Machine tool changing method and device, storage medium and electronic equipment

Abstract

The invention provides a machine tool tool changing method and device, a storage medium and electronic equipment, and the method comprises the steps that tool changing structure position data are obtained, and the tool changing structure position data comprise main shaft position data, tool changing arm position data and tool outlet position data of a tool changing structure; the current tool changing state of the tool changing structure is determined at least according to the position data of the tool changing structure, the current tool changing state is one of the following states: a normal working state, a tool changing waiting state, a tool changing state and a tool changing finishing state, and the normal working state is a working state without tool changing; and under the condition that the current tool changing state is the tool changing waiting state, the tool changing structure is controlled to execute tool changing operation. According to the method, the tool changing success rate is effectively increased, production loss caused by tool changing faults is reduced, and meanwhile the automation degree and reliability of the machine tool are improved.

Description

Technical Field

[0001] The present application relates to the field of machine tool tool changing, and in particular, to a machine tool tool changing method, a machine tool tool changing device, a computer-readable storage medium, and an electronic device. Background Art

[0002] During the machining process, the tool change operation of the tool magazine plays a key role in the machining efficiency and quality. In the current machine tool tool change process, problems such as inaccurate tool change timing often lead to tool change failures, affecting the production process. Summary of the invention

[0003] The main purpose of the present application is to provide a machine tool tool changing method, a machine tool tool changing device, a computer-readable storage medium and an electronic device, so as to at least solve the problem in the prior art that the tool changing timing is inaccurate, resulting in tool changing failures and affecting the production process.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a machine tool tool changing method is provided, including: obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure; determining a current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool change state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool change; when the current tool changing state is the waiting for tool change state, controlling the tool changing structure to perform a tool changing operation.

[0005] Optionally, determining a current tool changing state of the tool changing structure at least based on the tool changing structure position data includes: obtaining state data of a target tool changing instruction, the target tool changing instruction being instruction data instructing the tool changing structure to perform the tool changing operation, the state data of the tool changing instruction being an issued state or an unissued state, the tool changing operation being an operation of replacing a first tool with a second tool; and determining that the current tool changing state of the tool changing structure is the waiting state for tool changing when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions and the state data of the tool changing instruction is the unissued state, wherein when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions, the spindle, the tool changing arm and the tool exit are aligned in a straight line.

[0006] Optionally, determining the current tool changing state of the tool changing structure at least based on the tool changing structure position data also includes: when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions, and the status data of the tool changing instruction is the issued state, determining that the current tool changing state of the tool changing structure is the tool changing completed state; when one of the spindle position data, the tool changing arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool changing instruction is the issued state, determining that the current tool changing state of the tool changing structure is the tool changing in progress state; when one of the spindle position data, the tool changing arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool changing instruction is the not issued state, determining that the current tool changing state of the tool changing structure is the normal working state.

[0007] Optionally, after determining the current tool changing state of the tool changing structure at least based on the tool changing structure position data, the method further includes: when the current tool changing state is the tool changing completion state, obtaining the tool changing time of the tool changing structure; determining whether an abnormality occurs in the tool changing process of the tool changing structure according to the actual tool changing time of the tool changing structure, and when an abnormality occurs in the tool changing process of the tool changing structure, determining the cause of the tool changing abnormality according to the actual tool changing time of the tool changing structure, the cause of the tool changing abnormality being abnormal tool position or a stuck operation of the tool changing mechanism.

[0008] Optionally, based on the actual tool changing time of the tool changing structure, determining whether an abnormality occurs in the tool changing process of the tool changing structure includes: determining the tool changing cycle of the machine tool according to the current execution task of the machine tool, and the tool changing structure is installed on the machine tool; determining the tool changing cycle of the machine tool as the target tool changing time of the tool changing structure; when the actual tool changing time of the tool changing structure is equal to the target tool changing time, determining that no abnormality occurs in the tool changing process of the tool changing structure; when the actual tool changing time of the tool changing structure is greater than the target tool changing time, or the actual tool changing time of the tool changing structure is less than the target tool changing time, determining that an abnormality occurs in the tool changing structure during the tool changing process.

[0009] Optionally, the cause of the abnormality is determined based on the actual tool changing time of the tool changing structure, including: when the actual tool changing time of the tool changing structure is greater than or equal to a first preset time and less than a second preset time, determining that the cause of the tool changing abnormality of the tool changing structure is a jamming of the tool changing mechanism, the first preset time is greater than the target tool changing time of the tool changing structure, and the second preset time is greater than the first preset time; when the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, determining that the cause of the tool changing abnormality of the tool changing structure is an abnormal tool position.

[0010] Optionally, the tool changing structure includes a plurality of sensors, which are respectively installed at the spindle position, the tool changing arm position and the tool exit position of the tool changing structure, and the sensor is an infrared sensor. Acquiring the position data of the tool changing structure includes: acquiring first sensor data, second sensor data and third sensor data, the first sensor data being sensor data at the spindle position of the tool changing structure, the second sensor data being sensor data at the tool changing arm position of the tool changing structure, and the third sensor data being sensor data at the tool exit position of the tool changing structure; determining the position data of the tool changing structure according to the first sensor data, the second sensor data and the third sensor data.

[0011] According to another aspect of the present application, a machine tool tool changing device is provided, comprising: an acquisition unit, used to acquire tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure; a determination unit, used to determine a current tool changing state of the tool changing structure at least based on the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool change state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool change; a control unit, used to control the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting for tool change state.

[0012] 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 machine tool tool changing methods.

[0013] According to another aspect of the present application, an electronic device is provided, 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 a method for executing any one of the machine tool tool changing methods.

[0014] Applying the technical solution of the present application, the above-mentioned machine tool tool changing method first obtains the tool changing structure position data, which includes the spindle position data, tool changing arm position data and tool outlet position data of the tool changing structure; then, at least according to the tool changing structure position data, the current tool changing state of the tool changing structure is determined, and the current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, wherein the normal working state is a working state that does not require tool changing; finally, when the current tool changing state is the waiting for tool changing state, the tool changing structure is controlled to perform the tool changing operation. This method ensures that the tool changing timing is accurate and the tool changing success rate is improved by accurately detecting the alignment state of three points and one line; by real-time monitoring of the tool changing process, problems can be discovered and alarmed in time, reducing production losses caused by tool changing failures; and the automation and reliability of the machine tool are improved, the workload and human errors of the operator are reduced, and the problem of inaccurate tool changing timing, tool changing failures and affecting the production process in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a machine tool tool changing method provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of a process flow of a machine tool tool changing method provided according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic flow chart of another machine tool tool changing method provided according to an embodiment of the present application is shown;

[0019] Figure 4 A structural block diagram of a tool changing device for a machine tool provided according to an embodiment of the present application is shown.

[0020] The above drawings include the following reference numerals:

[0021] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] 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.

[0025] As introduced in the background technology, in the prior art, in the process of machine tool tool changing, problems such as inaccurate tool changing timing often lead to tool changing failures, affecting the production process. In order to solve the problem of inaccurate tool changing timing in the prior art, resulting in tool changing failures and affecting the production process, the embodiments of the present application provide a machine tool tool changing method, a machine tool tool changing device, a computer-readable storage medium and an electronic device.

[0026] 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.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a machine tool tool changing method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the tool changing method of the machine tool in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0029] In this embodiment, a machine tool tool changing method running on a mobile terminal, a computer terminal or a similar computing device 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.

[0030] Figure 2 1 is a flow chart of a machine tool tool changing method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0031] Step S201, obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure;

[0032] Specifically, the tool change structure position data is obtained to detect the alignment state of three points in a straight line to ensure the accuracy of tool change timing and improve the success rate of tool change. The three points are the spindle position point, the tool change arm position point and the tool exit position point.

[0033] The tool changing structure includes a plurality of sensors, which are respectively installed at the spindle position, the tool changing arm position and the tool outlet position of the tool changing structure. The sensors are infrared sensors, and obtaining the position data of the tool changing structure includes the following steps:

[0034] Step S2011, acquiring first sensor data, second sensor data and third sensor data, wherein the first sensor data is sensor data at the spindle position of the tool changing structure, the second sensor data is sensor data at the tool changing arm position of the tool changing structure, and the third sensor data is sensor data at the tool exit position of the tool changing structure;

[0035] Step S2012: determining the tool changing structure position data according to the first sensor data, the second sensor data and the third sensor data.

[0036] Specifically, multiple sensors are used to accurately detect the alignment of the three points of the spindle, tool change arm and the knife outlet, ensuring the precise timing of tool change and improving the accuracy and success rate of tool change. Multiple high-precision sensors are installed at key positions such as the spindle, tool change arm and knife outlet of the machine tool. The above sensors can detect the position and state of the tool and the action parameters of the tool change mechanism in real time. When the sensor detects that the spindle, tool change arm and knife outlet are aligned, it will send a signal to the data processing module.

[0037] Step S202, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool changing;

[0038] Specifically, real-time monitoring of multiple states of the tool changing process can detect problems and generate alarms in a timely manner, thereby improving the reliability and stability of the machine tool.

[0039] Wherein, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data comprises the following steps:

[0040] Step S301, obtaining status data of a target tool change instruction, wherein the target tool change instruction is instruction data instructing the tool change structure to perform the tool change operation, the status data of the tool change instruction is an issued state or an unissued state, and the tool change operation is an operation of replacing a first tool with a second tool;

[0041] Step S302, when the above-mentioned spindle position data, the above-mentioned tool change arm position data and the above-mentioned cutting edge position data are all located at corresponding preset positions, and the status data of the above-mentioned tool change instruction is the above-mentioned unissued state, determine that the current tool change state of the above-mentioned tool change structure is the above-mentioned waiting for tool change state, wherein, when the above-mentioned spindle position data, the above-mentioned tool change arm position data and the above-mentioned cutting edge position data are all located at corresponding preset positions, the spindle, the tool change arm and the cutting edge are aligned in a straight line.

[0042] Specifically, the waiting tool change state is determined through the sensor monitoring and management system to ensure that the machine tool can detect and replace worn tools in time, thereby avoiding the decline in processing quality and improving production efficiency. When the tool position sensor detects that the tool wear is close to the limit, it will send a tool change signal to the data processing module. After receiving the sensor signal, the data processing module will perform analysis and processing, such as analyzing the current position information of the tool and the tool change position data. When it is confirmed that the spindle, the tool change arm and the tool outlet are aligned in a straight line, it enters the waiting tool change state. Among them, the cutting force, vibration and temperature sensors are used to judge whether the tool wear is close to the limit.

[0043] Wherein, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data further includes the following steps:

[0044] Step S401, when the spindle position data, the tool change arm position data and the tool exit position data are all located at corresponding preset positions, and the status data of the tool change instruction is the issued state, determining that the current tool change state of the tool change structure is the tool change completed state;

[0045] Step S402, when one of the spindle position data, the tool change arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool change instruction is the issued state, determining that the current tool change state of the tool change structure is the tool change in progress state;

[0046] Step S403, when one of the above-mentioned spindle position data, the above-mentioned tool changing arm position data and the above-mentioned tool exit position data is not located at the corresponding preset position, and the status data of the above-mentioned tool changing instruction is the above-mentioned unissued state, determine that the current tool changing state of the above-mentioned tool changing structure is the above-mentioned normal working state.

[0047] Specifically, real-time monitoring of multiple states during the tool change process can detect problems and alarm in time, thereby improving the reliability and stability of the machine tool. Among them, the multiple states include: tool change completed state, tool change in progress state, and normal working state. After confirming in step S302 that the tool is in the waiting state for tool change, confirming the best tool change time, and issuing a tool change command, the data processing module continues to receive data from the sensor and monitors the tool change action in real time. If the tool position is abnormal, the tool change mechanism is not smooth, etc., it will immediately make a judgment and take corresponding measures.

[0048] Furthermore, the sensor may be an infrared sensor, which includes a transmitting end and a receiving end. When the spindle, the tool changing arm and the tool outlet are in a straight line, the receiving end can receive a signal, which means that the current state is waiting for tool change or tool change is completed. If the tool is being changed, the infrared ray will be blocked by the tool changing arm, and the receiving end will not receive the signal.

[0049] Wherein, after determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the method further comprises the following steps:

[0050] Step S501, when the current tool change state is the tool change completion state, obtaining the tool change time of the tool change structure;

[0051] Step S502, based on the actual tool changing time of the tool changing structure, determine whether the tool changing structure has any abnormality during the tool changing process, and if the tool changing process of the tool changing structure has any abnormality, determine the cause of the abnormal tool changing based on the actual tool changing time of the tool changing structure, and the cause of the abnormal tool changing is abnormal tool position or stuck action of the tool changing mechanism.

[0052] Specifically, ensuring that the tool change process of the machine tool is carried out smoothly, accurately and efficiently is conducive to improving the success rate of tool change and providing valuable data support for subsequent production management and maintenance. The technical tools built into the CNC system of the machine tool respectively record the moment when the machine tool issues a tool change command and the moment when the sensor detects that the tool has been fixed in position, and obtain the tool change time of the tool change structure, which is used to determine whether there is an abnormality in the tool change process.

[0053] When the tool is being changed, the tool position is abnormal, or the tool changing mechanism is not moving smoothly, the infrared receiving end will not receive the signal. By setting the delay detection, if the receiving end still cannot receive the signal after the tool changing cycle time has exceeded, it is judged that the tool position is abnormal or the tool changing mechanism is not moving smoothly.

[0054] Wherein, according to the actual tool changing time of the tool changing structure, determining whether the tool changing structure has an abnormality during the tool changing process includes the following steps:

[0055] Step S601, determining a tool changing cycle of the machine tool according to a current execution task of the machine tool, the tool changing structure being installed on the machine tool;

[0056] Among them, determining the tool change cycle of the machine tool is based on the specific details of the task currently performed by the machine tool, which usually involves a comprehensive consideration of the nature of the processing task, the type of tool used, the wear rate of the tool, and the processing efficiency. The specific implementation steps can be as follows:

[0057] 1. Task analysis: First, analyze the characteristics of the current processing task, including the hardness of the processing material, the complexity of the processing, and the required processing accuracy. These factors will affect the wear rate of the tool.

[0058] 2. Tool selection and parameter recording: Record the type of tool currently in use, including the material, shape, and preset service life or processing volume of the tool. Different tools wear at different rates, so understanding the characteristics of the tool is crucial to determining the tool change cycle.

[0059] 3. Wear monitoring: Use sensors to monitor the tool’s usage status in real time, including cutting force, vibration, temperature and other indicators. These data can help determine whether the tool is approaching its wear limit.

[0060] 4. Historical data analysis: Refer to the tool change cycle data in historical processing tasks to analyze the average tool life and tool change frequency under similar processing conditions. Historical data can provide a rough reference for tool change cycles.

[0061] 5. Set tool change strategy: Based on the above information, set a tool change strategy, including when to issue a tool change command and the frequency of tool change commands. The strategy setting needs to consider the balance between production efficiency and tool cost.

[0062] 6. Dynamic adjustment: During the machining process, the machining conditions and tool status are continuously monitored, and the tool change cycle is dynamically adjusted based on real-time data. For example, if the hardness of the machining material suddenly increases, the tool change cycle may need to be shortened.

[0063] 7. Exception handling: Set an abnormal threshold for a tool change cycle. If it is detected that the tool wears abnormally fast within the preset time, or the machine tool encounters unexpected conditions during processing, the tool can be changed immediately to avoid production losses.

[0064] 8. Recording and feedback: After each tool change, record the tool change time and reason for later analysis and optimization of tool change cycle strategy. At the same time, feedback the tool change information to the operator for easy monitoring and management.

[0065] Through the above steps, the tool change cycle of the machine tool can be determined more accurately, thereby improving production efficiency and reducing tool costs while ensuring processing quality and machine tool reliability.

[0066] Step S602, determining the tool change cycle of the machine tool as the target tool change time of the tool change structure;

[0067] Step S603, when the actual tool changing time of the tool changing structure is equal to the target tool changing time, determining that no abnormality occurs in the tool changing process of the tool changing structure;

[0068] Step S604: when the actual tool changing time of the tool changing structure is greater than the target tool changing time, or the actual tool changing time of the tool changing structure is less than the target tool changing time, it is determined that an abnormality occurs in the tool changing structure during the tool changing process.

[0069] Specifically, the sensor data is intelligently analyzed by the data processing module, and the abnormality of the tool changing process can be effectively judged according to the time period, thereby reducing human judgment errors and improving the automation level of the machine tool. The normal tool changing time period is defined based on historical data. For example, for an automatic tool changing system, the target tool changing time is 5 seconds. If the actual tool changing time is 5 seconds, the tool changing process is judged to be normal; if the actual tool changing time is less than 5 seconds, that is, the time difference recorded by the infrared sensor signal is less than 5 seconds, a first warning signal is issued, indicating that the tool changing speed is too fast, which will affect the life of the tool changing structure parts; if the actual tool changing time is greater than 5 seconds, there are abnormal problems such as the tool changing mechanism action jamming and the tool position abnormality.

[0070] According to the actual tool changing time of the tool changing structure, determining the abnormal cause includes the following steps:

[0071] Step S701, when the actual tool changing time of the tool changing structure is greater than or equal to the first preset time and less than the second preset time, determining that the tool changing abnormality of the tool changing structure is caused by the tool changing mechanism being stuck, the first preset time is greater than the target tool changing time of the tool changing structure, and the second preset time is greater than the first preset time;

[0072] Step S702: when the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, determining that the abnormal tool changing cause of the tool changing structure is abnormal tool position.

[0073] Specifically, it can effectively detect abnormal situations in the tool changing process, such as tool changing mechanism jamming, abnormal tool position, etc., and promptly issue an alarm and take measures to reduce production losses.

[0074] Step S203, when the current tool-changing state is the tool-changing waiting state, controlling the tool-changing structure to perform a tool-changing operation.

[0075] Specifically, the results are displayed on the operation panel, including tool position information, tool change status, etc., to accurately grasp the timing of tool change, avoid processing problems caused by inaccurate tool change, improve the reliability and stability of the machine tool, and thus improve production efficiency and processing quality.

[0076] The above-mentioned machine tool tool changing method of the present application first obtains the tool changing structure position data, which includes the spindle position data, tool changing arm position data and tool outlet position data of the tool changing structure; then, at least according to the tool changing structure position data, the current tool changing state of the tool changing structure is determined, and the current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, wherein the normal working state is a working state that does not require tool changing; finally, when the current tool changing state is the waiting for tool changing state, the tool changing structure is controlled to perform the tool changing operation. This method ensures that the tool changing timing is accurate and the tool changing success rate is improved by accurately detecting the alignment state of three points and a line; by real-time monitoring of the tool changing process, problems can be discovered and alarmed in time, reducing production losses caused by tool changing failures; and the automation and reliability of the machine tool are improved, the work intensity and human errors of the operator are reduced, and the problem of inaccurate tool changing timing, leading to tool changing failures and affecting the production process in the prior art is solved.

[0077] The specific process of the above machine tool tool changing method is as follows: Figure 3 As shown, the following steps are included:

[0078] Step S1: issuing a tool change command according to a tool change signal control program or a control panel;

[0079] Step S2: The sensor detects whether the spindle, the tool changing arm and the cutting edge are aligned in a straight line;

[0080] Step S3: If the detection result is that the three points are aligned in a straight line, the CNC system performs a tool change operation;

[0081] Step S4: If the spindle, the tool changing arm and the tool outlet are not located at the corresponding preset positions, the tool changing is stopped and a warning is issued to the operating table.

[0082] 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.

[0083] The embodiment of the present application also provides a machine tool tool changing device. It should be noted that the machine tool tool changing device of the embodiment of the present application can be used to execute the machine tool tool changing method provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made 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 conceivable.

[0084] The following is an introduction to the machine tool tool changing device provided in the embodiment of the present application.

[0085] Figure 4 Schematic diagram of a tool changing device for a machine tool according to an embodiment of the present application. Figure 4 As shown, the device includes: an acquisition unit 10, a determination unit 20 and a control unit 30, the acquisition unit 10 is used to acquire the tool changing structure position data, the above-mentioned tool changing structure position data includes the spindle position data, the tool changing arm position data and the tool exit position data of the tool changing structure; the determination unit 20 is used to determine the current tool changing state of the above-mentioned tool changing structure at least according to the above-mentioned tool changing structure position data, and the above-mentioned current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, and the above-mentioned normal working state is a working state that does not require tool changing; the control unit 30 is used to control the above-mentioned tool changing structure to perform a tool changing operation when the above-mentioned current tool changing state is the above-mentioned waiting for tool changing state.

[0086] The above-mentioned machine tool tool changing device of the present application includes: an acquisition unit, a determination unit and a control unit, the acquisition unit is used to acquire the position data of the tool changing structure, the position data of the tool changing structure includes the spindle position data, the tool changing arm position data and the knife outlet position data of the tool changing structure; the determination unit is used to determine the current tool changing state of the tool changing structure at least according to the position data of the tool changing structure, and the current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, and the normal working state is a working state that does not require tool changing; the control unit is used to control the tool changing structure to perform the tool changing operation when the current tool changing state is the waiting for tool changing state. The device ensures that the timing of tool changing is accurate and correct by accurately detecting the alignment state of three points and one line, thereby improving the success rate of tool changing; by real-time monitoring of the tool changing process, problems can be discovered and alarmed in time, thereby reducing production losses caused by tool changing failures; and the automation and reliability of the machine tool are improved, the work intensity and human errors of the operator are reduced, and the problem of inaccurate tool changing timing, tool changing failure and affecting the production process in the prior art is solved.

[0087] In some examples, the acquisition unit includes a first acquisition module and a second acquisition module, the first acquisition module is used to acquire first sensor data, second sensor data and third sensor data, the first sensor data is sensor data at the spindle position of the tool changing structure, the second sensor data is sensor data at the tool changing arm position of the tool changing structure, and the third sensor data is sensor data at the tool exit position of the tool changing structure; the second acquisition module is used to determine the tool changing structure position data according to the first sensor data, the second sensor data and the third sensor data. This ensures the precise timing of tool changing and improves the accuracy and success rate of tool changing.

[0088] In some examples, the determination unit includes a first determination module and a second determination module, the first determination module is used to obtain the status data of the target tool change instruction, the target tool change instruction is the instruction data instructing the tool change structure to perform the tool change operation, the status data of the tool change instruction is the issued state or the unissued state, and the tool change operation is the operation of replacing the first tool with the second tool; the second determination module is used to determine that the current tool change state of the tool change structure is the waiting tool change state when the spindle position data, the tool change arm position data and the tool exit position data are all located at the corresponding preset positions and the status data of the tool change instruction is the unissued state, wherein when the spindle position data, the tool change arm position data and the tool exit position data are all located at the corresponding preset positions, the spindle, the tool change arm and the tool exit are aligned in a straight line. The waiting tool change state is determined by the sensor monitoring and management system to ensure that the machine tool can detect and replace the worn tool in time, thereby avoiding the decline of processing quality and improving production efficiency.

[0089] In some examples, the determination unit further includes a third determination module, a fourth determination module and a fifth determination module. The third determination module is used to determine that the current tool change state of the tool change structure is the tool change completion state when the spindle position data, the tool change arm position data and the tool exit position data are all located at the corresponding preset positions and the status data of the tool change instruction is the issued state; the fourth determination module is used to determine that the current tool change state of the tool change structure is the tool change in progress state when one of the spindle position data, the tool change arm position data and the tool exit position data is not located at the corresponding preset position and the status data of the tool change instruction is the issued state; the fifth determination module is used to determine that the current tool change state of the tool change structure is the normal working state when one of the spindle position data, the tool change arm position data and the tool exit position data is not located at the corresponding preset position and the status data of the tool change instruction is the unissued state. Real-time monitoring of multiple states during the tool change process can timely detect problems and give alarms, thereby improving the reliability and stability of the machine tool.

[0090] In some examples, the determination unit further includes a sixth determination module and a seventh determination module. The sixth determination module is used to obtain the tool changing time of the tool changing structure when the current tool changing state is the tool changing completed state. The seventh determination module is used to determine whether the tool changing structure is abnormal during the tool changing process according to the actual tool changing time of the tool changing structure, and when the tool changing process of the tool changing structure is abnormal, the cause of the tool changing abnormality is determined according to the actual tool changing time of the tool changing structure. The cause of the tool changing abnormality is abnormal tool position or stuck tool changing mechanism. Ensuring that the tool changing process of the machine tool is carried out smoothly, accurately and efficiently is conducive to improving the success rate of tool changing and providing valuable data support for subsequent production management and maintenance.

[0091] In some examples, the seventh determination module includes a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule, wherein the first determination submodule is used to determine the tool change cycle of the machine tool according to the current execution task of the machine tool, and the tool change structure is installed on the machine tool; the second determination submodule is used to determine the tool change cycle of the machine tool as the target tool change time of the tool change structure; the third determination submodule is used to determine that the tool change structure has no abnormality in the tool change process when the actual tool change time of the tool change structure is equal to the target tool change time; the fourth determination submodule is used to determine that the tool change structure has an abnormality in the tool change process when the actual tool change time of the tool change structure is greater than the target tool change time, or the actual tool change time of the tool change structure is less than the target tool change time. Through the data processing module, the sensor data is intelligently analyzed, and whether the tool change process is abnormal or not can be effectively judged according to the time period, thereby reducing human judgment errors and improving the automation of the machine tool.

[0092] In some examples, the seventh determination module also includes a fifth determination submodule and a sixth determination submodule, the fifth determination submodule is used to determine that the cause of the abnormal tool change of the tool changing structure is the above-mentioned tool changing mechanism action jamming when the actual tool changing time of the tool changing structure is greater than or equal to the first preset time and less than the second preset time, the above-mentioned first preset time is greater than the target tool changing time of the tool changing structure, and the above-mentioned second preset time is greater than the above-mentioned first preset time; the sixth determination submodule is used to determine that the cause of the abnormal tool change of the tool changing structure is the above-mentioned tool position abnormality when the actual tool changing time of the tool changing structure is greater than or equal to the second preset time. In this way, abnormal conditions in the tool changing process, such as tool changing mechanism action jamming, tool position abnormality, etc., can be effectively detected, and timely alarms and measures can be taken to reduce production losses.

[0093] The above-mentioned machine tool tool changing device includes a processor and a memory, and the above-mentioned acquisition unit and the like are stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0094] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of inaccurate tool change timing, tool change failure, and production process impact in the prior art can be solved by adjusting kernel parameters.

[0095] 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.

[0096] 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 machine tool tool changing method.

[0097] Specifically, the machine tool tool changing method includes:

[0098] Step S201, obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure;

[0099] Specifically, the tool change structure position data is obtained to detect the alignment state of three points in a straight line to ensure the accuracy of tool change timing and improve the success rate of tool change. The three points are the spindle position point, the tool change arm position point and the tool exit position point.

[0100] Step S202, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool changing;

[0101] Specifically, real-time monitoring of multiple states of the tool changing process can detect problems and generate alarms in a timely manner, thereby improving the reliability and stability of the machine tool.

[0102] Step S203, when the current tool-changing state is the tool-changing waiting state, controlling the tool-changing structure to perform a tool-changing operation.

[0103] Specifically, the results are displayed on the operation panel, including tool position information, tool change status, etc., to accurately grasp the timing of tool change, avoid processing problems caused by inaccurate tool change, improve the reliability and stability of the machine tool, and thus improve production efficiency and processing quality.

[0104] Optionally, the current tool changing state of the tool changing structure is determined at least based on the tool changing structure position data, including: obtaining the state data of a target tool changing instruction, the target tool changing instruction is instruction data instructing the tool changing structure to perform the tool changing operation, the state data of the tool changing instruction is an issued state or an unissued state, and the tool changing operation is an operation of replacing a first tool with a second tool; when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions, and the state data of the tool changing instruction is the unissued state, determining that the current tool changing state of the tool changing structure is the waiting state for tool changing, wherein, when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions, the spindle, the tool changing arm and the tool exit are aligned in a straight line.

[0105] Optionally, determining the current tool changing state of the tool changing structure at least based on the tool changing structure position data also includes: when the spindle position data, the tool changing arm position data and the tool exit position data are all located at corresponding preset positions, and the status data of the tool changing instruction is the issued state, determining that the current tool changing state of the tool changing structure is the tool changing completed state; when one of the spindle position data, the tool changing arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool changing instruction is the issued state, determining that the current tool changing state of the tool changing structure is the tool changing in progress state; when one of the spindle position data, the tool changing arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool changing instruction is the not issued state, determining that the current tool changing state of the tool changing structure is the normal working state.

[0106] Optionally, after determining the current tool changing state of the tool changing structure at least based on the position data of the tool changing structure, the method further includes: when the current tool changing state is the tool changing completion state, obtaining the tool changing time of the tool changing structure; determining whether an abnormality occurs in the tool changing process of the tool changing structure according to the actual tool changing time of the tool changing structure, and when an abnormality occurs in the tool changing process of the tool changing structure, determining the cause of the tool changing abnormality according to the actual tool changing time of the tool changing structure, the cause of the tool changing abnormality being abnormal tool position or a jamming of the tool changing mechanism.

[0107] Optionally, based on the actual tool changing time of the tool changing structure, determining whether an abnormality occurs in the tool changing process of the tool changing structure includes: determining the tool changing cycle of the machine tool according to the current execution task of the machine tool, on which the tool changing structure is installed; determining the tool changing cycle of the machine tool as the target tool changing time of the tool changing structure; when the actual tool changing time of the tool changing structure is equal to the target tool changing time, determining that no abnormality occurs in the tool changing process of the tool changing structure; when the actual tool changing time of the tool changing structure is greater than the target tool changing time, or the actual tool changing time of the tool changing structure is less than the target tool changing time, determining that an abnormality occurs in the tool changing process of the tool changing structure.

[0108] Optionally, according to the actual tool changing time of the tool changing structure, the cause of the abnormality is determined, including: when the actual tool changing time of the tool changing structure is greater than or equal to a first preset time and less than a second preset time, determining that the cause of the tool changing abnormality of the tool changing structure is a jamming of the tool changing mechanism, the first preset time is greater than the target tool changing time of the tool changing structure, and the second preset time is greater than the first preset time; when the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, determining that the cause of the tool changing abnormality of the tool changing structure is an abnormal tool position.

[0109] Optionally, the tool changing structure includes a plurality of sensors, which are respectively installed at the spindle position, the tool changing arm position and the tool exit position of the tool changing structure, and the sensors are infrared sensors. Acquiring the position data of the tool changing structure includes: acquiring first sensor data, second sensor data and third sensor data, the first sensor data being the sensor data at the spindle position of the tool changing structure, the second sensor data being the sensor data at the tool changing arm position of the tool changing structure, and the third sensor data being the sensor data at the tool exit position of the tool changing structure; determining the position data of the tool changing structure according to the first sensor data, the second sensor data and the third sensor data.

[0110] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the machine tool tool changing method is executed when the program is run.

[0111] Specifically, the machine tool tool changing method includes:

[0112] Step S201, obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure;

[0113] Specifically, the tool change structure position data is obtained to detect the alignment state of three points in a straight line to ensure the accuracy of tool change timing and improve the success rate of tool change. The three points are the spindle position point, the tool change arm position point and the tool exit position point.

[0114] Step S202, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool changing;

[0115] Specifically, real-time monitoring of multiple states of the tool changing process can detect problems and generate alarms in a timely manner, thereby improving the reliability and stability of the machine tool.

[0116] Step S203, when the current tool-changing state is the tool-changing waiting state, controlling the tool-changing structure to perform a tool-changing operation.

[0117] Specifically, the results are displayed on the operation panel, including tool position information, tool change status, etc., to accurately grasp the timing of tool change, avoid processing problems caused by inaccurate tool change, improve the reliability and stability of the machine tool, and thus improve production efficiency and processing quality.

[0118] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0119] Step S201, obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure;

[0120] Specifically, the tool change structure position data is obtained to detect the alignment state of three points in a straight line to ensure the accuracy of tool change timing and improve the success rate of tool change. The three points are the spindle position point, the tool change arm position point and the tool exit position point.

[0121] Step S202, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool changing;

[0122] Specifically, real-time monitoring of multiple states of the tool changing process can detect problems and generate alarms in a timely manner, thereby improving the reliability and stability of the machine tool.

[0123] Step S203, when the current tool-changing state is the tool-changing waiting state, controlling the tool-changing structure to perform a tool-changing operation.

[0124] Specifically, the results are displayed on the operation panel, including tool position information, tool change status, etc., to accurately grasp the timing of tool change, avoid processing problems caused by inaccurate tool change, improve the reliability and stability of the machine tool, and thus improve production efficiency and processing quality.

[0125] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0126] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0127] Step S201, obtaining tool changing structure position data, the tool changing structure position data including spindle position data, tool changing arm position data and tool exit position data of the tool changing structure;

[0128] Specifically, the tool change structure position data is obtained to detect the alignment state of three points in a straight line to ensure the accuracy of tool change timing and improve the success rate of tool change. The three points are the spindle position point, the tool change arm position point and the tool exit position point.

[0129] Step S202, determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state being a working state that does not require tool changing;

[0130] Specifically, real-time monitoring of multiple states of the tool changing process can detect problems and generate alarms in a timely manner, thereby improving the reliability and stability of the machine tool.

[0131] Step S203, when the current tool-changing state is the tool-changing waiting state, controlling the tool-changing structure to perform a tool-changing operation.

[0132] Specifically, the results are displayed on the operation panel, including tool position information, tool change status, etc., to accurately grasp the timing of tool change, avoid processing problems caused by inaccurate tool change, improve the reliability and stability of the machine tool, and thus improve production efficiency and processing quality.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 The steps for the functions specified in one or more boxes.

[0138] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0143] 1) The above-mentioned machine tool tool changing method of the present application first obtains the tool changing structure position data, which includes the spindle position data, tool changing arm position data and tool outlet position data of the tool changing structure; then, at least according to the tool changing structure position data, the current tool changing state of the tool changing structure is determined, and the current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, wherein the normal working state is a working state that does not require tool changing; finally, when the current tool changing state is the waiting for tool changing state, the tool changing structure is controlled to perform the tool changing operation. This method ensures that the timing of tool changing is accurate and improves the success rate of tool changing by accurately detecting the alignment state of three points and one line; by real-time monitoring of the tool changing process, problems can be discovered and alarmed in time, reducing production losses caused by tool changing failures; and the automation and reliability of the machine tool are improved, the workload and human errors of the operator are reduced, and the problem of inaccurate tool changing timing, tool changing failure and affecting the production process in the prior art is solved.

[0144] 2) The above-mentioned machine tool tool changing device of the present application includes: an acquisition unit, a determination unit and a control unit. The acquisition unit is used to acquire the position data of the tool changing structure. The position data of the tool changing structure includes the spindle position data, the tool changing arm position data and the tool outlet position data of the tool changing structure; the determination unit is used to determine the current tool changing state of the tool changing structure at least according to the position data of the tool changing structure. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, and the normal working state is a working state that does not require tool changing; the control unit is used to control the tool changing structure to perform the tool changing operation when the current tool changing state is the waiting for tool changing state. The device ensures that the timing of tool changing is accurate and correct by accurately detecting the alignment state of three points and a straight line, thereby improving the success rate of tool changing; by real-time monitoring of the tool changing process, problems can be discovered and alarmed in time, thereby reducing production losses caused by tool changing failures; and the automation and reliability of the machine tool are improved, the work intensity and human errors of the operators are reduced, and the problem of inaccurate tool changing timing, tool changing failures and affecting the production process in the prior art is solved.

[0145] 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 machine tool tool changing method, characterized in that: include: Acquire tool changing structure position data, wherein the tool changing structure position data includes spindle position data, tool changing arm position data and tool exit position data of the tool changing structure; At least according to the tool changing structure position data, determine the current tool changing state of the tool changing structure, the current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing state, tool changing completed state, the normal working state is a working state that does not require tool changing; When the current tool-changing state is the tool-changing waiting state, the tool-changing structure is controlled to perform a tool-changing operation.

2. The method according to claim 1, characterized in that Determining a current tool changing state of the tool changing structure at least according to the tool changing structure position data includes: Acquire status data of a target tool change instruction, wherein the target tool change instruction is instruction data instructing the tool change structure to perform the tool change operation, the status data of the tool change instruction is an issued state or an unissued state, and the tool change operation is an operation of replacing a first tool with a second tool; When the spindle position data, the tool change arm position data and the cutting edge position data are all located at corresponding preset positions, and the status data of the tool change instruction is the unissued state, the current tool change state of the tool change structure is determined to be the waiting state for tool change, wherein when the spindle position data, the tool change arm position data and the cutting edge position data are all located at corresponding preset positions, the spindle, the tool change arm and the cutting edge are aligned in a straight line.

3. The method according to claim 2, characterized in that Determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, further comprising: When the spindle position data, the tool change arm position data and the tool exit position data are all located at corresponding preset positions, and the status data of the tool change instruction is the issued state, determining that the current tool change state of the tool change structure is the tool change completion state; When one of the spindle position data, the tool change arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool change instruction is the issued state, determining that the current tool change state of the tool change structure is the tool changing state; When one of the spindle position data, the tool changing arm position data and the tool exit position data is not located at the corresponding preset position, and the status data of the tool changing instruction is the unissued state, it is determined that the current tool changing state of the tool changing structure is the normal working state.

4. The method according to claim 1, characterized in that After determining the current tool changing state of the tool changing structure at least according to the tool changing structure position data, the method further includes: When the current tool-changing state is the tool-changing completed state, obtaining the tool-changing time of the tool-changing structure; According to the actual tool changing time of the tool changing structure, determine whether the tool changing structure has an abnormality during the tool changing process, and if the tool changing process of the tool changing structure has an abnormality, determine the cause of the tool changing abnormality according to the actual tool changing time of the tool changing structure, and the cause of the tool changing abnormality is abnormal tool position or stuck action of the tool changing mechanism.

5. The method according to claim 4, characterized in that Determining whether an abnormality occurs in the tool changing structure during the tool changing process according to an actual tool changing time of the tool changing structure includes: Determining a tool changing cycle of the machine tool according to a current execution task of the machine tool, wherein the tool changing structure is installed on the machine tool; Determining the tool change cycle of the machine tool as the target tool change time of the tool change structure; When the actual tool changing time of the tool changing structure is equal to the target tool changing time, determining that the tool changing structure has no abnormality during the tool changing process; When the actual tool changing time of the tool changing structure is greater than the target tool changing time, or when the actual tool changing time of the tool changing structure is less than the target tool changing time, it is determined that an abnormality occurs in the tool changing structure during the tool changing process.

6. The method according to claim 4, characterized in that According to the actual tool changing time of the tool changing structure, the abnormal cause is determined, including: When the actual tool changing time of the tool changing structure is greater than or equal to the first preset time and less than the second preset time, it is determined that the abnormal tool changing cause of the tool changing structure is the jamming of the tool changing mechanism, the first preset time is greater than the target tool changing time of the tool changing structure, and the second preset time is greater than the first preset time; When the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, it is determined that the abnormal tool changing cause of the tool changing structure is the abnormal tool position.

7. The method according to claim 1, characterized in that The tool changing structure includes a plurality of sensors, which are respectively installed at the spindle position, the tool changing arm position and the tool exit position of the tool changing structure. The sensors are infrared sensors, which obtain the position data of the tool changing structure, including: Acquire first sensor data, second sensor data and third sensor data, wherein the first sensor data is sensor data at a spindle position of the tool changing structure, the second sensor data is sensor data at a tool changing arm position of the tool changing structure, and the third sensor data is sensor data at a tool exit position of the tool changing structure; The tool changing structure position data is determined according to the first sensor data, the second sensor data and the third sensor data.

8. A tool changing device for a machine tool, characterized in that: include: An acquisition unit, used for acquiring tool change structure position data, wherein the tool change structure position data includes spindle position data, tool change arm position data and tool exit position data of the tool change structure; A determination unit, configured to determine a current tool changing state of the tool changing structure at least according to the tool changing structure position data, wherein the current tool changing state is one of the following: a normal working state, a tool changing waiting state, a tool changing state, and a tool changing completed state, wherein the normal working state is a working state that does not require tool changing; The control unit is used to control the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting tool changing state.

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 machine tool tool changing method according to any one of claims 1 to 7.

10. An electronic device, 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 a method for executing the machine tool tool changing method described in any one of claims 1 to 7.

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