Ultrasonic machining control method, system, storage medium and device

Abstract

The invention relates to an ultrasonic machining control method and system, a storage medium and a device. The method comprises the following steps: acquiring an amplitude threshold value of a target ultrasonic part and a calibration amplitude calibrated according to hundred percent of driving signal output power, and determining an initial power output proportion according to the amplitude threshold value and the calibration amplitude; and outputting a driving signal to the target ultrasonic part based on the initial power output proportion to enable the target ultrasonic part to enter a working state. The amplitude can be controlled to be kept constant in the ultrasonic machining process, and therefore the ultrasonic machining quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of numerical control machining, and in particular to an ultrasonic machining control method, system, storage medium and device. Background Art

[0002] In the actual application of ultrasonic machining system, the amplitude (vibration amplitude) of ultrasonic components (such as ultrasonic tool holders) is a very critical technical parameter, which directly affects the effect and accuracy of ultrasonic machining. The amplitude of ultrasonic components may vary according to different application requirements, but generally speaking, the amplitude range of ultrasonic components is between 0.5-50um.

[0003] In the actual processing, the amplitude of the ultrasonic component may be affected by many factors, such as changes in ambient temperature, the movement trajectory of the tool tip, and the load on the tool tip. Fluctuations in these factors may interfere with the stability of the amplitude, thereby affecting the quality of ultrasonic processing. Although the stability of the amplitude is crucial to ensuring the processing quality, real-time monitoring and control of the amplitude of the ultrasonic component during the processing process has always been a technical challenge, especially in achieving accurate measurement of the amplitude and maintaining constant control under dynamic conditions. There is currently no universally applicable solution in the industry. Summary of the invention

[0004] In view of the above-mentioned deficiencies or shortcomings, the present application provides an ultrasonic machining control method, system, storage medium and device. The embodiments of the present application can maintain constant control of the amplitude of the ultrasonic component during the ultrasonic machining process, thereby improving the ultrasonic machining quality.

[0005] The present application provides an ultrasonic machining control method according to a first aspect. In some embodiments, the method includes:

[0006] Obtaining an amplitude threshold and a calibrated amplitude of a target ultrasonic component, and calibrating the calibrated amplitude according to the amplitude threshold and the calibrated amplitude based on 100% of the output power of the driving signal;

[0007] Determine the initial power output ratio according to the amplitude threshold and the calibration amplitude;

[0008] A driving signal is output to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

[0009] In some embodiments, after outputting a driving signal to the target ultrasonic component based on the initial power output ratio so that the target ultrasonic component enters a working state, the method further includes:

[0010] Detecting the resonant frequency of the target ultrasonic component in a no-load working state, recorded as the no-load resonant frequency, and obtaining the output power of the driving signal corresponding to the no-load resonant frequency, recorded as the target output power;

[0011] When the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range; the real-time output power represents the real-time output power of the driving signal.

[0012] In some embodiments, determining the initial power output ratio according to the amplitude threshold and the calibrated amplitude includes:

[0013] Divide the amplitude threshold by the calibration amplitude to obtain the initial power output ratio.

[0014] In some embodiments, detecting the resonant frequency of the target ultrasonic component in a no-load working state includes:

[0015] A frequency sweep is performed within a specified working frequency range, and based on the frequency sweep result, a resonant frequency of the target ultrasonic component in a no-load working state is determined as a no-load resonant frequency.

[0016] In some embodiments, adaptively adjusting the power output ratio according to the real-time output power and the target output power includes:

[0017] Compare the monitored real-time output power with the target output power;

[0018] When the absolute value of the difference between the real-time output power and the target output power is greater than the preset power threshold, the power output ratio is adjusted so that the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

[0019] In some embodiments, adjusting the power output ratio includes:

[0020] When the real-time output power is less than the target output power, the power output ratio is increased to increase the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold;

[0021] When the real-time output power is greater than the target output power, the power output ratio is lowered to reduce the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

[0022] In some embodiments, when the target ultrasonic component is in a loaded working state, the method further includes:

[0023] Periodically perform resonant frequency detection and operating frequency adjustment;

[0024] The resonant frequency detection includes taking the current load resonant frequency as the sweep starting point and the preset step value as the sweep step, performing the sweep within the specified working frequency range, and obtaining the sweep frequency corresponding to the maximum current during the sweep as the new load resonant frequency of the target ultrasonic component;

[0025] The operating frequency adjustment includes: adaptively adjusting the operating frequency of the driving signal according to the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal, so that the absolute value of the difference between the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal is less than or equal to a preset frequency threshold.

[0026] In some embodiments, when the frequency sweep is performed within a specified operating frequency range with the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, the method includes:

[0027] Taking the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, sweeping the frequency in the first direction;

[0028] When the current detected after the first increase of a preset sweep frequency step is greater than the current corresponding to the current load resonant frequency, the sweep frequency continues to be performed in the first direction until the current detected after the nth preset sweep frequency step is increased is less than the current detected after the n-1th sweep frequency step is increased, and the frequency after the n-1th sweep frequency step is increased is used as the new load resonant frequency of the target ultrasonic component; n is a positive integer;

[0029] Or when the current detected after the first increase of a sweep step is less than the current corresponding to the current load resonant frequency, the current load resonant frequency is used as the sweep starting point and the preset step value is used as the sweep step, and the sweep is performed in the second direction until the current detected after the mth preset sweep step is increased is less than the current detected after the m-1th sweep step is increased, and the frequency after the m-1th sweep step is increased is used as the new load resonant frequency of the target ultrasonic component; m is a positive integer;

[0030] The frequency after increasing the nth frequency sweep step and the frequency after increasing the mth frequency sweep step are both within the specified operating frequency range;

[0031] The first direction is opposite to the second direction.

[0032] In some embodiments, before obtaining the calibration amplitude of the target ultrasonic component, the method further includes:

[0033] Controlling the target ultrasonic component to move to a specified amplitude detection position;

[0034] Outputting a driving signal to a target ultrasonic component at 100% of the driving signal output power;

[0035] Detecting whether the target ultrasonic component reaches a stable state under a no-load working state;

[0036] In response to detecting that the target ultrasonic component reaches a stable state under a no-load working state, an amplitude measurement is performed on the target ultrasonic component to obtain a calibrated amplitude of the target ultrasonic component.

[0037] In some embodiments, after outputting the driving signal to the target ultrasonic component based on the initial power output ratio, the method further includes:

[0038] Detecting whether the target ultrasonic component reaches a stable state under a no-load working state;

[0039] In response to the detection result being yes, the target ultrasonic component is controlled to process the workpiece so that the target ultrasonic component enters a loaded working state.

[0040] In some embodiments, detecting whether the target ultrasonic component reaches a stable state in a no-load working state includes:

[0041] Detecting whether the current fed back by the target ultrasonic component reaches a maximum value;

[0042] In response to the current fed back by the target ultrasonic component reaching a maximum value, it is determined that the target ultrasonic component is in a stable operating state.

[0043] In some embodiments, the method further includes: when the resonant frequency of the target ultrasonic component in a no-load working state cannot be determined based on the frequency scanning result, prompting an abnormality and stopping the operation.

[0044] The present application provides an ultrasonic machining control system according to a second aspect. In some embodiments, the system includes a numerical control system and an ultrasonic generator;

[0045] The numerical control system is configured to obtain an amplitude threshold of the target ultrasonic component and a calibrated amplitude calibrated according to 100% of the output power of the driving signal, determine an initial power output ratio according to the amplitude threshold and the calibrated amplitude, and send the initial power output ratio to the ultrasonic generator;

[0046] The ultrasonic generator is configured to output a driving signal to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

[0047] In some embodiments, the ultrasonic generator is further configured to detect the resonant frequency of the target ultrasonic component in a no-load working state, recorded as the no-load resonant frequency, and obtain the drive signal output power corresponding to the no-load resonant frequency, recorded as the target output power; when the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range; the real-time output power represents the real-time drive signal output power.

[0048] In some embodiments, the ultrasonic generator is further configured to detect whether the target ultrasonic component reaches a stable state in a no-load working state, and in response to a detection result of yes, send a processing command to the numerical control system;

[0049] The numerical control system is further configured to, in response to a processing command, instruct the numerical control machine tool to control the target ultrasonic component to process the workpiece, so that the target ultrasonic component enters a loaded working state, and sends an amplitude control instruction to the ultrasonic generator;

[0050] The ultrasonic generator is further configured to respond to the amplitude control instruction and execute an operation of adaptively adjusting the power output ratio according to the real-time output power and the target output power when the target ultrasonic component is in a loaded working state.

[0051] In some embodiments, the ultrasonic machining control system further includes an amplitude measurement sensor;

[0052] The numerical control system is further configured to instruct the numerical control machine tool to control the target ultrasonic component to move to a specified amplitude detection position, and to send an amplitude calibration instruction to the ultrasonic generator;

[0053] The ultrasonic generator is further configured to output a drive signal to a target ultrasonic component at 100% drive signal output power in response to an amplitude calibration instruction, detect whether the target ultrasonic component reaches a stable state under a no-load working state, and send a calibration command to a numerical control system in response to detecting that the target ultrasonic component reaches a stable state under a no-load working state;

[0054] The numerical control system is further configured to send an amplitude measurement command to the amplitude measurement sensor in response to the calibration command;

[0055] The amplitude measurement sensor is configured to measure the amplitude of the target ultrasonic component in response to the amplitude measurement command to obtain the calibrated amplitude of the target ultrasonic component.

[0056] In some embodiments, the amplitude measurement sensor is further configured to send the calibrated amplitude of the target ultrasonic component to the numerical control system;

[0057] The numerical control system is further configured to associate the calibrated amplitude of the target ultrasonic component with the target ultrasonic component and to send a command to the ultrasonic generator to turn off the ultrasonic output;

[0058] The ultrasonic generator is further configured to stop working in response to a command to turn off the ultrasonic output.

[0059] According to a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the ultrasonic machining control method provided in any one of the above embodiments are implemented.

[0060] According to a fourth aspect, the present application provides an ultrasonic machining control device. In some embodiments, the device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the ultrasonic machining control method provided in any one of the above embodiments are implemented.

[0061] The above embodiments of the present application can control the amplitude of the ultrasonic component to be constant during ultrasonic machining, thereby improving the quality of ultrasonic machining. Among them, the inventors found that the vibration amplitude of the ultrasonic component and the output power percentage (i.e., power output ratio) of the driving signal used to drive the ultrasonic component are almost linearly related. Based on this relationship, the vibration amplitude of the ultrasonic component corresponding to other output power percentages can be inferred. On this basis, when the target ultrasonic component is needed to process the workpiece, the initial power output ratio of the driving signal is determined according to the amplitude threshold of the target ultrasonic component and the calibrated amplitude calibrated in advance according to 100% of the driving signal output power, and the driving signal is output according to the ratio. The target ultrasonic component will enter the working state under the drive of the driving signal, that is, convert the electrical energy into high-frequency mechanical vibration to drive the tool tip of the processing tool in the ultrasonic component to generate high-frequency vibration, and then detect the resonant frequency of the target ultrasonic component in the no-load working state and the corresponding driving signal output power to obtain the target output power, and then in the actual machining process, the power output ratio is adjusted in real time according to the target output power and the real-time driving signal output power, so that the driving signal output power remains constant, thereby indirectly controlling the amplitude of the ultrasonic component to remain constant. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic flow chart of an ultrasonic machining control method provided by the present application according to one or more embodiments;

[0063] Figure 2 An exemplary schematic diagram of amplitude calibration and ultrasonic machining process provided by the present application according to one or more embodiments;

[0064] Figure 3A schematic diagram of a process for performing amplitude calibration on a target ultrasonic component according to one or more embodiments of the present application;

[0065] Figure 4 A schematic flow chart of another ultrasonic machining control method provided by the present application according to one or more embodiments;

[0066] Figure 5 This is a schematic diagram of the internal structure of an ultrasonic machining control device provided in accordance with one or more embodiments of the present application. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0068] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0069] In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0070] In view of the shortcomings or defects of the related art, the present application provides an ultrasonic machining control method, which can control the amplitude of each ultrasonic component used in the ultrasonic machining process within a pre-specified amplitude range, thereby ensuring the machining quality. In some embodiments, the method includes: Figure 1 The steps shown are described in detail below.

[0071] S110: Acquire an amplitude threshold of a target ultrasonic component and a calibrated amplitude calibrated according to 100% of the drive signal output power, and determine an initial power output ratio according to the amplitude threshold and the calibrated amplitude.

[0072] The ultrasonic machining control method provided in this embodiment can be applied in an ultrasonic machining system. When the ultrasonic machining system drives a machining tool to machine a workpiece, the output power of a driving signal is controlled to remain constant, thereby indirectly controlling the amplitude of the ultrasonic component being used to remain constant.

[0073] The ultrasonic machining system may be equipped with a plurality of ultrasonic components. In addition to the ultrasonic components, the ultrasonic machining system may also include a computerized numerical control system (CNC), a numerically controlled machine tool, and an ultrasonic generator. The ultrasonic generator is connected to each ultrasonic component and may transmit a drive signal to each ultrasonic component. The drive signal is a high-frequency electrical signal, specifically a sinusoidal electrical signal. After receiving the drive signal, the ultrasonic component may convert electrical energy into mechanical vibration and generate high-frequency vibration. In the embodiment provided in the present application, the ultrasonic component includes an ultrasonic tool handle and a machining tool connected to the ultrasonic tool handle.

[0074] The ultrasonic machining system can calibrate the amplitude of ultrasonic components and use the calibrated ultrasonic components for actual machining. Figure 2 The amplitude calibration of ultrasonic components and the ultrasonic machining process are explained.

[0075] In the embodiments provided in the present application, the ultrasonic component mentioned may specifically be an ultrasonic tool holder for clamping a processing tool, and the ultrasonic tool holder mentioned includes an ultrasonic tool holder body and a processing tool clamped on the ultrasonic tool holder body. Figure 21, 2, 3, 4, and 6 in the figure. The process includes: the CNC system instructs the CNC machine tool to move the ultrasonic tool handle to be calibrated to the designated position for amplitude detection, and then sends an amplitude calibration instruction to the ultrasonic generator. The ultrasonic generator will output a drive signal to the ultrasonic tool handle at 100% drive signal output power. At this time, the ultrasonic tool handle is in a no-load working state. The ultrasonic generator detects whether the ultrasonic tool handle has reached a stable state. If it has reached a stable state, it will feedback the calibration command to the CNC system. The CNC system will send an amplitude measurement instruction to the amplitude measurement sensor, and then the amplitude measurement sensor will measure the amplitude of the ultrasonic tool handle to obtain the calibrated amplitude of the ultrasonic tool handle. The amplitude measurement sensor will feed back the calibrated amplitude to the CNC system, and the CNC system will associate the ultrasonic tool handle with the calibrated amplitude for subsequent use. The purpose of this process is to perform full-power amplitude calibration on each ultrasonic tool handle on the CNC machine tool to obtain the amplitude data (i.e., the calibrated amplitude) of each ultrasonic tool handle. During calibration, since the ultrasonic tool handle body is equipped with a processing tool, the calibration process refers to calibrating the processing tool on the ultrasonic tool handle body to ensure the processing quality.

[0076] The process of machining using ultrasonic toolholders involves Figure 2 2, 3, 4, 5, and 6. The process includes: when an ultrasonic tool handle with a calibrated amplitude is required for processing, the numerical control system sets the initial power percentage of the ultrasonic generator according to the amplitude threshold sent by the numerical control machine tool and the pre-stored calibrated amplitude of the ultrasonic tool handle, and controls the ultrasonic tool handle to work. During the processing, the ultrasonic tool handle will feedback the relevant data of the working frequency and power to the ultrasonic generator, and then the ultrasonic generator can run the relevant algorithm of ultrasonic adaptation based on the data fed back by the ultrasonic tool handle during the operation of the ultrasonic tool handle, perform amplitude adaptive control to keep the amplitude of the ultrasonic tool handle constant, and perform frequency adaptive control to make the ultrasonic tool handle always work at the optimal working frequency.

[0077] The following describes the amplitude calibration and ultrasonic machining process using the target ultrasonic component as an example.

[0078] The target ultrasonic component can be any ultrasonic component in the ultrasonic machining system. Before the ultrasonic machining system uses any ultrasonic component to participate in machining, it is necessary to perform amplitude calibration measurement on it to determine the calibration amplitude corresponding to the ultrasonic component. It should be noted that amplitude calibration of the ultrasonic component is a prerequisite for using the ultrasonic component for machining, but it is not necessary to perform amplitude calibration on the ultrasonic component every time before starting the ultrasonic component for machining. After replacing the ultrasonic component, it is only necessary to perform amplitude calibration on the ultrasonic component once to obtain the corresponding calibration amplitude. As long as the ultrasonic component has not been replaced, there is no need to perform amplitude calibration when the ultrasonic component is used again. In addition, the amplitude calibration operation only needs to be performed before the ultrasonic component is used.

[0079] In some embodiments, the process of amplitude calibration of the target ultrasonic component, such as Figure 3 As shown, including:

[0080] S210: Controlling the target ultrasonic component to move to a designated amplitude detection position;

[0081] S220: Outputting a driving signal to the target ultrasonic component at 100% driving signal output power;

[0082] S230: Detecting whether the target ultrasonic component reaches a stable state in a no-load working state;

[0083] S240: In response to detecting that the target ultrasonic component reaches a stable state under the no-load working state, measuring the amplitude of the target ultrasonic component to obtain a calibrated amplitude of the target ultrasonic component.

[0084] When performing amplitude calibration operation on a target ultrasonic component, the numerical control system controls the numerical control machine tool to replace the target ultrasonic component. After the target ultrasonic component is replaced, the numerical control system controls the numerical control machine tool to move the target ultrasonic component to a test position of the amplitude measurement sensor.

[0085] The numerical control system sends the amplitude calibration command to the ultrasonic generator through the digital communication interface. After receiving the amplitude calibration command, the ultrasonic generator sets its own output power percentage to 100% (i.e., full power), and then outputs a driving signal to the target ultrasonic component. The target ultrasonic component will enter the working state. At this time, the numerical control system does not control the target ultrasonic component to process the workpiece, so the target ultrasonic component is in a no-load working state. The ultrasonic generator monitors whether the current fed back by the target ultrasonic component reaches the maximum value. If so, it is determined that the target ultrasonic component has reached a stable state under the no-load working state, and a calibration command is sent to the data system (indicating that the target ultrasonic component has been working stably and amplitude measurement can be performed).

[0086] After receiving the calibration command, the numerical control system sends an amplitude measurement command to the amplitude measurement sensor. The amplitude measurement sensor responds to the amplitude measurement command and starts testing. After completing the amplitude measurement of the target ultrasonic component, the measured amplitude data is sent to the numerical control system. After receiving the amplitude data, the numerical control system associates the amplitude data with the target ultrasonic component as the calibration amplitude. At this point, the amplitude calibration operation for the target ultrasonic component is completed. Among them, the numerical control system can specifically associate the position information of the target ultrasonic component in the tool magazine with the amplitude data. The position information of each ultrasonic component can come from the automatic detection of the numerical control system or the manual input of the user, or it can be determined by other detection modules and then transmitted to the numerical control system. After completing the amplitude calibration of the target ultrasonic component, the numerical control system will also send a command to turn off the ultrasonic output to the ultrasonic generator to control the ultrasonic generator to stop working.

[0087] After the target ultrasonic component has completed the amplitude calibration, it can be used for ultrasonic processing. Using the target ultrasonic component for processing means driving the target ultrasonic component to generate high-frequency mechanical vibration, and then controlling the target ultrasonic component to process the workpiece.

[0088] Before using the target ultrasonic component for actual processing (i.e., processing the workpiece), it is necessary to obtain its related amplitude threshold and calibration amplitude, and then determine the initial power output ratio of the drive signal based on these two parameters. Among them, the amplitude threshold refers to the amplitude of the pre-specified target ultrasonic component when in use; the calibration amplitude is the amplitude measured by pre-calibrating the amplitude of the target ultrasonic component. The power output ratio refers to the output power percentage of the drive signal. The drive signal is a high-frequency electrical signal sent to the target ultrasonic component, which is used to drive the target ultrasonic component to generate high-frequency mechanical vibrations.

[0089] There is an almost linear relationship between the vibration amplitude of the ultrasonic component and the output power percentage of the driving signal used to drive the ultrasonic component (i.e., the power output ratio). Therefore, when using the target ultrasonic component, the ultrasonic machining system can determine the initial power output ratio according to the amplitude threshold and the calibrated amplitude of the target ultrasonic component. Specifically, the initial power output ratio can be determined by the numerical control system.

[0090] In some embodiments, determining the power output ratio according to the amplitude threshold and the calibrated amplitude includes: obtaining the power output ratio according to the ratio of the amplitude corresponding to the amplitude threshold divided by the calibrated amplitude. For example, the calibrated amplitude corresponding to the target ultrasonic component at full power is a1, and the amplitude threshold set for the target ultrasonic component according to the processing parameters is a2. According to the almost linear relationship between the output power percentage and the amplitude, it can be calculated that the initial power output ratio is equal to (a2 / a1)*100%.

[0091] S120: Outputting a driving signal to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

[0092] After the ultrasonic machining system determines the initial power output ratio, it outputs a driving signal to the target ultrasonic component. Specifically, after the numerical control system determines the initial power output ratio, it can send it to the ultrasonic generator, and the ultrasonic generator sets its own output power to the initial power output ratio, for example, 60%, and then starts to output the driving signal, and the target ultrasonic component enters the working state under the drive of the driving signal.

[0093] In some embodiments, Figure 4 As shown, after step S120, the method further includes step S130 and step S140, and each step is described below.

[0094] S130: Detecting the resonant frequency of the target ultrasonic component in a no-load working state, recording it as the no-load resonant frequency, and obtaining the output power of the driving signal corresponding to the no-load resonant frequency, recording it as the target output power.

[0095] After the target ultrasonic component enters the working state, its resonant frequency and the corresponding driving signal output power in the no-load working state are first detected, so as to adaptively adjust the amplitude of the target ultrasonic component in the subsequent actual processing process.

[0096] In some embodiments, the resonant frequency of the target ultrasonic component in a no-load working state can be detected by an ultrasonic generator. When the resonant frequency is detected, the resonant frequency is obtained as the no-load resonant frequency, and the output power of the ultrasonic generator at this time is obtained as the target output power.

[0097] In some embodiments, the operation of detecting the resonant frequency of the target ultrasonic component in the no-load working state may include: performing a frequency sweep within a specified working frequency range, and determining the resonant frequency of the target ultrasonic component in the no-load working state as the no-load resonant frequency based on the frequency sweep result.

[0098] The specified operating frequency range can be determined by the upper and lower frequency limits in the processing parameters. Specifically, the ultrasonic generator can perform a frequency sweep within the operating frequency range, and then obtain the frequency sweep frequency corresponding to the maximum current of the target ultrasonic component detected during the frequency sweep as the resonant frequency of the target ultrasonic component in the no-load working state.

[0099] Furthermore, if the resonant frequency of the target ultrasonic component in the no-load working state cannot be determined based on the frequency scanning result, the ultrasonic generator may indicate an abnormality and stop working.

[0100] S140: When the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range. The real-time output power represents the real-time output power of the driving signal.

[0101] When the target ultrasonic component processes the workpiece, the target ultrasonic component changes from a no-load working state to a loaded working state. In the loaded working state, the amplitude of the target ultrasonic component will be affected by factors such as the external temperature, the tool tip trajectory, and the tool tip load. Since the output power percentage of the drive signal and the amplitude of the target ultrasonic component are almost linearly related, the ultrasonic machining system can adaptively adjust the power output ratio according to the real-time output power and the target output power, thereby indirectly controlling the real-time amplitude of the target ultrasonic component linearly within a specified amplitude range. In some embodiments, the operation of adaptively adjusting the power output ratio can be implemented by an ultrasonic generator.

[0102] In some embodiments, the operation of adaptively adjusting the power output ratio according to the real-time output power and the target output power includes: comparing the monitored real-time output power and the target output power; when the absolute value of the difference between the real-time output power and the target output power is greater than a preset power threshold, adjusting the power output ratio so that the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold. If the absolute value is not greater than the preset power threshold, no adjustment is required. The preset power threshold can be set according to actual needs, and this embodiment does not impose any special restrictions.

[0103] Among them, the above-mentioned adjustment of the power output ratio may include, when the real-time output power is less than the target output power, increasing the power output ratio to increase the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold; when the real-time output power is greater than the target output power, lowering the power output ratio to reduce the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

[0104] In some embodiments, the method further comprises: when the target ultrasonic component is in a loaded working state, adaptively adjusting the working frequency of the driving signal. The operation of adaptively adjusting the working frequency comprises periodically performing resonance frequency detection and working frequency adjustment.

[0105] Among them, the resonant frequency detection includes: using the current load resonant frequency as the sweep starting point and the preset step value as the sweep step, sweeping within the specified working frequency range, and obtaining the sweep frequency corresponding to the maximum current during the sweep as the new load resonant frequency of the target ultrasonic component. The working frequency adjustment includes: adaptively adjusting the working frequency of the driving signal according to the new load resonant frequency of the target ultrasonic component obtained through the resonant frequency detection and the real-time working frequency of the driving signal, so that the absolute value of the difference between the new load resonant frequency of the target ultrasonic component and the real-time working frequency of the driving signal is less than or equal to the preset frequency threshold.

[0106] This embodiment can monitor the resonant frequency of the target ultrasonic component in real time when the target ultrasonic component is in a loaded working state, and dynamically adjust the operating frequency of the driving signal based on the new load resonant frequency of the target ultrasonic component, so that the target ultrasonic component always operates at the optimal operating frequency, thereby ensuring the processing quality of ultrasonic processing.

[0107] In some embodiments, the operation of performing a frequency sweep within a specified operating frequency range using the current load resonant frequency as a frequency sweep starting point and a preset step value as a frequency sweep step includes:

[0108] Taking the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, sweeping the frequency in the first direction;

[0109] When the current detected after the first increase of a preset sweep frequency step is greater than the current corresponding to the current load resonant frequency, the sweep frequency continues to be performed in the first direction until the current detected after the nth preset sweep frequency step is increased is less than the current detected after the n-1th sweep frequency step is increased, and the frequency after the n-1th sweep frequency step is increased is used as the new load resonant frequency of the target ultrasonic component; n is a positive integer;

[0110] Or when the current detected after the first increase of a sweep step is less than the current corresponding to the current load resonant frequency, the current load resonant frequency is used as the sweep starting point and the preset step value is used as the sweep step, and the sweep is performed in the second direction until the current detected after the mth preset sweep step is increased is less than the current detected after the m-1th sweep step is increased, and the frequency after the m-1th sweep step is increased is used as the new load resonant frequency of the target ultrasonic component; m is a positive integer;

[0111] The frequency after increasing the nth frequency sweep step and the frequency after increasing the mth frequency sweep step are both within the specified operating frequency range;

[0112] The first direction is opposite to the second direction.

[0113] This embodiment continuously changes the frequency of the swept frequency signal based on a preset step size during frequency sweeping. The above-mentioned first direction can be a direction to increase the frequency or a direction to decrease the frequency. The first direction and the second direction are two different directions. Therefore, when the first direction is a direction to increase the frequency, the second direction is a direction to decrease the frequency. Conversely, when the first direction is a direction to decrease the frequency, the second direction is a direction to increase the frequency.

[0114] In this embodiment, the current fed back by the target ultrasonic component is used as the response of the sweep frequency. During the sweep process, the sweep frequency corresponding to the maximum current (referring to the working frequency used during the sweep process) is used as the resonant frequency of the target ultrasonic component.

[0115] The vibration frequency of the target ultrasonic component may change during the actual processing. Considering that the changed vibration frequency is likely to be near the current load resonance frequency, the present embodiment does not use the upper limit frequency value or the lower limit frequency value of the specified working frequency range as the sweep starting point during the frequency sweep, but uses the current load resonance frequency as the sweep starting point, and then first sweeps along the first direction. During the frequency sweep, the used working frequency is adjusted by gradually increasing the preset sweep step length toward the first direction. For example, assuming that the first direction is a direction to reduce the frequency, the current load resonance frequency is C0, and the preset sweep step length is 1 Hz, then after the first increase of a preset sweep step length, the currently used working frequency becomes C0-1, and after another increase of a preset sweep step length, the currently used working frequency becomes C0-2, and so on. For another example, assuming that the first direction is a direction to increase the frequency, the current load resonance frequency is C0, and the preset sweep step length is 1, then after the first increase of a preset sweep step length, the currently used working frequency becomes C0+1, and after another increase of a preset sweep step length, the currently used working frequency becomes C0+2, and so on.

[0116] During the frequency sweeping process, each time the working frequency is changed, the current fed back by the target ultrasonic component is detected as the current corresponding to the frequency. Wherein, when the current detected after the first increase of a preset frequency sweeping step is greater than the current corresponding to the current load resonant frequency, the frequency sweeping continues in the first direction until the current detected after the nth preset frequency sweeping step (excluding the preset frequency sweeping step increased for the first time) is less than the current detected after the n-1th frequency sweeping step is increased, and the frequency after the n-1th frequency sweeping step is increased is used as the new load resonant frequency of the target ultrasonic component. If the current detected after the first increase of a frequency sweeping step is less than the current corresponding to the current load resonant frequency, the frequency sweeping direction will be changed, that is, the current load resonant frequency is used as the frequency sweeping starting point and the preset step value is used as the frequency sweeping step, and the frequency sweeping is performed in the second direction until the current detected after the mth preset frequency sweeping step is increased is less than the current detected after the m-1th frequency sweeping step is increased, and the frequency after the m-1th frequency sweeping step is increased is used as the new load resonant frequency of the target ultrasonic component. Through the above operation, the new load resonance frequency of the target ultrasonic component can be detected more quickly, and the real-time performance of the frequency adaptive adjustment can be improved.

[0117] For example, assuming that the current load resonant frequency is C1, the first direction is to increase the frequency, and the sweep step is K, then the current I corresponding to the operating frequency C1 is obtained. C1 , adjust the operating frequency to C2 (equal to C1+K), and obtain the current I at this time C2 , compared with the current I C1 and current I C2 ;

[0118] If the current I C2 Greater than current I C1 , then continue to sweep the frequency in the first direction, adjust the operating frequency to C3 (equal to C2+K), and obtain the current I at this time C3 , compared with the current I C3 and current I C2 ; If the current I C3 Greater than current I C2 , then continue to sweep the frequency and adjust the operating frequency to C4 (equal to C3+K) to obtain the current I at this time C4 , compared with the current I C4 and current I C3 ...Repeat the above frequency sweep operation until a frequency point C is found n The current I Cn Less than the previous frequency point C n-1 The current I Cn-1 , then determine the previous frequency point C n-1 As the new load resonant frequency of the target ultrasonic component; understandably, C nThe upper frequency limit of the specified operating frequency is not exceeded, and C n Within the specified operating frequency range;

[0119] If the current I C1 Greater than current I C2 , then switch the direction, that is, switch the direction to the direction that makes the frequency smaller (the second direction), adjust the operating frequency to C5 (equal to C1-K), and obtain the current I at this time C5 , compared with the current I C5 and current I C1 ; If the current I C5 Greater than current I C1 , then continue to sweep the frequency and adjust the operating frequency to C6 (equal to C5-K), and obtain the current I at this time C6 , compared with the current I C6 and current I C5 ...Repeat the above frequency sweep operation until a frequency point C is found m The current I Cm Less than the previous frequency point C m-1 The current I Cm-1 , then determine the previous frequency point C m-1 As the new load resonant frequency of the target ultrasonic component; understandably, C m The upper frequency limit of the specified operating frequency is not exceeded, and C m within the specified operating frequency range.

[0120] In some embodiments, after outputting the driving signal to the target ultrasonic component based on the initial power output ratio, the method further includes:

[0121] Detecting whether the target ultrasonic component reaches a stable state under a no-load working state;

[0122] In response to the detection result being yes, the target ultrasonic component is controlled to process the workpiece so that the target ultrasonic component enters a loaded working state.

[0123] Before using the target ultrasonic component for processing, first check whether it has reached a stable state under the no-load working state. After determining that it has reached a stable state, the target ultrasonic component is put into a loaded working state to determine the benchmark for adaptive adjustment of the real-time output power, thereby ensuring that the real-time amplitude of the target ultrasonic component can be controlled within the specified amplitude range to ensure the quality of ultrasonic processing.

[0124] In some embodiments, the operation of detecting whether the target ultrasonic component reaches a stable state under a no-load working state may include: detecting whether the current fed back by the target ultrasonic component reaches a maximum value, and when it is detected that the current fed back by the target ultrasonic component reaches a maximum value, determining that the target ultrasonic component is in a stable working state.

[0125] In some embodiments, the ultrasonic generator can detect whether the target ultrasonic component reaches a stable state in a no-load working state. In the scenario where the target ultrasonic component needs to be calibrated for amplitude, the ultrasonic generator can send a calibration command to the numerical control system after determining that the target ultrasonic component reaches a stable state in a no-load working state, and then the numerical control system will send an amplitude measurement command to the amplitude measurement sensor to control the amplitude measurement sensor to measure the amplitude of the target ultrasonic component, thereby obtaining the calibrated amplitude of the target ultrasonic component. In the scenario where the target ultrasonic component needs to be used for processing, the ultrasonic generator sends a processing command to the numerical control system after determining that the target ultrasonic component reaches a stable state in a no-load working state. The numerical control system responds to the processing command, instructs the numerical control machine tool to control the target ultrasonic component to process the workpiece, so that the target ultrasonic component enters a loaded working state, and sends an amplitude control instruction to the ultrasonic generator; the ultrasonic generator responds to the amplitude control instruction, and when the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power, and the working frequency adaptive adjustment operation can also be performed.

[0126] It should be noted that, with respect to the various steps included in the ultrasonic machining control method provided in any of the above embodiments, unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of these steps can include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0127] Based on the same inventive concept, the present application also provides an ultrasonic machining control system. In some embodiments, the amplitude control system includes a numerical control system and an ultrasonic generator in the ultrasonic machining system.

[0128] The amplitude control system can adaptively adjust the amplitude of each ultrasonic component involved in the actual processing (specifically, it can indirectly realize linear control of the amplitude by adjusting the power output ratio), and can also adaptively adjust the operating frequency of the driving signal.

[0129] The numerical control system is configured to obtain an amplitude threshold of the target ultrasonic component and a calibrated amplitude calibrated according to 100% of the output power of the driving signal, determine an initial power output ratio according to the amplitude threshold and the calibrated amplitude, and send the initial power output ratio to the ultrasonic generator;

[0130] The ultrasonic generator is configured to output a driving signal to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

[0131] In some embodiments, the ultrasonic generator is further configured to detect the resonant frequency of the target ultrasonic component in a no-load working state, recorded as the no-load resonant frequency, and obtain the drive signal output power corresponding to the no-load resonant frequency, recorded as the target output power; when the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range; the real-time output power represents the real-time drive signal output power.

[0132] In some embodiments, the ultrasonic generator is further configured to detect whether the target ultrasonic component reaches a stable state in a no-load working state after outputting a driving signal to the target ultrasonic component based on the initial power output ratio, and in response to a detection result of yes, send a processing command to the numerical control system;

[0133] The numerical control system is further configured to, in response to a processing command, instruct the numerical control machine tool to control the target ultrasonic component to process the workpiece, so that the target ultrasonic component enters a loaded working state, and sends an amplitude control instruction to the ultrasonic generator;

[0134] The ultrasonic generator is further configured to respond to the amplitude control instruction and execute an operation of adaptively adjusting the power output ratio according to the real-time output power and the target output power when the target ultrasonic component is in a loaded working state.

[0135] In some embodiments, the ultrasonic machining control system further includes an amplitude measurement sensor;

[0136] The numerical control system is further configured to instruct the numerical control machine tool to control the target ultrasonic component to move to a specified amplitude detection position, and to send an amplitude calibration instruction to the ultrasonic generator;

[0137] The ultrasonic generator is further configured to output a drive signal to a target ultrasonic component at 100% drive signal output power in response to an amplitude calibration instruction, detect whether the target ultrasonic component reaches a stable state under a no-load working state, and send a calibration command to a numerical control system in response to detecting that the target ultrasonic component reaches a stable state under a no-load working state;

[0138] The numerical control system is further configured to send an amplitude measurement command to the amplitude measurement sensor in response to the calibration command;

[0139] The amplitude measurement sensor is configured to measure the amplitude of the target ultrasonic component in response to the amplitude measurement command to obtain the calibrated amplitude of the target ultrasonic component.

[0140] In some embodiments, the amplitude measurement sensor is further configured to send the calibrated amplitude of the target ultrasonic component to the numerical control system;

[0141] The numerical control system is further configured to associate the calibrated amplitude of the target ultrasonic component with the target ultrasonic component and to send a command to the ultrasonic generator to turn off the ultrasonic output;

[0142] The ultrasonic generator is further configured to stop working in response to a command to turn off the ultrasonic output.

[0143] In some embodiments, the operation of the digital control system determining the power output ratio according to the amplitude threshold and the calibrated amplitude includes:

[0144] Divide the amplitude threshold by the calibration amplitude to obtain the initial power output ratio.

[0145] In some embodiments, the operation of the ultrasonic generator to detect the resonant frequency of the target ultrasonic component in a no-load working state includes:

[0146] A frequency sweep is performed within a specified working frequency range, and based on the frequency sweep result, a resonant frequency of the target ultrasonic component in a no-load working state is determined as a no-load resonant frequency.

[0147] In some embodiments, the operation of the ultrasonic generator adaptively adjusting the power output ratio according to the real-time output power and the target output power includes:

[0148] Compare the monitored real-time output power and the target output power. When the absolute value of the difference between the real-time output power and the target output power is greater than the preset power threshold, adjust the power output ratio so that the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

[0149] In some embodiments, the operation of adjusting the output power of the driving signal by the ultrasonic generator includes:

[0150] When the real-time output power is less than the target output power, the ultrasonic generator increases the power output ratio to increase the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold;

[0151] When the real-time output power is greater than the target output power, the ultrasonic generator lowers the power output ratio to reduce the drive signal output power until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

[0152] In some embodiments, the ultrasonic generator is further configured to periodically perform resonance frequency detection and operating frequency adjustment when the target ultrasonic component is in a loaded working state;

[0153] The resonant frequency detection includes taking the current load resonant frequency as the sweep starting point and the preset step value as the sweep step, performing the sweep within the specified working frequency range, and obtaining the sweep frequency corresponding to the maximum current during the sweep as the new load resonant frequency of the target ultrasonic component;

[0154] The operating frequency adjustment includes: adaptively adjusting the operating frequency of the driving signal according to the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal, so that the absolute value of the difference between the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal is less than or equal to a preset frequency threshold.

[0155] In some embodiments, the ultrasonic generator uses the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, and performs a frequency sweep operation within a specified operating frequency range, including:

[0156] Taking the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, sweeping the frequency in the first direction;

[0157] When the current detected after the first increase of a preset sweep frequency step is greater than the current corresponding to the current load resonant frequency, the sweep frequency continues to be performed in the first direction until the current detected after the nth preset sweep frequency step is increased is less than the current detected after the n-1th sweep frequency step is increased, and the frequency after the n-1th sweep frequency step is increased is used as the new load resonant frequency of the target ultrasonic component; n is a positive integer;

[0158] Or when the current detected after the first increase of a sweep step is less than the current corresponding to the current load resonant frequency, the current load resonant frequency is used as the sweep starting point and the preset step value is used as the sweep step, and the sweep is performed in the second direction until the current detected after the mth preset sweep step is increased is less than the current detected after the m-1th sweep step is increased, and the frequency after the m-1th sweep step is increased is used as the new load resonant frequency of the target ultrasonic component; m is a positive integer;

[0159] The frequency after increasing the nth frequency sweep step and the frequency after increasing the mth frequency sweep step are both within the specified operating frequency range;

[0160] The first direction is opposite to the second direction.

[0161] In some embodiments, the ultrasonic generator is further configured to indicate an abnormality and stop working when the resonant frequency of the target ultrasonic component in a no-load working state cannot be determined based on the frequency scanning results.

[0162] For the specific limitations of the ultrasonic machining control system, please refer to the limitations of the ultrasonic machining control method mentioned above, which will not be repeated here.

[0163] The present application also provides a computer-readable storage medium. In some embodiments, the storage medium stores a computer program. When the computer program is executed by a processor, the steps of the ultrasonic machining control method provided in any of the above embodiments are implemented.

[0164] The present application also provides an ultrasonic machining control device. In some embodiments, Figure 5 As shown, the device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the ultrasonic machining control method provided in any one of the above embodiments are implemented.

[0165] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0166] Those skilled in the art can understand that all or part of the processes in the above method embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink), DRAM (SLDRAM), memory bus (Rambus), direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0167] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An ultrasonic machining control method, characterized in that: The method comprises: Obtaining an amplitude threshold of a target ultrasonic component and a calibrated amplitude calibrated according to 100% of the output power of a driving signal; The amplitude threshold and the calibrated amplitude determine the initial power output ratio; A driving signal is output to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

2. The method according to claim 1, characterized in that Determining an initial power output ratio according to the amplitude threshold and the calibrated amplitude includes: The amplitude threshold is divided by the calibrated amplitude to obtain the initial power output ratio.

3. The method according to claim 1, characterized in that After outputting a driving signal to the target ultrasonic component based on the initial power output ratio so that the target ultrasonic component enters a working state, the method includes: Detecting the resonant frequency of the target ultrasonic component in a no-load working state, recorded as the no-load resonant frequency, and obtaining the output power of the driving signal corresponding to the no-load resonant frequency, recorded as the target output power; When the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range; the real-time output power represents the real-time drive signal output power.

4. The method according to claim 3, characterized in that Detecting the resonant frequency of the target ultrasonic component in a no-load working state includes: A frequency sweep is performed within a specified working frequency range, and a resonant frequency of the target ultrasonic component in the no-load working state is determined based on the frequency sweep result as the no-load resonant frequency.

5. The method according to claim 3, characterized in that Adaptively adjusting the power output ratio according to the real-time output power and the target output power includes: Comparing the monitored real-time output power with the target output power; When the absolute value of the difference between the real-time output power and the target output power is greater than a preset power threshold, the power output ratio is adjusted so that the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

6. The method according to claim 5, characterized in that Adjusting the power output ratio includes: When the real-time output power is less than the target output power, the power output ratio is increased to increase the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold; When the real-time output power is greater than the target output power, the power output ratio is lowered to reduce the output power of the driving signal until the absolute value of the difference between the real-time output power and the target output power is less than or equal to the preset power threshold.

7. The method according to claim 3, characterized in that When the target ultrasonic component is in a loaded working state, the method further includes: Periodically perform resonant frequency detection and operating frequency adjustment; The resonant frequency detection includes taking the current load resonant frequency as the sweep starting point and the preset step value as the sweep step, performing a sweep within a specified operating frequency range, and obtaining the sweep frequency corresponding to the maximum current during the sweep as the new load resonant frequency of the target ultrasonic component; The operating frequency adjustment includes: adaptively adjusting the operating frequency of the driving signal according to the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal, so that the absolute value of the difference between the new load resonant frequency of the target ultrasonic component and the real-time operating frequency of the driving signal is less than or equal to a preset frequency threshold.

8. The method according to claim 7, characterized in that Taking the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step, the frequency sweep is performed within the specified operating frequency range, and the method includes: Sweep the frequency in a first direction by taking the current load resonant frequency as the frequency sweep starting point and the preset step value as the frequency sweep step; When the current detected after the preset frequency sweep step is increased for the first time is greater than the current corresponding to the current load resonance frequency, the frequency sweep is continued in the first direction until the current detected after the nth preset frequency sweep step is increased is less than the current detected after the n-1th frequency sweep step is increased, and the frequency after the n-1th frequency sweep step is increased is used as the new load resonance frequency of the target ultrasonic component; n is a positive integer; Or when the current detected after the first increase of the sweep step is less than the current corresponding to the current load resonant frequency, the current load resonant frequency is used as the sweep starting point and the preset step value is used as the sweep step, and the sweep is performed in the second direction until the current detected after the mth preset sweep step is increased is less than the current detected after the m-1th sweep step is increased, and the frequency after the m-1th sweep step is increased is used as the new load resonant frequency of the target ultrasonic component; m is a positive integer; The frequency after the nth frequency sweep step length is increased and the frequency after the mth frequency sweep step length is increased are both within the specified operating frequency range; The first direction is opposite to the second direction.

9. The method according to claim 1, characterized in that Before obtaining the calibrated amplitude of the target ultrasonic component, the method further includes: Controlling the target ultrasonic component to move to a specified amplitude detection position; outputting a drive signal to the target ultrasonic component at the 100% drive signal output power; Detecting whether the target ultrasonic component reaches a stable state under a no-load working state; In response to detecting that the target ultrasonic component reaches a stable state under a no-load working state, an amplitude measurement is performed on the target ultrasonic component to obtain a calibrated amplitude of the target ultrasonic component.

10. The method according to claim 1 or 9, characterized in that: After outputting a driving signal to the target ultrasonic component based on the initial power output ratio, the method further includes: Detecting whether the target ultrasonic component reaches a stable state under a no-load working state; In response to the detection result being yes, the target ultrasonic component is controlled to process the workpiece so that the target ultrasonic component enters a loaded working state.

11. The method according to claim 10, characterized in that Detecting whether the target ultrasonic component reaches a stable state in a no-load working state includes: Detecting whether the current fed back by the target ultrasonic component reaches a maximum value; In response to the current fed back by the target ultrasonic component reaching a maximum value, it is determined that the target ultrasonic component is in a stable working state.

12. The method according to claim 4, characterized in that The method further comprises: When the resonant frequency of the target ultrasonic component in the no-load working state cannot be determined based on the frequency scanning result, an abnormality is prompted and the operation is stopped.

13. An ultrasonic machining control system, characterized in that: The ultrasonic machining control system includes a numerical control system and an ultrasonic generator; The numerical control system is configured to obtain an amplitude threshold of a target ultrasonic component and a calibrated amplitude calibrated according to 100% of the drive signal output power, determine an initial power output ratio according to the amplitude threshold and the calibrated amplitude, and send the initial power output ratio to the ultrasonic generator; The ultrasonic generator is configured to output a driving signal to the target ultrasonic component based on the initial power output ratio, so that the target ultrasonic component enters a working state.

14. The system of claim 13, wherein: The ultrasonic generator is further configured to detect the resonant frequency of the target ultrasonic component in a no-load working state, recorded as the no-load resonant frequency, and obtain the drive signal output power corresponding to the no-load resonant frequency, recorded as the target output power; when the target ultrasonic component is in a loaded working state, the power output ratio is adaptively adjusted according to the real-time output power and the target output power to control the real-time amplitude of the target ultrasonic component within a specified amplitude range; the real-time output power represents the real-time drive signal output power.

15. The system of claim 14, wherein: The ultrasonic generator is further configured to detect whether the target ultrasonic component reaches a stable state in a no-load working state, and in response to a detection result of yes, send a processing command to the numerical control system; The numerical control system is further configured to, in response to the processing command, instruct the numerical control machine tool to control the target ultrasonic component to process the workpiece, so that the target ultrasonic component enters a loaded working state, and sends an amplitude control instruction to the ultrasonic generator; The ultrasonic generator is further configured to respond to the amplitude control instruction and execute an operation of adaptively adjusting the power output ratio according to the real-time output power and the target output power when the target ultrasonic component is in a loaded working state.

16. The system of claim 13, wherein: The ultrasonic machining control system also includes an amplitude measurement sensor; The numerical control system is further configured to instruct the numerical control machine tool to control the target ultrasonic component to move to a specified amplitude detection position, and to send an amplitude calibration instruction to the ultrasonic generator; The ultrasonic generator is further configured to, in response to the amplitude calibration instruction, output a drive signal to the target ultrasonic component at the 100% drive signal output power, detect whether the target ultrasonic component reaches a stable state under a no-load working state, and send a calibration command to the numerical control system in response to detecting that the target ultrasonic component reaches a stable state under a no-load working state; The numerical control system is further configured to send an amplitude measurement command to the amplitude measurement sensor in response to the calibration command; The amplitude measurement sensor is configured to perform amplitude measurement on the target ultrasonic component in response to the amplitude measurement command to obtain a calibrated amplitude of the target ultrasonic component.

17. The system of claim 16, wherein: The amplitude measurement sensor is further configured to send the calibrated amplitude of the target ultrasonic component to the numerical control system; The numerical control system is further configured to associate the calibrated amplitude of the target ultrasonic component with the target ultrasonic component, and to send a command to turn off ultrasonic output to the ultrasonic generator; The ultrasonic generator is further configured to stop working in response to the command to shut down the ultrasonic output.

18. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the ultrasonic machining control method according to any one of claims 1 to 13 are implemented.

19. An ultrasonic machining control device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the ultrasonic machining control method according to any one of claims 1 to 13 when executing the computer program.

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