position, a first reminder message will be sent, including: If the spindle is not in a vertical position and the frame is in a horizontal position, then a first reminder message will be sent.

6. The machine tool monitoring method according to claim 5, characterized in that, Obtaining the current rack coordinate data includes: Obtain the initial set of rack coordinate data and the current set of rack coordinate data; Based on the current rack coordinate data, determine the rack's position status, including: Based on the sensor identifiers, the data from the initial rack coordinate data set and the data from the current rack coordinate data set are compared one by one to obtain multiple comparison results; If all the comparison results meet the second preset condition, then the position of the rack is determined to be horizontal. If at least one of the comparison results does not meet the second preset condition, then the position of the rack is determined to be non-horizontal.

7. The machine tool monitoring method according to claim 6, characterized in that, Also includes: The initial rack coordinate data set is mapped to the second coordinate system to obtain the mapped rack coordinate data set. Based on the set of mapped rack coordinate data, an initial virtual image of the rack is constructed in the second coordinate system; Based on the sensor identifiers that do not meet the second preset condition according to the comparison result, the coordinate data of the mapped rack to be marked is obtained; Mark the coordinate points in the initial virtual image of the rack that correspond to the coordinate data of the mapped rack to be marked.

8. A machine tool, characterized in that, The machine tool includes a frame, a spindle mounted on the frame, a data acquisition system, and a monitoring device. The spindle is rotatably mounted on the frame about a parallel Z-axis mounting axis. The monitoring device is communicatively connected to the data acquisition system and is used to execute the machine tool monitoring method as described in any one of claims 1-7 based on the coordinate data of the machine tool acquired by the data acquisition system.

9. The machine tool according to claim 8, characterized in that, The data acquisition system includes a first sensing component; the first sensing component includes a plurality of first sensors, which are spaced apart along the Z-axis on the main axis, and each first sensor is used to acquire the main axis coordinate data of its location.

10. The machine tool according to claim 9, characterized in that, The data acquisition system also includes a second sensing component, the machine tool includes a crossbeam, the spindle is mounted on the frame via the crossbeam, and the crossbeam is arranged along the Y-direction. The second sensing component includes a plurality of second sensors, which are spaced apart along the Y-axis on the crossbeam. Each second sensor is used to collect the coordinate data of the crossbeam at its location; and / or, The data acquisition system further includes a third sensing component, which includes multiple third sensors arranged on the rack along the same plane perpendicular to the Z direction. Each third sensor is used to collect rack coordinate data at its location.

11. The machine tool according to claim 10, characterized in that, The machine tool includes a leveling structure, the frame is supported on the leveling structure, the leveling structure includes a plurality of leveling parts, each of the leveling parts being configured to be dimensionally adjustable in the Z direction.

12. The machine tool according to claim 8, characterized in that, The machine tool also includes a display device, and the monitoring device is communicatively connected to the display device. The display device is used to display a virtual image constructed by the monitoring device based on the coordinate data collected by the data acquisition system.

13. A monitoring device, characterized in that, include: The data acquisition module is used to acquire the current principal axis coordinate data in the first coordinate system; The construction module is used to construct the current virtual image of the main axis in the first coordinate system based on the current main axis coordinate data; The processing and analysis module is used to obtain the position status of the main axis based on the current virtual image; The push module is used to push a first reminder message if the position of the main shaft is not vertical. The construction module is also used to construct a reference image in the first coordinate system, wherein the reference image is a Z-axis image of the first coordinate system; The processing and analysis module is further configured to determine a first relative offset of the current virtual image of the main axis relative to the reference image. If the first relative offset satisfies a first preset condition, the position of the main axis is determined to be vertical. If the first relative offset does not satisfy the first preset condition, the position of the main axis is determined to be non-vertical.

14. A computer device comprising a processor and a memory, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the machine tool monitoring method as described in any one of claims 1-7.

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