Control method and system applied to cutter machining

Abstract

The invention relates to the technical field of machining, and discloses a control method and system applied to tool machining, and the method comprises the steps: obtaining the actual machining data, the expected movement track, the service life of a tool and an acoustic emission signal of the tool; the actual machining data is compared with preset expected machining data, and a tool is adjusted according to a comparison result; according to the actual machining data, the expected movement track and the service life of the tool, the remaining life cycle of the tool is determined, and an initial use instruction of the tool is dynamically adjusted; dynamically generating an adjusted tool running route through a tool path optimization algorithm on the basis of the expected motion trail; dynamically adjusting a tool maintenance instruction according to the actual machining data and the acoustic emission signal; and the tool adjusting instruction, the tool using instruction, the tool moving instruction and the tool maintaining instruction are integrated to serve as a tool control instruction, and the machining process is controlled according to the tool control instruction. By means of the method, efficient machining performance and high-precision product quality are maintained.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing technology, and in particular to a control method and system applied to tool processing. Background Art

[0002] At present, tool processing occupies a vital position in modern industry and is the core link to achieve high efficiency and high quality in mechanical manufacturing. As the "teeth" of industrial mother machines, tools not only have a profound impact on the production efficiency and processing quality of cutting machine tools, but are also directly related to the technical level and economic benefits of the entire machinery manufacturing industry. In mechanical processing, metal cutting machine tools and tools constitute the basic process equipment for cutting processing. With the continuous advancement of manufacturing technology, the widespread application of CNC machine tools has greatly improved the flexibility, precision and efficiency of processing, but no matter how advanced CNC machine tools are, their effectiveness cannot be achieved without the support of efficient and high-precision tools. Therefore, the selection, use and maintenance of tools have become key factors that cannot be ignored in modern manufacturing, and are of great significance for improving processing efficiency, reducing production costs and ensuring product quality. Especially in the field of high-end manufacturing, the application of high-performance tools has become one of the important means to improve the competitiveness of enterprises. With the continuous emergence of new materials and new technologies, the tool industry is also constantly innovating and developing to meet the increasingly complex processing needs and promote the manufacturing industry to a higher level.

[0003] Within the current technical framework, traditional tool processing methods often rely on a series of preset fixed parameters, covering speed, position, acceleration and tool selection, and its goal is always to strive to achieve the best processing quality. The selection of these key parameters is based on the operator's rich practical experience and profound professional quality. Through repeated experiments and fine adjustment processes, the most suitable processing conditions are gradually explored and finally determined. In this process, every fine-tuning of details may have an important impact on the final processing results. Therefore, the accumulation of experience and technology is particularly important here. The operator not only needs to have a deep understanding of the characteristics of various tools, but also needs to be able to flexibly adjust various process parameters according to different material properties, processing requirements and other factors to ensure the smooth progress of the processing process and the stability and reliability of product quality.

[0004] However, when the processing material or environment changes, fixed processing parameters are difficult to adapt automatically, which may lead to reduced processing efficiency or substandard quality. At the same time, in the face of emergencies, such as tool wear or damage, the traditional method has a slow response speed and cannot make timely adjustments, which in turn affects production progress. In summary, the traditional method cannot monitor and dynamically adjust the processing process in real time, and thus cannot ensure that efficient processing performance and high-precision product quality can be maintained under any circumstances. Summary of the invention

[0005] The present invention provides a control method and system for tool processing, so as to achieve high-efficiency processing performance and high-precision product quality under any circumstances.

[0006] In a first aspect, in order to solve the above technical problems, the present invention provides a control method for tool processing, comprising:

[0007] Acquire actual processing data, expected motion trajectory, tool life and acoustic emission signal of the tool, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time;

[0008] Comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time;

[0009] Determine the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjust the initial use instruction of the tool to obtain the tool use instruction;

[0010] Based on the expected motion trajectory, dynamically generate an adjusted tool operation route through a tool path optimization algorithm to obtain a tool motion instruction;

[0011] Dynamically adjust the initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain the tool maintenance instruction;

[0012] The tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction are used as tool control instructions, and the machining process is controlled according to the tool control instructions.

[0013] In an optional implementation, comparing the actual processing data with the preset expected processing data and adjusting the tool according to the comparison result to obtain the tool adjustment instruction includes:

[0014] Subtract the actual processing data from the expected processing data and take an absolute value to obtain error data;

[0015] If the error data does not exceed the preset error range, the tool adjustment is completed;

[0016] If the error data exceeds a preset error range, the remaining path length of the tool is calculated based on the actual processing data and the expected processing data;

[0017] If the remaining path length is less than zero, the tool adjustment is completed;

[0018] If the remaining path length is greater than zero, a midway adjustment position is calculated according to the actual processing data and the expected processing data;

[0019] According to the mid-course adjustment position, the actual processing data and the expected processing data, the following tool adjustment instructions are obtained by reasoning and integrating:

[0020] Controlling the tool to move from the actual position to the midway adjustment position, and adjusting the actual speed and the actual acceleration to the expected speed and the expected acceleration during the movement;

[0021] When the tool moves to the midway adjustment position, it moves at a constant speed at the expected speed until it reaches the expected position;

[0022] The remaining path length of the tool is calculated according to the following formula:

[0023] L rem =L exp -|P act -P exp |

[0024] Among them, the expected acceleration and mid-course adjustment position are solved by the following formula:

[0025]

[0026] v exp =v act +a exp t

[0027] Among them, L rem Indicates the remaining path length of the tool, L exp represents the expected adjustment path length of the tool, P act Indicates the actual position of the tool, P exp represents the expected position of the tool, P t Indicates the midway adjustment position reached in the next execution cycle, v act Indicates the actual speed of the tool, a exp represents the expected acceleration of the tool, v exp The expected speed of the tool, t, represents the preset execution cycle.

[0028] In an optional implementation, determining the remaining life cycle of a tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjusting the initial use instruction of the tool to obtain the tool use instruction includes:

[0029] Calculating the remaining time for the tool to reach the expected position based on the expected motion trajectory of the tool;

[0030] Calculating the remaining life cycle of the tool based on the pre-calculated motion deviation index and the actual machining data;

[0031] The remaining life cycle is compared with the tool service life to obtain the following tool use instructions:

[0032] If the remaining life cycle reaches the tool life, a tool adjustment strategy for the expected position is calculated, and the expected motion trajectory is adjusted;

[0033] If the remaining life cycle does not reach the tool life, updating the expected processing time corresponding to the expected motion trajectory according to the remaining time and preset process parameters;

[0034] The remaining time for the tool to reach the expected position is calculated by the following formula:

[0035]

[0036] Among them, the motion deviation index is calculated according to the following formula:

[0037]

[0038] The remaining life cycle of the tool is calculated according to the following formula:

[0039]

[0040] The expected processing time is calculated by the following formula:

[0041]

[0042] T 总 =T c +T r

[0043] Among them, T r represents the remaining time, d represents the distance from the expected motion trajectory to the next expected position, and v exp represents the expected motion speed, e represents the motion deviation index, and e max Indicates the preset upper limit threshold of the motion deviation index, which means e min The preset lower limit threshold of the motion deviation index, E represents the actual processing error, E max Indicates the preset upper limit threshold of actual machining error, E min represents the preset lower limit threshold of the actual machining error, λ represents the preset least squares optimization parameter, τ represents the preset execution cycle, RUL represents the remaining life cycle, and v act represents the actual speed, a and b represent the preset parameters in the tool life model, T 总represents the expected processing time, T c represents cutting time, L represents cutting path length, f represents tool feed speed, and n represents spindle speed.

[0044] In an optional implementation, the calculating the tool adjustment strategy of the expected position and adjusting the expected motion trajectory includes:

[0045] Taking the expected motion trajectory as the initial state and the position corresponding to the remaining time as the expected state, to obtain the initial state and the expected state;

[0046] adjusting the expected speed and the expected acceleration according to the initial state and the expected state;

[0047] The instructions for calculating the tool motion trajectory are as follows:

[0048]

[0049] Among them, T r Indicates the remaining time, v exp Adjusted expected speed, a exp represents the adjusted expected acceleration, w v and w a It represents the preset weight coefficient, and J represents the objective function;

[0050] The expected motion trajectory is adjusted according to the use instruction to obtain a new expected motion trajectory.

[0051] In an optional implementation, dynamically generating an adjusted tool movement route based on the expected movement trajectory through a tool path optimization algorithm to obtain a tool movement instruction includes:

[0052] Dividing the expected motion trajectory into a plurality of path adjustment regions to obtain a path adjustment area;

[0053] Calculating a new expected acceleration and a new expected speed of each path adjustment zone based on the path adjustment area to obtain a new expected speed and a new expected acceleration;

[0054] According to the new expected acceleration and the new expected speed, updating the expected acceleration and the expected speed in each path adjustment area and obtaining a tool motion instruction by using a tool path optimization algorithm tool path;

[0055] Among them, the new expected acceleration and expected speed of each path adjustment area are calculated by the following formula:

[0056]

[0057] Among them, A irepresents the new expected acceleration, V i represents the new expected speed, represents the distance of the path adjustment area, and t i Indicates the remaining adjustment time, A 1,i represents the historical expected acceleration, V 1,i Represents the historical expected speed.

[0058] In an optional implementation, the tool path optimization algorithm includes:

[0059] Define the processing model: n represents the number of processing trajectory points in the processing area, P i represents the i-th processing trajectory point, κ k Represents the curvature of the machining trajectory point, d k Indicates the distance between two adjacent processing trajectory points;

[0060] The weighted velocity and weighted acceleration of the tool at stage k are calculated according to the following formula:

[0061] v k =αv exp +βv act

[0062] a k =αa exp +βa act

[0063] Among them, v k represents the weighted velocity, v exp represents the expected speed, v act Indicates the actual speed, a k represents the weighted acceleration, a exp is the expected acceleration, a act represents the actual acceleration, α and β represent the preset weighting factors;

[0064] Calculate the feed rate and cutting speed according to the following formula:

[0065]

[0066] Among them, f k Indicates the feed rate, v c,k represents the cutting speed, κ k represents the curvature of the current trajectory point, α and β represent the preset weighting factors;

[0067] The tool optimization path is generated by the following function:

[0068] T={(P1,v k,1 ,a k,1 ,f k,1 ,v c,k,1 ,dk,1 ),(P2,v k,2 ,a k,2 ,f k,2 ,v c,k,2 ,d k,2 ),…,(P n ,v k,n ,a k,n ,f k,n ,v c,k,n ,d x,n )}

[0069] Among them, P n represents the nth processing trajectory point, v k,n represents the weighted velocity of the nth processing trajectory point, a k,n represents the weighted acceleration of the nth processing trajectory point, f k,n Indicates the feed rate of the nth processing trajectory point, v c,k,n Indicates the cutting speed of the nth machining trajectory point, d k,n Indicates the distance from the nth processing trajectory point to the n-1th processing trajectory point.

[0070] In an optional implementation, dynamically adjusting the tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain the tool maintenance instruction includes:

[0071] Performing Fourier transform based on the acoustic emission signal to obtain a frequency domain signal;

[0072] According to the frequency domain signal, the power spectrum density matrix is ​​calculated by the following formula:

[0073]

[0074] Where P represents the power spectral density matrix, represents the frequency domain signal, and x represents the acoustic emission signal;

[0075] Determining the working cutting time of the tool using a support vector machine algorithm according to the power spectrum density matrix;

[0076] Subtracting the working cutting time from the expected cutting time to obtain deviation data;

[0077] The following tool maintenance instructions are generated based on the deviation data, the preset deviation threshold, the actual machining time and the expected machining time:

[0078] Comparing the deviation data with a preset deviation threshold, if the deviation data is greater than the preset deviation threshold, increasing the cutting depth so that the remaining cutting area is equal to the current cutting area;

[0079] If the deviation data is less than a preset deviation threshold, the original cutting depth is maintained;

[0080] Compare the actual processing time with the expected processing time, and if the actual processing time is greater than the expected processing time, return to compare the deviation data with a preset deviation threshold;

[0081] If the actual machining time is less than the expected machining time, the tool maintenance process ends.

[0082] In a second aspect, the present invention provides a control device for tool processing, comprising:

[0083] A data acquisition module, used to obtain actual processing data of the tool, expected motion trajectory, tool life and acoustic emission signal, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time;

[0084] A tool adjustment module, used for comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time;

[0085] A usage adjustment module is used to determine the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool life, and dynamically adjust the initial usage instruction of the tool to obtain the tool usage instruction;

[0086] A motion adjustment module, used to dynamically generate an adjusted tool movement route based on the expected motion trajectory through a tool path optimization algorithm to obtain a tool movement instruction;

[0087] A maintenance adjustment module, used for dynamically adjusting an initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction;

[0088] The output module is used to use the tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction as the tool control instruction to obtain the tool control instruction.

[0089] In a third aspect, the present invention further provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the control method for tool processing described in any one of the above is implemented.

[0090] In a fourth aspect, the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods described above for tool processing.

[0091] Compared with the prior art, the present invention has the following beneficial effects:

[0092] The present invention discloses a control method for tool processing, comprising obtaining actual processing data, expected motion trajectory, tool service life and acoustic emission signal of the tool, wherein the actual processing data comprises actual position, actual speed, actual acceleration and actual processing time; comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data comprises expected position, expected speed, expected acceleration and expected processing time; determining the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjusting the initial use instruction of the tool to obtain a tool use instruction; based on the expected motion trajectory, dynamically generating an adjusted tool operation route through a tool path optimization algorithm to obtain a tool motion instruction; dynamically adjusting an initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction; using the tool adjustment instruction, the tool use instruction, the tool motion instruction and the tool maintenance instruction as a tool control instruction, and controlling the processing process according to the tool control instruction. The present invention collects the actual processing data of the tool, the expected motion trajectory, the tool life and the acoustic emission signal, and after comparing them with the preset processing parameters, automatically adjusts the position and speed of the tool and generates a new operation route. At the same time, the tool use and maintenance plan are adjusted according to the actual processing conditions and the acoustic emission signal, and finally integrated into control instructions to guide the precise processing of the tool, so as to maintain efficient processing performance and high-precision product quality under any circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 is a flow chart of a control method for tool processing provided by a first embodiment of the present invention;

[0094] Figure 2 It is a schematic diagram of the structure of a control device applied to tool processing provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0095] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0096] Reference Figure 1 The first embodiment of the present invention provides a control method for tool processing, comprising the following steps:

[0097] S11, acquiring actual processing data, expected motion trajectory, tool life and acoustic emission signal of the tool, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time;

[0098] S12, comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time;

[0099] S13, determining the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjusting the initial use instruction of the tool to obtain a tool use instruction;

[0100] S14, based on the expected motion trajectory, dynamically generate an adjusted tool operation route through a tool path optimization algorithm to obtain a tool motion instruction;

[0101] S15, dynamically adjusting the initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction;

[0102] S16, using the tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction as tool control instructions, and controlling the machining process according to the tool control instructions.

[0103] In step S11, the actual processing data, expected motion trajectory, tool life and acoustic emission signal of the tool are obtained, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time.

[0104] The actual processing data is monitored and recorded in real time by the position sensors, velocity sensors, acceleration sensors and time counters installed on the machine tool; the expected motion trajectory data comes from the processing program or CAM software, which generates the motion path of the tool according to the design requirements; the tool life data can be obtained through the life parameters provided by the manufacturer, historical maintenance records or online monitoring systems; the acoustic emission signal is captured by the acoustic emission sensor installed on the machine tool or the tool, reflecting the vibration of the tool during the cutting process.

[0105] In step S12, the actual processing data is compared with preset expected processing data and the tool is adjusted according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time.

[0106] In a specific implementation, comparing the actual processing data with the preset expected processing data and adjusting the tool according to the comparison result to obtain the tool adjustment instruction includes:

[0107] Subtract the actual processing data from the expected processing data and take an absolute value to obtain error data;

[0108] If the error data does not exceed the preset error range, the tool adjustment is completed;

[0109] If the error data exceeds a preset error range, the remaining path length of the tool is calculated based on the actual processing data and the expected processing data;

[0110] If the remaining path length is less than zero, the tool adjustment is completed;

[0111] If the remaining path length is greater than zero, a midway adjustment position is calculated according to the actual processing data and the expected processing data;

[0112] According to the mid-course adjustment position, the actual processing data and the expected processing data, the following tool adjustment instructions are obtained by reasoning and integrating:

[0113] Controlling the tool to move from the actual position to the midway adjustment position, and adjusting the actual speed and the actual acceleration to the expected speed and the expected acceleration during the movement;

[0114] When the tool moves to the midway adjustment position, it moves at a constant speed at the expected speed until it reaches the expected position;

[0115] The remaining path length of the tool is calculated according to the following formula:

[0116] L rem =L exp-|P act -P exp |

[0117] Among them, the expected acceleration and mid-course adjustment position are solved by the following formula:

[0118]

[0119] v exp =v act +a exp t

[0120] Among them, L rem Indicates the remaining path length of the tool, L exp represents the expected adjustment path length of the tool, P act Indicates the actual position of the tool, P exp represents the expected position of the tool, P t Indicates the midway adjustment position reached in the next execution cycle, v act Indicates the actual speed of the tool, a exp represents the expected acceleration of the tool, v exp The expected speed of the tool, t, represents the preset execution cycle.

[0121] Specifically, the difference between the actual processing data and the expected processing data is quantified, that is, the difference between the two is calculated and the absolute value is taken to obtain the error data. If these error data are within the preset allowable error range, it means that the current processing status is good and no additional adjustment of the tool is required, and the tool adjustment process ends.

[0122] If the error data exceeds the preset error range, it indicates that the actual processing situation deviates significantly from the expected situation. In this case, the remaining path length of the tool needs to be further calculated using the following formula:

[0123] L rem =L exp -|P act -P exp |

[0124] Among them, L rem Indicates the remaining path length of the tool, L exp represents the expected adjustment path length of the tool, P act Indicates the actual position of the tool, P exp Indicates the expected position of the tool;

[0125] If the calculation result shows that the remaining path length is less than zero, it means that the tool has exceeded the expected position and no adjustment is required, and the tool adjustment process ends. However, if the remaining path length is greater than zero, it means that the tool has not yet reached the expected position and a mid-adjustment position needs to be calculated so that the tool can be adjusted in time.

[0126] Next, based on the actual machining data and the expected machining data, the following formula is used to calculate the midway position to which the tool should be adjusted. At the same time, it is determined how the tool speed should smoothly transition from the actual speed to the expected speed during this process.

[0127]

[0128] v exp =v act +a exp t

[0129] Among them, P t Indicates the midway adjustment position reached in the next execution cycle, P act Indicates the actual position of the tool, v act Indicates the actual speed of the tool, a exp represents the expected acceleration of the tool, v exp The expected speed of the tool, t, represents the preset execution cycle.

[0130] Based on the calculation results, specific tool adjustment instructions can be formulated to instruct the tool to move from the current position to the calculated mid-adjustment position, and gradually adjust its speed and acceleration during the movement until the expected value is reached. The specific steps are as follows:

[0131] Control the tool to move from the actual position to the mid-adjustment position. During the movement, gradually adjust the actual speed and actual acceleration to the expected speed and expected acceleration. When the tool moves to the mid-adjustment position, it moves at a constant speed at the expected speed until it reaches the expected position. By accurately controlling the tool's motion parameters, the machining error can be effectively reduced and the machining accuracy and efficiency can be improved.

[0132] In step S13, the remaining life cycle of the tool is determined according to the actual processing data, the expected motion trajectory and the tool service life, and the initial use instruction of the tool is dynamically adjusted to obtain the tool use instruction.

[0133] In a specific implementation, determining the remaining life cycle of a tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjusting the initial use instruction of the tool to obtain the tool use instruction includes:

[0134] Calculating the remaining time for the tool to reach the expected position based on the expected motion trajectory of the tool;

[0135] Calculating the remaining life cycle of the tool based on the pre-calculated motion deviation index and the actual machining data;

[0136] The remaining life cycle is compared with the tool service life to obtain the following tool use instructions:

[0137] If the remaining life cycle reaches the tool life, a tool adjustment strategy for the expected position is calculated, and the expected motion trajectory is adjusted;

[0138] If the remaining life cycle does not reach the tool life, updating the expected processing time corresponding to the expected motion trajectory according to the remaining time and preset process parameters;

[0139] The remaining time for the tool to reach the expected position is calculated by the following formula:

[0140]

[0141] Among them, the motion deviation index is calculated according to the following formula:

[0142]

[0143] The remaining life cycle of the tool is calculated according to the following formula:

[0144]

[0145] The expected processing time is calculated by the following formula:

[0146]

[0147] T 总 =T c +T r

[0148] Among them, T r represents the remaining time, d represents the distance from the expected motion trajectory to the next expected position, and v exp represents the expected motion speed, e represents the motion deviation index, and e max Indicates the preset upper limit threshold of the motion deviation index, which means e min The preset lower limit threshold of the motion deviation index, E represents the actual processing error, E max Indicates the preset upper limit threshold of actual machining error, E min represents the preset lower limit threshold of the actual machining error, λ represents the preset least squares optimization parameter, τ represents the preset execution cycle, RUL represents the remaining life cycle, and v actrepresents the actual speed, a and b represent the preset parameters in the tool life model, T 总 represents the expected processing time, T c represents cutting time, L represents cutting path length, f represents tool feed speed, and n represents spindle speed.

[0149] In a specific implementation, the calculating the tool adjustment strategy of the expected position and adjusting the expected motion trajectory include:

[0150] Taking the expected motion trajectory as the initial state and the position corresponding to the remaining time as the expected state, to obtain the initial state and the expected state;

[0151] adjusting the expected speed and the expected acceleration according to the initial state and the expected state;

[0152] The instructions for calculating the tool motion trajectory are as follows:

[0153]

[0154] Among them, T r Indicates the remaining time, v exp Adjusted expected speed, a exp represents the adjusted expected acceleration, w v and w a It represents the preset weight coefficient, and J represents the objective function;

[0155] The expected motion trajectory is adjusted according to the use instruction to obtain a new expected motion trajectory.

[0156] Specifically, first, based on the expected motion trajectory of the tool, the remaining time for the tool to reach the expected position is calculated. This step is achieved by the following formula:

[0157]

[0158] Among them, T r represents the remaining time, d represents the distance from the expected motion trajectory to the next expected position, and v exp Indicates the expected movement speed;

[0159] Next, the remaining life cycle of the tool is calculated based on the pre-calculated motion deviation index and the actual processing data. The motion deviation index reflects the impact of actual processing errors on tool life and is calculated using the following formula:

[0160]

[0161] Where e represents the motion deviation index, e maxIndicates the preset upper limit threshold of the motion deviation index, which means e min The preset lower limit threshold of the motion deviation index, E represents the actual processing error, E max Indicates the preset upper limit threshold of actual machining error, E min represents the preset lower limit threshold of the actual machining error, λ represents the preset least squares optimization parameter, and τ represents the preset execution cycle;

[0162] Then, based on the actual speed and the expected speed, combined with the preset parameters in the tool life model, the remaining life cycle of the tool is calculated using the following formula:

[0163]

[0164] Among them, RUL represents the remaining life cycle, v act represents the actual speed, a and b represent the preset parameters in the tool life model;

[0165] Next, the calculated remaining life cycle is compared with the tool life. If the remaining life cycle reaches the tool life, it means that the tool is about to fail, and the tool adjustment strategy for the expected position needs to be calculated immediately, and the expected motion trajectory needs to be adjusted to extend the tool life. If the remaining life cycle does not reach the tool life, it means that the tool is still in a usable state, and the expected processing time corresponding to the expected motion trajectory can be updated based on the remaining time and the preset process parameters.

[0166] The expected processing time is calculated by the following formula:

[0167]

[0168] T 总 =T c +T r

[0169] Among them, T 总 represents the expected processing time, T c represents cutting time, L represents cutting path length, f represents tool feed speed, and n represents spindle speed.

[0170] Specifically, calculating the tool adjustment strategy of the expected position and adjusting the expected motion trajectory include the following steps:

[0171] The expected motion trajectory is used as the initial state, and the position corresponding to the remaining time is used as the expected state to obtain the initial state and the expected state. The initial state includes the current position, current speed and current acceleration of the tool, and the expected state includes the target position, target speed and target acceleration that the tool should reach in the remaining time. The purpose of this step is to clarify the motion target of the tool from the current position to the target position.

[0172] The expected speed and expected acceleration are adjusted based on the initial state and the expected state. The goal of the adjustment is to make the tool reach the target position smoothly and efficiently within the remaining time.

[0173] The instructions for calculating the tool motion trajectory are as follows:

[0174]

[0175] Among them, T r Indicates the remaining time, v exp Adjusted expected speed, a exp represents the adjusted expected acceleration, w v and w a It represents the preset weight coefficient, and J represents the objective function;

[0176] The purpose of this objective function is to minimize the change of speed and acceleration in the remaining time, thereby reducing the energy consumption and wear of the tool and improving the processing quality and efficiency. According to the calculated usage instructions, the usage instructions are used to adjust the expected speed and expected acceleration, so as to adjust the expected motion trajectory and obtain a new expected motion trajectory. This step is achieved through an optimization algorithm to ensure that the new expected motion trajectory can enable the tool to reach the target position efficiently and smoothly while satisfying the minimization condition of the objective function.

[0177] The use of instructions provides a quantitative indicator for evaluating and optimizing the tool's motion trajectory. By minimizing it, it can ensure that the tool can not only quickly reach the target position during the movement, but also reduce unnecessary energy consumption and wear, and improve processing quality and efficiency. The final tool motion instruction will guide the tool to move along the optimized path to ensure the smooth progress of the processing process.

[0178] In step S14, based on the expected motion trajectory, an adjusted tool operation route is dynamically generated through a tool path optimization algorithm to obtain a tool motion instruction.

[0179] In a specific implementation, based on the expected motion trajectory, dynamically generating an adjusted tool movement route through a tool path optimization algorithm to obtain a tool movement instruction includes:

[0180] Dividing the expected motion trajectory into a plurality of path adjustment regions to obtain a path adjustment area;

[0181] Calculating a new expected acceleration and a new expected speed of each path adjustment zone based on the path adjustment area to obtain a new expected speed and a new expected acceleration;

[0182] According to the new expected acceleration and the new expected speed, updating the expected acceleration and the expected speed in each path adjustment area and obtaining a tool motion instruction by using a tool path optimization algorithm tool path;

[0183] Among them, the new expected acceleration and expected speed of each path adjustment area are calculated by the following formula:

[0184]

[0185] Among them, A i represents the new expected acceleration, V i represents the new expected speed, represents the distance of the path adjustment area, and t i Indicates the remaining adjustment time, A 1,i represents the historical expected acceleration, V 1,i Represents the historical expected speed.

[0186] In a specific implementation, the tool path optimization algorithm includes:

[0187] Define the processing model: n represents the number of processing trajectory points in the processing area, P i represents the i-th processing trajectory point, κ k Represents the curvature of the machining trajectory point, d k Indicates the distance between two adjacent processing trajectory points;

[0188] The weighted velocity and weighted acceleration of the tool at stage k are calculated according to the following formula:

[0189] v k =αv exp +βv act

[0190] a k =αa exp +βa act

[0191] Among them, v k represents the weighted velocity, v exp represents the expected speed, v act Indicates the actual speed, a k represents the weighted acceleration, a exp is the expected acceleration, a actrepresents the actual acceleration, α and β represent the preset weighting factors;

[0192] Calculate the feed rate and cutting speed according to the following formula:

[0193]

[0194] Among them, f k Indicates the feed rate, v c,k represents the cutting speed, κ k represents the curvature of the current trajectory point, α and β represent the preset weighting factors;

[0195] The tool optimization path is generated by the following function:

[0196] T={(P1,v k,1 ,a k,1 ,f k,1 ,v c,k,1 ,d k,1 ),(P2,v k,2 ,a k,2 ,f k,2 ,v c,k,2 ,d k,2 ),…,(P n ,v k,n ,a k,n ,f k,n ,v c,k,n ,d k,n )}

[0197] Among them, P n represents the nth processing trajectory point, v k,n represents the weighted velocity of the nth processing trajectory point, a k,n represents the weighted acceleration of the nth processing trajectory point, f k,n Indicates the feed rate of the nth processing trajectory point, v c,k,n Indicates the cutting speed of the nth machining trajectory point, d k,n Indicates the distance from the nth processing trajectory point to the n-1th processing trajectory point.

[0198] Specifically, first, the expected motion trajectory is divided into multiple path adjustment zones to obtain path adjustment areas. Each path adjustment zone represents a specific processing trajectory, which facilitates independent optimization and adjustment of each section. For each path adjustment zone, the new expected acceleration and expected speed of each path adjustment zone are calculated by the following formula:

[0199]

[0200] Among them, A i represents the new expected acceleration, V irepresents the new expected speed, represents the distance of the path adjustment area, and t i Indicates the remaining adjustment time, A 1,i represents the historical expected acceleration, A 1,i Represents the historical expected speed.

[0201] According to the calculated new expected acceleration and new expected speed, the expected acceleration and expected speed are updated in each path adjustment area. This step ensures that the motion parameters of the tool in each section meet the optimized standards, thereby improving machining efficiency and quality.

[0202] Next, apply the tool path optimization algorithm to generate the optimized tool operation route. The specific steps are as follows:

[0203] Define the processing model: n represents the number of processing trajectory points in the processing area, P i represents the i-th processing trajectory point, κ k Represents the curvature of the machining trajectory point, d k Represents the distance between two adjacent processing trajectory points; the purpose of this step is to establish a detailed processing trajectory model to provide a basis for subsequent optimization calculations.

[0204] The weighted velocity and weighted acceleration of the tool at stage k are calculated according to the following formula:

[0205] v k =αv e +βv a

[0206] a k =αa e +βa a

[0207] Among them, v k represents the weighted velocity, v e represents the expected speed, v a Indicates the actual speed, a k represents the weighted acceleration, a e is the expected acceleration, a a represents the actual acceleration, α and β represent the preset weighting factors;

[0208] Through weighted calculation, the expected and actual motion parameters can be comprehensively considered to ensure that the optimized motion trajectory is more reasonable.

[0209] Calculate the feed rate and cutting speed according to the following formula:

[0210]

[0211] Among them, f k Indicates the feed rate, vc,k represents the cutting speed, κ k represents the curvature of the current trajectory point, α and β represent the preset weighting factors;

[0212] Through these formulas, it can be ensured that the tool has appropriate feed rate and cutting speed at trajectory points with different curvatures, thereby improving machining efficiency and quality.

[0213] The tool optimization path is generated by the following function:

[0214] T={(P1,v k,1 ,a k,1 ,f k,1 ,v c,k,1 ,d k,1 ),(P2,v k,2 ,a k,2 ,f k,2 ,v c,k,2 ,d k,2 ),…,(P n ,v k,n ,a k,n ,f k,n ,v c,k,n ,d k,n )}

[0215] Among them, P n represents the nth processing trajectory point, v k,n represents the weighted velocity of the nth processing trajectory point, a k,n represents the weighted acceleration of the nth processing trajectory point, f k,n Indicates the feed rate of the nth processing trajectory point, v c,k,n Indicates the cutting speed of the nth machining trajectory point, d k,n Indicates the distance from the nth processing trajectory point to the n-1th processing trajectory point.

[0216] Through this function, a tool operation path containing all optimization parameters can be generated to guide the movement of the tool during the machining process and obtain the tool movement instructions.

[0217] Through the above steps, the adjusted tool movement path can be dynamically generated to ensure that the tool can run efficiently and smoothly during the machining process. These optimization steps not only improve machining efficiency, but also reduce tool wear and improve machining quality. The tool movement instructions finally generated will guide the tool to move according to the optimized path to ensure the smooth progress of the machining process.

[0218] In step S15, the initial tool maintenance instruction is dynamically adjusted according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction.

[0219] In a specific implementation, dynamically adjusting the tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain the tool maintenance instruction includes:

[0220] Performing Fourier transform based on the acoustic emission signal to obtain a frequency domain signal;

[0221] According to the frequency domain signal, the power spectrum density matrix is ​​calculated by the following formula:

[0222]

[0223] Where P represents the power spectral density matrix, represents the frequency domain signal, and x represents the acoustic emission signal;

[0224] Determining the working cutting time of the tool using a support vector machine algorithm according to the power spectrum density matrix;

[0225] Subtracting the working cutting time from the expected cutting time to obtain deviation data;

[0226] The following tool maintenance instructions are generated based on the deviation data, the preset deviation threshold, the actual machining time and the expected machining time:

[0227] Comparing the deviation data with a preset deviation threshold, if the deviation data is greater than the preset deviation threshold, increasing the cutting depth so that the remaining cutting area is equal to the current cutting area;

[0228] If the deviation data is less than a preset deviation threshold, the original cutting depth is maintained;

[0229] Compare the actual processing time with the expected processing time, and if the actual processing time is greater than the expected processing time, return to compare the deviation data with a preset deviation threshold;

[0230] If the actual machining time is less than the expected machining time, the tool maintenance process ends.

[0231] Specifically, first, Fourier transform is performed based on the acoustic emission signal to convert the time domain signal into a frequency domain signal. The purpose of this step is to decompose the complex time domain signal into frequency components to facilitate subsequent analysis and processing.

[0232] According to the obtained frequency domain signal, the power spectrum density matrix is ​​calculated by the following formula:

[0233]

[0234] Where P represents the power spectral density matrix, represents the frequency domain signal, and x represents the acoustic emission signal.

[0235] For example, there is an acoustic emission signal in the form of a two-dimensional array (matrix), where each column represents an independent signal measurement. Fourier transform is performed on each column separately, and then the square of the amplitude of each frequency domain signal is calculated to obtain the corresponding power spectrum density. The power spectrum density of each signal column is combined into a new matrix by column, namely the power spectrum density matrix.

[0236] The power spectral density matrix obtained by this method can not only reflect the energy distribution of different frequency components in the original signal, but also be used for further analysis, such as identifying abnormal conditions of the tool during the cutting process. For example, if the power spectral density of a certain frequency suddenly increases, this is an indicator of tool wear or damage.

[0237] The determined tool working cutting time is subtracted from the expected cutting time to obtain the deviation data. The purpose of this step is to quantify the difference between the actual cutting time and the expected cutting time, so as to determine whether the working state of the tool is normal.

[0238] Generate tool maintenance instructions based on the calculated deviation data, preset deviation threshold, actual processing time and expected processing time. The specific steps are as follows:

[0239] Compare the deviation data with the preset deviation threshold. If the deviation data is greater than the preset deviation threshold, it means that the working state of the tool has a large deviation and needs to be adjusted. The specific adjustment method is to increase the cutting depth so that the remaining cutting area is equal to the current cutting area. This ensures that the tool can return to normal working state during subsequent processing. If the deviation data is less than the preset deviation threshold, it means that the working state of the tool is basically normal, and the original cutting depth can be maintained and processing can continue.

[0240] Compare the actual processing time with the expected processing time. If the actual processing time is greater than the expected processing time, it means that the processing efficiency is low, and it is necessary to re-compare the deviation data to further adjust the working state of the tool. The specific step is to return to compare the deviation data with the preset deviation threshold. If the actual processing time is less than the expected processing time, it means that the processing efficiency is high, the working state of the tool is good, and the tool maintenance process is completed.

[0241] Through the above steps, the tool maintenance instructions can be dynamically adjusted to ensure that the tool maintains the best working condition during the processing. These steps not only improve the processing efficiency, but also reduce the wear of the tool and improve the processing quality. The tool maintenance instructions finally generated will guide the maintenance and adjustment of the tool during the processing to ensure the smooth progress of the processing.

[0242] In step S16, the tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction are used as tool control instructions, and the machining process is controlled according to the tool control instructions.

[0243] First, the tool adjustment instructions, tool use instructions, tool movement instructions, and tool maintenance instructions generated in the previous steps are integrated into a unified tool control instruction. The purpose of this step is to organically combine the various instructions to form a complete control strategy to ensure that the tool can be effectively managed and adjusted at every stage of the machining process. The integrated tool control instructions are parsed into specific control parameters. These control parameters include the position, speed, acceleration, cutting depth, cutting speed, and feed speed of the tool. The purpose of the analysis is to convert high-level control instructions into specific control parameters so that the control system can understand and execute them. Then, the parsed control parameters are sent to the control system. The control system is responsible for receiving and executing control instructions to ensure that the tool is processed according to the predetermined path and parameters.

[0244] The following describes the working process of the present invention using a relatively common scenario as an example. Figure 1 , a control method applied to tool processing, comprising the following steps:

[0245] First, the CNC machine tool is equipped with position sensors, speed sensors and acceleration sensors, which monitor the current position, speed and acceleration of the tool in real time. Assume that the actual position of the current tool is P act =(10,15,20)mm, actual speed is V act =(50,60,70)mm / s, actual acceleration is A act =(10,12,15)mm / s 2 At the same time, the expected position P of the tool is preset exp =(15,20,25) mm, expected speed V exp =(60,70,80)mm / s, expected acceleration A exp =(12,15,18)mm / s 2 .

[0246] Next, the actual position is compared with the expected position and the position deviation is calculated: ΔP = P act -P exp =(-5,-5,-5)mm, check whether the position deviation exceeds the preset error range (for example, ±2mm). Since the position deviation ΔP exceeds the preset error range, it is determined that the tool needs to be adjusted.

[0247] Then, the actual speed is compared with the expected speed and the speed deviation is calculated: ΔV = V act -V exp =(-10,-10,-10), check whether the speed deviation exceeds the preset error range (e.g. ±5mm / s). Since the speed deviation exceeds the preset error range, it is determined that the tool needs to be adjusted in speed.

[0248] Finally, the actual acceleration is compared with the expected acceleration to calculate the acceleration deviation: ΔA = A act -A exp =(-2,-3,-3), check whether the acceleration deviation exceeds the preset error range (e.g. ±2mm / s 2 ). Since the acceleration deviation exceeds the preset error range, it is determined that the tool needs to be adjusted in acceleration.

[0249] According to the actual processing data and the expected motion trajectory, the remaining life cycle of the tool is calculated. Assume that the tool life cycle is 1000 hours, the initialization time is 0 hours, the tool life percentage given by the system is 80%, the current time is 500 hours, the average tool usage time evaluated by the system is 500 hours, the current usage time is 500 hours, and the remaining life cycle is 300 hours.

[0250] Assume that the expected processing time is 10 hours, the current processing time is 5 hours, the feed speed and acceleration correction factor is 1.1, the cutting speed and acceleration correction factor is 1.2, the normal processing speed is 60 mm / s, and the normal processing acceleration is 12 mm / s 2 , the predicted time is 1 hour, the increased feed and cutting time caused by tool adjustment is 0.5 hours, and the estimated time for the processing stage is 10 hours.

[0251] The new feed rate is calculated to be 66 mm / s and the cutting speed is 14.4 mm / s. 2 :

[0252] The expected motion trajectory is divided into multiple path adjustment zones. Assume that the number of path adjustment zones is 5, the distance of each path adjustment zone is 100 mm, the remaining adjustment time is 2 hours, and the historical expected acceleration is 12 mm / s 2 , the historical expected speed is 60mm / s.

[0253] The new expected acceleration of each path adjustment zone is calculated to be 3.78 mm / s 2 The frequency domain signal is obtained by Fourier transform based on the acoustic emission signal and the new expected speed is 66 mm / s. Assuming the amplitude of the frequency domain signal is 100, the power spectrum density matrix is ​​calculated.

[0254] Use the support vector machine algorithm to determine the working cutting time of the tool. Assuming that the working cutting time is 8 hours and the expected cutting time is 10 hours, the calculated deviation data is 2 hours:

[0255] The deviation data is compared with a preset deviation threshold (eg, ±1 hour), and since the deviation data is less than the preset deviation threshold, the original cutting depth is maintained.

[0256] The tool adjustment instructions, tool use instructions, tool movement instructions and tool maintenance instructions generated above are integrated into a unified tool control instruction.

[0257] The integrated control parameters are sent to the control system, which adjusts the position, speed and acceleration of the tool to ensure that the tool is processed according to the optimized path. At the same time, the control system dynamically adjusts the motion parameters of the tool based on the real-time feedback of processing data and acoustic emission signals to ensure a smooth and efficient processing process.

[0258] In summary, we can monitor and dynamically adjust the tool processing parameters in real time to ensure efficient, stable and reliable operation of the tool during the processing, thus improving the processing quality and efficiency. The tool control instructions finally generated will guide the tool in every link of the processing process to ensure the smooth progress of the processing.

[0259] Reference Figure 2 The second embodiment of the present invention provides a control device for tool processing, comprising:

[0260] A data acquisition module, used to obtain actual processing data of the tool, expected motion trajectory, tool life and acoustic emission signal, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time;

[0261] A tool adjustment module, used for comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time;

[0262] A usage adjustment module is used to determine the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool life, and dynamically adjust the initial usage instruction of the tool to obtain the tool usage instruction;

[0263] A motion adjustment module, used to dynamically generate an adjusted tool movement route based on the expected motion trajectory through a tool path optimization algorithm to obtain a tool movement instruction;

[0264] A maintenance adjustment module, used for dynamically adjusting an initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction;

[0265] The output module is used to use the tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction as the tool control instruction to obtain the tool control instruction.

[0266] It should be noted that a control device for tool processing provided in an embodiment of the present invention is used to execute all process steps of a control method for tool processing in the above embodiment, and the working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

[0267] The embodiment of the present invention further provides an electronic device. The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a control program for tool processing. When the processor executes the computer program, the steps in the above-mentioned control method embodiments for tool processing are implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are realized, such as a control module applied to tool processing.

[0268] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0269] The electronic device may be a computing device such as a desktop computer, a notebook, a PDA, and a smart tablet. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above components are merely examples of electronic devices and do not constitute a limitation on the electronic device. The electronic device may include more or fewer components than the above components, or may combine certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0270] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0271] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0272] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0273] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0274] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for tool processing, characterized in that: Executed by the controller, including: Acquire actual processing data, expected motion trajectory, tool life and acoustic emission signal of the tool, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time; Comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time; Determine the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjust the initial use instruction of the tool to obtain the tool use instruction; Based on the expected motion trajectory, dynamically generate an adjusted tool operation route through a tool path optimization algorithm to obtain a tool motion instruction; Dynamically adjust the initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain the tool maintenance instruction; The tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction are used as tool control instructions, and the machining process is controlled according to the tool control instructions.

2. The control method for tool processing according to claim 1, characterized in that: The step of comparing the actual processing data with the preset expected processing data and adjusting the tool according to the comparison result to obtain the tool adjustment instruction includes: Subtract the actual processing data from the expected processing data and take an absolute value to obtain error data; If the error data does not exceed the preset error range, the tool adjustment is completed; If the error data exceeds a preset error range, the remaining path length of the tool is calculated based on the actual processing data and the expected processing data; If the remaining path length is less than zero, the tool adjustment is completed; If the remaining path length is greater than zero, a midway adjustment position is calculated according to the actual processing data and the expected processing data; According to the mid-course adjustment position, the actual processing data and the expected processing data, the following tool adjustment instructions are obtained by reasoning and integrating: Controlling the tool to move from the actual position to the midway adjustment position, and adjusting the actual speed and the actual acceleration to the expected speed and the expected acceleration during the movement; When the tool moves to the midway adjustment position, it moves at a constant speed at the expected speed until it reaches the expected position; The remaining path length of the tool is calculated according to the following formula: L rem =L exp -|P act -P exp | Among them, the expected acceleration and mid-course adjustment position are solved by the following formula: v exp =v act +a exp t Among them, L rem Indicates the remaining path length of the tool, L exp represents the expected adjustment path length of the tool, P act Indicates the actual position of the tool, P exp Indicates the expected position of the tool; P t Indicates the midway adjustment position reached in the next execution cycle, v act Indicates the actual speed of the tool, a exp represents the expected acceleration of the tool, v exp The expected speed of the tool, t, represents the preset execution cycle.

3. The control method for tool processing according to claim 1, characterized in that: The determining the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool service life, and dynamically adjusting the initial use instruction of the tool to obtain the tool use instruction includes: Calculating the remaining time for the tool to reach the expected position based on the expected motion trajectory of the tool; Calculating the remaining life cycle of the tool based on the pre-calculated motion deviation index and the actual machining data; The remaining life cycle is compared with the tool service life to obtain the following tool use instructions: If the remaining life cycle reaches the tool life, a tool adjustment strategy for the expected position is calculated, and the expected motion trajectory is adjusted; If the remaining life cycle does not reach the tool life, updating the expected processing time corresponding to the expected motion trajectory according to the remaining time and preset process parameters; The remaining time for the tool to reach the expected position is calculated by the following formula: Among them, the motion deviation index is calculated according to the following formula: The remaining life cycle of the tool is calculated according to the following formula: The expected processing time is calculated by the following formula: T 总 =T c +T r Among them, T r represents the remaining time, d represents the distance from the expected motion trajectory to the next expected position, and v exp represents the expected motion speed, e represents the motion deviation index, and e max Indicates the preset upper limit threshold of the motion deviation index, which means e min The preset lower limit threshold of the motion deviation index, E represents the actual processing error, E max Indicates the preset upper limit threshold of actual machining error, E min represents the preset lower limit threshold of the actual machining error, λ represents the preset least squares optimization parameter, τ represents the preset execution cycle, RUL represents the remaining life cycle, and v act represents the actual speed, a and b represent the preset parameters in the tool life model, T 总 represents the expected processing time, T c represents cutting time, L represents cutting path length, f represents tool feed speed, and n represents spindle speed.

4. The control method for tool processing according to claim 3, characterized in that: The calculating the tool adjustment strategy of the expected position and adjusting the expected motion trajectory includes: Taking the expected motion trajectory as the initial state and the position corresponding to the remaining time as the expected state, to obtain the initial state and the expected state; adjusting the expected speed and the expected acceleration according to the initial state and the expected state; The instructions for calculating the tool motion trajectory are as follows: Among them, T r Indicates the remaining time, a exp represents the expected acceleration of the tool, v exp Expected speed of the tool, w v and w a represents a preset weight coefficient, and J represents an objective function; wherein the use instruction includes the adjusted expected acceleration and expected speed; The expected motion trajectory is adjusted according to the use instruction to obtain a new expected motion trajectory.

5. The control method for tool processing according to claim 1, characterized in that: The method of dynamically generating an adjusted tool movement path based on the expected movement trajectory through a tool path optimization algorithm to obtain a tool movement instruction includes: Dividing the expected motion trajectory into a plurality of path adjustment regions to obtain a path adjustment area; Calculating a new expected acceleration and a new expected speed of each path adjustment zone based on the path adjustment area to obtain a new expected speed and a new expected acceleration; According to the new expected acceleration and the new expected speed, updating the expected acceleration and the expected speed in each path adjustment area and obtaining a tool motion instruction by using a tool path optimization algorithm tool path; Among them, the new expected acceleration and expected speed of each path adjustment area are calculated by the following formula: Among them, A i represents the new expected acceleration, V i represents the new expected speed, represents the distance of the path adjustment area, and t i Indicates the remaining adjustment time, A 1,i represents the historical expected acceleration, V 1,i Represents the historical expected speed.

6. The control method for tool processing according to claim 5, characterized in that: The tool path optimization algorithm comprises: Define the processing model: n represents the number of processing trajectory points in the processing area, P i represents the i-th processing trajectory point, κ k Represents the curvature of the machining trajectory point, d k Indicates the distance between two adjacent processing trajectory points; The weighted velocity and weighted acceleration of the tool at stage k are calculated according to the following formula: v k =αv exp +βv act a k =aaa exp +βa act Among them, v k represents the weighted velocity, v exp represents the expected speed, v act Indicates the actual speed, a k represents the weighted acceleration, a exp is the expected acceleration, a act represents the actual acceleration, α and β represent the preset weighting factors; Calculate the feed rate and cutting speed according to the following formula: Among them, f k Indicates feed speed, v c,k represents the cutting speed, κ k represents the curvature of the current trajectory point, α and β represent the preset weighting factors; The tool optimization path is generated by the following function: T={(P1,v k,1 ,and k,1 ,f k,1 ,in c,k,1 ,d k,1 ),(P2,v k,2 ,and k,2 ,f k,2 ,in c,k,2 ,d k,2 ),…,(P n ,in k,n ,and k,n ,f k,n ,in c,k,n ,d k,n )} Among them, P n represents the nth processing trajectory point, v k,n represents the weighted velocity of the nth processing trajectory point, a k,n represents the weighted acceleration of the nth processing trajectory point, f k,n Indicates the feed rate of the nth processing trajectory point, v c,k,n Indicates the cutting speed of the nth machining trajectory point, d k,n Indicates the distance from the nth processing trajectory point to the n-1th processing trajectory point.

7. The control method for tool processing according to claim 3, characterized in that: The dynamically adjusting the tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain the tool maintenance instruction includes: Performing Fourier transform based on the acoustic emission signal to obtain a frequency domain signal; According to the frequency domain signal, the power spectrum density matrix is ​​calculated by the following formula: Where P represents the power spectral density matrix, represents the frequency domain signal, and x represents the acoustic emission signal; Determining the working cutting time of the tool using a support vector machine algorithm according to the power spectrum density matrix; Subtracting the working cutting time from the expected cutting time to obtain deviation data; The following tool maintenance instructions are generated based on the deviation data, the preset deviation threshold, the actual machining time and the expected machining time: Comparing the deviation data with a preset deviation threshold, if the deviation data is greater than the preset deviation threshold, increasing the cutting depth so that the remaining cutting area is equal to the current cutting area; If the deviation data is less than a preset deviation threshold, the original cutting depth is maintained; Compare the actual processing time with the expected processing time, and if the actual processing time is greater than the expected processing time, return to compare the deviation data with a preset deviation threshold; If the actual machining time is less than the expected machining time, the tool maintenance process ends.

8. A control device for tool processing, characterized in that: include: A data acquisition module, used to obtain actual processing data of the tool, expected motion trajectory, tool life and acoustic emission signal, wherein the actual processing data includes actual position, actual speed, actual acceleration and actual processing time; A tool adjustment module, used for comparing the actual processing data with preset expected processing data and adjusting the tool according to the comparison result to obtain a tool adjustment instruction, wherein the expected processing data includes an expected position, an expected speed, an expected acceleration and an expected processing time; A usage adjustment module is used to determine the remaining life cycle of the tool according to the actual processing data, the expected motion trajectory and the tool life, and dynamically adjust the initial usage instruction of the tool to obtain the tool usage instruction; A motion adjustment module, used to dynamically generate an adjusted tool movement route based on the expected motion trajectory through a tool path optimization algorithm to obtain a tool movement instruction; A maintenance adjustment module, used for dynamically adjusting an initial tool maintenance instruction according to the actual processing data and the acoustic emission signal to obtain a tool maintenance instruction; The output module is used to use the tool adjustment instruction, the tool use instruction, the tool movement instruction and the tool maintenance instruction as the tool control instruction to obtain the tool control instruction.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the control method for tool machining according to any one of claims 1 to 7 is implemented.

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

Images