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

Abstract

The application provides a machine tool tool changing method and device, a storage medium and an electronic device. The method comprises the following steps: acquiring tool changing structure position data, wherein the tool changing structure position data comprises spindle position data, tool changing arm position data and tool outlet position data of the tool changing structure; determining a current tool changing state of the tool changing structure according to at least the tool changing structure position data, wherein the current tool changing state is one of the following: a normal working state, a waiting tool changing state, a tool changing state and a tool changing completion state, wherein the normal working state is a working state without tool changing; and controlling the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting tool changing state. The method effectively improves the tool changing success rate, reduces production losses caused by tool changing failures, and improves the automation and reliability of the machine tool.

Description

Technical Field

[0001] This application relates to the field of machine tool changing, and more specifically, to a machine tool changing method, a machine tool changing device, a computer-readable storage medium, and an electronic device. Background Technology

[0002] In machine tool processing, the tool changing operation of the tool magazine plays a crucial role in machining efficiency and quality. Currently, inaccurate tool changing timing often leads to tool changing malfunctions, impacting production progress. Summary of the Invention

[0003] The main objective of this 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 inaccurate tool changing timing leads to tool changing failure and affects the production process.

[0004] To achieve the above objectives, according to one aspect of this application, a machine tool tool changing method is provided, comprising: acquiring 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, at least based on the tool changing structure position data, the current tool changing state of the tool changing structure, the current tool changing state being one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state, wherein the normal working state is a working state that does not require tool changing; and, when the current tool changing state is the waiting for tool changing state, controlling the tool changing structure to perform a tool changing operation.

[0005] Optionally, the current tool-changing state of the tool-changing structure is determined at least based on the tool-changing structure position data, including: acquiring the status data of a target tool-changing command, wherein the target tool-changing command is command data instructing the tool-changing structure to perform the tool-changing operation, and the status data of the tool-changing command is either issued or not issued, and the tool-changing operation is the operation of replacing the first tool with the second tool; when the spindle position data, the tool-changing arm position data, and the tool outlet position data are all located at their corresponding preset positions, and the status data of the tool-changing command is in the not issued state, the current tool-changing state of the tool-changing structure is determined to be the waiting-for-tool-changing state, wherein when the spindle position data, the tool-changing arm position data, and the tool outlet position data are all located at their corresponding preset positions, the spindle, the tool-changing arm, and the tool outlet are aligned in a straight line.

[0006] Optionally, determining the current tool-changing state of the tool-changing structure based at least on the tool-changing structure position data further includes: determining the current tool-changing state of the tool-changing structure as the tool-changing completed state when the spindle position data, the tool-changing arm position data, and the tool outlet position data are all located at their corresponding preset positions, and the status data of the tool-changing command is in the "issued" state; determining the current tool-changing state of the tool-changing structure as the tool-changing in progress state when one of the spindle position data, the tool-changing arm position data, and the tool outlet position data is not located at its corresponding preset position, and the status data of the tool-changing command is in the "issued" state; and determining the current tool-changing state of the tool-changing structure as the normal operating state when one of the spindle position data, the tool-changing arm position data, and the tool outlet position data is not located at its corresponding preset position, and the status data of the tool-changing command is in the "not issued" state.

[0007] Optionally, after determining the current tool changing state of the tool changing structure based at least on the tool changing structure position data, the method further includes: if the current tool changing state is the tool changing completed state, obtaining the tool changing time of the tool changing structure; determining whether an abnormality occurred during the tool changing process based on the actual tool changing time of the tool changing structure; and if an abnormality occurred during the tool changing process of the tool changing structure, determining the cause of the tool changing abnormality based on the actual tool changing time of the tool changing structure, wherein the cause of the tool changing abnormality is an abnormal tool position or a jammed tool changing mechanism.

[0008] Optionally, determining whether an abnormality occurred during the tool changing process based on the actual tool changing time of the tool changing structure includes: determining the tool changing cycle of the machine tool based on the current task being executed by the machine tool, wherein 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; determining that the tool changing structure did not experience any abnormality during the tool changing process if the actual tool changing time of the tool changing structure is equal to the target tool changing time; and determining that the tool changing structure experienced an abnormality during the tool changing process if the actual tool changing time of the tool changing structure is greater than the target tool changing time, or if the actual tool changing time of the tool changing structure is less than the target tool changing time.

[0009] Optionally, the cause of the abnormality is determined based on the actual tool changing time of the tool changing structure, including: if 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, the cause of the abnormality is determined to be a jamming of the tool changing mechanism, wherein 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; if the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, the cause of the abnormality is determined to be an abnormal tool position.

[0010] Optionally, the tool changing structure includes multiple 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 the tool changing structure position data is acquired, including: acquiring first sensor data, second sensor data, and third sensor data, where the first sensor data is sensor data at the spindle position, the second sensor data is sensor data at the tool changing arm position, and the third sensor data is sensor data at the tool outlet position; and determining the tool changing structure position data based on the first sensor data, the second sensor data, and the third sensor data.

[0011] According to another aspect of this application, a machine tool tool changing device is provided, comprising: an acquisition unit, configured 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, configured to determine, at least based on the tool changing structure position data, the current tool changing state of the tool changing structure being one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state, wherein the normal working state is a working state in which tool changing is not required; and a control unit, configured to control the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting for tool changing state.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the machine tool changing methods described above.

[0013] According to another aspect of this 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 configured to be executed by the one or more processors, the one or more programs including methods for performing any of the described machine tool changing methods.

[0014] Applying the technical solution of this application, the above-mentioned machine tool tool changing method first acquires the tool changing structure position data, including the spindle position data, tool changing arm position data, and tool exit position data of the tool changing structure; then, based on at least the tool changing structure position data, it determines the current tool changing state of the tool changing structure, which can be one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state, wherein the normal working state is the working state that does not require tool changing; finally, when the current tool changing state is the waiting for tool changing state, it controls the tool changing structure to perform the tool changing operation. This method ensures accurate tool changing timing by precisely detecting the alignment of the three points in a straight line, thus improving the success rate of tool changing; by monitoring the tool changing process in real time, it can promptly detect problems and issue alarms, reducing production losses caused by tool changing failures; and it improves the automation level and reliability of the machine tool, reduces the workload of operators and human error, and solves the problem in the prior art where inaccurate tool changing timing leads to tool changing failures and affects the production process. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a machine tool tool changing method according to an embodiment of this application is shown;

[0017] Figure 2 A schematic flowchart of a machine tool tool changing method according to an embodiment of this application is shown;

[0018] Figure 3 A schematic flowchart of another machine tool tool changing method provided according to an embodiment of this application is shown;

[0019] Figure 4 A structural block diagram of a machine tool tool changer provided according to an embodiment of this application is shown.

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

[0021] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] As described in the background section, existing technologies often suffer from tool changing failures due to inaccurate tool changing timing during machine tool tool changing, which affects the production process. To address the problem of inaccurate tool changing timing leading to tool changing failures and affecting the production process in existing technologies, embodiments of this 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 of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a machine tool tool changing method according to an embodiment of the present invention. For example... Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the machine tool changing method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station 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] This embodiment provides a machine tool tool changing method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] Figure 2 This is a flowchart of a machine tool tool changing method according to an embodiment of this application. For example... Figure 2 As shown, the method includes the following steps:

[0031] Step S201: Obtain 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.

[0032] Specifically, the tool changer position data is acquired to detect the alignment of three points in a straight line, ensuring accurate tool change timing and improving the success rate of tool changes. These three points are the spindle position, the tool changer arm position, and the tool exit point.

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

[0034] Step S2011: Obtain first sensor data, second sensor data and third sensor data. The first sensor data is the sensor data at the spindle position of the tool changing structure, the second sensor data is the sensor data at the tool changing arm position of the tool changing structure, and the third sensor data is the sensor data at the tool outlet position of the tool changing structure.

[0035] Step S2012: Determine the tool changing structure position data based on the first sensor data, the second sensor data, and the third sensor data.

[0036] Specifically, multiple sensors are used to precisely detect the alignment of the spindle, tool changer arm, and tool exit point, ensuring accurate tool changing timing and improving accuracy and success rate. Multiple high-precision sensors are installed at key locations such as the machine tool's spindle, tool changer arm, and tool exit point. These sensors can detect the tool's position and status, as well as the operating parameters of the tool changing mechanism, in real time. When the sensors detect that the spindle, tool changer arm, and tool exit point are aligned, they send a signal to the data processing module.

[0037] Step S202: Determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is a working state that does not require tool changing.

[0038] Specifically, real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, thereby improving the reliability and stability of the machine tool.

[0039] The process of determining the current tool changing state of the tool changing structure, based at least on the aforementioned tool changing structure position data, includes the following steps:

[0040] Step S301: Obtain the status data of the target tool change command. The target tool change command is the command data that instructs the tool change structure to perform the tool change operation. The status data of the tool change command is either issued or not issued. The tool change operation is the operation of replacing the first tool with the second tool.

[0041] Step S302: When the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, and the tool change command status data is in the state of not being issued, the current tool change state of the tool changer structure is determined to be the waiting tool change state. When the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, the spindle, the tool changer arm, and the tool outlet are aligned in a straight line.

[0042] Specifically, a sensor monitoring and management system determines the tool change waiting state, ensuring that the machine tool can promptly detect and replace worn tools, thereby preventing a decline in machining quality and improving production efficiency. When the tool position sensor detects that the tool wear is approaching its limit, it sends a tool change signal to the data processing module. After receiving the sensor signal, the data processing module analyzes and processes it, such as analyzing the current tool position information and tool change position data. When it confirms that the spindle, tool changer arm, and tool exit are aligned in a straight line, it enters the tool change waiting state. The determination of whether the tool wear is approaching its limit is achieved using cutting force, vibration, and temperature sensors.

[0043] Determining the current tool changing state of the tool changing structure based at least on the aforementioned tool changing structure position data also includes the following steps:

[0044] Step S401: When the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, and the status data of the tool change command is the issued status, the current tool change status of the tool change structure is determined to be the tool change completed status.

[0045] Step S402: If any one of the above spindle position data, the above tool changer arm position data and the above tool outlet position data is not located in the corresponding preset position, and the status data of the above tool change command is the above issued status, then determine that the current tool change status of the above tool change structure is the above tool change in progress status.

[0046] Step S403: If any one of the spindle position data, the tool changer arm position data, and the tool outlet position data is not located in the corresponding preset position, and the status data of the tool change command is in the state of not being issued, then the current tool change state of the tool changer structure is determined to be the normal working state.

[0047] Specifically, real-time monitoring of multiple states during the tool changing process enables timely detection and alarm of problems, improving the reliability and stability of the machine tool. These states include: tool changing complete, tool changing in progress, and normal operation. After confirming in step S302 that the tool is in a waiting-for-tool-changing state, determining the optimal tool changing time, and issuing a tool changing command, the data processing module continuously receives data from the sensors, monitors the tool changing action in real time, and immediately assesses and takes appropriate measures if abnormal tool position or malfunctions in the tool changing mechanism are detected.

[0048] Furthermore, the aforementioned sensor can specifically be an infrared ray sensor, which includes a transmitter and a receiver. When the spindle, tool changer arm, and tool exit point are aligned, the receiver can receive a signal, indicating that the current state is either waiting for tool change or tool change is complete. If the tool change is in progress, the infrared light will be blocked by the tool changer arm, and the receiver will not receive a signal.

[0049] After determining the current tool changing state of the tool changing structure based at least on the aforementioned tool changing structure position data, the method further includes the following steps:

[0050] Step S501: When the current tool changing state is the tool changing completed state, obtain the tool changing time of the tool changing structure.

[0051] Step S502: Based on the actual tool changing time of the tool changing structure, determine whether the tool changing structure has any abnormalities during the tool changing process. If the tool changing process of the tool changing structure has any abnormalities, determine the cause of the tool changing abnormality based on the actual tool changing time of the tool changing structure. The cause of the tool changing abnormality is abnormal tool position or tool changing mechanism jamming.

[0052] Specifically, ensuring a smooth, accurate, and efficient tool changing process on a machine tool improves the success rate of tool changes and provides valuable data support for subsequent production management and maintenance. The machine tool's CNC system has built-in technical tools that record the moment the machine tool issues the tool changing command and the moment the sensor detects that the tool has been fixed in position, obtaining the tool changing time of the tool changing structure. This information is used to subsequently determine whether any abnormalities have occurred during the tool changing process.

[0053] In situations such as tool changing, abnormal tool position, or malfunction of the tool changing mechanism, the infrared receiver may not receive a signal. By setting a delay detection, if the receiver still cannot receive a signal after the tool changing cycle has elapsed, it is determined that the tool position is abnormal or the tool changing mechanism is malfunctioning.

[0054] The process of determining whether an abnormality occurs in the tool changing structure during the tool changing process, based on the actual tool changing time of the aforementioned tool changing structure, includes the following steps:

[0055] Step S601: Determine the tool change cycle of the machine tool according to the current task being performed by the machine tool; the tool change structure is installed on the machine tool.

[0056] Determining the machine tool's tool change cycle is based on the specific details of the task currently being performed by the machine tool, typically involving a comprehensive consideration of the nature of the machining task, the type of tool used, the tool wear rate, and machining efficiency. The specific implementation steps are as follows:

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

[0058] 2. Tool Selection and Parameter Recording: Record the type of tool currently in use, including its material, shape, and preset service life or machining capacity. Different tools wear at different rates; therefore, understanding tool characteristics is crucial for determining tool change cycles.

[0059] 3. Wear Monitoring: Sensors are used to monitor the tool's operating status in real time, including indicators such as cutting force, vibration, and temperature. This data can help determine whether the tool is approaching its wear limit.

[0060] 4. Historical Data Analysis: Referencing tool change cycle data from historical machining tasks, analyze the average tool life and tool change frequency under similar machining conditions. Historical data can provide a rough reference for tool change cycles.

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

[0062] 6. Dynamic Adjustment: During machine tool processing, continuously monitor changes in machining conditions and tool status, and dynamically adjust the tool change cycle based on real-time data. For example, if the hardness of the material being machined suddenly increases, it may be necessary to shorten the tool change cycle.

[0063] 7. Abnormal Handling: Set an abnormal threshold for the tool change cycle. If the tool wear rate is detected to be abnormally accelerated within a preset time, or if the machine tool encounters an unexpected situation 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 it, for later analysis and optimization of the tool change cycle strategy. Simultaneously, provide feedback on the tool change information to the operators for monitoring and management.

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

[0066] Step S602: Determine the tool change cycle of the machine tool as the target tool change time of the tool change structure.

[0067] Step S603: If the actual tool changing time of the tool changing structure is equal to the target tool changing time, it is determined that the tool changing structure did not experience any abnormalities during the tool changing process.

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

[0069] Specifically, the data processing module intelligently analyzes sensor data and effectively determines whether the tool changing process is abnormal based on the time period, reducing human error and improving the automation level of the machine tool. A 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 considered normal. If the actual tool changing time is less than 5 seconds (i.e., 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 lifespan of the tool changing mechanism components. If the actual tool changing time is greater than 5 seconds, there are abnormalities such as tool changing mechanism jamming or abnormal tool position.

[0070] The process of determining the cause of the anomaly based on the actual tool change time of the aforementioned tool changing structure includes the following steps:

[0071] Step S701: If 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 cause of the tool changing abnormality of the tool changing structure is determined to be that the tool changing mechanism is 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: If the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, the cause of the tool changing abnormality of the tool changing structure is determined to be the abnormal tool position.

[0073] Specifically, it effectively detects abnormalities during the tool changing process, such as jamming of the tool changing mechanism or abnormal tool position, and promptly issues alarms and takes measures to reduce production losses.

[0074] Step S203: When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform the 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 changes, avoid machining problems caused by inaccurate tool changes, improve the reliability and stability of the machine tool, and thus improve production efficiency and machining quality.

[0076] The machine tool tool changing method described in this application first acquires the position data of the tool changing structure, including the spindle position data, tool changing arm position data, and tool exit position data. Then, based on the tool changing structure position data, it determines the current tool changing state of the tool changing structure, which can be one of the following: normal working state, waiting for tool changing, tool changing in progress, or tool changing completed. The normal working state is the working state where tool changing is not required. Finally, if the current tool changing state is waiting for tool changing, the method controls the tool changing structure to perform the tool changing operation. This method ensures accurate tool changing timing by precisely detecting the alignment of the three points, thus improving the success rate of tool changing. Real-time monitoring of the tool changing process allows for timely detection and alarms of problems, reducing production losses caused by tool changing failures. Furthermore, it improves the automation and reliability of the machine tool, reduces the workload of operators and human error, and solves the problem in existing technologies where inaccurate tool changing timing leads to tool changing failures and affects production processes.

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

[0078] Step S1: Issue a tool change command based on the tool change signal control program or control panel;

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

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

[0081] Step S4: If the spindle, tool changer arm and tool outlet are not in the corresponding preset positions, stop the tool change and issue a warning to the control panel.

[0082] It should be noted that the steps shown in the flowchart in 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 may be executed in a different order than that shown here.

[0083] This application also provides a machine tool tool changing device. It should be noted that the machine tool tool changing device of this application can be used to execute the machine tool changing method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0084] The following describes the machine tool tool changing device provided in the embodiments of this application.

[0085] Figure 4 This is a schematic diagram of a machine tool tool changer according to an embodiment of this 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 tool changing structure position data, which includes spindle position data, tool changing arm position data, and tool outlet position data of the tool changing structure. The determination unit 20 is used to determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, and tool changing completed state. The normal working state is a working state in which tool changing is not required. The control unit 30 is used to control the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting for tool changing state.

[0086] The aforementioned machine tool tool changing device of this 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, which includes the spindle position data, tool changing arm position data, and tool exit position data of the tool changing structure. The determination unit is used to determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is the working state where tool changing is not required. 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. This device ensures accurate tool changing timing by precisely detecting the alignment of three points in a straight line, thus improving the success rate of tool changing. By monitoring the tool changing process in real time, problems can be detected and alarms can be triggered in a timely manner, reducing production losses caused by tool changing failures. Furthermore, it improves the automation level and reliability of the machine tool, reduces the workload of operators and human error, and solves the problem in the prior art where inaccurate tool changing timing leads to tool changing failures and affects the production process.

[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 position data of the tool changing structure based on the first, second, and third sensor data. This ensures precise tool changing timing and improves tool changing accuracy and success rate.

[0088] In some examples, the determining unit includes a first determining module and a second determining module. The first determining module is used to acquire the status data of the target tool change command. The target tool change command is instruction data that instructs the tool change structure to perform the tool change operation. The status data of the tool change command is either issued or not issued. The tool change operation is the operation of replacing the first tool with the second tool. The second determining module is used to determine the current tool change state of the tool change structure as the waiting-for-tool-change state when the spindle position data, the tool change arm position data, and the tool exit position data are all in their corresponding preset positions, and the status data of the tool change command is in the not issued state. When the spindle position data, the tool change arm position data, and the tool exit position data are all in their corresponding preset positions, the spindle, the tool change arm, and the tool exit are aligned in a straight line. By using a sensor monitoring and management system to determine the waiting-for-tool-change state, the machine tool can promptly detect and replace worn tools, thereby avoiding a decline in machining quality and improving production efficiency.

[0089] In some examples, the determining unit further includes a third determining module, a fourth determining module, and a fifth determining module. The third determining module is used to determine the current tool changing state of the tool changing structure as the tool changing completed state when the spindle position data, the tool changing arm position data, and the tool exit position data are all located at their corresponding preset positions, and the status data of the tool changing command is in the issued state. The fourth determining module is used to determine the current tool changing state of the tool changing structure as 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 its corresponding preset position, and the status data of the tool changing command is in the issued state. The fifth determining module is used to determine the current tool changing state of the tool changing structure as the normal operating state when one of the spindle position data, the tool changing arm position data, and the tool exit position data is not located at its corresponding preset position, and the status data of the tool changing command is in the unissued state. Real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, improving the reliability and stability of the machine tool.

[0090] In some examples, the determining unit further includes a sixth determining module and a seventh determining module. The sixth determining 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 determining module is used to determine whether an abnormality occurred during the tool changing process based on the actual tool changing time of the tool changing structure, and if an abnormality occurred, to determine the cause of the abnormality based on the actual tool changing time of the tool changing structure. The cause of the abnormality is either an abnormal tool position or a jamming of the tool changing mechanism. Ensuring that the machine tool tool changing process is smooth, accurate, and efficient is beneficial to improving the tool changing success rate and providing valuable data support for subsequent production management and maintenance.

[0091] In some examples, the seventh determining module includes a first determining submodule, a second determining submodule, a third determining submodule, and a fourth determining submodule. The first determining submodule is used to determine the tool change cycle of the machine tool based on the current task being performed, and the tool changing structure is installed on the machine tool. The second determining submodule is used to determine the tool change cycle of the machine tool as the target tool change time of the tool changing structure. The third determining submodule is used to determine that the tool changing structure has not experienced any abnormalities during the tool change process if the actual tool change time of the tool changing structure is equal to the target tool change time. The fourth determining submodule is used to determine that the tool changing structure has experienced an abnormality during the tool change process if the actual tool change time of the tool changing structure is greater than the target tool change time, or if the actual tool change time of the tool changing structure is less than the target tool change time. By intelligently analyzing the sensor data through the data processing module, the abnormality of the tool change process can be effectively determined based on the time cycle, reducing human judgment errors and improving the automation level of the machine tool.

[0092] In some examples, the seventh determining module further includes a fifth determining submodule and a sixth determining submodule. The fifth determining submodule is used to determine that the cause of the tool changing abnormality in the tool changing structure is a jamming of the tool changing mechanism 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, wherein 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. The sixth determining submodule is used to determine that the cause of the tool changing abnormality in the tool changing structure is an abnormal tool position when the actual tool changing time of the tool changing structure is greater than or equal to the second preset time. This can effectively detect abnormalities in the tool changing process, such as jamming of the tool changing mechanism or abnormal tool position, and promptly issue alarms and take measures to reduce production losses.

[0093] The aforementioned machine tool tool changing device includes a processor and a memory. The aforementioned acquisition units, etc., are all stored as program units in the memory, and the processor executes these program units stored in the memory to achieve the corresponding functions. All of the aforementioned modules are located in the same processor; alternatively, the aforementioned modules may be located in different processors in any combination.

[0094] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in existing technologies where inaccurate tool change timing leads to tool change failures and impacts production processes.

[0095] The memory may include non-permanent memory in computer-readable media, such as 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] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to perform the machine tool changing method.

[0097] Specifically, machine tool tool changing methods include:

[0098] Step S201: Obtain 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.

[0099] Specifically, the tool changer position data is acquired to detect the alignment of three points in a straight line, ensuring accurate tool change timing and improving the success rate of tool changes. These three points are the spindle position, the tool changer arm position, and the tool exit point.

[0100] Step S202: Determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is a working state that does not require tool changing.

[0101] Specifically, real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, thereby improving the reliability and stability of the machine tool.

[0102] Step S203: When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform the 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 changes, avoid machining problems caused by inaccurate tool changes, improve the reliability and stability of the machine tool, and thus improve production efficiency and machining quality.

[0104] Optionally, the current tool changing state of the tool changing structure is determined based at least on the tool changing structure position data, including: acquiring the status data of a target tool changing command, wherein the target tool changing command is command data instructing the tool changing structure to perform the tool changing operation, and the status data of the tool changing command is either issued or not issued, and the tool changing operation is the operation of replacing the first tool with the second tool; when the spindle position data, the tool changing arm position data, and the tool outlet position data are all located at their respective preset positions, and the status data of the tool changing command is in the not issued state, the current tool changing state of the tool changing structure is determined to be the waiting tool changing state, wherein when the spindle position data, the tool changing arm position data, and the tool outlet position data are all located at their respective preset positions, the spindle, the tool changing arm, and the tool outlet are aligned in a straight line.

[0105] Optionally, determining the current tool changing state of the tool changing structure based at least on the tool changing structure position data further includes: determining the current tool changing state of the tool changing structure as the tool changing completed state when the spindle position data, the tool changing arm position data, and the tool outlet position data are all located at their corresponding preset positions and the tool changing command status data is in the issued state; determining the current tool changing state of the tool changing structure as the tool changing in progress state when one of the spindle position data, the tool changing arm position data, and the tool outlet position data is not located at its corresponding preset position and the tool changing command status data is in the issued state; and determining the current tool changing state of the tool changing structure as the normal operating state when one of the spindle position data, the tool changing arm position data, and the tool outlet position data is not located at its corresponding preset position and the tool changing command status data is in the unissued state.

[0106] Optionally, after determining the current tool changing state of the tool changing structure based at least on the tool changing structure position data, the method further includes: if the current tool changing state is the tool changing completed state, obtaining the tool changing time of the tool changing structure; determining whether an abnormality occurred during the tool changing process based on the actual tool changing time of the tool changing structure; and if an abnormality occurred during the tool changing process of the tool changing structure, determining the cause of the tool changing abnormality based on the actual tool changing time of the tool changing structure, wherein the cause of the tool changing abnormality is an abnormal tool position or a jammed tool changing mechanism.

[0107] Optionally, determining whether the tool changing structure experiences an abnormality during the tool changing process based on the actual tool changing time of the tool changing structure includes: determining the tool changing cycle of the machine tool based on the current task being performed by the machine tool, wherein 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; determining that the tool changing structure does not experience an abnormality during the tool changing process if the actual tool changing time of the tool changing structure is equal to the target tool changing time; and determining that the tool changing structure experiences an abnormality during the tool changing process if the actual tool changing time of the tool changing structure is greater than the target tool changing time, or if the actual tool changing time of the tool changing structure is less than the target tool changing time.

[0108] Optionally, the cause of the abnormality is determined based on the actual tool changing time of the tool changing structure, including: if 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, the cause of the abnormality is determined to be a jamming of the tool changing mechanism, wherein 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; if the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, the cause of the abnormality is determined to be an abnormal tool position.

[0109] Optionally, the tool changing structure includes multiple 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 the tool changing structure position data is acquired by: acquiring first sensor data, second sensor data, and third sensor data; wherein the first sensor data is sensor data at the spindle position, the second sensor data is sensor data at the tool changing arm position, and the third sensor data is sensor data at the tool outlet position; and the tool changing structure position data is determined based on the first sensor data, the second sensor data, and the third sensor data.

[0110] This invention provides a processor for running a program, wherein the program executes the machine tool tool changing method.

[0111] Specifically, machine tool tool changing methods include:

[0112] Step S201: Obtain 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.

[0113] Specifically, the tool changer position data is acquired to detect the alignment of three points in a straight line, ensuring accurate tool change timing and improving the success rate of tool changes. These three points are the spindle position, the tool changer arm position, and the tool exit point.

[0114] Step S202: Determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is a working state that does not require tool changing.

[0115] Specifically, real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, thereby improving the reliability and stability of the machine tool.

[0116] Step S203: When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform the 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 changes, avoid machining problems caused by inaccurate tool changes, improve the reliability and stability of the machine tool, and thus improve production efficiency and machining quality.

[0118] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0119] Step S201: Obtain 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.

[0120] Specifically, the tool changer position data is acquired to detect the alignment of three points in a straight line, ensuring accurate tool change timing and improving the success rate of tool changes. These three points are the spindle position, the tool changer arm position, and the tool exit point.

[0121] Step S202: Determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is a working state that does not require tool changing.

[0122] Specifically, real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, thereby improving the reliability and stability of the machine tool.

[0123] Step S203: When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform the 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 changes, avoid machining problems caused by inaccurate tool changes, improve the reliability and stability of the machine tool, and thus improve production efficiency and machining quality.

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

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

[0127] Step S201: Obtain 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.

[0128] Specifically, the tool changer position data is acquired to detect the alignment of three points in a straight line, ensuring accurate tool change timing and improving the success rate of tool changes. These three points are the spindle position, the tool changer arm position, and the tool exit point.

[0129] Step S202: Determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is a working state that does not require tool changing.

[0130] Specifically, real-time monitoring of multiple states during the tool changing process can promptly detect problems and issue alarms, thereby improving the reliability and stability of the machine tool.

[0131] Step S203: When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform the 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 changes, avoid machining problems caused by inaccurate tool changes, improve the reliability and stability of the machine tool, and thus improve production efficiency and machining quality.

[0133] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0134] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0136] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0140] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0141] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0142] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0143] 1) The machine tool tool changing method described in this application first acquires the tool changing structure position data, including the spindle position data, tool changing arm position data, and tool exit position data of the tool changing structure. Then, based on the tool changing structure position data, the current tool changing state of the tool changing structure is determined. The current tool changing state can be one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state, where the normal working state is the working state where tool changing is not required. 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 accurate tool changing timing by precisely detecting the alignment of the three points, thus improving the success rate of tool changing. By monitoring the tool changing process in real time, problems can be detected and alarms can be triggered promptly, reducing production losses caused by tool changing failures. Furthermore, it improves the automation and reliability of the machine tool, reduces the workload of operators and human error, and solves the problem in the prior art where inaccurate tool changing timing leads to tool changing failures and affects the production process.

[0144] 2) The machine tool tool changing device of this application includes: an acquisition unit, a determination unit, and a control unit. The acquisition unit is used to acquire the tool changing structure position data, which includes the spindle position data, tool changing arm position data, and tool exit position data of the tool changing structure. The determination unit is used to determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, or tool changing completed state. The normal working state is the working state where tool changing is not required. 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. This device ensures accurate tool changing timing by accurately detecting the alignment of three points in a straight line, thus improving the success rate of tool changing. By monitoring the tool changing process in real time, problems can be detected and alarms can be triggered in a timely manner, reducing production losses caused by tool changing failures. Furthermore, it improves the automation level and reliability of the machine tool, reduces the workload of operators and human error, and solves the problem in the prior art where inaccurate tool changing timing leads to tool changing failures and affects the production process.

[0145] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for changing a tool on a machine tool, characterized in that, include: Acquire 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; Based at least on the position data of the tool changing structure, the current tool changing state of the tool changing structure is determined. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, and tool changing completed state. The normal working state is a working state in which tool changing is not required. When the current tool changing state is the waiting tool changing state, control the tool changing structure to perform a tool changing operation; Based at least on the position data of the tool changing structure, determine the current tool changing state of the tool changing structure, including: Acquire the status data of the target tool change command, wherein the target tool change command is the command data that instructs the tool change structure to perform the tool change operation, and the status data of the tool change command is either issued or not issued, and the tool change operation is the operation of replacing the first tool with the second tool; When the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, and the status data of the tool change command is in the "not issued" state, the current tool change state of the tool changer structure is determined to be the "waiting for tool change" state. In this case, when the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, the spindle, the tool changer arm, and the tool outlet are aligned in a straight line. The tool changing structure includes multiple sensors, which are respectively installed at the spindle, tool changing arm, and tool exit point of the tool changing structure. The sensors are infrared ray sensors, each including a transmitter and a receiver. When the spindle, tool changing arm, and tool exit point are aligned, the receiver receives a signal, indicating that the current state is either waiting for tool changing or tool changing is complete. When the current state is tool changing, the infrared rays emitted by the infrared ray sensor are blocked by the tool changing arm, and the receiver does not receive a signal.

2. The method according to claim 1, characterized in that, Determining the current tool changing state of the tool changing structure based at least on the tool changing structure position data also includes: When the spindle position data, the tool changer arm position data, and the tool outlet position data are all located at their respective preset positions, and the status data of the tool change command is in the "issued" state, the current tool change state of the tool changer structure is determined to be the "tool change completed" state. If any one of the spindle position data, the tool changer arm position data, and the tool outlet position data is not located at the corresponding preset position, and the status data of the tool change command is the issued status, then the current tool change status of the tool change structure is determined to be the tool change in progress status. If any one of the spindle position data, the tool changer arm position data, and the tool outlet position data is not located at the corresponding preset position, and the status data of the tool change command is in the "not issued" state, then the current tool change state of the tool changer structure is determined to be the normal working state.

3. The method according to claim 1, characterized in that, After determining the current tool changing state of the tool changing structure based at least on the tool changing structure position data, the method further includes: When the current tool changing state is the tool changing completed state, the tool changing time of the tool changing structure is obtained; Based on the actual tool changing time of the tool changing structure, determine whether the tool changing structure has any abnormalities during the tool changing process. If the tool changing process of the tool changing structure has any abnormalities, determine the cause of the abnormality based on the actual tool changing time of the tool changing structure. The cause of the abnormality is either abnormal tool position or jamming of the tool changing mechanism.

4. The method according to claim 3, characterized in that, Based on the actual tool changing time of the tool changing structure, determine whether any abnormalities occur during the tool changing process, including: The tool change cycle of the machine tool is determined according to the current task being performed by the machine tool, and the tool change structure is installed on the machine tool; The tool change cycle of the machine tool is determined as the target tool change time of the tool change structure; If the actual tool changing time of the tool changing structure is equal to the target tool changing time, it is determined that the tool changing structure did not experience any abnormalities during the tool changing process. If the actual tool changing time of the tool changing structure is greater than the target tool changing time, or if the actual tool changing time of the tool changing structure is less than the target tool changing time, it is determined that the tool changing structure has malfunctioned during the tool changing process.

5. The method according to claim 3, characterized in that, Based on the actual tool change time of the tool changing structure, determine the cause of the abnormality, including: If 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 cause of the tool changing abnormality of the tool changing structure is determined to be that the tool changing mechanism is 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. If the actual tool changing time of the tool changing structure is greater than or equal to the second preset time, the cause of the tool changing abnormality of the tool changing structure is determined to be the abnormal tool position.

6. The method according to claim 1, characterized in that, Obtain the tool changer position data, including: 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 outlet position of the tool changing structure. The position data of the tool changing structure is determined based on the data from the first sensor, the second sensor, and the third sensor.

7. A machine tool tool changer, characterized in that, include: The acquisition unit is used to acquire 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. The determining unit is configured to determine the current tool changing state of the tool changing structure based at least on the tool changing structure position data. The current tool changing state is one of the following: normal working state, waiting for tool changing state, tool changing in progress state, and tool changing completed state. The normal working state is a working state in which tool changing is not required. The control unit is configured to control the tool changing structure to perform a tool changing operation when the current tool changing state is the waiting tool changing state; The determining unit includes a first determining module and a second determining module. The first determining module is used to acquire the status data of a target tool change command. The target tool change command is command data that instructs the tool change structure to perform the tool change operation. The status data of the tool change command is either issued or not issued. The tool change operation is the operation of replacing the first tool with the second tool. The second determining module is used to determine the current tool change state of the tool change structure as the waiting tool change state when the spindle position data, the tool change arm position data, and the tool outlet position data are all located at their corresponding preset positions, and the status data of the tool change command is the not issued state. When the spindle position data, the tool change arm position data, and the tool outlet position data are all located at their corresponding preset positions, the spindle, the tool change arm, and the tool outlet are aligned in a straight line. The tool changing structure includes multiple sensors, which are respectively installed at the spindle, tool changing arm, and tool exit point of the tool changing structure. The sensors are infrared ray sensors, each including a transmitter and a receiver. When the spindle, tool changing arm, and tool exit point are aligned, the receiver receives a signal, indicating that the current state is either waiting for tool changing or tool changing is complete. When the current state is tool changing, the infrared rays emitted by the infrared ray sensor are blocked by the tool changing arm, and the receiver does not receive a signal.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the machine tool changing method according to any one of claims 1 to 6.

9. 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 configured to be executed by the one or more processors, the one or more programs including methods for performing a machine tool changing method according to any one of claims 1 to 6.

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