Tool changing control method and device, machine tool and readable storage medium

Abstract

The application discloses a tool changing control method and device, a machine tool and a readable storage medium, and relates to the technical field of machine tools. The method comprises the following steps: performing preset judgment content when a tool changing arm performs a tool exchange action; controlling the tool changing arm to rotate to a preset tool position confirmation position according to the result of the preset judgment content; and if it is confirmed that the tool changing arm rotates to the preset tool position confirmation position, performing action control according to the preset judgment content. The application can reduce the time length consumed for recovering from an abnormal tool changing situation to normal tool changing, ensure the safety of tool changing, and facilitate recovery of work in the abnormal tool changing situation.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, and specifically to a tool changing control method, device, machine tool, and readable storage medium. Background Technology

[0002] During tool changing in a machining center, there are situations where the tool changing arm does not move properly, such as the tool changing arm not reaching the expected position or exceeding the expected position, or the tool not being fixed. These situations can all lead to abnormal tool changing.

[0003] In the event of a tool change malfunction, the current method involves manual control and climbing to the top of the spindle to perform the tool change and recovery operation, which poses certain safety hazards. Summary of the Invention

[0004] The main objective of this invention is to provide a tool change control method, device, machine tool, and readable storage medium, providing a tool change arm stop position to facilitate resumption of operation in case of abnormal tool change.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] In a first aspect, the present invention provides a tool changing control method, applied to a tool changing control system, the method comprising:

[0007] When the tool changer arm performs a tool exchange action, a preset judgment is executed;

[0008] Based on the result of the preset judgment, control the tool changing arm to rotate to the preset tool position confirmation position;

[0009] If it is confirmed that the tool changing arm has rotated to the preset tool position, then the action control is performed according to the preset judgment content.

[0010] In one embodiment of the tool changing control method, the preset judgment content includes: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at the preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a tightened state.

[0011] In one embodiment of the tool changing control method, if the result of the preset judgment is negative, the tool changing arm is controlled to rotate to the preset tool position confirmation position; at this time, the action control based on the preset judgment includes:

[0012] If the determination is to determine whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at the preset exchange angle, then the machine tool is controlled to reorient and reposition the spindle and / or tool magazine; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, the tool changing arm is controlled to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0013] If the determination is whether the tool is in a clamped state, then the tool changer arm is controlled to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0014] In one embodiment of the tool changing control method, when the determination is whether the tool is in a clamped state, controlling the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve includes:

[0015] The spindle's tool-pulling mechanism performs a test operation to obtain test parameters;

[0016] If the test parameters match the preset parameters, then the control tool changer arm is rotated to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0017] In one embodiment of the tool change control method, the reorientation and repositioning of the spindle and / or tool magazine by the controlled machine tool includes:

[0018] Obtain machine tool feature reference points;

[0019] The current position determined using the aforementioned feature reference points;

[0020] Determine whether the current position of the spindle and / or tool magazine is at the corresponding preset tool change reference position;

[0021] If any of the above judgments are negative, the machine tool will be controlled to move the spindle and / or tool magazine to the corresponding preset tool change reference position.

[0022] In one embodiment of the tool changing control method, the method further includes:

[0023] An angle encoder is used to obtain the rotation angle value of the tool changer arm and to obtain the feature information of the tool on the tool changer arm. The feature information includes at least the weight information and type information of the tool.

[0024] Based on the type information, determine the tool holder corresponding to the tool removed from the autospindle in the tool magazine;

[0025] Obtain the estimated action time for the tool magazine to place the tool holder at the insertion position;

[0026] The range of the rotation deceleration zone and the position of the deceleration start point are determined based on the rotation angle value, the weight information, and the action time; the pause duration of the tool changing arm at the preset tool position confirmation position is determined based on the type information.

[0027] In one embodiment of the tool changing control method, controlling the tool changing arm to rotate to the preset tool position confirmation position includes:

[0028] The rotation angle value of the tool changer arm is obtained using an angle encoder;

[0029] If the tool changer arm is found to have rotated to a preset angle value, it is determined that the tool changer arm has rotated to the preset tool position confirmation range.

[0030] Control the tool changer arm to stop rotating;

[0031] If the rotation angle of the tool changing arm is less than the preset angle value, then control the tool changing arm to rotate in the preset rotation direction to the preset tool position confirmation position;

[0032] If the rotation angle of the tool changing arm is greater than the preset angle value, the tool changing arm is controlled to rotate in the opposite direction of the preset rotation direction to the preset tool position confirmation position.

[0033] In one embodiment of the tool changing control method, the tool changing control system includes a standard tool changing mode and a large tool position tool changing mode; the large tool position stop position of the large tool position tool changing mode is at the preset tool position confirmation position; before controlling the tool changing arm to rotate to the preset tool position confirmation position, the method further includes:

[0034] When the tool change control system is in the standard tool change mode or the large tool position tool change mode, if the judgment result of the preset judgment content is negative, then it is determined whether the spindle is in the tool release state.

[0035] If the judgment result is negative, the spindle is controlled to perform a tool release action.

[0036] Secondly, the present invention provides a tool changing control device, applied to a tool changing control system, the device comprising:

[0037] The judgment module is used to execute preset judgment content when the tool changing arm performs tool exchange action;

[0038] The control module is used to control the tool changing arm to rotate to the preset tool position confirmation position according to the result of the preset judgment content; after confirming that the tool changing arm has rotated to the preset tool position confirmation position, the module performs action control according to the preset judgment content.

[0039] In one embodiment of the tool changing control device, the preset judgment content includes: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at the preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a clamped state.

[0040] The control module is used to control the machine tool to reorient and reposition the spindle and / or tool magazine when the judgment content is whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at the preset exchange angle; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, the control module controls the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0041] When the determination is whether the tool is in a clamped state, the tool changer arm is controlled to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0042] Thirdly, the present invention provides a machine tool, including a tool magazine, an automatic tool changing device, a spindle, and a motion mechanism for driving the spindle, including the tool changing control device as described above, wherein the tool changing control device is used to receive the tool holder movement information of the tool magazine and the position information of the spindle.

[0043] Fourthly, the present invention also provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the tool changing control method described above.

[0044] The beneficial effects of this invention are:

[0045] By performing preset judgments on the tool changer arm during the tool exchange operation, and controlling the tool changer arm to rotate to the preset tool position confirmation position based on the preset judgment results, and after confirming that the tool changer arm has rotated to the preset tool position confirmation position, the machine tool can be easily restored to operation in the event of a tool change abnormality by controlling the movement of the spindle and / or tool magazine, thus providing a certain degree of safety assurance and reducing the time spent recovering from a tool change abnormality to a normal tool change. Attached Figure Description

[0046] Figure 1 This is a flowchart of the tool changing control method under the first embodiment of the present invention;

[0047] Figure 2 This is a flowchart of the tool changing arm under normal tool changing conditions provided by the present invention;

[0048] Figure 3This is a schematic diagram of the state structure of the tool changing control system provided by the present invention under various tool changing actions;

[0049] Figure 4 This is a flowchart of the tool changing control method under the second embodiment of the present invention;

[0050] Figure 5 This is a functional block diagram of the tool changing control device provided by the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] Spindle 1; Tool magazine 2; Tool changer 3;

[0053] Tool changing control device 100; judgment module 101; control module 102. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] It should be noted that when a component is referred to as being "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is referred to as being "mounted on" another component, it can be directly mounted on the other component or there may be an intervening component.

[0056] Furthermore, it should be understood that all directional indications in the embodiments (such as up, down, left, right, center, etc.) are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figure). If the specific posture changes, the directional indications will also change accordingly. Terms such as "first" and "second" are used to distinguish different structural components. These terms are only for the purpose of simplifying the description of the present invention and should not be construed as limiting the present invention.

[0057] The tool changing control method provided by this invention is applied to machine tool systems, primarily addressing abnormal tool changing situations in the tool changing arm. By setting a position confirmation position, the spindle and / or the main spindle can confirm its position, facilitating rapid recovery in case of abnormal tool changing and supporting secondary tool locking. The machine tool system may include a tool magazine, an automatic tool changer (ATC), a spindle, and a motion mechanism for driving the spindle to move in at least one plane. The following description uses a disc-type tool magazine and an automatic tool changer with a cam mechanism; the following description considers the tool and tool holder as a single unit.

[0058] See Figure 1 The flowchart is a first embodiment of the tool changing control method provided by the present invention. The flowchart only schematically shows some of the control steps for realizing tool changing on a machine tool. Therefore, some steps can be added or removed and / or the order of some steps can be adjusted according to different application scenarios and environmental conditions.

[0059] like Figure 1 As shown, the tool changing control method of this embodiment may include the following steps:

[0060] S101: Execute preset judgment content when the tool changing arm performs tool exchange action.

[0061] In this embodiment, the preset judgment content includes: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at the preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a tightened state.

[0062] In this embodiment, the rotation of the tool changer arm is controlled by a programmable logic controller (PLC) combined with a frequency converter. This control can include acceleration, deceleration and braking control of the rotation, which helps to reduce mechanical wear.

[0063] The tool changing arm is a mechanical structure that uses a cam to control the lifting and lowering of the tool changing arm. That is, when the tool changing arm rotates to a certain angle, the tool changing arm can be raised or lowered by a certain height under the action of the cam. This height is related to the mechanical structure of the cam.

[0064] In this embodiment, when the tool changing arm rotates to the preset exchange angle position, the tool changing arm is raised to a certain height. At this time, it is determined whether the tool changing arm has properly placed the tool into the spindle and / or the tool magazine (preferably the spindle) tool holder. If it has, it is determined that the tool currently placed in the spindle meets the tool tightening condition of the spindle tool loosening mechanism. If it has not, it can be determined that the tool changing is abnormal.

[0065] Understandably, when the tool changer arm rotates to the preset exchange angle position, and the tool on the tool changer arm is placed into the spindle and the placement position is in place, the spindle tool release mechanism can perform the tool tightening action, and then the tool changer arm can rotate to return to the tool changer arm origin state.

[0066] In this embodiment, before the tool changer performs the rotational action to return to the origin state, it is also determined whether the tool is in a tightened state. The state of whether the tool is tightened can be obtained by the sensor on the tool and / or the spindle pull-out mechanism.

[0067] S102: If the preset judgment result is negative, control the tool changing arm to rotate to the preset tool position confirmation position.

[0068] Before this step, the status of the spindle can be confirmed, including: determining whether the spindle is in the tool release state. If the spindle is not in the tool release state, the spindle is controlled to release the tool to support the insertion of the tool on the tool changer arm into the spindle.

[0069] In this embodiment, controlling the tool changing arm to rotate to the preset tool position confirmation position can be achieved through the following process: First, the rotation angle value of the tool changing arm is obtained using an angle encoder. If the tool changing arm rotates to the preset angle value, it is determined that the tool changing arm has rotated to the preset tool position confirmation position range, and then the tool changing arm is controlled to stop rotating.

[0070] Of course, if the rotation angle of the tool changing arm is less than the preset angle value, the tool changing arm is controlled to rotate in the preset rotation direction to the preset tool position confirmation position; and if the rotation angle of the tool changing arm is greater than the preset angle value, the tool changing arm is controlled to rotate in the opposite direction to the preset tool position confirmation position.

[0071] S103: If it is confirmed that the tool changing arm has rotated to the preset tool position confirmation position, then the action control is performed according to the preset judgment content.

[0072] In this embodiment, the action control based on the preset judgment content may specifically include:

[0073] (1) If the judgment content is to determine whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at the preset exchange angle, then control the machine tool to reorient and reposition the spindle and / or tool magazine; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, control the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0074] Specifically, the reorientation and repositioning of the spindle and / or tool magazine by the machine tool control may include:

[0075] ① Obtain machine tool feature reference points;

[0076] ② The current position determined using the aforementioned feature reference points;

[0077] ③ Determine whether the current position of the spindle and / or tool magazine is at the corresponding preset tool change reference position;

[0078] ④ If the above judgment results are negative, the machine tool will be controlled to move the spindle and / or tool magazine to the corresponding preset tool change reference position.

[0079] (2) If the determination is whether the tool is in a tightened state, then the tool changer arm is rotated to the preset exchange angle to place the tool into the spindle and / or tool magazine. Specifically, when the determination is whether the tool is in a tightened state, rotating the tool changer arm to the preset exchange angle to place the tool into the spindle and / or tool magazine may include: ① the spindle's tool loosening mechanism performing a test operation to obtain test parameters; ② if the test parameters match the preset parameters, then rotating the tool changer arm to the preset exchange angle to place the tool into the spindle and / or tool magazine.

[0080] In this embodiment, by performing a preset judgment on the tool changing arm during the tool exchange action, and controlling the tool changing arm to rotate to a preset tool position confirmation position based on the result of the preset judgment, and after confirming that the tool changing arm has rotated to the preset tool position confirmation position, the machine tool can be controlled to easily resume operation in the event of a tool changing anomaly by controlling the actions of the spindle and / or tool magazine, thus providing a certain degree of safety assurance and reducing the time spent recovering from a tool changing anomaly to a normal tool changing operation.

[0081] Specifically, when the tool changer arm feeds the tool into the spindle and after the process is completed, a preset judgment is performed. This judgment can determine whether there is a risk of the current tool colliding with the spindle or other mechanisms, or whether the tool is at risk of falling. The preset tool position confirmation position allows the tool changer arm to temporarily stop, which facilitates the machine tool to reorient and reposition the spindle and / or tool magazine. After reorientation and repositioning, the tool changer arm, which is stopped at the preset tool position confirmation position, is controlled to feed and insert the tool a second time. The tool changer arm does not need to return to its original position to wait for reorientation and repositioning, reducing the time spent recovering from abnormal tool changing to normal tool changing, and reducing the probability of the tool on the tool changer arm colliding with the machine tool's tool magazine, tool holder, spindle, or other mechanisms or devices, thus ensuring the safety of tool changing.

[0082] Compared to traditional methods that require personnel to climb to the top of the machine tool to restore the tool change in case of malfunction, the tool change control method provided in this embodiment reduces the risk of dangerous operations for workers. Furthermore, compared to the inefficiency of manual tool change restoration, the tool change control method provided in this embodiment significantly improves tool change efficiency.

[0083] The tool changing control method provided in this embodiment is applicable to tool changing control systems including a standard tool changing mode and a large tool changing mode. In the large tool changing mode, the large tool position stop position for tool exchange is at the preset tool position confirmation position. When the tool changing control system is in the standard tool changing mode or the large tool changing mode, if the preset judgment result is negative, the spindle and / or tool magazine sleeve are controlled to perform a tool release action, and then the tool changing arm is controlled to rotate to the preset tool position confirmation position.

[0084] See Figure 2 The diagram illustrates the process of the tool changer provided by the present invention under normal tool change conditions. The preset judgment of the present invention is performed between the confirmation of the tool release state and the return action of the tool changer to ensure that the tool can be accurately placed into the spindle and tightened by the tool release mechanism of the spindle to support the tool to perform stable machining operations.

[0085] See Figure 3 The diagram schematically illustrates the spindle 1, tool magazine 2, and tool changing arm 3 of the tool changing control system provided by the present invention, wherein:

[0086] exist Figure 3 In (a), the tool changing arm 3 is at the origin position of the tool changing arm at this time. After receiving the tool changing command, it rotates in the preset rotation direction.

[0087] Figure 3 In (b), the state structure after the tool changing arm 3 performs tool retrieval and rotates 180° in the preset rotation direction, the position of the end where the spindle is located is the preset exchange angle position. Tool changing can be performed at the preset exchange angle position. During this period, a preset judgment can be executed, that is, to determine whether the tool changing arm 3 has placed the tool into the tool holder of the spindle 1 and / or the tool magazine 2 at the preset exchange angle; and / or, when the tool changing arm 3 places the tool into the tool holder of the spindle 1 and / or the tool magazine 2, to determine whether the tool is in a clamped state.

[0088] Figure 3 In (c), after the preset judgment result is negative, the tool changing arm 3 stops at the preset tool position confirmation position (i.e., the large tool position position) to facilitate the orientation and positioning of the spindle 1 and / or the tool magazine 2, and to facilitate the spindle's tool release mechanism to perform test operation.

[0089] See Figure 4This is a flowchart of the tool changing control method provided by the present invention in a second embodiment. Compared with the first embodiment, this embodiment further includes rotational deceleration control to support the realization of flexible motion. Specifically, the tool changing control method of this embodiment may include the following steps:

[0090] S201: When the tool changing arm performs a tool exchange action, a preset judgment is executed. The preset judgment includes: when the tool changing arm performs a tool picking action and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at a preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a tightened state.

[0091] S202: If the result of the preset judgment is negative, control the tool changer arm to rotate and use the angle encoder to obtain the rotation angle value of the tool changer arm, and obtain the feature information of the tool on the tool changer arm.

[0092] In this embodiment, the feature information may include tool weight, tool type, and tool wear status information. The tool on the tool changing arm may include only one tool or two tools; under normal operating conditions, the tool changing arm has two tools.

[0093] S203: Based on the rotation angle value and the feature information, plan the range of the rotation deceleration zone and the deceleration start point position between the current position and the preset tool position confirmation position of the tool changing arm.

[0094] In steps S202 to S203, more specifically, ① the tool holder corresponding to the tool removed from the autospindle in the tool magazine can be determined according to the type information; then, ② the estimated action time for the tool magazine to place the tool holder at the placement position is obtained. Next, ③ the range of the rotation deceleration zone and the deceleration start point position are determined according to the rotation angle value, the weight information, and the action time; and ④ the pause duration of the tool changing arm at the preset tool position confirmation position is determined according to the type information. This makes the tool changing action of the tool changing arm more flexible, reduces the possibility of unnecessary wear on the tool changing arm drive components, and ensures the flexibility to recover and perform a secondary tool changing action in case of tool changing abnormalities.

[0095] S204: If it is confirmed that the tool changing arm has rotated to the preset tool position confirmation position in the preset rotation direction, then the action control is performed according to the preset judgment content.

[0096] Based on the first embodiment, this embodiment further refines the control of the rotational motion of the tool changing arm, thereby achieving flexible motion control, reducing the possibility of unnecessary wear on the tool changing arm drive components, and ensuring the flexibility to recover and perform a secondary tool changing action when the tool changing is abnormal.

[0097] See Figure 5 This is a functional block diagram of the tool changing control device 100 provided by the present invention. The tool changing control device 100 includes a judgment module 101 and a control module 102, wherein:

[0098] The judgment module 101 mainly executes preset judgment content when the tool changing arm performs tool exchange action. The preset judgment content may include: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at a preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or tool magazine sleeve, judging whether the tool is in a tightened state.

[0099] The control module 102 is mainly used to control the tool changing arm to rotate to a preset tool position confirmation position according to the result of the preset judgment content; when it is confirmed that the tool changing arm has rotated to the preset tool position confirmation position, the action control is performed according to the preset judgment content, which may include: when the judgment content is to determine whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at a preset exchange angle, controlling the machine tool to reorient and reposition the spindle and / or tool magazine; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, controlling the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve; when the judgment content is to determine whether the tool is in a clamped state, controlling the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

[0100] Of course, it is understood that the tool changing control device 100 provided by the present invention is not limited to the various functional modules mentioned above. Depending on different application scenarios and / or functional purposes, corresponding functional modules can be added or removed appropriately. For example, the acquisition module can acquire the rotation angle value of the tool changing arm, the machine tool feature reference point, the feature information of the tool on the tool changing arm, etc. In this case, the control module 102 can also be used to plan the rotation deceleration zone range and deceleration start point position of the tool changing arm from the current position to the next position based on the rotation angle value and the feature information.

[0101] The present invention also provides a machine tool, which may include a tool magazine, an automatic tool changing device, a spindle and a motion mechanism for driving the spindle, and further includes the aforementioned tool changing control device, which is used to receive the tool holder movement information of the tool magazine and the position information of the spindle, so as to perform tool changing control operation according to the corresponding information.

[0102] Furthermore, the present invention also provides a computer comprising a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the steps of the aforementioned tool-changing control methods, for example... Figure 1Steps S101 to S103 shown are as follows: Figure 5 Steps 201 to S204, as shown, are examples of this. Alternatively, the processor executes a computer program to implement the functions of each module or unit in the above-described device embodiments.

[0103] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete the present invention. The aforementioned one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device.

[0104] The aforementioned processor can be a Central Processing Unit (CPU), or 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. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device through various interfaces and lines.

[0105] The aforementioned memory can be used to store computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by calling data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as acquisition functions, control functions, etc.), etc.; the data storage area can store data created according to the use of the terminal device (such as feature location 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 disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0106] When a computer-integrated module / unit is implemented as 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, the present invention can implement all or part of the processes in the above-described tool-changing control method by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above-described tool-changing control method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed 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.

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0108] In the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of the functional module units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0111] If the integrated unit is implemented as 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, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0113] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tool changing control method, applied to a tool changing control system, characterized in that, The method includes: Execute preset judgments when the tool changer arm performs tool exchange operations; If the result of the preset judgment is negative, the tool changing arm is controlled to rotate to the preset tool position confirmation position, wherein the preset tool position confirmation position is used for the tool changing arm to temporarily stop. If it is confirmed that the tool changing arm has rotated to the preset tool position confirmation position, then the action control is performed according to the preset judgment content; The preset judgment content includes: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at the preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a tightened state. Before the step of controlling the tool changer arm to rotate to the preset tool position confirmation position if the preset judgment result is negative, the spindle status is also confirmed, including: determining whether the spindle is in the tool release state; if the spindle is not in the tool release state, controlling the spindle to release the tool.

2. The tool changing control method as described in claim 1, characterized in that, The method includes: The step of controlling the action based on the preset judgment content includes: If the result of determining whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at the preset exchange angle is no, then the machine tool is controlled to reorient and reposition the spindle and / or tool magazine; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, the tool changing arm is controlled to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve; If the result of determining whether the tool is in a clamped state is no, then control the tool changer arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

3. The tool changing control method as described in claim 2, characterized in that, When it is determined that the tool is not in a clamped state, controlling the tool changer arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve includes: The spindle's tool-pulling mechanism performs a test operation to obtain test parameters; If the test parameters match the preset parameters, then the control tool changer arm is rotated to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve.

4. The tool changing control method as described in claim 2, characterized in that, The control of the machine tool to reorient and reposition the spindle and / or tool magazine includes: Obtain machine tool feature reference points; The current position determined using the aforementioned feature reference points; Determine whether the current position of the spindle and / or tool magazine is at the corresponding preset tool change reference position; If any of the above judgments are negative, the machine tool will be controlled to move the spindle and / or tool magazine to the corresponding preset tool change reference position.

5. The tool changing control method according to any one of claims 1 to 4, characterized in that, The method further includes: An angle encoder is used to obtain the rotation angle value of the tool changer arm and to obtain the feature information of the tool on the tool changer arm. The feature information includes at least the weight information and type information of the tool. Based on the type information, determine the tool holder corresponding to the tool removed from the autospindle in the tool magazine; Obtain the estimated action time for the tool magazine to place the tool holder at the insertion position; The range of the rotation deceleration zone and the starting position of deceleration are determined based on the rotation angle value, the weight information, and the estimated action time; the pause duration of the tool changing arm at the preset tool position confirmation position is determined based on the type information.

6. The tool changing control method according to any one of claims 1 to 4, characterized in that, The process of controlling the tool changing arm to rotate to the preset tool position confirmation position includes: The rotation angle value of the tool changer arm is obtained using an angle encoder; If the tool changer arm is found to have rotated to a preset angle value, it is determined that the tool changer arm has rotated to the preset tool position confirmation range. Control the tool changer arm to stop rotating; If the rotation angle of the tool changing arm is less than the preset angle value, then control the tool changing arm to rotate in the preset rotation direction to the preset tool position confirmation position; If the rotation angle of the tool changing arm is greater than the preset angle value, the tool changing arm is controlled to rotate in the opposite direction of the preset rotation direction to the preset tool position confirmation position.

7. The tool changing control method according to any one of claims 1 to 4, wherein the tool changing control system includes a standard tool changing mode and a large tool position tool changing mode; the large tool position stop position of the large tool position tool changing mode is at the preset tool position confirmation position; Before the control tool changer arm rotates to the preset tool position confirmation position, the method further includes: When the tool change control system is in the standard tool change mode or the large tool position tool change mode, if the judgment result of the preset judgment content is negative, then it is determined whether the spindle is in the tool release state. If the spindle is not in the tool release state, control the spindle to release the tool.

8. A tool changing control device, applied to a tool changing control system, characterized in that, The device includes: The judgment module is used to execute preset judgment content when the tool changing arm performs tool exchange action; The control module is configured to control the tool changing arm to rotate to a preset tool position confirmation position if the result of the preset judgment is negative, wherein the preset tool position confirmation position is used for the tool changing arm to temporarily stop; and, after confirming that the tool changing arm has rotated to the preset tool position confirmation position, to perform action control according to the preset judgment. The preset judgment content includes: when the tool changing arm performs tool picking and enters the exchange rotation action, judging whether the tool changing arm has placed the tool into the spindle and / or the tool magazine sleeve at the preset exchange angle; and / or, when the tool changing arm places the tool into the spindle and / or the tool magazine sleeve, judging whether the tool is in a tightened state. The device is also used to confirm the status of the spindle before the step of controlling the tool changer arm to rotate to the preset tool position confirmation position if the preset judgment result is negative, including: determining whether the spindle is in the tool release state; if the spindle is not in the tool release state, controlling the spindle to release the tool.

9. The tool changing control device as described in claim 8, characterized in that, The control module is used to control the machine tool to reorient and reposition the spindle and / or tool magazine when the result of determining whether the tool changing arm has placed the tool into the spindle and / or tool magazine sleeve at the preset exchange angle is no; after the machine tool has reoriented and repositioned the spindle and / or tool magazine, it controls the tool changing arm to rotate to the preset exchange angle to place the tool into the spindle and / or tool magazine sleeve. If the result of determining whether the tool is in a clamped state is no, the tool changer arm is controlled to rotate to the preset exchange angle to place the tool into the spindle and / or the tool magazine sleeve.

10. A machine tool, comprising a tool magazine, an automatic tool changer, a spindle, and a motion mechanism for driving the spindle, characterized in that, Includes the tool changing control device as described in claim 8, wherein the tool changing control device is used to receive the tool holder movement information of the tool magazine and the position information of the spindle.

11. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the tool changing control method as described in any one of claims 1 to 7.

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