A horizontal tool magazine control method and system based on servo motor

Abstract

The present invention relates to the field of tool magazine control technology, and in particular to a method and system for controlling a horizontal tool magazine based on a servo motor, the method comprising: obtaining tool task information, setting an initial execution schedule for a servo motor according to the tool task information, and the corresponding servo motor performing operation control on the horizontal tool magazine; constructing a motor intelligent control model, the motor intelligent control model receiving the tool task information and sending a control command to the servo motor; collecting the control response delay of the servo motor driving the corresponding horizontal tool magazine; inputting the control response delay into the motor intelligent control model, adjusting the initial execution schedule, and obtaining the motor execution schedule result; multiple servo motors drive and control the corresponding horizontal tool magazine according to the motor execution schedule result. Through the present invention, the problems of the traditional tool magazine control system in terms of response speed and flexibility are effectively solved, and the execution schedule of the servo motor is optimized through the intelligent motor control model to ensure the accuracy and efficiency of the tool operation.

Description

Technical Field

[0001] The invention relates to the technical field of tool magazine control, and in particular to a servo motor-based horizontal tool magazine control method and system. Background Art

[0002] In modern manufacturing and machining, flat tool magazine systems play an important role in automated machine tools, especially in high-speed, high-precision CNC machine tools. The tool magazine system allows the machine to automatically change tools during the machining process, thereby improving production efficiency and reducing manual intervention. These systems are usually driven by servo motors to achieve precise tool positioning and fast tool replacement.

[0003] However, with the increasing diversity and complexity of manufacturing requirements, traditional tool magazine control systems face more and more challenges in response speed and flexibility. Although existing tool magazine systems can provide basic automatic tool replacement functions, in actual operations they often fail to achieve optimal performance due to response delays in the control system and insufficient execution scheduling. In addition, network transmission delays and the performance limitations of the servo motor itself may further aggravate these problems and affect the stability and reliability of the entire system.

[0004] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present disclosure, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art. Summary of the invention

[0005] The present invention provides a servo motor-based horizontal tool magazine control method and system, which can effectively solve the problems in the background technology.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A servo motor-based horizontal tool magazine control method, the method comprising:

[0008] Obtain tool-using task information corresponding to a plurality of horizontal tool magazines, and set initial execution scheduling for a plurality of servo motors according to the tool-using task information, wherein the plurality of horizontal tool magazines correspond to the plurality of servo motors one-to-one, and the corresponding servo motors perform operation control on the horizontal tool magazines;

[0009] Constructing a motor intelligent control model, wherein the motor intelligent control model receives the tool task information and sends a tool control command to the servo motor;

[0010] Collecting the control response delay of each servo motor drive corresponding to the horizontal tool magazine, wherein the control response delay includes a network transmission load and a servo motor load;

[0011] Inputting the control response delay into the motor intelligent control model, adjusting the initial execution scheduling, and obtaining the motor execution scheduling result;

[0012] The plurality of servo motors drive and control the corresponding horizontal tool magazines according to the motor execution scheduling results.

[0013] Further, the control response delay is input into the motor intelligent control model, the initial execution scheduling is adjusted, and the motor execution scheduling result is obtained, including:

[0014] Establishing an execution scheduling queue for managing the sending of control instructions to the servo motor, and queueing the initial execution scheduling to form an initial instruction sequence;

[0015] The initial instruction sequence is adjusted according to the control response delay, wherein the control response with relatively high delay is in front and the control response with relatively low delay is in the back, forming a delayed instruction sequence;

[0016] The motor execution scheduling result is obtained according to the delayed instruction sequence, and control instructions are sent to the multiple servo motors.

[0017] Further, the initial instruction is adjusted according to the control response delay, wherein the control response with relatively high delay is in front and the control response with relatively low delay is in the back, forming a delayed instruction sequence, including:

[0018] Based on the initial instruction sequence, two adjacent control instructions are compared in sequence, and a true-false exchange operation is performed, so that the control instruction with a relatively high control response delay is set before the close sequence, and the control instruction with a relatively low control response delay is set after the close sequence;

[0019] Determine whether the control response delay between two adjacent control instructions is relatively high or low. If the previous item is greater than the next item, perform a false exchange operation, wherein the false exchange operation is to maintain the original order of the two control instructions. If the next item is greater than the previous item, perform a true exchange operation, wherein the original positions of the two control instructions are interchanged.

[0020] Repeat the adjacent comparison and the true and false exchange operation until all the false exchange operations are performed in one traversal, and determine that the current sequence is a delayed instruction sequence.

[0021] Furthermore, an auxiliary scheduling queue is established to send control instructions to the plurality of servo motors together with the execution scheduling queue, including:

[0022] Calculate the average response delay in the execution scheduling queue according to the control response delay, and set the average response delay as a delay boundary point;

[0023] Dividing the delayed instruction sequence into a high-delay instruction sequence and a low-delay instruction sequence according to the delay boundary point;

[0024] Sequentially enter the high-latency instructions into the execution scheduling queue, with the control response relatively high latency first and the control response relatively low latency last, and sequentially enter the low-latency instructions into the auxiliary scheduling queue, with the control response relatively low latency first and the control response relatively high latency last;

[0025] The execution scheduling queue and the auxiliary scheduling queue synchronously send the control instructions according to the high-latency instruction sequence and the low-latency instruction sequence respectively, and each synchronous sending is for at most two control instructions.

[0026] Further, collecting the control response delay of each servo motor driving the horizontal tool magazine includes:

[0027] Using timestamps to mark the time node of sending the tool control command and the time node of the servo motor responding to the tool control command and completing the execution, and calculating the time difference between sending the tool control command and completing the execution as the actual control response time;

[0028] The network transmission load and the servo motor load within the actual control response time are monitored, wherein the monitoring of the network transmission load includes real-time monitoring of the sending and receiving time of the data packet, and the monitoring of the servo motor load includes real-time monitoring of the load change and power consumption of the servo motor during the execution process.

[0029] Further, monitoring the servo motor load within the actual control response time includes:

[0030] Obtaining tool-using task information corresponding to the horizontal tool magazine, and analyzing the corresponding tool-changing operation complexity according to the tool-using task information;

[0031] Acquire equipment parameter information of the servo motor and tool parameter information of the horizontal tool magazine;

[0032] The servo motor is monitored according to the tool change complexity, the equipment parameter information and the tool parameter information to obtain a mechanical control load, wherein the mechanical control load includes a torque control load, an inertia control load and a friction control load.

[0033] Furthermore, the scheduling strategy is optimized for the motor execution scheduling result, including:

[0034] Collecting historical processing task information and preprocessing the historical processing task information;

[0035] Classifying the preprocessed historical processing task information according to the performance of the servo motor, and establishing a tool magazine scheduling database for storing and managing the historical processing task information;

[0036] The tool magazine scheduling database is deeply learned according to the classification results to obtain a mapping relationship between the motor execution scheduling results and the tool change operation efficiency, and the scheduling strategy of the motor execution scheduling results is optimized.

[0037] Furthermore, the deep learning results are verified and trained, including:

[0038] Calculating the tool change operation complexity of each machining task under each of the classification results, wherein the tool change operation complexity is the number of tool changes during the task and the operation time corresponding to each tool change;

[0039] Under each of the classification results, the historical processing task information with the same tool change operation complexity is screened, and the screened historical processing task information is constructed into several training sets and verification sets to verify and train the deep learning results.

[0040] A servo motor-based horizontal tool magazine control system, the system comprising:

[0041] The tool magazine scheduling system module obtains tool-using task information corresponding to a plurality of horizontal tool magazines, and sets initial execution scheduling for a plurality of servo motors according to the tool-using task information, wherein the plurality of horizontal tool magazines correspond to the plurality of servo motors one by one, and the corresponding servo motors perform operation control on the horizontal tool magazines;

[0042] Constructing a motor intelligent control module and a motor intelligent control model, wherein the motor intelligent control model receives the tool task information and sends a tool control command to the servo motor;

[0043] A delay data collection module collects the control response delay of each servo motor drive corresponding to the horizontal tool magazine, wherein the control response delay includes a network transmission load and a servo motor load;

[0044] Optimizing the motor scheduling module, inputting the control response delay into the motor intelligent control model, adjusting the initial execution scheduling, and obtaining the motor execution scheduling result;

[0045] The motor scheduling controls the tool magazine module, and the plurality of servo motors drive and control the corresponding horizontal tool magazines according to the motor execution scheduling results.

[0046] Furthermore, the motor scheduling optimization module includes:

[0047] Initialize the scheduling queue unit, establish an execution scheduling queue for managing the sending of control instructions to the servo motor, and queue the initial execution scheduling to form an initial instruction sequence;

[0048] An optimization delay instruction sequence unit adjusts the initial instruction sequence according to the control response delay, wherein the control response with relatively high delay is in the front and the control response with relatively low delay is in the back, forming a delay instruction sequence;

[0049] An execution scheduling and sending instruction unit obtains the motor execution scheduling result according to the delayed instruction sequence, and sends control instructions to the multiple servo motors.

[0050] The technical solution of the present invention can achieve the following technical effects:

[0051] It effectively solves the problems of traditional tool magazine control systems in terms of response speed and flexibility. It optimizes the execution scheduling of servo motors through intelligent motor control models to ensure accurate and efficient tool operations. The system collects control response delays and adjusts the initial execution plan in real time, thereby improving operational efficiency, reducing resource waste, and improving product quality. In addition, the system reduces manual intervention and operational errors, reduces maintenance costs, and enhances the reliability and stability of the overall system, making the production process smoother and more economical.

[0052] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 Schematic diagram of the process of optimizing tool magazine scheduling for servo motor control for intelligent model;

[0055] Figure 2 A flow chart of a scheduling system for optimizing a servo motor control sequence according to response delay;

[0056] Figure 3 A schematic diagram of a sorting algorithm for optimizing response delay by comparing and exchanging control instructions;

[0057] Figure 4 A flowchart of a process for classifying and synchronously sending control instructions according to response delays;

[0058] Figure 5 Schematic diagram of the structure for monitoring the response time with timestamps and real-time monitoring of the network and motor loads. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0061] Embodiment 1

[0062] like Figure 1 As shown, the present application provides a method for controlling a horizontal tool magazine based on a servo motor, the method comprising:

[0063] S100: Obtain tool-using task information corresponding to a plurality of horizontal tool magazines, and set initial execution scheduling for a plurality of servo motors according to the tool-using task information, wherein the plurality of horizontal tool magazines correspond to the plurality of servo motors one by one, and the corresponding servo motors control the operation of the horizontal tool magazines;

[0064] S200: constructing a motor intelligent control model, which receives tool task information and sends a tool control command to the servo motor;

[0065] S300: collecting the control response delay of each servo motor drive corresponding to the horizontal tool magazine, the control response delay includes the network transmission load and the servo motor load;

[0066] S400: inputting the control response delay into the motor intelligent control model, adjusting the initial execution scheduling, and obtaining the motor execution scheduling result;

[0067] S500: Multiple servo motors drive and control corresponding horizontal tool magazines according to the motor execution scheduling results.

[0068] Specifically, the task information of each horizontal tool magazine to be processed is obtained, and the demand information of the corresponding tool magazine for specific tools is obtained based on the task information. Based on this information, an initial execution schedule is set and sent to all servo motors in sequence. The initial execution schedule can send execution commands to the servo motors according to a single priority level to ensure that the servo motors operate the tool magazine on demand. Each horizontal tool magazine directly corresponds to a servo motor. According to the one-to-one correspondence, each motor is responsible for the motion control of a specific tool magazine, so that the operation of each tool magazine can be managed in a refined manner; the motor intelligent control model can generate control commands based on the input tool task information. The control instructions generated by the model are used to guide the servo motor to perform specific tool operations, such as starting, stopping, and tool changing; the control response delay is the time from when the control commands are sent to the servo motor to execute these commands. The time required for actual operation of the tool magazine includes the delay of command transmission through the control network and the delay of the servo motor in processing these commands. The system collects these delay data in real time, including the load delay of network transmission and the processing load of the servo motor itself, which plays a key role in evaluating the actual performance of the system and optimizing the control strategy. The measured control response delay is fed back to the motor intelligent control model so that the model can adjust its initial execution plan according to these real-time data. The adjusted execution schedule will take into account the various delays encountered in actual operation to optimize the operating efficiency of the entire tool magazine and reduce waiting time. After the execution schedule is optimized and adjusted, each servo motor will control the corresponding flat tool magazine to operate according to the new scheduling plan, so that each tool magazine can complete the task within the optimal time, thereby improving the efficiency of the entire production line and reducing errors and delays in operation.

[0069] The technical solution of the present invention effectively solves the problems of traditional tool magazine control systems in terms of response speed and flexibility. The intelligent motor control model is used to optimize the execution scheduling of the servo motor to ensure accurate and efficient tool operation. The system collects control response delays and adjusts the initial execution plan in real time, thereby improving operational efficiency, reducing resource waste, and improving product quality. In addition, the system reduces manual intervention and operating errors, reduces maintenance costs, and enhances the reliability and stability of the overall system, making the production process smoother and more economically efficient.

[0070] Further, if Figure 2 As shown, the control response delay is input into the motor intelligent control model, the initial execution schedule is adjusted, and the motor execution scheduling result is obtained, including:

[0071] S21: Establishing an execution scheduling queue to manage the sending of control instructions to the servo motor, and queueing the initial execution scheduling to form an initial instruction sequence;

[0072] S22: adjusting the initial instruction sequence according to the control response delay, wherein the control response with relatively high delay is in the front and the control response with relatively low delay is in the back, forming a delayed instruction sequence;

[0073] S23: Obtain the motor execution scheduling result according to the delayed instruction sequence, and send control instructions to multiple servo motors.

[0074] As a preferred embodiment of the above, creating an execution scheduling queue can not only be used to manage the control instructions sent to the servo motor, but also ensure that the instructions can be executed in a specific order and priority, so as to achieve effective control of the servo motor. The initial execution schedule is the initial set of control instructions. These instructions will be placed in the scheduling queue. These instructions constitute an initial instruction sequence; in actual operation, the execution of control instructions may be affected by various delays, such as network transmission delays, servo motor processing delays, etc. The initial instruction sequence is adjusted to take these delay factors into account. The system will re-order the initial instruction sequence according to the measured delay data, and those instructions with longer response times, that is, instructions with higher control response delays, will be placed in advance. Arrange them in a queue so that the operation can start as early as possible, thereby avoiding delays in subsequent operations due to waiting for a response. On the contrary, those operations with a shorter response time can be executed later, which can allocate resources more reasonably and avoid unnecessary waiting and waste of resources. The final execution scheduling result is generated according to the adjusted delayed instruction sequence, which specifies when each servo motor should start its corresponding operation. The system sends control instructions to each servo motor according to this optimized scheduling result. The instructions are executed in a new order, and each operation can be performed at the optimal time, which effectively improves the system's processing speed and accuracy of control commands, reduces the decline in production efficiency due to response delays, and ensures the continuity and stability of the production process.

[0075] Further, if Figure 3 As shown, the initial instruction is adjusted according to the control response delay, wherein the control response with relatively high delay is in front and the control response with relatively low delay is in the back, forming a delayed instruction sequence, including:

[0076] Based on the initial instruction sequence, two adjacent control instructions are compared in sequence, and a true-false exchange operation is performed, so that the control instruction with a relatively high control response delay is set before the close sequence, and the control instruction with a relatively low control response delay is set after the close sequence;

[0077] Determine the relative height of the control response delay between two adjacent control instructions. If the previous one is greater than the next one, perform a false exchange operation to maintain the original order of the two control instructions. If the next one is greater than the previous one, perform a true exchange operation to swap the original positions of the two control instructions.

[0078] Repeat adjacent comparisons and true and false exchange operations until all false exchange operations are performed in one traversal, and determine that the current sequence is a delayed instruction sequence.

[0079] In this embodiment, the system compares each pair of adjacent control instructions in turn. For each pair of adjacent instructions, the system checks their control response delay, that is, the time from the instruction being sent to the device responding, and performs a true or false exchange operation; a false exchange operation, if the response delay of the previous item in the list is greater than or equal to the next item, then their current order is maintained, indicating that in the two items, the earlier instruction does not need to be placed after, because its response delay is not less than that of the next item; a true exchange operation, if the response delay of the next item is greater than that of the previous item, then the positions of the two items are exchanged, in order to push the instruction with a longer response time to the front of the sequence so that it can be processed earlier; The comparison and exchange process is repeated from the beginning to the end of the sequence, and the position of the control instruction may be adjusted each time. This process continues until no true exchange operation occurs in a round of scanning. When a complete round of scanning is completed and no true exchange operation occurs, it indicates that the current sequence has stabilized and each control instruction is in the optimal position according to its response delay. The sequence is confirmed as the final delayed instruction sequence. The advantage of this method is that it can effectively reduce the overall system delay caused by the control instruction response delay, and improve the response efficiency and operation smoothness of the entire system by ensuring that slower operations are processed earlier.

[0080] Further, if Figure 4 As shown, an auxiliary scheduling queue is established to send control instructions to multiple servo motors together with the execution scheduling queue, including:

[0081] S41: Calculate the average response delay in the execution scheduling queue according to the control response delay, and set the average response delay as the delay boundary point;

[0082] S42: Dividing the delayed instruction sequence into a high-delay instruction sequence and a low-delay instruction sequence according to the delay boundary point;

[0083] S43: Sequentially enter the high-latency instructions into the execution scheduling queue, with the control response with relatively high latency first and the control response with relatively low latency last, and sequentially enter the low-latency instructions into the auxiliary scheduling queue, with the control response with relatively low latency first and the control response with relatively high latency last;

[0084] S44: The execution scheduling queue and the auxiliary scheduling queue synchronously send the control instructions according to the high-latency instruction sequence and the low-latency instruction sequence respectively, and at most two control instructions are synchronously sent each time.

[0085] As a preferred embodiment of the above, response delay refers to the time it takes for an instruction to be sent to a device to respond to the instruction. The system collects response delay data for all control instructions and calculates the average value of these delay data. This average value will be set as the delay boundary point, and this delay boundary point can be used to distinguish control instructions with relatively long and short response times; the instruction sequence is divided according to the delay boundary point, and the control instructions are divided into two sequences, a high-latency instruction sequence and a low-latency instruction sequence, using the calculated average response delay, i.e., the delay boundary point. The high-latency instruction sequence includes instructions with a response delay greater than the average delay, and the low-latency instruction sequence includes instructions with a response delay lower than the average delay; the high-latency instruction sequence is put into the main execution scheduling queue, and in this queue, instructions with higher response delays are ranked first, and instructions with lower response delays are ranked second. Later, in order to give priority to instructions with longer response times and reduce delays caused by waiting for the execution of the above instructions, low-latency instructions are placed in an auxiliary scheduling queue, in which instructions with lower response delays are placed in front and instructions with higher response delays are placed in the back, so as to quickly process the above-mentioned operations with fast response speeds, thereby improving the overall processing speed; the execution scheduling queue and the auxiliary scheduling queue will synchronously send control instructions to the corresponding servo motors or devices according to their respective instruction sequences. The system will take one control instruction from each queue and send it at the same time, so as to balance the processing speed and response priority, and the number of control instructions sent synchronously each time is limited to a maximum of two. This ensures that the system will not be overloaded due to processing too many instructions at the same time, while also maintaining processing efficiency and orderliness.

[0086] Further, if Figure 5 As shown, the control response delay of each servo motor drive corresponding to the horizontal tool magazine is collected, including:

[0087] S51: using a timestamp to mark the time node of sending the tool control command and the time node of the servo motor responding to the tool control command and completing the execution, and calculating the time difference between sending the tool control command and completing the execution as the actual control response time;

[0088] S52: Monitor the network transmission load and the servo motor load within the actual control response time, wherein the monitoring of the network transmission load includes real-time monitoring of the sending and receiving time of the data packet, and the monitoring of the servo motor load includes real-time monitoring of the load change and power consumption of the servo motor during the execution process.

[0089] In this embodiment, a timestamp is recorded when a tool control command is sent, and a timestamp is also recorded when the servo motor completes the execution of the command. These timestamps are used to capture the entire cycle from the issuance of the command to the completion of the execution. The above two timestamps are used to calculate the time difference between the sending of the tool control command and the completion of the execution of the servo motor. This time difference is the actual control response time, which reflects the speed of the system processing and responding to instructions. The monitoring of the network transmission load involves the sending and receiving time of the data packet in the network. High network load may cause increased data transmission delay, thereby affecting the real-time performance of the control system. By monitoring the network transmission load, network problems such as insufficient bandwidth or network configuration errors can be identified, so as to make corresponding adjustments and optimizations. Monitoring the load of the servo motor can monitor the load changes and power consumption of the motor during the execution process in real time. The load changes can be monitored by changes in current or torque, and the power consumption monitoring involves the use of electric energy, which can help identify whether the motor is overloaded or whether there are efficiency problems. By combining these monitoring and analysis, the performance of the entire control system can be optimized to ensure that the machine runs efficiently and stably, and potential technical problems can also be discovered and solved in a timely manner.

[0090] Furthermore, the servo motor load is monitored during the actual control response time, including:

[0091] Obtain tool usage task information corresponding to the horizontal tool magazine, and analyze the corresponding tool change operation complexity according to the tool usage task information;

[0092] Obtain the equipment parameter information of the servo motor and the tool parameter information of the horizontal tool magazine;

[0093] The servo motor is monitored according to the tool change complexity, equipment parameter information and tool parameter information to obtain the mechanical control load, which includes torque control load, inertia control load and friction control load.

[0094] In this embodiment, tool task information is obtained. This information may include extracting the specific tool type, quantity, usage frequency, expected usage time, etc. required for each task from the production management system. Based on the tool information, the complexity of the tool change operation can be evaluated by considering different factors, such as the tool change frequency, the required time, etc. Higher complexity means that more time and resources are required to complete the tool change, which may affect the overall efficiency of the production line; the equipment parameter information of the servo motor and the tool parameter information of the flat tool magazine are obtained. The equipment parameter information of the servo motor can usually be obtained from the technical manual or product data sheet provided by the equipment manufacturer. Tool parameter information, such as the weight, size, and material type of the tool , durability, etc. This information can be used to learn how to use the tool most effectively. Mechanical control load monitoring can be used to monitor and record the performance of the servo motor in operation in real time, including its ability to respond to different load types. Torque control load can overcome processing load and tool weight by monitoring the torque that the motor needs to generate. Inertia control load involves the load that the motor overcomes during acceleration or deceleration, such as the dynamic response when quickly changing tools. Friction control load can monitor and evaluate the friction between mechanical parts during operation. Through these detailed steps, the control strategy of the servo motor can be optimized, thereby improving production efficiency, reducing operation and maintenance costs, and enhancing the stability and reliability of the system.

[0095] Furthermore, the scheduling strategy is optimized for the motor execution scheduling results, including:

[0096] Collect historical processing task information and pre-process the historical processing task information;

[0097] The pre-processed historical processing task information is classified according to the performance of the servo motor, and a tool magazine scheduling database is established to store and manage the historical processing task information;

[0098] According to the classification results, deep learning is performed on the tool magazine scheduling database to obtain the mapping relationship between the motor execution scheduling results and the tool changing operation efficiency, and the scheduling strategy is optimized for the motor execution scheduling results.

[0099] As a preferred embodiment of the above, historical processing task data is collected, such as processing time, tools used, processing materials, number of tool changes, etc., and preprocessing steps are performed, such as cleaning data, standardizing data and possible feature engineering, etc.; processing tasks are classified according to the performance characteristics of different servo motors. Classification can help identify processing tasks suitable for different types of motors, so as to more effectively arrange tool use and replacement, and create a database to store and manage these classified historical processing task information. This database not only stores historical data, but also supports query and update, providing a basis for subsequent data analysis and model training; a deep learning model is used to analyze the data in the tool magazine scheduling database to find the mapping relationship between the motor execution scheduling results and the tool change operation efficiency. The mapping relationship can predict the optimal time for tool use, the best tool change time, etc. Based on the results obtained by the deep learning model, the order in which tasks are assigned to specific motors can be adjusted, and the tool change plan can be optimized to reduce downtime, etc., which can not only improve the job scheduling and resource allocation on the production line, but also improve production efficiency and reduce costs.

[0100] Furthermore, the deep learning results are verified and trained, including:

[0101] Calculate the tool change operation complexity of each machining task under each classification result. The tool change operation complexity is the number of tool changes during the task and the operation time corresponding to each tool change.

[0102] Under each classification result, the historical machining task information with the same tool change operation complexity is filtered, and the filtered historical machining task information is constructed into several training sets and verification sets to verify and train the deep learning results.

[0103] In this embodiment, the complexity of the tool changing operation refers to the number of tool changing operations required and the time required for each tool change during the execution of a specific machining task. Tool changing is a common step in machining. Different tools may be required when machining different types of parts. The calculation of complexity can help evaluate the difficulty and time cost of the task. The screened historical machining task information will be used to construct the training set and validation set of the learning model. The training set is used for model training, that is, to let the machine learning model learn how to predict or optimize the number and time of tool changes through a large amount of data. The validation set is used to test the accuracy of the model, that is, to test how the model performs on unseen data. A deep learning model can be used to predict the complexity of the tool changing operation or optimize the tool changing process. Verification and training are two key steps in the learning model to ensure that the model not only performs well on known data, but also maintains good performance on unknown data.

[0104] Embodiment 2

[0105] Based on the same inventive concept as the horizontal tool magazine control method based on a servo motor in the aforementioned embodiment, the present invention also provides a horizontal tool magazine control system based on a servo motor, the system comprising:

[0106] The tool magazine scheduling system module obtains tool-using task information corresponding to multiple horizontal tool magazines, and sets initial execution scheduling for multiple servo motors according to the tool-using task information, wherein the multiple horizontal tool magazines correspond to the multiple servo motors one by one, and the corresponding servo motors control the operation of the horizontal tool magazines;

[0107] Build a motor intelligent control module and a motor intelligent control model. The motor intelligent control model receives tool task information and sends tool control commands to the servo motor.

[0108] The delay data acquisition module acquires the control response delay of each servo motor drive corresponding to the horizontal tool magazine. The control response delay includes the network transmission load and the servo motor load.

[0109] Optimize the motor scheduling module, input the control response delay into the motor intelligent control model, adjust the initial execution scheduling, and obtain the motor execution scheduling result;

[0110] The motor scheduling controls the tool magazine module, and multiple servo motors drive and control the corresponding horizontal tool magazines according to the motor execution scheduling results.

[0111] The above-mentioned adjustment system in the present invention can effectively realize the horizontal tool magazine control system based on the servo motor, and the technical effects that can be achieved are as described in the above-mentioned embodiments, which will not be repeated here.

[0112] Specifically, the optimized motor scheduling module includes:

[0113] Initialize the scheduling queue unit, establish an execution scheduling queue, which is used to manage the sending control instructions to the servo motor, and queue the initial execution scheduling to form an initial instruction sequence;

[0114] Optimizing the delayed instruction sequence unit, adjusting the initial instruction sequence according to the control response delay, wherein the control response with relatively high delay is in the front and the control response with relatively low delay is in the back, forming a delayed instruction sequence;

[0115] The execution scheduling and sending instruction unit obtains the motor execution scheduling result according to the delayed instruction sequence and sends control instructions to multiple servo motors.

[0116] Similarly, the above-mentioned optimization schemes for the system can also respectively achieve the optimization effects corresponding to the method in Example 1, which will not be repeated here.

[0117] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined herein and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application is intended to include these modifications and variations.

Claims

1. A servo motor-based horizontal tool magazine control method, characterized in that: The method comprises: Obtain tool-using task information corresponding to a plurality of horizontal tool magazines, and set initial execution scheduling for a plurality of servo motors according to the tool-using task information, wherein the plurality of horizontal tool magazines correspond to the plurality of servo motors one-to-one, and the corresponding servo motors perform operation control on the horizontal tool magazines; Constructing a motor intelligent control model, wherein the motor intelligent control model receives the tool task information and sends a tool control command to the servo motor; Collecting the control response delay of each servo motor drive corresponding to the horizontal tool magazine, wherein the control response delay includes a network transmission load and a servo motor load; Inputting the control response delay into the motor intelligent control model, adjusting the initial execution scheduling, and obtaining the motor execution scheduling result, including: Establishing an execution scheduling queue for managing the sending of control instructions to the servo motor, and queueing the initial execution scheduling to form an initial instruction sequence; The initial instruction sequence is adjusted according to the control response delay, wherein the control response with relatively high delay is in front and the control response with relatively low delay is in the back, forming a delayed instruction sequence; Acquire the motor execution scheduling result according to the delayed instruction sequence, and send control instructions to the multiple servo motors; The plurality of servo motors drive and control the corresponding horizontal tool magazines according to the motor execution scheduling results.

2. The servo motor-based horizontal tool magazine control method according to claim 1 is characterized in that: The initial instruction is adjusted according to the control response delay, wherein the control response with relatively high delay is in front and the control response with relatively low delay is in the back, forming a delayed instruction sequence, including: Based on the initial instruction sequence, two adjacent control instructions are compared in sequence, and a true-false exchange operation is performed, so that the control instruction with a relatively high control response delay is set before the close sequence, and the control instruction with a relatively low control response delay is set after the close sequence; Determine whether the control response delay between two adjacent control instructions is relatively high or low. If the previous item is greater than the next item, perform a false exchange operation, wherein the false exchange operation is to maintain the original order of the two control instructions. If the next item is greater than the previous item, perform a true exchange operation, wherein the original positions of the two control instructions are interchanged. Repeat the adjacent comparison and the true and false exchange operation until all the false exchange operations are performed in one traversal, and determine that the current sequence is a delayed instruction sequence.

3. The servo motor-based horizontal tool magazine control method according to claim 1, characterized in that: Establishing an auxiliary scheduling queue to send control instructions to the plurality of servo motors together with the execution scheduling queue, including: Calculate the average response delay in the execution scheduling queue according to the control response delay, and set the average response delay as a delay boundary point; Dividing the delayed instruction sequence into a high-delay instruction sequence and a low-delay instruction sequence according to the delay boundary point; Sequentially enter the high-latency instructions into the execution scheduling queue, with the control response relatively high latency first and the control response relatively low latency last, and sequentially enter the low-latency instructions into the auxiliary scheduling queue, with the control response relatively low latency first and the control response relatively high latency last; The execution scheduling queue and the auxiliary scheduling queue synchronously send the control instructions according to the high-latency instruction sequence and the low-latency instruction sequence respectively, and each synchronous sending is for at most two control instructions.

4. The servo motor-based horizontal tool magazine control method according to claim 1, characterized in that: Collecting the control response delay of each servo motor drive corresponding to the horizontal tool magazine includes: Using timestamps to mark the time node of sending the tool control command and the time node of the servo motor responding to the tool control command and completing the execution, and calculating the time difference between sending the tool control command and completing the execution as the actual control response time; The network transmission load and the servo motor load within the actual control response time are monitored, wherein the monitoring of the network transmission load includes real-time monitoring of the sending and receiving time of the data packet, and the monitoring of the servo motor load includes real-time monitoring of the load change and power consumption of the servo motor during the execution process.

5. The servo motor-based horizontal tool magazine control method according to claim 4, characterized in that: Monitoring the servo motor load within the actual control response time includes: Obtaining tool-using task information corresponding to the horizontal tool magazine, and analyzing the corresponding tool-changing operation complexity according to the tool-using task information; Acquire equipment parameter information of the servo motor and tool parameter information of the horizontal tool magazine; The servo motor is monitored according to the complexity of the tool changing operation, the equipment parameter information and the tool parameter information to obtain a mechanical control load, wherein the mechanical control load includes a torque control load, an inertia control load and a friction control load.

6. The method for controlling a horizontal tool magazine based on a servo motor according to claim 1, characterized in that: Optimizing the scheduling strategy for the motor execution scheduling result includes: Collecting historical processing task information and preprocessing the historical processing task information; Classifying the preprocessed historical processing task information according to the performance of the servo motor, and establishing a tool magazine scheduling database for storing and managing the historical processing task information; The tool magazine scheduling database is deeply learned according to the classification results to obtain a mapping relationship between the motor execution scheduling results and the tool change operation efficiency, and the scheduling strategy of the motor execution scheduling results is optimized.

7. The servo motor-based horizontal tool magazine control method according to claim 6, characterized in that: Verify and train deep learning results, including: Calculating the tool change operation complexity of each machining task under each of the classification results, wherein the tool change operation complexity is the number of tool changes during the task and the operation time corresponding to each tool change; Under each of the classification results, the historical processing task information with the same tool change operation complexity is screened, and the screened historical processing task information is constructed into several training sets and verification sets to verify and train the deep learning results.

8. A horizontal tool magazine control system based on a servo motor, characterized in that: The system comprises: The tool magazine scheduling system module obtains tool-using task information corresponding to a plurality of horizontal tool magazines, and sets initial execution scheduling for a plurality of servo motors according to the tool-using task information, wherein the plurality of horizontal tool magazines correspond to the plurality of servo motors one by one, and the corresponding servo motors perform operation control on the horizontal tool magazines; Constructing a motor intelligent control module and a motor intelligent control model, wherein the motor intelligent control model receives the tool task information and sends a tool control command to the servo motor; A delay data collection module collects the control response delay of each servo motor drive corresponding to the horizontal tool magazine, wherein the control response delay includes a network transmission load and a servo motor load; Optimizing the motor scheduling module, inputting the control response delay into the motor intelligent control model, adjusting the initial execution scheduling, and obtaining the motor execution scheduling result; A motor scheduling and controlling tool magazine module, wherein the plurality of servo motors drive and control the corresponding horizontal tool magazines according to the motor execution scheduling results; The optimized motor scheduling module includes: Initialize the scheduling queue unit, establish an execution scheduling queue for managing the sending of control instructions to the servo motor, and queue the initial execution scheduling to form an initial instruction sequence; An optimization delay instruction sequence unit adjusts the initial instruction sequence according to the control response delay, wherein the control response with relatively high delay is in the front and the control response with relatively low delay is in the back, forming a delay instruction sequence; An execution scheduling and sending instruction unit obtains the motor execution scheduling result according to the delayed instruction sequence, and sends control instructions to the multiple servo motors.

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