Tool changing control method, device, medium and system of numerical control machine tool

Abstract

The invention provides a tool changing control method, device and system for a numerical control machine tool and a medium. According to the method, under the condition of determining that no tool exists on a main shaft, the optimal tool position is determined according to the distance between adjacent tool aprons of a current point location and a target point location in a tool changing area and the number of tool apron intervals between the current point location and the target point location, and the tool changing action is executed on the optimal tool position according to a tool changing instruction. Due to the fact that optimal tool changing is considered, compared with an existing scheme, the automatic tool changing efficiency is improved, the tool changing time is shortened, and the problems that in the existing scheme, random tool changing is conducted manually, the tool changing time is not considered, the tool changing time is long, and the follow-up work efficiency is affected are solved.

Description

Technical Field

[0001] The present application relates to the technical field of numerically controlled machine tools, and in particular to a tool change control method, device, medium and system for numerically controlled machine tools. Background Art

[0002] With the development of manufacturing technology, the demand for CNC machine tools required for production and processing is also expanding. At present, CNC machine tools have been widely used in the fields of automobiles, molds, aerospace, etc. During the processing of CNC machine tools, multiple tools are often needed to meet various processing methods. The processing time includes the time for switching tools. Therefore, reducing the time required for tool change can reduce the total processing time and improve processing efficiency.

[0003] However, the existing scheme still relies on manual random tool change without considering the time required for tool change, which makes the tool change time longer and affects the efficiency of subsequent work. In addition, the existing scheme places tools of various sizes together, among which larger tools will affect the surrounding tools due to the shorter distance when changing tools, such as collision, thereby affecting the tool change efficiency. Summary of the invention

[0004] The main purpose of the present application is to provide a tool changing control method, device, medium and system for a CNC machine tool, so as to at least solve the problem that the existing solutions still rely on manual random tool changing without considering the time required for tool changing, thereby making the tool changing time longer and affecting the efficiency of subsequent work.

[0005] In order to achieve the above object, according to one aspect of the present application, a tool change control method for a CNC machine tool is provided, the method comprising:

[0006] Obtaining a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, wherein the target type of tool is a first type of tool and a second type of tool, and the maximum value of the size range of the first type of tool is smaller than the minimum value of the size range of the second type of tool;

[0007] In the case where it is determined that there is no tool on the spindle, the optimal tool position is determined according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, wherein the current point represents the position of the tool seat that is currently closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool;

[0008] According to the tool change instruction, a tool change action is performed at the optimal tool position.

[0009] Optionally, when it is determined that there is no tool on the spindle, determining the optimal tool position according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point includes:

[0010] according to Determine the minimum tool change time,

[0011] Wherein, T is the minimum tool change time, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tool, the second tool change zone is used to store the first type of tool, j z1 is the number of tool holder intervals between the current point and the target point in the first tool change area, j z2 is the number of tool holder intervals between the current point and the target point in the second tool change area, j z3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area;

[0012] The optimal tool position is determined to be the tool position corresponding to the minimum tool change time.

[0013] Optionally, the method further comprises:

[0014] When it is determined that there is a tool on the spindle and the tool on the spindle is a tool of the target type, determining that there is no need to perform a tool change action;

[0015] When it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, the tool release action and tool change action are performed in sequence according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point.

[0016] Optionally, according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, the tool release action and the tool change action are sequentially performed, including:

[0017] according to Determine the knife release time for each knife release strategy;

[0018] according to Determine the tool change time for each tool change strategy;

[0019] Among them, t 放 is the knife release time of the knife release strategy, t 换 is the tool change time of the tool change strategy, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tool, the second tool change zone is used to store the first type of tool, i 放1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool placement strategy needs to be executed, i 放2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool placement strategy needs to be executed, i 放3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool placement strategy needs to be executed, i 换1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool change strategy needs to be executed, i 换2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool change strategy needs to be executed, i 换3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool change strategy needs to be executed;

[0020] Determine the total time of various combination strategies, wherein the combination strategy is a strategy obtained by combining one of all the tool release strategies with one of all the tool change strategies, and the total time of the combination strategy is the sum of the tool release time of the tool release strategy and the tool change time of the tool change strategy;

[0021] Determine the optimal combination strategy as the combination strategy corresponding to the minimum value of the total time of all the combination strategies;

[0022] Based on the optimal combination strategy, the tool releasing action and the tool changing action are executed in sequence.

[0023] Optionally, when it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, a tool placement action and a tool change action are sequentially performed, including:

[0024] When the target type tool is the first type tool and the tool on the spindle is the second type tool, determine to execute the tool placing action from a first tool changing area and to execute the tool changing action from a second tool changing area, the first tool changing area being used to store the second type tool and the second tool changing area being used to store the first type tool;

[0025] When the target type tool is the second type tool and the tool on the spindle is the first type tool, it is determined that the tool placing action is performed from the second tool changing area and the tool changing action is performed from the first tool changing area.

[0026] Optionally, the method further comprises:

[0027] In the case that a tool is broken in the spindle and / or the tool changing area, an alarm instruction is generated to prompt that a tool is broken in the spindle and / or the tool changing area.

[0028] Optionally, after obtaining the tool change instruction, the method further includes:

[0029] Using monitoring and shooting technology and image recognition technology to determine whether the tool exists on the spindle;

[0030] The monitoring and shooting technology is used to scan the unique identification of each tool to obtain information of each tool, and the tool information at least includes the tool holder position of the tool.

[0031] According to another aspect of the present application, a tool changing control device for a numerically controlled machine tool is provided, the device comprising:

[0032] An acquisition unit is used to acquire a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, the target type of tool is a first type of tool and a second type of tool, and the maximum value of the size range of the first type of tool is smaller than the minimum value of the size range of the second type of tool;

[0033] A first determination unit is used to determine the optimal tool position according to the distance and the number of intervals between adjacent tool seats in the tool change area from the current point to the target point when it is determined that there is no tool on the spindle, wherein the current point represents the position of the tool seat that is currently closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool;

[0034] The first processing unit is used to execute a tool changing action at the optimal tool position according to the tool changing instruction.

[0035] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0036] According to another aspect of the present application, a tool changing control system for a CNC machine tool is provided, the system comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0037] By applying the technical solution of the present application, when it is determined that there is no tool on the spindle, the optimal tool position is determined based on the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, and the tool change action is performed at the optimal tool position according to the tool change instruction. Since the optimal tool change is taken into consideration, the present application improves the efficiency of automatic tool change and reduces the time for tool change compared with the existing solution, thereby solving the problem that the existing solution still relies on manual random tool change without considering the time required for tool change, thereby making the tool change time longer and affecting the efficiency of subsequent work. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 A schematic flow chart of a tool change control method for a CNC machine tool provided according to an embodiment of the present application is shown;

[0040] Figure 2 A schematic diagram of a chain tool magazine provided according to an embodiment of the present application is shown;

[0041] Figure 3 A schematic flow chart of another tool change control method for a CNC machine tool provided according to an embodiment of the present application is shown;

[0042] Figure 4 A structural block diagram of a tool changing control device for a CNC machine tool provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0047] Surveillance technology refers to the technology of using cameras and other equipment to monitor and record specific areas or objects in real time.

[0048] Image recognition technology refers to the technology that uses computer vision technology to identify and analyze objects, scenes, etc. in images or videos.

[0049] As introduced in the background technology, the existing scheme currently still relies on manual random tool changing without considering the time required for tool changing, which makes the tool changing time longer and affects the efficiency of subsequent work. In addition, the existing scheme places tools of various sizes together, among which larger tools will affect the surrounding tools due to the shorter distance when changing tools, such as collision, thereby affecting the tool changing efficiency. In order to solve the problem that the existing scheme currently relies on manual random tool changing without considering the time required for tool changing, which makes the tool changing time longer and affects the efficiency of subsequent work, the embodiments of the present application provide a tool changing control method, device, medium and system for a CNC machine tool.

[0050] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0051] In this embodiment, a tool changing control method for a CNC machine tool is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0052] Figure 1 It is a flow chart of a tool changing control method for a CNC machine tool provided according to an embodiment of the present application.

[0053] like Figure 1 As shown, the method comprises the following steps:

[0054] Step S101, obtaining a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, the target type of tool is a first type of tool and a second type of tool, and the upper limit value of the size range of the first type of tool is less than the lower limit value of the size range of the second type of tool;

[0055] Specifically, when the CNC system issues an instruction to change the tool, it starts to select the tool to be used and first determines whether the target type of tool exists (i.e., whether it exists on the spindle). If the tool does not exist, an error message is given, indicating that the target tool does not exist, and the process ends. Otherwise, if the tool exists, the process continues to proceed and determines the target tool type to be changed. In this application, the tools are divided into two types, which are classified according to the tool diameter. When the tool diameter is greater than the corresponding set value, it is defined as a large-diameter tool (i.e., the second type of tool). The tool can only be changed in a fixed area position in the tool magazine (i.e., stored in the second tool change area). Otherwise, if the tool diameter is less than the set value, it is defined as a conventional diameter tool (i.e., the first type of tool). The tool can be randomly changed in a non-fixed area (i.e., stored in the first tool change area).

[0056] Step S102, when it is determined that there is no tool on the spindle, the optimal tool position is determined according to the distance between the adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, wherein the current point represents the position of the tool seat closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool;

[0057] Among them, step S102, that is, when it is determined that there is no tool on the spindle, determining the optimal tool position according to the distance between the adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, includes:

[0058] according to Determine the minimum tool change time,

[0059] Wherein, T is the above-mentioned minimum tool change time, v is the forward or reverse speed of the tool magazine, x1 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point in the first tool change area; x2 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point in the second tool change area; x3 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point at the junction of the above-mentioned second tool change area and the above-mentioned first tool change area, the above-mentioned first tool change area is used to store the above-mentioned second type of tools, and the above-mentioned second tool change area is used to store the above-mentioned first type of tools, j z1 is the number of tool holder intervals between the current point and the target point in the first tool change area, j z2 is the number of tool holder intervals between the current point and the target point in the second tool change area, j z3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area;

[0060] The optimal tool position is determined to be the tool position corresponding to the above-mentioned minimum tool change time.

[0061] like Figure 2 As shown in the figure, take the chain tool magazine with 22 tool holders as an example, where the circle represents the tool holder, the number in the circle represents the tool holder number 1-22, and the number with # next to the tool holder is the tool number. Figure 2 There are 22 knives #1-#22 in total. Figure 2 The tool magazine is divided into a fixed tool change area (i.e., the second tool change area) and a non-fixed tool change area (random area, i.e., the first tool change area). For example, tool holders 15-19 in the tool magazine are set as fixed areas, and other tool holders are set as random areas. The spindle tool change point is fixed. Each time the tool is changed, the tool magazine needs to move the target tool to the tool change point by forward or reverse rotation to complete the tool change. For example, if the current point is 20 and the target point is 14, there are 5 tool holders in fixed tool change areas between 20 and 14. From another rotation angle, there are 15 tool holders in non-fixed tool change areas between 20 and 14. Then, the number of tool holder intervals between the current point and the target point in the second tool change area is 4 (because there are five tool holders in fixed tool change areas). The same is true for the remaining intervals, which will not be repeated here. Various tool change times have a mapping relationship with tool positions, that is, to determine which tool position can take the least time to perform the tool change action, select that tool position.

[0062] Since the tools are placed in categories, compared with the existing solution that places tools of various sizes together, the larger tools will affect the surrounding tools due to the shorter distance when changing tools, such as causing collisions, thereby affecting the tool changing efficiency. The present application can improve the tool changing efficiency.

[0063] Step S103, executing a tool change action at the above-mentioned optimal tool position according to the above-mentioned tool change instruction.

[0064] In the above steps, when it is determined that there is no tool on the above spindle, the optimal tool position is determined according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the above current point and the above target point, and the tool change action is performed at the above optimal tool position according to the above tool change instruction. Since the optimal tool change is taken into consideration, the present application improves the efficiency of automatic tool change and reduces the time for tool change compared with the existing scheme, thereby solving the problem that the existing scheme still relies on manual random tool change without considering the time required for tool change, thereby making the tool change time longer and affecting the efficiency of subsequent work.

[0065] In one embodiment of the present application, the above method further includes:

[0066] When it is determined that there is a tool on the spindle and the tool on the spindle is the target type tool, it is determined that there is no need to perform a tool change action;

[0067] When it is determined that there is a tool on the above-mentioned spindle and the tool on the above-mentioned spindle is a non-target type tool, the tool release action and tool change action are executed in sequence according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the above-mentioned current point and the above-mentioned target point.

[0068] Specifically, when determining whether there is a tool on the spindle, it is also necessary to consider whether the tool on the spindle is a target type tool. If so, there is no need to change the tool. If not, it is necessary to place the tool first and then change the tool.

[0069] If the target tool type is a large-diameter tool, first determine whether the target tool is already in the spindle. If it is, it will prompt that the tool is already in the spindle and end the tool change process here. If the target tool is not in the spindle, continue to proceed. Next, determine whether there is already a tool on the spindle. If there is no tool on the spindle, search for the target tool in the fixed area and change the tool. If there is already a tool on the spindle, you need to place the tool first. When placing the tool, you need to determine whether the tool on the spindle is a large-diameter tool. If it is a large-diameter tool, you need to place the tool in the fixed area first, and then change the target tool in the fixed area. If it is not a large-diameter tool, you need to place the tool in the random area, and then go to the fixed area to find the target tool for tool change.

[0070] If the target tool is a conventional diameter tool, first determine whether the target tool is already in the spindle. If it is, it will prompt that the tool is already in the spindle and end the tool change process here. If the target tool is not in the spindle, continue to proceed. Next, determine whether there is already a tool on the spindle. If there is no tool on the spindle, search for the target tool in the random area and change the tool. If there is already a tool on the spindle, you need to place the tool first. When placing the tool, you need to determine whether the tool on the spindle is a large-diameter tool. If it is a large-diameter tool, you need to go to the fixed area to place the tool first, and then go to the random area to change the target tool. If it is not a large-diameter tool, you need to go to the random area to place the tool, and then find the target tool in the random area to change the tool.

[0071] In one embodiment of the present application, according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, the tool release action and the tool change action are performed in sequence, including:

[0072] according to Determine the knife release time for each knife release strategy;

[0073] according to Determine the tool change time for each tool change strategy;

[0074] Among them, t 放 is the knife release time of the above knife release strategy, t 换 is the tool change time of the tool change strategy, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tools, the second tool change zone is used to store the first type of tools, i 放1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool placement strategy is executed, i 放2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool placement strategy is executed. 放3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool release strategy is to be executed, i 换1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool change strategy needs to be executed, i 换2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool change strategy is to be executed, i 换3is the number of tool holder intervals between the current point and the target point at the junction of the second tool change zone and the first tool change zone when the tool change strategy needs to be executed;

[0075] Determine the total time of various combination strategies, the combination strategy is a strategy obtained by combining one of all the tool release strategies and one of all the tool change strategies, and the total time of the combination strategy is the sum of the tool release time of the tool release strategy and the tool change time of the tool change strategy;

[0076] Determine the optimal combination strategy as the combination strategy corresponding to the minimum total time of all the combination strategies;

[0077] Based on the above optimal combination strategy, the above tool release action and the above tool change action are executed in sequence.

[0078] Specifically, for example, if the number of tool holders in the tool magazine is M and the number of tools is N, the tool change time is the sum of the spindle tool placement time and the spindle tool pickup time. The spindle tool placement time is the ratio of the distance taken for the tool holder where the target tool is located to move to the tool placement point to the forward or reverse speed of the tool magazine. The spindle tool pickup time is the ratio of the distance taken for the tool holder where the target tool is located to move to the tool change point (tool pickup point) to the forward or reverse speed of the tool magazine.

[0079] The tool holder in the tool magazine and the tool magazine information together form a solution, which can be expressed as:

[0080] A = [p, q, m, n];

[0081] Where p is 0 or 1. When p is 1, it means there is a tool on the tool holder. When p is 0, it means there is no tool on the tool holder.

[0082] q is 0 or 1. When q is 1, it means that the tool holder belongs to the conventional area and can be replaced with random tools. When q is 0, it means that the tool holder belongs to the large diameter area and can be replaced with large diameter tools.

[0083] m is the tool holder information serial number, m∈[1,M]; n is the tool information serial number, n∈[0,N]. When n is 0, it means there is no tool at this time.

[0084] For example:

[0085] A1=[1, 1, 11, 2], A2=[0, 0, 15, 0],

[0086] A1 indicates that there is a tool on tool holder 11, the tool number is 2, the tool holder is a regular area tool holder, and the tool can be changed in the random area.

[0087] A2 indicates that there is no tool on the tool holder 15, the tool holder is a large diameter area, and there is no tool on the tool holder.

[0088] When the tool needs to be changed, first obtain the information of the tool holder currently at the tool change point, and set the tool holder information at the tool change point to A0;

[0089] A0 = [p0, q0, m0, n0]; After obtaining the tool change point information, start the tool change and perform the spindle tool judgment to determine whether the spindle has a tool.

[0090] In one embodiment of the present application, when it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, a tool placement action and a tool change action are sequentially performed, including:

[0091] In the case where the target type tool is the first type tool and the tool on the spindle is the second type tool, determining to execute the tool placing action from the first tool changing area and to execute the tool changing action from the second tool changing area, the first tool changing area being used to store the second type tools and the second tool changing area being used to store the first type tools;

[0092] When the target type tool is the second type tool and the tool on the spindle is the first type tool, it is determined that the tool release action is performed from the second tool change area and the tool change action is performed from the first tool change area.

[0093] Specifically, when placing the tool, you need to go to the corresponding area to place the tool. Similarly, when changing the tool, you need to go to the corresponding area to change the tool.

[0094] In one embodiment of the present application, the above method further includes:

[0095] In the event that a tool is broken in the spindle and / or the tool changing area, an alarm instruction is generated to prompt that a tool is broken in the spindle and / or the tool changing area.

[0096] Specifically, during the processing, unexpected situations that may occur include tool breakage and tool drop. Tool breakage usually occurs during the processing, and tool drop usually occurs when the tool is changed due to insufficient grip of the tool claw. When tool breakage and tool drop occur, monitoring and shooting technology and image recognition technology can be used to identify the tool status and determine whether the tool is broken or dropped. Once a tool breakage or tool drop occurs, the operation will be stopped immediately and an alarm will be issued.

[0097] In one embodiment of the present application, after obtaining the tool change instruction, the method further includes:

[0098] Using monitoring and shooting technology and image recognition technology to determine whether the above-mentioned tool exists on the above-mentioned spindle;

[0099] The unique identification of each of the above-mentioned tools is scanned by using the above-mentioned monitoring and shooting technology to obtain information of each tool, and the above-mentioned tool information at least includes the tool holder position of the above-mentioned tool.

[0100] Specifically, the information of each tool can be obtained by scanning the QR code set on the tool according to the monitoring shooting technology and the image recognition technology. The tool information can also include the number of times the tool has been used.

[0101] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the tool changing control method for a CNC machine tool of the present application will be described in detail below in combination with specific embodiments.

[0102] This embodiment relates to a specific tool change control method for a CNC machine tool, such as Figure 3 As shown, including:

[0103] Obtain a tool change instruction, the tool change instruction indicates that the spindle needs to be equipped with a target type tool, the target type tool is a first type tool and a second type tool, and the maximum value of the size range of the first type tool is less than the minimum value of the size range of the second type tool;

[0104] Use monitoring and shooting technology and image recognition technology to determine whether there is a tool on the spindle; use monitoring and shooting technology to scan the unique identification of each tool to obtain the information of each tool, and the tool information at least includes the tool seat position of the tool;

[0105] When it is determined that there is no tool on the spindle, the optimal tool position is determined based on the distance between adjacent tool seats in the tool change area from the current point to the target point and the number of tool seat intervals between the current point and the target point. The current point represents the position of the tool seat closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool; according to the tool change instruction, the tool change action is performed at the optimal tool position.

[0106] When it is determined that there is a tool on the spindle and the tool on the spindle is a target type tool, it is determined that there is no need to perform a tool change action;

[0107] When it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, the tool placement time of each tool placement strategy and the tool change time of each tool change strategy are determined according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point;

[0108] Determine the total time of various combination strategies. The combination strategy is a strategy that combines one of all tool release strategies with one of all tool change strategies. The total time of the combination strategy is the sum of the tool release time of the tool release strategy and the tool change time of the tool change strategy.

[0109] The optimal combination strategy is determined to be the combination strategy corresponding to the minimum total time of all the combination strategies; based on the optimal combination strategy, the tool release action and the tool change action are executed in sequence.

[0110] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0111] The embodiment of the present application also provides a tool change control device for a numerically controlled machine tool. It should be noted that the tool change control device for a numerically controlled machine tool in the embodiment of the present application can be used to execute the tool change control method for a numerically controlled machine tool provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0112] The following is an introduction to the tool changing control device for a CNC machine tool provided in an embodiment of the present application.

[0113] Figure 4 1 is a structural block diagram of a tool change control device for a CNC machine tool provided according to an embodiment of the present application. Figure 4 As shown, the device comprises:

[0114] An acquisition unit 41 is used to acquire a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, the target type of tool is a first type of tool and a second type of tool, and an upper limit value of a size range of the first type of tool is less than a lower limit value of a size range of the second type of tool;

[0115] A first determining unit 42 is used to determine the optimal tool position according to the distance and the number of intervals between adjacent tool seats in the tool change area from the current point to the target point when it is determined that there is no tool on the spindle, wherein the current point represents the position of the tool seat closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool;

[0116] The first processing unit 43 is used to execute a tool changing action at the above-mentioned optimal tool position according to the above-mentioned tool changing instruction.

[0117] In the above-mentioned device, when it is determined that there is no tool on the above-mentioned spindle, the optimal tool position is determined according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the above-mentioned current point and the above-mentioned target point, and the tool change action is performed at the above-mentioned optimal tool position according to the above-mentioned tool change instruction. Since the optimal tool change is taken into consideration, the present application improves the efficiency of automatic tool change and reduces the time for tool change compared with the existing scheme, thereby solving the problem that the existing scheme still relies on manual random tool change without considering the time required for tool change, thereby making the tool change time longer and affecting the efficiency of subsequent work.

[0118] In one embodiment of the present application, the first determining unit includes a first determining module and a second determining module.

[0119] The first determining module is used to Determine the minimum tool change time,

[0120] Wherein, T is the above-mentioned minimum tool change time, v is the forward or reverse speed of the tool magazine, x1 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point in the first tool change area; x2 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point in the second tool change area; x3 is the distance between the above-mentioned current point and the adjacent tool holder of the above-mentioned target point at the junction of the above-mentioned second tool change area and the above-mentioned first tool change area, the above-mentioned first tool change area is used to store the above-mentioned second type of tools, and the above-mentioned second tool change area is used to store the above-mentioned first type of tools, j z1 is the number of tool holder intervals between the current point and the target point in the first tool change area, j z2 is the number of tool holder intervals between the current point and the target point in the second tool change area, j z3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area;

[0121] The second determination module is used to determine that the optimal tool position is the tool position corresponding to the above-mentioned minimum tool change time.

[0122] In one embodiment of the present application, the above-mentioned device further includes a second determining unit and a second processing unit;

[0123] The second determining unit is used for determining that there is no need to perform a tool change action when it is determined that there is a tool on the spindle and the tool on the spindle is the target type tool;

[0124] The second processing unit is used to execute the tool releasing action and the tool changing action in sequence according to the distance between adjacent tool seats from the current point to the target point in the tool changing area and the number of tool seat intervals between the current point and the target point, when it is determined that there is a tool on the above-mentioned spindle and the tool on the above-mentioned spindle is a non-target type tool.

[0125] In one embodiment of the present application, the second processing unit includes a third determination module, a fourth determination module, a fifth determination module, a sixth determination module and a processing module.

[0126] The third determination module is used to Determine the knife release time for each knife release strategy;

[0127] The fourth determination module is used to determine Determine the tool change time for each tool change strategy;

[0128] Among them, t 放 is the knife release time of the above knife release strategy, t 换 is the tool change time of the tool change strategy, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tools, the second tool change zone is used to store the first type of tools, i 放1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool placement strategy is executed, i 放2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool placement strategy is executed. 放3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool release strategy is to be executed, i 换1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool change strategy needs to be executed, i 换2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool change strategy is to be executed, i 换3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change zone and the first tool change zone when the tool change strategy needs to be executed;

[0129] The fifth determination module is used to determine the total time of various combination strategies, wherein the combination strategy is a strategy obtained by combining one of all the tool release strategies and one of all the tool change strategies, and the total time of the combination strategy is the sum of the tool release time of the tool release strategy and the tool change time of the tool change strategy;

[0130] The sixth determination module is used to determine that the optimal combination strategy is the combination strategy corresponding to the minimum value of the total time of all the combination strategies;

[0131] The processing module is used to sequentially execute the tool placing action and the tool changing action based on the optimal combination strategy.

[0132] In one embodiment of the present application, the second processing unit includes a seventh determination module and an eighth determination module.

[0133] The seventh determination module is used for determining that the tool placement action is performed from the first tool change area and the tool change action is performed from the second tool change area when the target type tool is the first type tool and the tool on the spindle is the second type tool, the first tool change area is used to store the second type tool, and the second tool change area is used to store the first type tool;

[0134] The eighth determination module is used to determine whether to execute the tool release action from the second tool change area and the tool change action from the first tool change area when the target type tool is the second type tool and the tool on the spindle is the first type tool.

[0135] In one embodiment of the present application, the above-mentioned device further includes a generating unit,

[0136] The generating unit is used for generating an alarm instruction when a tool is broken in the spindle and / or the tool changing area, so as to prompt that a tool is broken in the spindle and / or the tool changing area.

[0137] In one embodiment of the present application, the above-mentioned device further includes a third determining unit and a third processing unit.

[0138] The third determination unit is used to determine whether the tool is on the spindle by using monitoring shooting technology and image recognition technology after obtaining the tool change instruction;

[0139] The third processing unit is used to scan the unique identification of each of the above-mentioned tools using the above-mentioned monitoring and shooting technology to obtain information of each tool, and the above-mentioned tool information at least includes the tool holder position of the above-mentioned tool.

[0140] The tool change control device for a CNC machine tool comprises a processor and a memory, wherein the acquisition unit, the first determination unit, the first processing unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0141] The processor contains a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the existing solution still relies on manual random tool change without considering the time required for tool change, which makes the tool change time longer and affects the efficiency of subsequent work.

[0142] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0143] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the tool change control method for the CNC machine tool.

[0144] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the tool change control method of the CNC machine tool is executed when the program is run.

[0145] The embodiment of the present invention provides a device, the device includes a processor, a memory and a program stored in the memory and can be run on the processor, and when the processor executes the program, at least the following steps are implemented: obtaining a tool change instruction, the tool change instruction indicates that the spindle needs to be equipped with a target type tool, the target type tool is a first type tool and a second type tool, and the upper limit of the size range of the first type tool is less than the lower limit of the size range of the second type tool; when it is determined that there is no tool on the spindle, the optimal tool position is determined according to the distance between the adjacent tool seats in the tool change area from the current point to the target point and the number of tool seat intervals between the current point and the target point, the current point indicates the position of the tool seat closest to the spindle, and the target point indicates the position of the tool seat equipped with the target type tool; according to the tool change instruction, the tool change action is performed at the optimal tool position. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0146] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with at least the following method steps: obtaining a tool change instruction, the tool change instruction indicating that the spindle needs to be equipped with a target type of tool, the target type of tool is a first type of tool and a second type of tool, and the upper limit value of the size range of the first type of tool is less than the lower limit value of the size range of the second type of tool; when it is determined that there is no tool on the spindle, the optimal tool position is determined based on the distance between adjacent tool seats in the tool change area from the current point to the target point and the number of tool seat intervals between the current point and the target point, the current point indicating the position of the tool seat closest to the spindle, and the target point indicating the position of the tool seat equipped with the target type of tool; and performing a tool change action at the optimal tool position according to the tool change instruction.

[0147] According to another aspect of the present application, a tool change control system for a numerically controlled machine tool is provided, the system comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the above methods. In the case of determining that there is no tool on the spindle, the optimal tool position is determined according to the distance between the adjacent tool seats in the tool change area from the current point to the target point and the number of tool seat intervals between the current point and the target point, and the tool change action is performed at the optimal tool position according to the tool change instruction. Due to the consideration of the optimal tool change, the present application improves the efficiency of automatic tool change and reduces the time for tool change compared with the existing solution, thereby solving the problem that the existing solution still relies on manual random tool change without considering the time required for tool change, resulting in a long tool change time and affecting the efficiency of subsequent work.

[0148] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0154] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0155] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0156] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0157] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0158] 1) The tool changing control method of the CNC machine tool of the present application, when it is determined that there is no tool on the above-mentioned spindle, determines the optimal tool position according to the distance between the adjacent tool seats from the current point to the target point in the tool changing area and the number of tool seat intervals between the above-mentioned current point and the above-mentioned target point, and executes the tool changing action at the above-mentioned optimal tool position according to the above-mentioned tool changing instruction. Since the optimal tool changing is considered, the present application improves the efficiency of automatic tool changing and reduces the time for tool changing compared with the existing scheme, thereby solving the problem that the existing scheme still relies on manual random tool changing without considering the time required for tool changing, thereby making the tool changing time longer and affecting the efficiency of subsequent work.

[0159] 2) The tool changing control device of the CNC machine tool of the present application, when determining that there is no tool on the above-mentioned spindle, determines the optimal tool position according to the distance between adjacent tool seats from the current point to the target point in the tool changing area and the number of tool seat intervals between the above-mentioned current point and the above-mentioned target point, and executes the tool changing action at the above-mentioned optimal tool position according to the above-mentioned tool changing instruction. Since the optimal tool changing is considered, the present application improves the efficiency of automatic tool changing and reduces the time for tool changing compared with the existing scheme, thereby solving the problem that the existing scheme still relies on manual random tool changing without considering the time required for tool changing, thereby making the tool changing time longer and affecting the efficiency of subsequent work.

[0160] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tool change control method for a CNC machine tool, characterized in that: include: Obtaining a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, wherein the target type of tool is a first type of tool and a second type of tool, and the maximum value of the size range of the first type of tool is smaller than the minimum value of the size range of the second type of tool; In the case where it is determined that there is no tool on the spindle, the optimal tool position is determined according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, wherein the current point represents the position of the tool seat that is currently closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool; According to the tool change instruction, a tool change action is performed at the optimal tool position.

2. The method according to claim 1, characterized in that In the case where it is determined that there is no tool on the spindle, determining the optimal tool position according to the distance between adjacent tool seats in the tool change area from the current point to the target point and the number of tool seat intervals between the current point and the target point, including: according to Determine the minimum tool change time, Wherein, T is the minimum tool change time, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tool, the second tool change zone is used to store the first type of tool, j z1 is the number of tool holder intervals between the current point and the target point in the first tool change area, j z2 is the number of tool holder intervals between the current point and the target point in the second tool change area, j z3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area; The optimal tool position is determined to be the tool position corresponding to the minimum tool change time.

3. The method according to claim 1, characterized in that The method further comprises: When it is determined that there is a tool on the spindle and the tool on the spindle is a tool of the target type, determining that there is no need to perform a tool change action; When it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, the tool release action and tool change action are performed in sequence according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point.

4. The method according to claim 3, characterized in that: According to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, the tool release action and the tool change action are performed in sequence, including: according to Determine the knife release time for each knife release strategy; according to Determine the tool change time for each tool change strategy; Among them, t 放 is the knife release time of the knife release strategy, t 换 is the tool change time of the tool change strategy, v is the forward or reverse speed of the tool magazine, x1 is the distance between the current point and the adjacent tool holder of the target point in the first tool change zone; x2 is the distance between the current point and the adjacent tool holder of the target point in the second tool change zone; x3 is the distance between the current point and the adjacent tool holder of the target point at the junction of the second tool change zone and the first tool change zone, the first tool change zone is used to store the second type of tool, the second tool change zone is used to store the first type of tool, i 放1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool placement strategy needs to be executed, i 放2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool placement strategy needs to be executed, i 放3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool placement strategy needs to be executed, i 换1 is the number of tool holder intervals between the current point and the target point in the first tool change area when the tool change strategy needs to be executed, i 换2 is the number of tool holder intervals between the current point and the target point in the second tool change area when the tool change strategy needs to be executed, i 换3 is the number of tool holder intervals between the current point and the target point at the junction of the second tool change area and the first tool change area when the tool change strategy needs to be executed; Determine the total time of various combination strategies, wherein the combination strategy is a strategy obtained by combining one of all the tool release strategies with one of all the tool change strategies, and the total time of the combination strategy is the sum of the tool release time of the tool release strategy and the tool change time of the tool change strategy; Determine the optimal combination strategy as the combination strategy corresponding to the minimum value of the total time of all the combination strategies; Based on the optimal combination strategy, the tool releasing action and the tool changing action are executed in sequence.

5. The method according to claim 3, characterized in that: When it is determined that there is a tool on the spindle and the tool on the spindle is a non-target type tool, according to the distance between adjacent tool seats from the current point to the target point in the tool change area and the number of tool seat intervals between the current point and the target point, a tool placement action and a tool change action are sequentially performed, including: When the target type tool is the first type tool and the tool on the spindle is the second type tool, determine to execute the tool placing action from a first tool changing area and to execute the tool changing action from a second tool changing area, the first tool changing area being used to store the second type tool and the second tool changing area being used to store the first type tool; When the target type tool is the second type tool and the tool on the spindle is the first type tool, it is determined that the tool placing action is performed from the second tool changing area and the tool changing action is performed from the first tool changing area.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: In the case that a tool is broken in the spindle and / or the tool changing area, an alarm instruction is generated to prompt that a tool is broken in the spindle and / or the tool changing area.

7. The method according to any one of claims 1 to 5, characterized in that After obtaining the tool change instruction, the method further includes: Using monitoring and shooting technology and image recognition technology to determine whether the tool exists on the spindle; The monitoring and shooting technology is used to scan the unique identification of each tool to obtain information of each tool, and the tool information at least includes the tool holder position of the tool.

8. A tool changing control device for a CNC machine tool, characterized in that: include: An acquisition unit is used to acquire a tool change instruction, wherein the tool change instruction indicates that the spindle needs to be equipped with a target type of tool, the target type of tool is a first type of tool and a second type of tool, and the maximum value of the size range of the first type of tool is smaller than the minimum value of the size range of the second type of tool; A first determination unit is used to determine the optimal tool position according to the distance and the number of intervals between adjacent tool seats in the tool change area from the current point to the target point when it is determined that there is no tool on the spindle, wherein the current point represents the position of the tool seat that is currently closest to the spindle, and the target point represents the position of the tool seat equipped with the target type of tool; The first processing unit is used to execute a tool changing action at the optimal tool position according to the tool changing instruction.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A tool changing control system for a CNC machine tool, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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