Automatic obstacle avoidance control system of five-axis machine tool

Abstract

The invention relates to an automatic obstacle avoidance control system of a five-axis machine tool, which is applied to the field of machine tools, and adopts an obstacle avoidance rehearsal mode to detect whether the obstacle avoidance response efficiency adapts to the feeding rate of the machining in advance, and when the situation that the obstacle avoidance response efficiency is not timely occurs during detection, the automatic obstacle avoidance control system of the five-axis machine tool is started. The obstacle avoidance parameters of the corresponding distance sensors are adjusted firstly, then obstacle avoidance rehearsal is conducted again, the obstacle avoidance system after parameter adjustment can be triggered and responded in advance when encountering an obstacle, so that enough obstacle avoidance response time is reserved, the obstacle avoidance action is conducted before a cutter collides with the obstacle, the obstacle avoidance system smoothly adapts to the feeding rate, and the obstacle avoidance efficiency is improved. According to the low-loss type cutter, the dangerous situation that obstacle avoidance is not timely does not occur easily during formal machining, in the obstacle avoidance rehearsal process, the low-loss type cutter adopted by the low-loss type cutter can rotate along with impact force, hard impact between the cutter body and an object is reduced under the situation that obstacle avoidance is not timely, and the effective loss reduction and protection effects on the cutter body are achieved.

Description

Technical Field

[0001] The present invention relates to a control system, and in particular to an automatic obstacle avoidance control system of a five-axis machine tool applied in the field of machine tools. Background Art

[0002] The structure of a five-axis machine tool mainly includes five degrees of freedom, namely three linear axes x, y, and z and two rotation axes A and B. These axes can be realized by the movement of the worktable or the tool, and the direction is defined by the movement direction of the tool relative to the workpiece. During the processing of the machine tool, the cutting head may collide with the workpiece or other obstacles, which will not only cause processing failure, but also damage the cutting head and the workpiece. Therefore, the obstacle avoidance system is very important in the machine tool. Most CNC machine tools will avoid collision risks through NC program control and monitoring.

[0003] For example, the specification of Chinese patent CN104871100B discloses a "collision avoidance system for a machine tool", the structure of which is as follows: it comprises: a non-contact distance sensor installed on a moving body and detecting the distance between the moving body and a workpiece; and a collision avoidance control component (NC device), the collision avoidance control component comprising: a collision determination unit for determining whether a sensor signal of the distance sensor is shorter than a distance setting value; and a collision avoidance processing unit for performing a process of avoiding a collision between the moving body and the workpiece when the collision determination unit determines that the sensor signal is shorter than the distance setting value.

[0004] For example, the specification of Chinese patent CN202311825982.3 discloses "A method and system for protecting CNC machine tools after collision". When a collision occurs in the machine tool, the feed axis is promptly controlled to stop and move in the opposite direction a certain distance to reduce the damage caused by the collision to the machine tool.

[0005] However, the automatic obstacle avoidance system relies on sensors to detect obstacles, and responds quickly and adjusts the motion trajectory through the control system to achieve smooth obstacle avoidance. However, if the machine tool feed rate is faster than the response time of the obstacle avoidance system and fails to respond before the tool processing head contacts the obstacle or workpiece, obstacle avoidance failure will occur. The machine tool feed rate is not fixed and will be adjusted according to factors such as workpiece material and processing accuracy. Therefore, the existing machine tool automatic obstacle avoidance system is difficult to adapt to different processing feed rates, and obstacle avoidance failure is prone to occur, which in turn causes the tool to be damaged and unusable. Summary of the invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing automatic obstacle avoidance system of machine tools is difficult to adapt to different processing feed rates, and is prone to obstacle avoidance failure, which in turn causes the tool to be damaged and unusable.

[0007] In order to solve the above problems, the present invention provides an automatic obstacle avoidance control system for a five-axis machine tool, comprising a machine tool body with an obstacle avoidance system inside and a tool mounting frame installed on the machine tool body, a low-damage tool is installed at the lower end of the tool mounting frame, and the low-damage tool comprises an installation box, a fixing seat and a tool body which are sequentially distributed from top to bottom, the installation box is fixedly connected between the tool mounting frame and the fixing seat, the left and right ends of the installation box are fixedly connected with a distance sensor 1, the front and rear ends of the installation box are fixedly connected with a distance sensor 2, the lower end of the installation box is fixedly connected with a distance sensor 3, the distance sensor 1, the distance sensor 2 and the distance sensor 3 are all electrically connected to the obstacle avoidance system, and the upper end of the tool body is installed at the lower end of the fixing seat through a non-stable auxiliary part; The upper end of the tool body is installed on the lower end of the fixed seat through an unstable auxiliary part, the unstable auxiliary part includes a hemisphere and a long rod, the lower end of the long rod is bonded to the top of the arc surface of the hemisphere through an adhesive, the tool body includes a tool rod and a top plate, the handle end of the tool rod is fixedly connected to the outer end of the top plate, and the top plate and the hemisphere are detachably connected by a bolt; A cylindrical groove is provided at the lower end of the fixing seat, a spherical groove is provided on the inner top wall of the cylindrical groove, an oblique long groove is provided on the inner top wall of the spherical groove, the hemisphere matches the spherical groove, and a strong magnetic ring is fixedly connected inside the fixing seat and the hemisphere.

[0008] An automatic obstacle avoidance control system for a five-axis machine tool, the use method of which comprises the following steps: Step 1, setting: when any one of the following three conditions is met, the obstacle avoidance system is triggered to respond and perform obstacle avoidance reaction, one is when the actual distance monitoring value of distance sensor 1 is ≤ the distance setting value d1, the second is when the actual distance monitoring value of distance sensor 2 is ≤ the distance setting value d2, and the third is when the actual distance monitoring value of distance sensor 3 is ≤ the distance setting value d3, wherein: the distance setting value d1, the distance setting value d2 and the distance setting value d3 are all pre-set by the operator on the machine tool body; Step 2: The operator sets the feed rate of the low-wear tool on the machine tool body according to the type of workpiece to be processed and the processing requirements. Set the feed rate in the X-axis direction to V. X , the feed rate in the Y-axis direction is V Y , the feed rate in the Z-axis direction is V Z , and then before the formal processing, whether the obstacle avoidance system can adapt to the set V X 、V Y and V Z This situation is tested in a preview, specifically including steps 3 and 4; Step 3: Obstacle avoidance preview detection process in the X-axis and Y-axis directions: Step 3.1, install the low-loss tool so that the tool body is in a vertical state with low stability; Step 3.2, obstacle avoidance preview detection process in the X-axis direction: Step 3.2.1. Place an obstacle on the right side of the tool body, and the distance between the obstacle and the tool body is greater than the distance setting value d1. Start the machine tool body and drive the tool body to move along the X-axis direction at a feed rate V X When the tool moves toward the obstacle, the obstacle avoidance system responds to the obstacle in time before the tool body collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V X At this time, the obstacle avoidance preview detection process in the X-axis direction is ended, and the specific value of the distance setting value d1 set at this time is retained. On the contrary, when the tool body collides with the obstacle, step 3.2.2 is performed; Step 3.2.2, turn off the operation of the machine tool body, adjust the distance setting value d1, and the adjustment method is: increase R once on the existing value, and then perform step 3.2.1 again; Step 3.3, obstacle avoidance preview detection process in the Y-axis direction: Step 3.3.1. Place an obstacle in front of the tool body, and the distance between the obstacle and the tool body is greater than the distance setting value d2. Start the machine tool body and drive the tool body to move along the Y-axis at a feed rate V Y When the tool moves toward the obstacle, the obstacle avoidance system responds to the obstacle in time before the tool body collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Y At this time, the obstacle avoidance preview detection process in the Y-axis direction is ended, and the specific value of the distance setting value d2 set at this time is retained. On the contrary, when the tool body collides with the obstacle, step 3.3.2 is performed; Step 3.3.2, turn off the operation of the machine tool body, adjust the distance setting value d2, and the adjustment method is: increase R once on the existing value, and then perform step 3.3.1 again; Step 4: Z-axis obstacle avoidance preview detection process: Step 4.1, reinstall the low-loss tool so that the tool body is in a low-stability tilted state; Step 4.2: Place an obstacle on the workbench directly below the tool body, and the distance between the obstacle and the tool body is greater than the distance setting value d3. Start the machine tool body and drive the tool body to move along the Z axis at a feed rate V Z When the tool moves toward the obstacle, the obstacle avoidance system responds to the obstacle in time before the tool body collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Z At this time, the obstacle avoidance preview detection process in the Z-axis direction is ended, and the specific value of the distance setting value d3 set at this time is retained. On the contrary, when the tool body collides with the obstacle, step 4.3 is performed; Step 4.3, turn off the operation of the machine tool body, adjust the distance setting value d3, and the adjustment method is: increase R once on the existing value, and then perform step 4.2 again; Step 5. After completing steps 3 and 4, formal processing is carried out. At this time, reinstall the low-loss tool to make the tool body in a highly stable vertical state, then remove the obstacles, place the workpiece on the workbench inside the machine tool body and fix it, then start the machine tool body and set V X 、V Y and V Z Just process the workpiece.

[0009] As a further supplement to the present application, when the long rod is vertically inserted into the oblique long groove and the hemisphere fits against the inner wall of the spherical groove, there is a gap between the upper end of the top plate and the upper inner wall of the cylindrical groove.

[0010] As a further supplement to the present application, when the hemisphere is located inside the spherical groove, there is a magnetic attraction between a pair of strong magnetic rings, and the magnetic attraction is greater than the overall structural gravity after the tool body and the unstable auxiliary parts are connected.

[0011] As a further supplement to this application, the method for installing the low-loss tool in step 3.1 is as follows: 1. Connect the top plate and the hemisphere by bolts to achieve the connection and fixation of the tool body and the unstable auxiliary parts; 2. Insert the hemisphere into the cylindrical groove and insert the long rod vertically into the oblique long groove. Under the magnetic attraction of the strong magnetic ring, the hemisphere is adsorbed on the inner wall of the spherical groove. At this time, in the absence of external force, the fixed seat and the unstable auxiliary parts maintain mutual adsorption, and the tool body as a whole is in a low-stability vertical state.

[0012] As a further supplement to this application, the method for installing the low-loss tool in step 4.1 is as follows: 1. Insert the filler block vertically into the oblique long groove, occupying part of the space in the oblique long groove, leaving only an area for accommodating the long rod, and the above area is located on the oblique upper side of the spherical groove; Second, insert the unstable auxiliary part into the cylindrical groove in an inclined shape until the long rod is inserted into the reserved area in the oblique long groove. At this time, under the magnetic attraction of the strong magnetic ring, the unstable auxiliary part is adsorbed inside the spherical groove in an inclined shape; 3. A sub-gasket with evenly distributed circular holes is placed on the lower end of the hemisphere, and then the top plate, the sub-gasket and the hemisphere are connected and fixed by bolt 3. Since the non-stable auxiliary part is placed obliquely in the cylindrical groove, the tool body is in a low-stability inclined state; The function of the auxiliary gasket is to make the distance from the lowermost processed end of the tool rod to the lower end of the fixed seat in the inclined installation state the same as the distance from the lowermost processed end of the tool rod to the lower end of the fixed seat in the normal installation state.

[0013] As a further supplement to this application, the method for installing the low-loss tool in step 5 is as follows: 1. Connect the tool body and the unstable auxiliary parts by bolts; Second, a main gasket with evenly distributed through holes is sleeved on the outside of the hemispherical body, and then the long rod is vertically inserted into the oblique long groove until the main gasket is clamped between the top plate and the inner wall of the cylindrical groove, and at the same time the hemispherical body is in contact with the inner wall of the spherical groove; Third, bolt 2 is passed through the top plate and the main gasket in sequence and is threadedly connected to the inner top wall of the cylindrical groove, so that the top plate, the main gasket and the fixed seat are fixed, so that the tool body is in a highly stable vertical state.

[0014] As a further supplement to the present application, a plurality of threaded grooves are provided at the lower end of the hemisphere, a plurality of threaded holes are provided on the top plate, and the threaded holes and the threaded grooves correspond one to one, and a bolt passes through the threaded hole and is threadedly connected to the inside of the threaded groove.

[0015] As a further supplement to the present application, the inner top wall of the spherical groove is provided with a plurality of locking grooves, and the top plate is also provided with a plurality of mounting holes, and the mounting holes and the locking grooves correspond one to one, and bolt 2 passes through the mounting holes and the through holes on the main gasket and is threadedly connected to the interior of the locking groove.

[0016] As another improvement of the present application, a rubber pad is fixedly connected to the inner wall of the spherical groove, a pressure sensor is fixedly connected to the inside of the fixing seat, and the sensing end of the pressure sensor extends into the inner side of the spherical groove and is covered by the rubber pad.

[0017] In summary, the present application adopts an obstacle avoidance preview method before formal processing to pre-detect whether the obstacle avoidance response efficiency of the obstacle avoidance system is adapted to the feed rate of this processing. When the obstacle avoidance response efficiency is not timely during the detection process, the obstacle avoidance parameters of the distance sensor in the corresponding direction are adjusted first, and then the obstacle avoidance preview detection is performed again. Compared with the original obstacle avoidance response parameters, the obstacle avoidance system after parameter adjustment can be triggered to respond in advance when encountering an obstacle, thereby reserving sufficient obstacle avoidance reaction time, so as to realize obstacle avoidance action before the tool body collides with the obstacle, so that the obstacle avoidance system can smoothly adapt to the feed rate of this processing, and it is not easy for the tool to collide with the object due to the untimely obstacle avoidance response during the formal processing; Furthermore, the tool of the present application is a low-damage tool including a fixed seat, a tool body and an unstable auxiliary part. During the inspection process, when the obstacle avoidance is not timely and causes the tool body to collide with an object, the unstable auxiliary part will drive the tool body to rotate in accordance with the impact force under the action of the impact force, thereby reducing the hard collision between the tool body and the object, and playing an effective damage reduction and protection role for the tool body. It is not easy to affect the normal use of the tool body, and also reduces the dangerous situation caused by the hard collision to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a machine tool body according to the first and second embodiments of the present application; Figure 2 A three-dimensional view of the low-loss tool of the first and second embodiments of the present application; Figure 3 An exploded view of the low-loss tool of the first and second embodiments of the present application; Figure 4 This is a schematic diagram of the side installation structure of the low-loss tool in the first and second embodiments of the present application during normal processing; Figure 5 It is a schematic diagram of the side structure of the non-stable auxiliary parts of the first and second embodiments of the present application; Figure 6 This is a schematic diagram of the side installation structure of the low-damage tool of the first and second embodiments of the present application before performing an X-axis or Y-axis obstacle avoidance preview; Figure 7 A three-dimensional cross-sectional view of a low-loss tool in a low-stability vertical installation state according to the first and second embodiments of the present application; Figure 8 The side structure diagram of the low-damage tool of the first and second embodiments of the present application during the X-axis obstacle avoidance preview Figure 1 ; Fig. 9 The side structure diagram of the low-damage tool of the first and second embodiments of the present application during the X-axis obstacle avoidance preview Figure 2 ; Fig.10 It is a three-dimensional cross-sectional view of the low-loss tool of the first and second embodiments of the present application before installation; Fig.11 This is a schematic diagram of the side installation structure of the low-damage tool of the first and second embodiments of the present application before performing a Z-axis obstacle avoidance preview; Fig.12 It is a side structural schematic diagram of a low-loss type tool in a low-stability inclined installation state according to the first and second embodiments of the present application; Fig.13 It is a schematic diagram of the side structure of the low-loss tool in the first and second embodiments of the present application in different installation states; Fig.14 This is a schematic diagram of the side structure of the low-damage tool of the first and second embodiments of the present application when performing a Z-axis obstacle avoidance preview.

[0019] Description of the numbers in the figure: 1 machine tool body, 101 tool mounting frame, 2 mounting box, 3 fixing seat, 301 cylindrical slot, 302 spherical slot, 303 oblique long slot, 4 tool body, 41 tool rod, 42 top plate, 5 unstable auxiliary parts, 51 hemisphere, 52 long rod, 6 main gasket, 71 distance sensor one, 72 distance sensor two, 73 distance sensor three, 8 bolt one, 9 bolt two, 10 strong magnetic ring, 11 rubber pad, 12 pressure sensor, 13 packing block, 14 auxiliary gasket, 15 bolt three. DETAILED DESCRIPTION

[0020] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0021] The first implementation method: The present invention provides an automatic obstacle avoidance control system for a five-axis machine tool. Figure 1 , including a machine tool body 1 with an obstacle avoidance system inside and a tool mounting frame 101 mounted on the machine tool body 1, a low-loss tool being mounted at the lower end of the tool mounting frame 101, Figure 1 Q in the middle indicates a low-loss tool, and M indicates the workpiece to be machined. Figure 2 The low-loss tool includes an installation box 2, a fixing seat 3 and a tool body 4 which are arranged in sequence from top to bottom. The installation box 2 is fixedly connected between the tool mounting frame 101 and the fixing seat 3. The left and right ends of the installation box 2 are fixedly connected with a distance sensor 1 71 for detecting the distance between itself and the object when the installation box 2 moves in the X-axis direction. The front and rear ends of the installation box 2 are fixedly connected with a distance sensor 2 72 for detecting the distance between itself and the object when the installation box 2 moves in the Y-axis direction. The lower end of the installation box 2 is fixedly connected with a distance sensor 3 73 for detecting the distance between itself and the object when the installation box 2 moves in the Z-axis direction. The distance sensor 1 71, the distance sensor 2 72 and the distance sensor 3 73 are all electrically connected to the obstacle avoidance system to transmit the monitored distance signal to the obstacle avoidance system. The obstacle avoidance system determines whether to make an obstacle avoidance response according to the distance signal (this is the response principle of the obstacle avoidance system in the prior art).

[0022] See also Figure 3 and Figure 5 The upper end of the tool body 4 is mounted on the lower end of the fixed seat 3 through the unstable auxiliary part 5. The unstable auxiliary part 5 includes a hemispherical body 51 and a long rod 52. The lower end of the long rod 52 is bonded to the top of the arc surface of the hemispherical body 51 through an adhesive. Please refer to Figure 3 and Figure 4The tool body 4 includes a tool rod 41 and a top plate 42. The tool rod 41 adopts the existing tool structure and is used to process the workpiece. The handle end of the tool rod 41 is fixedly connected to the outer end of the top plate 42. The top plate 42 and the hemispherical body 51 are detachably connected by a bolt 8. Specifically, a plurality of threaded grooves are opened at the lower end of the hemispherical body 51, and a plurality of threaded holes are opened on the top plate 42, and the threaded holes and the threaded grooves correspond to each other one by one. The bolt 8 passes through the threaded hole and is threadedly connected to the inside of the threaded groove.

[0023] Combination Figure 3 and Figure 4 A cylindrical groove 301 is provided at the lower end of the fixed seat 3, a spherical groove 302 is provided on the inner top wall of the cylindrical groove 301, an oblique long groove 303 is provided on the inner top wall of the spherical groove 302, the hemisphere 51 matches the spherical groove 302, and a strong magnetic ring 10 is fixedly connected to the interior of the fixed seat 3 and the hemisphere 51. When the hemisphere 51 is located on the inner side of the spherical groove 302, there is a magnetic attraction between a pair of strong magnetic rings 10, and the magnetic attraction is greater than the overall structural gravity after the tool body 4 and the unstable auxiliary part 5 are connected, so that in the absence of external force, the tool body 4 and the unstable auxiliary part 5 can be stably adsorbed on the lower side of the fixed seat 3 and are not easy to fall off.

[0024] An automatic obstacle avoidance control system for a five-axis machine tool, the use method of which comprises the following steps: Step 1, setting: when any one of the following three conditions is met, the obstacle avoidance system is triggered to respond and perform obstacle avoidance reaction, first, when the actual distance monitoring value of the distance sensor 1 71 is ≤ the distance setting value d1, second, when the actual distance monitoring value of the distance sensor 2 72 is ≤ the distance setting value d2, third, when the actual distance monitoring value of the distance sensor 3 73 is ≤ the distance setting value d3, wherein: the distance setting value d1, the distance setting value d2 and the distance setting value d3 are all pre-set by the operator on the machine tool body 1; Step 2: The operator sets the feed rate of the low-loss tool on the machine tool body 1 according to the type of workpiece to be processed and the processing requirements. The feed rate in the X-axis direction is set to V. X , the feed rate in the Y-axis direction is V Y , the feed rate in the Z-axis direction is V Z , and then before the formal processing, whether the obstacle avoidance system can adapt to the set V X 、V Y and V Z This situation is tested in a preview, specifically including steps 3 and 4; Step 3: Obstacle avoidance preview detection process in the X-axis and Y-axis directions: Step 3.1, install the low-loss cutter so that the cutter body 4 is in a vertical state with low stability; Step 3.2, obstacle avoidance preview detection process in the X-axis direction: Step 3.2.1, place an obstacle on the right side of the tool body 4, and the distance between the obstacle and the tool body 4 is greater than the distance setting value d1, start the machine tool body 1, and drive the tool body 4 along the X-axis direction at a feed rate V X When the obstacle avoidance system makes an obstacle avoidance response in time before the tool body 4 collides with the obstacle, it indicates that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V X At this time, the obstacle avoidance preview detection process in the X-axis direction is ended, and the specific value of the distance setting value d1 set at this time is retained. On the contrary, when the tool body 4 collides with the obstacle, step 3.2.2 is performed; Step 3.2.2, shut down the machine tool body 1, adjust the distance setting value d1, and adjust it by increasing R by a single increment on the existing value, and then perform step 3.2.1 again; Step 3.3, obstacle avoidance preview detection process in the Y-axis direction: Step 3.3.1, place an obstacle in front of the tool body 4, and the distance between the obstacle and the tool body 4 is greater than the distance setting value d2, start the machine tool body 1, and drive the tool body 4 along the Y axis direction at a feed rate V Y When the obstacle avoidance system makes an obstacle avoidance response in time before the tool body 4 collides with the obstacle, it indicates that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Y At this time, the obstacle avoidance preview detection process in the Y-axis direction is ended, and the specific value of the distance setting value d2 set at this time is retained. On the contrary, when the tool body 4 collides with the obstacle, step 3.3.2 is performed; Step 3.3.2, shut down the machine tool body 1, adjust the distance setting value d2, and adjust it by increasing R by a single amount on the existing value, and then perform step 3.3.1 again; Step 4: Z-axis obstacle avoidance preview detection process: Step 4.1, reinstall the low-loss tool so that the tool body 4 is in a low-stability tilted state; Step 4.2: Place an obstacle on the workbench directly below the tool body 4, and the distance between the obstacle and the tool body 4 is greater than the distance setting value d3. Start the machine tool body 1 and drive the tool body 4 to move along the Z-axis direction at a feed rate V Z When the obstacle avoidance system makes an obstacle avoidance response in time before the tool body 4 collides with the obstacle, it indicates that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Z At this time, the obstacle avoidance preview detection process in the Z-axis direction is ended, and the specific value of the distance setting value d3 set at this time is retained. On the contrary, when the tool body 4 collides with the obstacle, step 4.3 is performed; Step 4.3, shut down the machine tool body 1, adjust the distance setting value d3, and adjust it by increasing R by a single amount on the existing value, and then perform step 4.2 again; Step 5. After completing steps 3 and 4, formal processing is carried out. At this time, the low-loss tool is reinstalled to make the tool body 4 in a vertical state with high stability. Then, the obstacles are removed, the workpiece is placed on the workbench inside the machine tool body 1 and fixed, and then the machine tool body 1 is started to set V X 、V Y and V Z Just process the workpiece; The specific principles of the detection process of step 3 and step 4 are as follows: Take the obstacle avoidance preview detection process in the X-axis direction as an example: when the tool body 4 is fed at a feed rate of V X When the distance sensor 71 detects that the distance between the tool body 4 and the obstacle is reduced to the distance setting value d1, the obstacle avoidance system is triggered to respond. Under normal circumstances, the obstacle avoidance system will respond to the obstacle in time, so that the tool body 4 stops moving before colliding with the obstacle. At this time, it shows that the obstacle avoidance response efficiency of the obstacle avoidance system has successfully adapted to V X When the tool body 4 collides with an obstacle, it indicates that the obstacle avoidance response efficiency of the obstacle avoidance system is not suitable for the faster V X , the obstacle avoidance action is not performed before the tool body 4 contacts the obstacle. At this time, the obstacle avoidance parameter of the distance setting value d1 needs to be adjusted upward. The original distance setting value d1 is assumed to be P. The distance setting value d1 after a single increase is P+R. Before the adjustment, when the distance sensor 71 detects that the distance between the tool body 4 and the obstacle is reduced to P, the obstacle avoidance system is triggered to respond. After the adjustment, when the distance sensor 71 detects that the distance between the tool body 4 and the obstacle is reduced to P+R, the obstacle avoidance system is triggered to respond. Therefore, by adjusting the corresponding obstacle avoidance parameters, compared with the original obstacle avoidance response parameters, the adjusted obstacle avoidance system can be triggered to respond in advance when encountering an obstacle, thereby reserving sufficient reaction time to achieve obstacle avoidance action before the tool body 4 collides with the obstacle. That is, the response efficiency of the obstacle avoidance system after the parameter adjustment can smoothly adapt to V X .

[0025] Similarly, the obstacle avoidance preview detection and adjustment principles for the Y-axis and Z-axis directions are the same as those for the X-axis.

[0026] See also Figure 6 and Figure 7 , the method of installing the low-loss tool in step 3.1 is as follows: 1. Connect the top plate 42 and the hemispherical body 51 by means of a bolt 8 to achieve connection and fixation between the tool body 4 and the unstable auxiliary component 5; 2. Insert the hemisphere 51 into the cylindrical groove 301, and vertically insert the long rod 52 into the oblique long groove 303. Under the magnetic attraction of the strong magnetic ring 10, the hemisphere 51 is adsorbed on the inner wall of the spherical groove 302. At this time, in the absence of external force, the fixed seat 3 and the unstable auxiliary part 5 maintain a mutually adsorbed state, and the tool body 4 as a whole is in a low-stability vertical state.

[0027] After the above installation is completed, there is a gap between the upper end of the top plate 42 and the upper inner wall of the cylindrical groove 301. The function of this gap is to: Figure 8 and Fig. 9 As shown, in step 3.2 or step 3.3, when the tool body 4 collides with an obstacle due to failure to avoid the obstacle in time, the excessive collision force will overcome the magnetic force between a pair of strong magnetic rings 10, causing the tool body 4 to rotate and tilt to a certain extent, and the hemisphere 51 is still adsorbed inside the spherical groove 302, but the adsorption surface changes before and after the rotation. In this process, the gap reserved inside the cylindrical groove 301 recorded above can provide a holding space for the rotation of the top plate 42, so that the tool body 4 can smoothly rotate to a certain angle after colliding with the obstacle, and when the obstacle avoidance system does not respond in time, the hard collision between the tool body 4 and the obstacle is reduced through the force rotation of the tool body 4, thereby effectively reducing the damage and protecting the tool body 4.

[0028] See also Fig.10 and Fig.11 , the method for installing the low-loss tool in step 4.1 is as follows: 1. Insert the filler block 13 vertically into the oblique long groove 303, occupying part of the space in the oblique long groove 303, leaving only an area for accommodating the long rod 52, and the above area is located on the oblique upper side of the spherical groove 302; Second, the unstable auxiliary component 5 is inserted into the cylindrical groove 301 in an inclined shape until the long rod 52 is inserted into the reserved area in the oblique long groove 303. At this time, under the magnetic attraction of the strong magnetic ring 10, the unstable auxiliary component 5 is adsorbed inside the spherical groove 302 in an inclined shape; 3. A sub-gasket 14 with evenly distributed circular holes is placed on the lower end of the hemispherical body 51, and then the top plate 42, the sub-gasket 14 and the hemispherical body 51 are connected and fixed by bolts 15 (the bolts 15 pass through the threaded holes of the top plate 42 and the circular holes on the sub-gasket 14 in sequence, and are finally tightened in the threaded grooves of the hemispherical body 51). Since the non-stable auxiliary part 5 is placed obliquely in the cylindrical groove 301, the tool body 4 is in a low-stability inclined state; like Fig.11 and Fig.12 As shown, there is still a certain gap between the top plate 42 and the inner wall of the cylindrical groove 301 after the inclined installation, and the gap can also provide an accommodation space for the rotation of the top plate 42; the purpose of the inclined installation of the tool body 4 is: please refer to Fig.14 In step 4.2, when the tool body 4 collides with an obstacle due to failure to avoid the obstacle in time, the obstacle will exert an upward force on the tool body 4. Since the tool body 4 is in an inclined state, this force will overcome the magnetic force between a pair of strong magnetic rings 10, causing the inclined tool body 4 to continue to rotate upward, increasing the degree of inclination, reducing the hard collision between the tool body 4 and the obstacle, and playing an effective role in reducing damage and protecting the tool body 4; Supplementary explanation: In the specific implementation, the depth of the cylindrical groove 301 can be increased to the maximum extent, reserving more rotation space for the rotation of the top plate 42, thereby increasing the rotatable angle of the tool body 4, whether in the obstacle avoidance preview process in the X-axis and Y-axis directions of step 3, or in the obstacle avoidance preview process in the Z-axis direction of step 4, the damage reduction and protection effect of the tool body 4 can be improved.

[0029] like Fig.11 As shown, the presence of the filler block 13 has a limiting effect on the long rod 52, so that the long rod 52 is located in the oblique long groove 303 in an inclined state. The shape and size of the filler block 13 can be pre-set according to the shape and size of the oblique long groove 303 and the long rod 52, so that it meets the installation requirements of the first step in step 4.1. The bonding strength between the long rod 52 and the hemispherical body 51 can resist the magnetic force between a pair of strong magnetic rings 10, and it is not easy for the hemispherical body 51 to rotate due to the premature separation of the long rod 52 and the hemispherical body 51, so that the unstable auxiliary part 5 and the tool body 4 can smoothly maintain the inclined installation state; in addition, since the long rod 52 and the hemispherical body 51 are connected by an adhesive (such as Figure 5 As shown in the figure, when the tool body 4 rotates under force, it will drive the long rod 52 to rotate in the oblique slot 303. When the rotation reaches a certain angle, the long rod 52 will abut against the inner wall of the oblique slot 303. At this time, when the tool body 4 continues to rotate under the impact of the obstacle, the long rod 52 and the oblique slot 303 are squeezed, thereby causing the bonding part between the long rod 52 and the hemisphere 51 to separate (as shown in the figure). Fig. 9 and Fig.14 As shown in the figure), the long rod 52 is detached from the hemispherical body 51, so that it is not easy to cause obvious obstruction to the continued rotation of the hemispherical body 51 and the tool body 4, which facilitates the smooth realization of the damage reduction and protection effect of the present application.

[0030] The function of the auxiliary gasket 14 is to make the distance from the lowermost processed end of the tool bar 41 to the lower end of the fixing seat 3 in the inclined installation state (hereinafter referred to as distance A) the same as the distance from the lowermost processed end of the tool bar 41 to the lower end of the fixing seat 3 in the normal installation state (hereinafter referred to as distance B). Generally speaking, when a vertically placed long object rotates a certain angle with its top as the rotation center, the horizontal position of its bottom end after rotation is higher than the horizontal position of its bottom end before rotation. According to this actual situation, combined with Fig.13As shown, without adding a sub-gasket 14, the plane where the bottom end of the inclined tool body 4 is located will be higher than the plane where the bottom end of the vertically installed tool body 4 is located. Therefore, in order to improve the accuracy of the obstacle avoidance rehearsal detection in the X-axis direction, during the installation process recorded in step 4.1, a sub-gasket 14 of appropriate thickness is selected and placed between the hemisphere 51 and the top plate 42, so that the distance A is the same as the distance B. If there is no sub-gasket 14 of appropriate thickness to meet the condition that the distance A is the same as the distance B, a sub-gasket 14 of slightly larger thickness is selected to meet the condition that the distance A is slightly larger than the distance B. Under this condition, if the obstacle avoidance system can respond in time during the rehearsal detection, it can also respond in time to the obstacle avoidance during the actual processing process without any accidents.

[0031] Combination Figure 3 and Figure 4 As shown, the method for installing the low-loss tool in step 5 is as follows: 1. Connect the tool body 4 and the unstable auxiliary part 5 by means of a bolt 8; Second, a main gasket 6 with evenly distributed through holes is sleeved on the outer side of the hemispherical body 51, and then the long rod 52 is vertically inserted into the oblique long groove 303 until the main gasket 6 is clamped between the top plate 42 and the inner wall of the cylindrical groove 301, and at the same time the hemispherical body 51 is in contact with the inner wall of the spherical groove 302; 3. Bolt 2 9 penetrates the top plate 42 and the main gasket 6 in sequence and is threadedly connected to the inner top wall of the cylindrical groove 301, so as to fix the top plate 42, the main gasket 6 and the fixing seat 3, so that the tool body 4 is in a vertical state with high stability.

[0032] The inner top wall of the spherical groove 302 is provided with a plurality of locking grooves, and the top plate 42 is also provided with a plurality of mounting holes, and the mounting holes and the locking grooves correspond one to one. The bolt 9 passes through the mounting holes and the through holes on the main gasket 6 and is threadedly connected to the inside of the locking groove.

[0033] By setting a main gasket 6 of appropriate thickness to fill the gap between the top plate 42 and the inner wall of the cylindrical groove 301, occupying the rotation space of the top plate 42, and then using bolt 2 9 to connect the top plate 42, the main gasket 6 and the fixed seat 3, the tool body 4 is firmly and stably installed at the lower end of the fixed seat 3, which is convenient for processing the workpiece. In addition, since the tool body 4 is installed by threaded connection, this mechanical installation method is suitable for low-power and low-speed processing of the workpiece; therefore, in order to improve the scope of application of the machine tool body 1 and the tool body 4, in the specific implementation process, an electromagnet can be set in the fixed seat 3, and a magnetic iron core can be set in the hemisphere 51 (the iron core and the electromagnet are not drawn in the figure). If the workpiece needs to be processed with high power and high speed, after using bolt 2 9 to connect the tool body 4, the main gasket 6 and the fixed seat 3, the electromagnet can be started to perform non-mechanical electromagnetic adsorption on the unstable auxiliary part 5. By combining mechanical fixation and non-mechanical fixation, the scope of application of the present application can be further improved.

[0034] Second implementation method: This embodiment adds the following structure based on the embodiment 1: Figure 6 As shown, a rubber pad 11 is fixedly connected to the inner wall of the spherical groove 302 , a pressure sensor 12 is fixedly connected inside the fixing seat 3 , and a sensing end of the pressure sensor 12 extends into the inner side of the spherical groove 302 and is covered by the rubber pad 11 .

[0035] With the arrangement of the above structure, after the hemisphere 51 is inserted into the spherical groove 302, under the action of the magnetic attraction of the strong magnetic ring 10, the hemisphere 51 will fit with the inner surface of the rubber pad 11 and produce extrusion, and the extrusion force will be transmitted to the pressure sensor 12 through the rubber pad 11. Therefore, when the pressure sensor 12 monitors the pressure change, it can be shown that the hemisphere 51 is smoothly fitted with the spherical groove 302. Especially in the tool installation process in step 4, due to the inclined installation of the tool body 4 and the arrangement of the filling block 13, it is difficult to judge whether the long rod 52 is completely entered into the oblique long groove 303 and whether the hemisphere 51 is tightly fitted with the inner wall of the spherical groove 302. At this time, by monitoring the pressure sensor The pressure data of the pressure sensor 12 can effectively judge the installation status of the tool body 4. In addition, during the normal processing of step 5, by monitoring the changes in the pressure data of the pressure sensor 12, it can be effectively determined whether the unstable auxiliary component 5 is loose. When the pressure data of the pressure sensor 12 is in a large amplitude change process, it indicates to a certain extent that the installation of the unstable auxiliary component 5 and the tool body 4 is loose. At this time, the processing can be stopped in time to check the installation status of the two, thereby effectively reducing the impact on the processing quality of the workpiece. At the same time, it also effectively avoids dangerous accidents caused by the loosening and falling off of the tool body 4 during the processing, and plays a role in hazard monitoring for the operator.

[0036] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An automatic obstacle avoidance control system for a five-axis machine tool, comprising a machine tool body (1) having an obstacle avoidance system therein and a tool mounting frame (101) mounted on the machine tool body (1), characterized in that: A low-damage tool is installed at the lower end of the tool mounting frame (101), and the low-damage tool comprises a mounting box (2), a fixing seat (3) and a tool body (4) which are arranged in sequence from top to bottom; the mounting box (2) is fixedly connected between the tool mounting frame (101) and the fixing seat (3); the left and right ends of the mounting box (2) are fixedly connected to a distance sensor 1 (71); the front and rear ends of the mounting box (2) are fixedly connected to a distance sensor 2 (72); the lower end of the mounting box (2) is fixedly connected to a distance sensor 3 (73); the distance sensor 1 (71), the distance sensor 2 (72) and the distance sensor 3 (73) are all electrically connected to an obstacle avoidance system; the upper end of the tool body (4) is mounted on the lower end of the fixing seat (3) via a non-stable auxiliary component (5); The unstable auxiliary component (5) comprises a hemispherical body (51) and a long rod (52), the lower end of the long rod (52) being bonded to the top of the curved surface of the hemispherical body (51) by means of an adhesive, the tool body (4) comprises a tool rod (41) and a top plate (42), the handle end of the tool rod (41) being fixedly connected to the outer end of the top plate (42), and the top plate (42) and the hemispherical body (51) being detachably connected by means of a bolt (8); The lower end of the fixing seat (3) is provided with a cylindrical groove (301), the inner top wall of the cylindrical groove (301) is provided with a spherical groove (302), the inner top wall of the spherical groove (302) is provided with an oblique long groove (303), the hemispherical body (51) and the spherical groove (302) match each other, and the insides of the fixing seat (3) and the hemispherical body (51) are both fixedly connected with a strong magnetic ring (10).

2. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 1, characterized in that: The method of use includes the following steps: Step 1, setting: When any one of the following three conditions is met, the obstacle avoidance system is triggered to respond and perform an obstacle avoidance reaction: one is when the actual distance monitoring value of the distance sensor 1 (71) is ≤ the distance setting value d1; two is when the actual distance monitoring value of the distance sensor 2 (72) is ≤ the distance setting value d2; three is when the actual distance monitoring value of the distance sensor 3 (73) is ≤ the distance setting value d3, wherein: the distance setting value d1, the distance setting value d2 and the distance setting value d3 are all pre-set by the operator on the machine tool body (1); Step 2: The operator sets the feed rate of the low-wear tool on the machine tool body (1) according to the type of workpiece to be processed and the processing requirements. The feed rate in the X-axis direction is set to V. X , the feed rate in the Y-axis direction is V Y , the feed rate in the Z-axis direction is V Z , and then before the formal processing, whether the obstacle avoidance system can adapt to the set V X 、V Y and V Z This situation is tested in a preview, specifically including steps 3 and 4; Step 3: Obstacle avoidance preview detection process in the X-axis and Y-axis directions: Step 3.1, installing the low-damage cutter so that the cutter body (4) is in a vertical state with low stability; Step 3.2, obstacle avoidance preview detection process in the X-axis direction: Step 3.2.

1. Place an obstacle on the right side of the tool body (4), and the distance between the obstacle and the tool body (4) is greater than the distance setting value d1. Start the machine tool body (1) to drive the tool body (4) along the X-axis direction at a feed rate V X When the tool body (4) moves toward the obstacle, the obstacle avoidance system makes an obstacle avoidance response in time before the tool body (4) collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V X At this time, the obstacle avoidance preview detection process in the X-axis direction is terminated, and the specific value of the distance setting value d1 set at this time is retained. On the contrary, when the tool body (4) collides with the obstacle, step 3.2.2 is performed; Step 3.2.2, shut down the machine tool body (1), adjust the distance setting value d1, and adjust it by increasing R by a single increment to the existing value, and then perform step 3.2.1 again; Step 3.3, obstacle avoidance preview detection process in the Y-axis direction: Step 3.3.

1. Place an obstacle in front of the tool body (4), and the distance between the obstacle and the tool body (4) is greater than the distance setting value d2. Start the machine tool body (1) to drive the tool body (4) along the Y-axis direction at a feed rate V Y When the tool body (4) moves toward the obstacle, the obstacle avoidance system makes an obstacle avoidance response in time before the tool body (4) collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Y At this time, the obstacle avoidance preview detection process in the Y-axis direction is terminated, and the specific value of the distance setting value d2 set at this time is retained. On the contrary, when the tool body (4) collides with the obstacle, step 3.3.2 is performed; Step 3.3.2, shut down the machine tool body (1), adjust the distance setting value d2, and adjust it by increasing R by a single increment to the existing value, and then perform step 3.3.1 again; Step 4: Z-axis obstacle avoidance preview detection process: Step 4.1, reinstall the low-damage cutter so that the cutter body (4) is in a low-stability tilted state; Step 4.2: Place an obstacle on the workbench directly below the tool body (4), and the distance between the obstacle and the tool body (4) is greater than the distance setting value d3. Start the machine tool body (1) to drive the tool body (4) along the Z-axis direction at a feed rate V Z When the tool body (4) moves toward the obstacle, the obstacle avoidance system makes an obstacle avoidance response in time before the tool body (4) collides with the obstacle, indicating that the obstacle avoidance response efficiency of the obstacle avoidance system successfully adapts to V Z At this time, the obstacle avoidance preview detection process in the Z-axis direction is terminated, and the specific value of the distance setting value d3 set at this time is retained. On the contrary, when the tool body (4) collides with the obstacle, step 4.3 is performed; Step 4.3, shut down the machine tool body (1), adjust the distance setting value d3, and adjust it by increasing R by a single increment on the existing value, and then perform step 4.2 again; Step 5. After completing Steps 3 and 4, the formal processing is carried out. At this time, the low-loss tool is reinstalled to make the tool body (4) in a highly stable vertical state. Then, the obstacles are removed, and the workpiece to be processed is placed on the workbench inside the machine tool body (1) and fixed. Then, the machine tool body (1) is started and the V setting is set. X 、V Y and V Z Just process the workpiece.

3. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 1, characterized in that: When the long rod (52) is vertically inserted into the oblique long groove (303) and the hemispherical body (51) fits against the inner wall of the spherical groove (302), a gap exists between the upper end of the top plate (42) and the upper inner wall of the columnar groove (301).

4. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 1, characterized in that: When the hemisphere (51) is located inside the spherical groove (302), there is a magnetic attraction force between the pair of strong magnetic rings (10), and the magnetic attraction force is greater than the overall structural gravity after the tool body (4) and the unstable auxiliary component (5) are connected.

5. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 2, characterized in that: The method for installing the low-loss tool in step 3.1 is as follows:

1. Connecting the top plate (42) and the hemispherical body (51) by means of bolt 1 (8) to achieve connection and fixation of the tool body (4) and the unstable auxiliary component (5); Second, the hemisphere (51) is inserted into the cylindrical groove (301), and the long rod (52) is vertically inserted into the oblique long groove (303). Under the magnetic attraction of the strong magnetic ring (10), the hemisphere (51) is adsorbed on the inner wall of the spherical groove (302). At this time, in the absence of external force, the fixed seat (3) and the unstable auxiliary part (5) maintain a mutually adsorbed state, and the tool body (4) is in a vertical state with low stability as a whole.

6. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 2, characterized in that: The method for installing the low-loss tool in step 4.1 is as follows:

1. Insert the filler block (13) vertically into the oblique long groove (303), occupying part of the space in the oblique long groove (303), leaving only an area for accommodating the long rod (52), and the area is located on the oblique upper side of the spherical groove (302); 2. Insert the unstable auxiliary component (5) into the cylindrical groove (301) in an inclined shape until the long rod (52) is inserted into the reserved area in the oblique long groove (303). At this time, under the magnetic attraction of the strong magnetic ring (10), the unstable auxiliary component (5) is adsorbed in the spherical groove (302) in an inclined shape; 3. A sub-gasket (14) with evenly distributed circular holes is placed on the lower end of the hemispherical body (51), and then the top plate (42), the sub-gasket (14) and the hemispherical body (51) are connected and fixed by bolt three (15). Since the non-stable auxiliary component (5) is placed obliquely in the cylindrical groove (301), the tool body (4) is in a low-stability inclined state; The auxiliary gasket (14) has the function of making the distance from the lowermost processed end of the tool rod (41) to the lower end of the fixing seat (3) in the inclined installation state the same as the distance from the lowermost processed end of the tool rod (41) to the lower end of the fixing seat (3) in the normal installation state.

7. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 2, characterized in that: The method for installing the low-loss tool in step 5 is as follows:

1. Connecting the tool body (4) and the non-stabilizing auxiliary component (5) by means of a bolt (8); 2. A main gasket (6) with evenly distributed through holes is sleeved on the outer side of the hemispherical body (51), and then the long rod (52) is vertically inserted into the oblique long groove (303) until the main gasket (6) is clamped between the top plate (42) and the inner wall of the cylindrical groove (301), and at the same time, the hemispherical body (51) is in contact with the inner wall of the spherical groove (302); 3. Bolt 2 (9) penetrates the top plate (42) and the main gasket (6) in sequence and is threadedly connected to the inner top wall of the cylindrical groove (301), thereby fixing the top plate (42), the main gasket (6) and the fixing seat (3), so that the tool body (4) is in a vertical state with high stability.

8. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 1, characterized in that: The lower end of the hemispherical body (51) is provided with a plurality of threaded grooves, the top plate (42) is provided with a plurality of threaded holes, and the threaded holes and the threaded grooves correspond one to one, and the bolt 1 (8) passes through the threaded holes and is threadedly connected to the inside of the threaded grooves.

9. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 7, characterized in that: The inner top wall of the spherical groove (302) is provided with a plurality of locking grooves, and the top plate (42) is also provided with a plurality of mounting holes, and the mounting holes and the locking grooves correspond one to one, and the second bolt (9) passes through the mounting holes and the through holes on the main gasket (6) and is threadedly connected to the inside of the locking groove.

10. The automatic obstacle avoidance control system for a five-axis machine tool according to claim 1, characterized in that: A rubber pad (11) is fixedly connected to the inner wall of the spherical groove (302), a pressure sensor (12) is fixedly connected inside the fixing seat (3), and a sensing end of the pressure sensor (12) extends into the inner side of the spherical groove (302) and is covered by the rubber pad (11).

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