Tool changing method, machining center, computer storage medium and computer program product

Abstract

The application relates to the technical field of tool changing of machining centers, in particular to a tool changing method, a machining center, a computer storage medium and a computer program product, wherein the tool changing method is used for the machining center, the machining center comprises a clamp, a tool arranged on the clamp, a probe and a main shaft, and the tool changing method comprises the following steps: measuring the position of the tool through the probe; confirming a grabbing position according to the position of the tool, wherein the grabbing position comprises a first horizontal direction grabbing position, a vertical direction grabbing position, a second horizontal direction grabbing position, a grabbing angle of the main shaft and an angle of the clamp; adjusting the position of the clamp according to the second horizontal direction grabbing position and the angle of the clamp, and adjusting the position of the main shaft according to the first horizontal direction grabbing position, the vertical direction grabbing position and the grabbing angle of the main shaft and grabbing the tool, wherein the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other. The tool changing method can realize automatic grabbing of the tool.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tool changing of machining centers, and particularly relates to a tool changing method, a machining center, a computer storage medium and a computer program product. BACKGROUND

[0002] A machining center is a highly automated numerical control device, which integrates milling, boring, drilling, tapping and other cutting functions, and can efficiently and precisely process complex parts. The machining center includes a tool magazine installed on a tool, and the machining center can grab the tool in the tool magazine to realize tool changing.

[0003] In actual production, the size of the tool may exceed the space limit of the tool magazine, so that the tool cannot be stored in the tool magazine, and the machining center cannot change tools. In order to solve the problem that the size of the tool exceeds the space limit of the tool magazine, resulting in the machining center being unable to change tools, the prior art sets a replacement device (such as an empty tool holder or a replacement tool) in the tool magazine, which can be loaded in the tool magazine. After the machining center changes tools, the operator manually dismounts the replacement device and loads the tool. SUMMARY

[0004] The purpose of the present application is to at least solve the problem that the size of the tool exceeds the space limit of the tool magazine, resulting in the machining center being unable to automatically change tools. The purpose is achieved in the following way:

[0005] The first aspect of the present application provides a tool changing method, which is used in a machining center, the machining center includes a clamp, a tool arranged on the clamp, a probe and a spindle, and the tool changing method comprises the following steps: measuring the position of the tool by the probe; confirming a grabbing position according to the position of the tool, wherein the grabbing position includes a first horizontal direction grabbing position, a vertical direction grabbing position, a second horizontal direction grabbing position, a spindle grabbing angle and a clamp angle; adjusting the position of the clamp according to the second horizontal direction grabbing position and the clamp angle, and adjusting the position of the spindle according to the first horizontal direction grabbing position, the vertical direction grabbing position and the spindle grabbing angle, and grabbing the tool, wherein the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other.

[0006] The tool changing method of the embodiment of the present application loads the tool by the clamp of the machining center, measures the position of the tool by the probe when changing tools, obtains the grabbing position according to the position of the tool, and grabs the tool according to the grabbing position, so as to realize automatic grabbing of the tool.

[0007] In some embodiments of the present application, the measuring the position of the tool by the probe comprises: approaching the tool along a radial direction of the tool by the probe and detecting a plurality of first points, wherein the plurality of first points are arranged along a circumferential direction of the tool; approaching the tool along an axial direction of the tool by the probe and detecting a second point; determining the position of the tool according to the plurality of first points and the second point.

[0008] In some embodiments of the present application, the determining the gripping position according to the position of the tool comprises: fitting an outer contour of the tool according to the plurality of first points; determining the first horizontal direction gripping position, the vertical direction gripping position, the gripping angle of the spindle and the angle of the clamp according to the position of the tool and the outer contour of the tool; determining the second horizontal direction gripping position according to the second point.

[0009] In some embodiments of the present application, the adjusting the position of the clamp according to the second horizontal direction gripping position and the angle of the clamp, and gripping the tool according to the first horizontal direction gripping position, the vertical direction gripping position and the gripping angle of the spindle comprises: rotating the clamp according to the angle of the clamp; driving the spindle to move according to the first horizontal direction gripping position and the vertical direction gripping position; determining a first safety position according to the second horizontal direction gripping position, and driving the clamp to move according to the first safety position, wherein the tool is arranged apart from the spindle in the second horizontal direction when the clamp is located at the first safety position; orienting the spindle according to the gripping angle of the spindle; driving the spindle to move and clamping the tool according to the second horizontal direction gripping position.

[0010] In some embodiments of the present application, before the rotating the clamp according to the angle of the clamp, the tool changing method comprises: controlling the spindle to spray cutting fluid; after the driving the spindle to move and clamping the tool according to the second horizontal direction gripping position, the tool changing method comprises: controlling the spindle to close the cutting fluid.

[0011] In some embodiments of the present application, the tool changing method further comprises: adjusting the position of the clamp according to the second horizontal direction gripping position and the angle of the clamp, and releasing the tool according to the first horizontal direction gripping position, the vertical direction gripping position and the gripping angle of the spindle.

[0012] In some embodiments of the present application, the adjusting the position of the clamp according to the grabbing position in the second horizontal direction and the angle of the clamp, and releasing the tool according to the grabbing position in the first horizontal direction, the grabbing position in the vertical direction and the grabbing angle of the spindle, comprises: rotating the clamp according to the angle of the clamp; orienting the spindle according to the grabbing angle of the spindle; driving the spindle to move according to the grabbing position in the first horizontal direction; determining a second safety position according to the grabbing position in the vertical direction, and driving the clamp to move according to the second safety position, wherein the spindle is spaced apart from the tool in the vertical direction when the clamp is located at the second safety position; driving the clamp to move according to the grabbing position in the second horizontal direction; driving the spindle to move according to the grabbing position in the vertical direction and releasing the tool by the spindle.

[0013] The second aspect of the present application further provides a machining center comprising a clamp, a tool arranged on the clamp, a probe, a spindle and a control device, wherein the control device drives the clamp, the probe and the spindle to move and performs a tool changing action according to the tool changing method of the embodiments of the first aspect.

[0014] The machining center according to the present application can carry the tool by the clamp, measure the position of the tool by the probe during tool changing, obtain the grabbing position according to the position of the tool, and grab the tool according to the grabbing position, thereby realizing automatic grabbing of the tool.

[0015] The third aspect of the present application further provides a computer storage medium, wherein the computer storage medium stores computer readable instructions, and the computer readable instructions, when read by one or more processors, cause the one or more processors to execute the tool changing method of the embodiments of the first aspect.

[0016] The computer storage medium according to the present application, when read, can cause the machining center to measure the position of the tool by the probe, obtain the grabbing position according to the position of the tool, and grab the tool according to the grabbing position, thereby realizing automatic grabbing of the tool.

[0017] The fourth aspect of the present application further provides a computer program product, wherein the computer program product, when executed on one or more processors, realizes the tool changing method of the embodiments of the first aspect.

[0018] The computer program product according to the present application, when executed, can cause the machining center to measure the position of the tool by the probe, obtain the grabbing position according to the position of the tool, and grab the tool according to the grabbing position, thereby realizing automatic grabbing of the tool. BRIEF DESCRIPTION OF DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not intended to limit the scope of the application. Furthermore, the drawings are included to illustrate preferred embodiments of the application, and, therefore, should not be considered limiting in scope. Wherever possible, like reference numerals have been used throughout the drawings to refer to like components and / or elements.

[0020] Figure 1 Flowchart for tool changing method of embodiments of the present application;

[0021] Figure 2 Detailed flowchart for tool changing method of embodiments of the present application;

[0022] Figure 3 Another detailed flowchart for tool changing method of embodiments of the present application;

[0023] Figure 4 Yet another detailed flowchart for tool changing method of embodiments of the present application;

[0024] Figure 5 Another flowchart for tool changing method of embodiments of the present application;

[0025] Figure 6 Yet another flowchart for tool changing method of embodiments of the present application;

[0026] Figure 7 Still another detailed flowchart for tool changing method of embodiments of the present application. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown and described, it is to be understood that such embodiments are presented by way of example only, and are not intended to limit the scope of the application. Rather, the scope of the present application is to be determined by the claims. Furthermore, the drawings are not intended to be to scale, and the dimensions of the various features can be exaggerated for the purpose of clarity.

[0028] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are to be construed to be inclusive (i.e., to mean "including, but not limited to"), unless otherwise indicated as being term of exclusivity by context. Method steps, processes, and operations described herein can not be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order dependent step, process or operation. Also, additional or alternative steps can be employed.

[0029] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0030] Spatially relative terms, such as "inner", "outer", "inward", "outward", "lower", "bottom", "top", "upper", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Such spatially relative terms can be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0031] A machining center is a highly automated numerical control device, which integrates milling, boring, drilling, tapping and other cutting functions, and can efficiently and precisely process complex parts. The machining center includes a tool magazine mounted on a tool, and the machining center can grab the tool in the tool magazine to realize tool changing.

[0032] The spindle is one of the core components of the machining center, which is responsible for carrying and driving the cutting tool to rotate. The spindle is provided with a tool clamping device to enable the tool to be installed and fixed by the clamping device.

[0033] The machining center also has X-axis, Y-axis and Z-axis, and the spindle is arranged on the X-axis, Y-axis and Z-axis. The spindle can move along the X-axis, Y-axis and Z-axis, so as to adjust the position of the spindle.

[0034] In the prior art, in order to meet the needs of actual production, the size of the tool will exceed the space limit of the tool magazine of the machining center, resulting in the tool being unable to be stored in the tool magazine, and further resulting in the machining center being unable to change the tool. In order to solve the problem that the size of the tool exceeds the space limit of the tool magazine and the machining center cannot change the tool, in the prior art, an alternative device (such as an empty tool holder, an alternative tool, etc.) that can be loaded in the tool magazine is set in the tool magazine. After the machining center completes the tool change, the operator manually removes the alternative device and loads the tool. However, the prior art cannot automatically change the tool, and manual tool change is time-consuming and labor-intensive, and there are safety risks.

[0035] In order to at least solve the problem that the machining center cannot automatically change tools when the tool size exceeds the space limit of the tool magazine, an embodiment of the present invention proposes a tool changing method that can automatically change tools whose size exceeds the space limit of the tool magazine.

[0036] The tool changing method according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0037] like Figure 1 As shown, the tool changing method of the embodiment of the present invention is used in a machining center, which includes a fixture, a tool provided on the fixture, a probe, and a spindle. The tool changing method includes:

[0038] S100, measuring the position of the tool by a probe.

[0039] S200. Confirm the grasping position according to the position of the tool, wherein the grasping position includes: a grasping position in a first horizontal direction, a grasping position in a vertical direction, a grasping position in a second horizontal direction, a grasping angle of the spindle, and an angle of the clamp, and the first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other.

[0040] S300, adjusting the position of the fixture according to the grabbing position in the second horizontal direction and the angle of the fixture, and adjusting the position of the spindle according to the grabbing position in the first horizontal direction, the grabbing position in the vertical direction and the grabbing angle of the spindle to grab the tool.

[0041] The size of the tool exceeds the space limit of the tool magazine of the machining center, so the tool is carried by a fixture. It is understandable that the fixture can limit the displacement of the tool when carrying the tool, and can limit the rotation of the tool.

[0042] When the tool is replaced, the position of the tool is measured by the probe, so that the position of the tool can be obtained, and the grabbing position of the spindle is confirmed through the position of the tool, the grabbing position including a first horizontal direction grabbing position, a vertical direction grabbing position, a second horizontal direction grabbing position, a spindle grabbing angle and a jig angle. The first horizontal direction grabbing position is the position at which the spindle can grab the tool in the first horizontal direction, and the first horizontal direction is parallel to the extension direction of the X axis; the second horizontal direction grabbing position is the position at which the spindle can grab the tool in the second horizontal direction, and the second horizontal direction is parallel to the extension direction of the Z axis; the vertical direction grabbing position is the position at which the spindle can grab the tool in the vertical direction, and the vertical direction is parallel to the extension direction of the Y axis; the spindle grabbing angle is the angle at which the spindle needs to rotate to grab the tool; and the jig angle is the angle at which the jig needs to rotate when the spindle can grab the tool.

[0043] The jig is rotated according to the jig angle, so that the tool on the jig is in a suitable position to be grabbed by the spindle. Since the distance between the second direction grabbing position and the spindle is far, the second horizontal direction grabbing position can avoid a large displacement of the spindle in the second horizontal direction. The position of the spindle is adjusted according to the first horizontal direction grabbing position, the vertical direction grabbing position and the spindle grabbing angle, and the tool is grabbed, so that the tool is grabbed.

[0044] The tool replacement method of the embodiment of the present application carries the tool by the jig of the machining center, measures the position of the tool by the probe when the tool is replaced, obtains the grabbing position according to the position of the tool, and grabs the tool according to the grabbing position, so that the automatic grabbing of the tool is realized.

[0045] In combination with Figure 1 and Figure 2 It is shown that in some embodiments, S100, the position of the tool is measured by the probe, including:

[0046] S110, the probe approaches the tool along the radial direction of the tool and detects a plurality of first point positions, wherein the plurality of first point positions are arranged at intervals along the circumferential direction of the tool;

[0047] S120, the probe approaches the tool along the axial direction of the tool and detects a second point position;

[0048] S130, the position of the tool is determined according to the plurality of first point positions and the second point position.

[0049] The number of second point positions can be one or multiple.

[0050] Through step S110, the first point position that can represent the position of the outer contour of the tool in the radial direction is detected, and through step S120, the second point position that can represent the position of the outer contour of the tool in the axial direction is detected. Therefore, the position of the tool can be accurately determined through the first point position and the second point position, so that the tool can obtain higher grasping accuracy.

[0051] Combine Figure 1 and Figure 3 As shown, in some embodiments, S200, confirming the grasping position according to the position of the tool, includes:

[0052] S210, fitting the outer contour of the tool according to the multiple first points;

[0053] S220, determining a first horizontal grasping position, a vertical grasping position, a main axis grasping angle, and a fixture angle according to the position of the tool and the outer contour of the tool;

[0054] S230: Determine a second horizontal grasping position according to the second point.

[0055] The tool's outer contour is fitted based on the first point. The spindle's grip angle and the fixture's angle are determined based on the tool's outer contour, allowing for more accurate acquisition of the spindle's grip angle and the fixture's angle. The tool's position and outer contour are used to determine the first horizontal and vertical grip positions, allowing for more accurate acquisition of the first horizontal and vertical grip positions. The second horizontal grip position is determined by the second point, allowing for more accurate acquisition of the second horizontal grip position.

[0056] Combine Figure 1 and Figure 4 As shown, in some embodiments, S300, adjusting the position of the clamp according to the grasping position in the second horizontal direction and the angle of the clamp, and grasping the tool according to the grasping position in the first horizontal direction, the grasping position in the vertical direction, and the grasping angle of the spindle, includes:

[0057] S310, rotating the fixture according to the angle of the fixture;

[0058] S320, driving the main shaft to move according to the first horizontal grasping position and the vertical grasping position;

[0059] S330, determining a first safety position according to the gripping position in the second horizontal direction, and driving the fixture to move according to the first safety position, wherein when the fixture is in the first safety position, the tool is spaced apart from the spindle in the second horizontal direction;

[0060] S340, orienting the main shaft according to the grasping angle of the main shaft;

[0061] S350, driving the spindle to move according to the second horizontal direction grabbing position and clamping the tool.

[0062] According to the angle of the clamp, the clamp is rotated so that the position of the end face of the tool loaded on the clamp is adapted to the position of the spindle, thereby facilitating the spindle to grab the tool. The spindle is driven to move according to the first horizontal direction grabbing position and the vertical direction grabbing position, so that the spindle is located at a position capable of grabbing the tool in the first direction and the vertical direction, thereby facilitating the spindle to grab the tool. The clamp is driven to move according to the first safety position, so as to avoid the spindle moving too far in the second horizontal direction. When the clamp moves to the first safety position, the tool is spaced apart from the spindle in the second horizontal direction to avoid the tool carried on the clamp colliding with the spindle. The spindle is oriented according to the grabbing angle of the spindle, that is, the spindle is rotated according to the grabbing angle of the spindle so that the spindle is rotated to a reasonable position to adapt to clamping the tool. The spindle is driven to move according to the second horizontal direction grabbing position and clamps the tool, and the spindle clamps the tool, thereby completing the clamping of the tool by the spindle.

[0063] Specifically, before step S350, the tool clamping device on the spindle is opened, thereby facilitating the subsequent clamping of the tool.

[0064] As some optional embodiments, the program used when performing step S300 is as follows:

[0065] CS_TPU(“8888”, BLADE, SPOS, XPOS, YPOS, ZPOS, BPOS, LD_MODE)

[0066] Wherein, CS_TPU is the tool grabbing program name. “8888” is a character variable, indicating the tool name. BLADE is an integer variable, indicating the blade number. SPOS is a floating point variable, indicating the grabbing angle of the spindle. XPOS is a floating point variable, indicating the first horizontal direction grabbing position. YPOS is a floating point variable, indicating the vertical direction grabbing position. ZPOS is a floating point variable, indicating the second horizontal direction grabbing position. BPOS is a floating point variable, indicating the angle of the clamp. LD_MODE is an integer variable, indicating the mode of tool changing, for example, 1 is the grabbing mode and -1 is the dropping mode.

[0067] In combination with Figure 4 and Figure 5 As shown in the figures, in some embodiments, before S310, the tool changing method comprises: S400, controlling the spindle to spray cutting fluid; after S350, the tool changing method comprises: S500, controlling the spindle to turn off the cutting fluid.

[0068] The cutting fluid is sprayed through the main shaft to remove impurities on the surface of the tool, thereby reducing the influence of the impurities on the clamping effect of the main shaft, and further increasing the clamping effect of the main shaft on the tool.

[0069] As shown in Figure 6 In some embodiments, the tool changing method further includes: S600, adjusting the position of the clamp according to the second horizontal direction grabbing position and the angle of the clamp, and releasing the tool according to the first horizontal direction grabbing position, the vertical direction grabbing position and the grabbing angle of the main shaft.

[0070] According to the angle of the clamp, the clamp is rotated, so that the tool on the clamp is in a suitable position to facilitate the receiving of the tool. The position of the main shaft is adjusted and the tool is grabbed according to the first horizontal direction grabbing position, the vertical direction grabbing position and the grabbing angle of the main shaft, so as to realize the release of the tool.

[0071] As shown in Figure 6 and Figure 7 In some embodiments, S600, adjusting the position of the clamp according to the second horizontal direction grabbing position and the angle of the clamp, and releasing the tool according to the first horizontal direction grabbing position, the vertical direction grabbing position and the grabbing angle of the main shaft, includes:

[0072] S610, rotating the clamp according to the angle of the clamp;

[0073] S620, orienting the main shaft according to the grabbing angle of the main shaft;

[0074] S630, driving the main shaft to move according to the first horizontal direction grabbing position;

[0075] S640, determining a second safety position according to the vertical direction grabbing position, and driving the clamp to move according to the second safety position, wherein the main shaft is spaced apart from the tool in the vertical direction when the clamp is located at the second safety position;

[0076] S650, driving the clamp to move according to the second horizontal direction grabbing position;

[0077] S660, driving the main shaft to move according to the vertical direction grabbing position and releasing the tool through the main shaft.

[0078] Rotating the clamp according to the angle of the clamp, so that the angle of the clamp loaded on the clamp is adapted to the position of the tool, so that the tool can be stably loaded on the clamp.

[0079] Orienting the main shaft according to the grabbing angle of the main shaft, i.e. rotating the main shaft according to the grabbing angle of the main shaft, so that the main shaft is rotated to a reasonable position to adapt to the release of the tool.

[0080] The spindle is driven to move in the first horizontal direction so that the position of the spindle in the first horizontal direction is adapted to the gripper, thereby enabling the spindle to release the tool on the gripper more accurately.

[0081] The gripper is driven to move according to the second safety position, thereby avoiding that the spindle moves too far in the second horizontal direction, and when the gripper moves to the second mounting position, the tool is arranged in the vertical direction away from the spindle, thereby avoiding that the tool on the spindle collides with the gripper.

[0082] The spindle is driven to move in the second horizontal direction so that the position of the spindle in the second horizontal direction is adapted to the gripper, thereby enabling the spindle to release the tool on the gripper more accurately.

[0083] The spindle is driven to move in the vertical direction and to grip the tool, and the spindle is released from the tool, thereby completing the releasing of the tool.

[0084] The embodiment of the present application further provides a machining center, comprising a gripper, a tool arranged on the gripper, a probe, a spindle and a control device, wherein the control device drives the gripper, the probe and the spindle to move and performs a tool changing operation according to the tool changing method of the above embodiment.

[0085] The machining center of the embodiment of the present application can bear the tool by the gripper, measure the position of the tool by the probe when performing the tool changing, obtain the gripping position according to the position of the tool, and grip the tool according to the gripping position, thereby realizing automatic gripping of the tool.

[0086] The embodiment of the present application further provides a computer storage medium, wherein the computer storage medium stores computer readable instructions, and the computer readable instructions are read by one or more processors, so that the one or more processors execute the tool changing method of the above embodiment.

[0087] The computer storage medium of the embodiment of the present application can make the machining center measure the position of the tool by the probe, obtain the gripping position according to the position of the tool, and grip the tool according to the gripping position, thereby realizing automatic gripping of the tool.

[0088] The embodiment of the present application further provides a computer program product, wherein the computer program product is run on one or more processors, and the tool changing method of the above embodiment is realized.

[0089] The computer program product of the embodiment of the present application can make the machining center measure the position of the tool by the probe, obtain the gripping position according to the position of the tool, and grip the tool according to the gripping position, thereby realizing automatic gripping of the tool.

[0090] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0091] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope disclosed in the present application.

[0092] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements easily thought by those skilled in the art within the technical range disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A tool changing method, characterized by, The tool changing method for a machining center, the machining center comprising a fixture, a tool, a probe and a spindle arranged on the fixture, the tool changing method comprising: measuring a position of the tool by the probe; confirming a grabbing position according to the position of the tool, wherein the grabbing position comprises a first horizontal direction grabbing position, a vertical direction grabbing position, a second horizontal direction grabbing position, a spindle grabbing angle and a fixture angle; adjusting the position of the fixture according to the second horizontal direction grabbing position and the fixture angle, and adjusting the position of the spindle according to the first horizontal direction grabbing position, the vertical direction grabbing position and the spindle grabbing angle and grabbing the tool, wherein the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other; the adjusting the position of the fixture according to the second horizontal direction grabbing position and the fixture angle, and the grabbing the tool according to the first horizontal direction grabbing position, the vertical direction grabbing position and the spindle grabbing angle, comprising: rotating the fixture according to the fixture angle; driving the spindle to move according to the first horizontal direction grabbing position and the vertical direction grabbing position; determining a first safety position according to the second horizontal direction grabbing position, and driving the fixture to move according to the first safety position, wherein the fixture is located at the first safety position, and the tool is spaced apart from the spindle in the second horizontal direction; orienting the spindle according to the spindle grabbing angle; driving the spindle to move according to the second horizontal direction grabbing position and clamping the tool.

2. The tool changing method according to claim 1, characterized in that, the measuring the position of the tool by the probe, comprising: approaching the tool along a radial direction of the tool by the probe and detecting a plurality of first points, wherein the plurality of first points are spaced apart along a circumferential direction of the tool; approaching the tool along an axial direction of the tool by the probe and detecting a second point; determining the position of the tool according to the plurality of first points and the second point.

3. The tool changing method according to claim 2, characterized in that, the confirming the grabbing position according to the position of the tool, comprising: fitting an outer contour of the tool according to the plurality of first points; determining the first horizontal direction grabbing position, the vertical direction grabbing position, the spindle grabbing angle and the fixture angle according to the position of the tool and the outer contour of the tool; determining the second horizontal direction grabbing position according to the second point.

4. The tool changing method according to claim 1, characterized by, the tool changing method further comprising: controlling the spindle to spray cutting fluid before the rotating the fixture according to the fixture angle; controlling the spindle to close the cutting fluid after the driving the spindle to move according to the second horizontal direction grabbing position and clamping the tool. the tool changing method further comprising:

5. The tool changing method according to any one of claims 1 to 4, characterized in that, adjusting the position of the fixture according to the second horizontal direction grabbing position and the fixture angle, and releasing the tool according to the first horizontal direction grabbing position, the vertical direction grabbing position and the spindle grabbing angle. ​ 6. The tool changing method according to claim 5, characterized by The position of the clamp is adjusted according to the second horizontal direction grabbing position and the angle of the clamp, and the tool is released according to the first horizontal direction grabbing position, the vertical direction grabbing position and the grabbing angle of the spindle, comprising: rotating the clamp according to the angle of the clamp; orienting the spindle according to the grabbing angle of the spindle; driving the spindle to move according to the first horizontal direction grabbing position; determining a second safety position according to the vertical direction grabbing position, and driving the clamp to move according to the second safety position, wherein the spindle is spaced apart from the tool in the vertical direction when the clamp is located at the second safety position; driving the clamp to move according to the second horizontal direction grabbing position; driving the spindle to move according to the vertical direction grabbing position and releasing the tool through the spindle.

7. A machining center, characterized by The control device drives the clamp, the probe and the spindle to move and performs the tool changing action according to the tool changing method of any one of claims 1 to 6.

8. A computer storage medium, characterized in that, A computer storage medium stores computer readable instructions, which, when read by one or more processors, cause the one or more processors to execute the tool changing method of any one of claims 1 to 6.

9. A computer program product, characterised in that, The computer program product, when running on one or more processors, implements the tool changing method of any one of claims 1 to 6.

Images