A Hydraulic Inverted Translation Tool Magazine Tool Change Control Method and System

Abstract

The present invention relates to the technical field of machine tool tool magazines, and particularly to a tool changing control method and system for a hydraulic inverted translation tool magazine, including: S10: Number the tool storage positions in the tool magazine from 1 to n in a clockwise direction, where n is the upper limit of tool storage; attach labels to each tool to form a tool number and install it; S20: Initialize the tool magazine, record the tool storage position numbers and tool numbers in n columns and two rows to form a comparison table, and finish recording all tools; S30: According to the tool changing instruction, calculate the shortest path L between the tool storage position number y corresponding to the target tool and the tool storage position number z of the current tool changing position; S40: Move the tool magazine according to the calculation result of L to move the target tool to the tool changing position; S50: Identify whether the tool number at the tool changing position is the same as the target tool number. If they are the same, perform the tool changing action; S60: Install the spindle tool at the tool storage position where the tool changing position is located and update the comparison table, and the tool changing action ends; The present invention effectively improves the tool changing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool tool magazines, and particularly to a tool changing control method and system for a hydraulic inverted translation tool magazine. Background Art

[0002] With the development of modern manufacturing industry, as one of the important tools for precision machining, numerical control machine tools have higher and higher requirements in terms of production efficiency and machining accuracy; the hydraulic inverted translation tool magazine, as an efficient tool management system, plays a crucial role in numerical control machine tools; it realizes the rapid positioning and stable exchange of tools through hydraulic drive, and can significantly improve the tool changing speed and machining efficiency of the machine tool; the traditional hydraulic inverted translation tool magazine usually consists of a tool magazine body, a hydraulic drive system, a tool storage rack and a control system, etc.; among them, the tool storage rack is used to store different types of tools, and the control system is responsible for the selection of tools and the execution of tool changing operations.

[0003] Although the hydraulic inverted translation tool magazine has made remarkable progress in improving the tool changing efficiency, the existing technologies still have some deficiencies; when the traditional tool magazine changes tools, it does not select the optimal route before changing tools, and because the storage tool position number needs to be placed in one-to-one correspondence with the tool number, after the tool in the spindle is changed, the tool magazine still has to continue to rotate to the storage tool position corresponding to the number of the replaced tool; in actual work, the tool magazine cannot independently check the accuracy of tool storage, and is not flexible enough in dealing with changes in the correspondence between tool numbers and storage tool position numbers. Once there is a situation of frequent tool changes, it will lead to easy misplacement of tools, and problems will occur in tool changing, thus affecting the tool changing efficiency and further affecting the smooth progress of the entire machining process; the existing tool magazine control systems often lack effective monitoring of tool usage conditions and cannot evaluate the wear degree and replacement cycle of tools, which may lead to excessive wear or premature replacement of tools, increasing both costs and reducing production efficiency.

[0004] Therefore, there is an urgent need for a tool changing control method and system for a hydraulic inverted translation tool magazine that can effectively solve the above problems. Summary of the Invention

[0005] In view of at least one of the above technical problems, the present invention provides a tool changing control method and system for a hydraulic inverted translation tool magazine, which optimizes the process of tool storage in the tool magazine and checks the actual tool storage situation to effectively improve the tool changing efficiency.

[0006] According to a first aspect of the present invention, there is provided a tool changing control method for a hydraulic inverted translation tool magazine, including:

[0007] S10: Number the tool storage positions in the tool magazine from 1 to n in a clockwise order, where n is the upper limit of the number of tools stored in the tool magazine; label each tool to form a tool number, and the tool numbers correspond one by one to the storage position numbers, and install the tools at the tool storage positions in the tool magazine according to the corresponding numbers.

[0008] S20: Initialize the tool magazine, record the storage position numbers and tool numbers in two rows of n columns to form a comparison table, one row is the storage position number and the other row is the corresponding tool number, and end the initialization setting after all tools are recorded.

[0009] S30: According to the received tool change instruction, calculate the shortest path L between the storage position number y corresponding to the target tool number and the storage position number z of the current tool change position. Specifically: Set the clockwise movement of the tool magazine as forward rotation, calculate L1 = y - z, and then calculate L2 = n - |L1|; L = min(|L1|, L2); if |L1| = L2, let L = |L1|.

[0010] S40: Move the tool magazine according to the calculation result of the shortest path L to move the target tool to the tool change position. Specifically:

[0011] When L = |L1| and L1 > 0, move the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage position distances.

[0012] When L = |L1| and L1 ≤ 0, move the tool magazine clockwise, and the rotation amount of the tool magazine is L storage position distances.

[0013] When L = L2 and L1 > 0, move the tool magazine clockwise, and the rotation amount of the tool magazine is L storage position distances.

[0014] When L = L2 and L1 ≤ 0, move the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage position distances.

[0015] S50: Identify whether the tool number stopped at the tool change position is the same as the target tool number. If they are the same, perform the tool change operation.

[0016] S60: After replacing the target tool with the spindle tool, directly install the spindle tool at the storage position where the tool change position is located; after identifying the spindle tool number, replace the tool number corresponding to the current storage position number with the spindle tool number and update the comparison table, and the tool change operation ends.

[0017] Furthermore, it also includes:

[0018] S51: When the tool number at the tool change position is not the same as the target tool number, the tool magazine moves clockwise to identify each tool number one by one.

[0019] S52: If the target tool number is recognized, directly stop the rotation of the tool magazine and perform the tool change operation, and update the corresponding relationship between the tool storage position number and the tool number in the comparison table; if the tool numbers in the tool magazine are all recognized but the target tool number is not recognized, issue an alarm and stop the operation of the tool magazine.

[0020] S53: Denote the tool storage position number a where the target tool B is actually located, and denote the tool number A corresponding to the tool storage position number a in the comparison table as the wrong number; if there is already a wrong number, distinguish the wrong numbers as the first wrong number A1, the second wrong number A2... the t-th wrong number At in the order of the recorded time.

[0021] Further, it also includes:

[0022] S61: Denote the target tool number as B, the tool storage position number where the target tool is actually located as a, and the tool number corresponding to the tool storage position number a in the comparison table as A;

[0023] S62: Move the tool magazine to the tool storage position corresponding to the tool number B in the comparison table according to the shortest path, and denote this tool storage position number as b;

[0024] S63: Identify the actual tool number at the b-th tool storage position and denote it as C;

[0025] Update the corresponding relationship in the comparison table according to the tool storage position number b and the actual tool number C;

[0026] After that, judge: if C = A, stop the loop and enter the subsequent steps;

[0027] If C ≠ A, update the value of B to C, update the value of a to b, and then return to S62.

[0028] Further, it also includes:

[0029] When executing steps S61 to S63, if the tool magazine receives a tool change instruction, stop troubleshooting the wrong numbers and execute the tool change instruction; after the tool change is completed, continue to troubleshoot the wrong numbers; when there are multiple wrong numbers, substitute them into steps S61 to S63 for troubleshooting in the order of the first wrong number A1, the second wrong number A2... the t-th wrong number At, and delete the wrong numbers after the troubleshooting is completed.

[0030] Further, in step S60, it also includes: recording the working times and time of each tool for evaluating the tool life and replacement cycle; when using tools of the same type, compare their working times, and identify and use the tool with fewer working times.

[0031] Further, it also includes S70: In the standby state, execute the self-check program of the tool magazine for maintaining the storage of the tools in the tool magazine.

[0032] According to the second aspect of the present invention, there is also provided a tool change control system for a hydraulic inverted translation tool magazine, including:

[0033] A central controller: used to receive instructions, calculate the shortest path L, and control the actions of the tool magazine;

[0034] A label module: including a reader and n labels; the reader faces the tool change position for reading labels; the n labels are pasted on n tools one by one;

[0035] A database: used to store and update the correspondence between the tool storage position numbers and the tool numbers, forming a comparison table with n columns and two rows. One row is the tool storage position number, and the other row is the corresponding tool number. Each row is the corresponding tool storage position number and tool number;

[0036] An inspection library: used to write and delete error numbers;

[0037] A detection module: used to detect whether the target tool number is consistent with the tool number at the tool change position. If not, an abnormal signal is sent;

[0038] A maintenance module: according to the abnormal signal, check all the tool labels in the tool magazine and update the comparison table; when the target tool label is not recognized, an alarm is issued.

[0039] Furthermore, there are at least two readers, which are distributed circumferentially along the tool change position; the labels are pasted on the tool shank part of the tool.

[0040] Through the technical solution of the present invention, the following technical effects can be achieved:

[0041] The present invention determines the moving direction and distance of the tool magazine by calculating the shortest path, effectively reducing the moving time of the tool magazine; when there is a situation where the tool number does not match the tool storage position number, the target tool is searched first, enabling the machine tool to quickly enter the working state; then, by checking the error numbers, the tool storage situation in the tool magazine is updated in a timely manner. Compared with checking by traversing the tools in the tool magazine, the moving times of the tool magazine are effectively reduced; moreover, during the checking process, the tool change instruction is preferentially executed, greatly improving the tool change efficiency and ensuring the continuity of processing; the self-checking program will be executed in the standby state, reducing the need for regular maintenance and also reducing the need for manual intervention; improving the efficiency and accuracy of the tool change process of the hydraulic inverted translation tool magazine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic diagram of the steps of the tool change control method for a hydraulic inverted translation tool magazine in an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of steps S51 - S53 of the tool change control method for a hydraulic inverted translation tool magazine in an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of steps S61 - S63 of the tool change control method for a hydraulic inverted translation tool magazine in an embodiment of the present invention. Specific Embodiments

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0047] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0049] As Figure 1 shown, the tool change control method for a hydraulic inverted translation tool magazine includes the following steps:

[0050] S10: Number the tool storage positions in the tool magazine from 1 to n in a clockwise order, where n is the upper limit of the number of tool storage positions in the tool magazine; label each tool to form a tool number, and the tool number corresponds one-to-one with the storage position number, and install the tool at the tool storage position according to the corresponding number;

[0051] S20: Initialize the tool magazine. Record the tool storage position numbers and tool numbers in two rows and n columns to form a comparison table. One row is for the tool storage position numbers, and the other row is for the corresponding tool numbers. After recording all the tools, the initialization setting is completed, making the tool storage position numbers and tool numbers in the comparison table correspond one by one. The initialization step records the tool storage position numbers in the comparison table. Through this recording method, there is no need to additionally install equipment for identifying the tool storage position numbers.

[0052] S30: According to the received tool change instruction, calculate the shortest path L between the tool storage position number y corresponding to the target tool number and the tool storage position number z of the current tool change position. The tool change instruction is generated by the machine tool control system during the machining process according to the machine tool program, and it will contain information about the next tool to be used (i.e., the target tool number).

[0053] S40: Move the tool magazine according to the calculation result of the shortest path L. The calculation result will include the rotation direction and rotation amount of the tool magazine, so as to control the tool magazine to move the target tool to the tool change position. The tool change position is a fixed position in the tool magazine. By moving each tool storage position to this place, the tool on the tool storage position can be driven here, and then the tool change operation is carried out here.

[0054] S50: Identify whether the tool number of the tool stopped at the tool change position is the same as the target tool number. If they are the same, perform the tool change operation.

[0055] S60: After replacing the target tool with the spindle tool, the spindle tool is directly installed at the tool storage position where the tool change position is located. After identifying the spindle tool number, replace the tool number corresponding to the current tool storage position number with the spindle tool number and update the record. The tool change operation ends. The difference from the traditional tool change is that after the spindle tool is replaced, it does not wait on the robot for the tool magazine to move until the tool storage position corresponding to the spindle tool arrives and then be installed. Instead, it is directly installed at the tool storage position after the target tool is removed, saving the moving time and number of times of the tool magazine.

[0056] In step S30, the specific calculation of the shortest path L between the tool storage position number y corresponding to the target tool number and the tool storage position number z of the current tool change position is as follows:

[0057] Set the clockwise movement of the tool magazine as forward rotation. Calculate L1 = y - z, and then calculate L2 = n - |L1|; L = min(|L1|, L2); if |L1| = L2, let L = |L1|; Calculate the minimum distance of the tool storage positions that the tool magazine needs to move to prepare for the movement of the tool magazine.

[0058] In step S40, the specific operation of moving the tool magazine according to the calculation result of the shortest path L is as follows:

[0059] When L = |L1| and L1 > 0, rotate the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage tool positions;

[0060] When L = |L1| and L1 ≤ 0, rotate the tool magazine clockwise, and the rotation amount of the tool magazine is L storage tool positions;

[0061] When L = L2 and L1 > 0, rotate the tool magazine clockwise, and the rotation amount of the tool magazine is L storage tool positions;

[0062] When L = L2 and L1 ≤ 0, rotate the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage tool positions;

[0063] By judging the value of L and the positive and negative relationship of L1, the selection in the tool magazine moving direction is obtained. Combining the storage tool position distance that the tool magazine needs to move, the shortest path movement of the tool magazine is carried out.

[0064] Preferably, as Figure 2 shown, the following steps are further included: S51: When the tool number at the tool change position is inconsistent with the target tool number, it indicates that there is a problem with the tool storage in the tool magazine. At this time, the tool magazine needs to be rotated clockwise to identify each tool number one by one to help the system find the correct target tool to ensure processing;

[0065] S52: If the target tool number is identified, directly stop the rotation of the tool magazine and perform the tool change operation, giving priority to ensuring the subsequent processing work, and then update the corresponding relationship between the storage tool position number and the tool number at the tool change position in the comparison table; if the tool numbers in the tool magazine are all identified but the target tool number is not identified, it indicates that a serious error has occurred in the tool magazine, and an alarm needs to be issued and the tool magazine work needs to be stopped to avoid damage to the equipment and personnel;

[0066] S53: Denote the storage tool position number a where the target tool B actually is as the wrong number; if there is already a wrong number, distinguish the wrong numbers as the first wrong number A1, the second wrong number A2... the t-th wrong number At in the order of the recorded time; this step facilitates the subsequent troubleshooting of the tool magazine, so as to update the wrong numbers in the comparison table.

[0067] As Figure 3 shown, the following steps are further included: S61: Denote the target tool number as B, the storage tool position number where the target tool actually is as a, and the tool number corresponding to the storage tool position number a in the comparison table as A;

[0068] S62: Move the tool magazine to the storage tool position corresponding to the tool number B in the comparison table according to the shortest path, and denote this storage tool position number as b;

[0069] S63: Identify the actual tool number at the b-th storage tool position and denote it as C;

[0070] Update the corresponding relationship in the comparison table according to the tool storage position number b and the actual tool number C;

[0071] After that, make a judgment: If C = A, stop the loop and enter the subsequent steps;

[0072] If C ≠ A, update the value of B to C, update the value of a to b, and then return to S62;

[0073] The above steps verify whether the actual situation is consistent with the information in the comparison table to detect the error number in the tool magazine, and update the information in the comparison table in a timely manner to reflect the actual situation and avoid errors during tool change; If the troubleshooting is completed after executing steps S61 to S63 once, it means that the actual tool storage positions of two tools are incorrect. After each additional loop, it means that the actual tool storage of one more tool is inconsistent with the comparison table.

[0074] The following will be discussed with examples. If the initial comparison table is as follows:

[0075] Table 1. Initial comparison table

[0076]

[0077] And the corresponding situation of the actual tool number and the tool storage position number is as follows:

[0078] Table 2. Actual corresponding relationship table

[0079]

[0080] At this time, the tool No. 8 is waiting to change tools with the target tool No. 6;

[0081] S61: Denote the target tool number 6 as B, denote the tool storage position number where the target tool is actually located, which is No. 9, as a, and denote the tool number 3 corresponding to the tool storage position number a in the comparison table as A;

[0082] S62: Denote the tool storage position number corresponding to the tool number B in the comparison table as No. 8, denoted as b. After calculating the shortest path between a and b, the tool magazine moves to the b-th tool storage position;

[0083] S63: Identify the actual tool number 9 at the b-th tool storage position and denote it as C;

[0084] First, update the corresponding relationship between the identified tool number C9 and the tool storage position number b8 in the comparison table;

[0085] At this time, C = 9, A = 3, and 3 ≠ 9, that is, C ≠ A, so it is necessary to continue the loop. Substitute C9 into B6 and update it to B9, and substitute b8 into a9 and update it to a8;

[0086] S62: At this time, the tool storage position number corresponding to the tool number B9 in the comparison table is No. 6, denoted as b. After calculating the shortest path between a and b, the tool magazine moves to the b-th tool storage position;

[0087] S63: Identify the actual tool number 3 at the b-th tool storage position and denote it as C;

[0088] First, update the corresponding relationship between the identified tool number C3 and the tool storage position number b6 in the comparison table. The updated comparison table is as follows:

[0089] Table 3. Final Comparison Table

[0090]

[0091] At this time, C = 3 and A = 3, so C = A. Stop the loop, and the tool magazine enters the subsequent steps.

[0092] Preferably, when executing steps S61 to S63, if the tool magazine receives a tool change command, stop troubleshooting the error number and execute the tool change command; after the tool change is completed, continue to troubleshoot the error number; when there are multiple error numbers, in the order of the first error number A1, the second error number A2... the t-th error number At, substitute them into steps S61 to S63 for troubleshooting in sequence. After the troubleshooting is completed, delete the error number;

[0093] When the tool magazine receives a new tool change command, the system will pause the troubleshooting of the error number and give priority to executing the tool change command, which ensures that the machining process will not be interrupted due to error troubleshooting and improves the machining efficiency; after completing the tool change command, the system will continue to troubleshoot the remaining error numbers, ensuring that even when processing other tasks, the system can continue to correct errors when idle, improving the system's self-maintenance ability; when there are multiple error numbers, the system will troubleshoot them in the order of the first error number A1, the second error number A2... the t-th error number At, giving priority to handling the earliest-occurring error, ensuring that all errors can be corrected, which helps to update the correct comparison table and improve the subsequent tool change efficiency; after all error numbers are troubleshot, delete the written error numbers to save system space.

[0094] Preferably, in step S60, it further includes: recording the working times and time of each tool for evaluating the tool life and replacement cycle; when using the same type of tool, compare their working times, identify the tool with fewer working times and use it; which helps to predict when the tool may need to be replaced, thus avoiding quality problems or downtime caused by tool wear; when using the same type of tool, by comparing their working times, select the tool with fewer working times for use, which can more evenly distribute the usage burden of the tool and extend the overall service life of the tool.

[0095] It further includes step S70: During the standby state, a self-check program of the tool magazine is executed to maintain the storage of the tools in the tool magazine; through the self-check program, it is possible to verify whether the correspondence between the tool number and the tool storage position number is correct. If the correspondence is inconsistent with the comparison table, it can also be updated in a timely manner to do a good job in the preventive work of the tool magazine; the standby state can be entered when the machine tool is performing long-term processing and will not receive a tool change instruction in a short time, or when the machine tool has stopped working and the tool magazine enters the standby state to execute the self-check program.

[0096] According to the second aspect of the present invention, there is also provided a tool change control system for a hydraulic inverted translation tool magazine, including:

[0097] A central controller: used to receive instructions, calculate the shortest path L, and control the actions of the tool magazine;

[0098] A label module: includes a reader and n labels; the reader faces the tool change position and is used to read the labels; the n labels are pasted on the n tools one by one;

[0099] A database: used to store and update the correspondence between the tool storage position numbers and the tool numbers, forming a comparison table with n columns and two rows. One row is the tool storage position number, and the other row is the corresponding tool number. Each row is the corresponding tool storage position number and tool number;

[0100] An investigation library: used to write and delete error numbers;

[0101] A detection module: used to detect whether the target tool number is consistent with the tool number at the tool change position. If they are inconsistent, an abnormal signal is sent;

[0102] A maintenance module: according to the abnormal signal, check all the tool labels in the tool magazine and update the comparison table; when the target tool label is not recognized, an alarm is issued.

[0103] There are at least two readers, which are distributed along the circumference of the tool change position; the labels are pasted on the tool shank part of the tool so that they will not be touched by the tool change manipulator, thereby effectively reducing the damage of the labels during the working process; by setting multiple readers, even if one reader has a problem or is blocked, the other reader can still read the tool label, ensuring the normal operation of the system.

[0104] Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for tool change of a hydraulic inverted translation tool magazine, characterized in that, It includes the following steps: S10: Number the tool storage positions in the tool magazine from 1 to n in a clockwise order, where n is the upper limit of the number of tools stored in the tool magazine; label each tool to form a tool number, and the tool number corresponds one-to-one with the storage position number, and install the tool at the tool storage position in the tool magazine according to the corresponding number; S20: Initialize the tool magazine, record the storage position number and the tool number in two rows of n columns to form a comparison table, one row is the storage position number, and the other row is the corresponding tool number. After recording all the tools, the initialization setting is completed; S30: According to the received tool change instruction, calculate the shortest path L between the storage position number y corresponding to the target tool number and the storage position number z of the current tool change position. Specifically: Set the clockwise movement of the tool magazine as forward rotation, calculate L1 = y - z, and then calculate L2 = n - |L1|; L = min(|L1|, L2); if |L1| = L2, let L = |L1|; S40: Move the tool magazine according to the calculation result of the shortest path L to move the target tool to the tool change position. Specifically: When L = |L1| and L1 > 0, move the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage position distances; When L = |L1| and L1 ≤ 0, move the tool magazine clockwise, and the rotation amount of the tool magazine is L storage position distances; When L = L2 and L1 > 0, move the tool magazine clockwise, and the rotation amount of the tool magazine is L storage position distances; When L = L2 and L1 ≤ 0, move the tool magazine counterclockwise, and the rotation amount of the tool magazine is L storage position distances; S50: Identify whether the tool number stopped at the tool change position is the same as the target tool number. If they are the same, perform the tool change operation; S51: When the tool number at the tool change position is different from the target tool number, the tool magazine moves clockwise to identify each tool number one by one; S52: If the target tool number is identified, directly stop the rotation of the tool magazine and perform the tool change operation, and update the corresponding relationship between the storage position number and the tool number in the comparison table; if the tool numbers in the tool magazine are identified but the target tool number is not identified, issue an alarm and stop the operation of the tool magazine; S53: Record the storage position number a where the target tool number B actually is, and record the tool number A corresponding to the storage position number a in the comparison table as the wrong number; S60: After replacing the target tool with the spindle tool, directly install the spindle tool at the storage position where the tool change position is located; after identifying the spindle tool number, replace the tool number corresponding to the current storage position number with the spindle tool number and update the comparison table, and the tool change operation ends; S62: Move the tool magazine to the storage position corresponding to the tool number B in the comparison table according to the shortest path, and record this storage position number as b; S63: Identify the actual tool number at the b-th storage position and record it as C; Update the corresponding relationship in the comparison table according to the storage position number b and the actual tool number C; Then judge: If C = A, stop the loop and enter the subsequent steps; If C ≠ A, update the value of B to C and the value of a to b, and then return to S62.

2. The tool change control method of the hydraulic inverted translation tool magazine according to claim 1, characterized in that, In step S60, it further includes: recording the working times and time of each tool, which is used to evaluate the tool life and replacement cycle; when using tools of the same type, comparing their working times, determining the tool with fewer working times and using it.

3. The tool change control method for a hydraulic inverted translation tool magazine according to claim 1, characterized in that, It further includes: S70: In the standby state, execute the self-check program of the tool magazine to maintain the storage of the tools in the tool magazine.

4. A tool change control system for a hydraulic inverted translation tool magazine, characterized in that, For the tool change control method of the hydraulic inverted translation tool magazine as described in any one of claims 1 to 3, it includes: Central controller: used to receive instructions, calculate the shortest path L, and control the actions of the tool magazine; Tag module: includes a reader and n tags; the reader faces the tool change position and is used to read the tags; the n tags are pasted on n tools one by one; Database: used to store and update the corresponding relationship between the tool storage position numbers and tool numbers, forming a comparison table with n columns and two rows. One row is the tool storage position number, and the other row is the corresponding tool number. Each row is the corresponding tool storage position number and tool number; Troubleshooting library: used to write and delete error numbers; Detection module: used to detect whether the target tool number is consistent with the tool number at the tool change position. If they are inconsistent, an abnormal signal is sent; Maintenance module: According to the abnormal signal, check all the tool tags in the tool magazine and update the comparison table; when the target tool tag is not recognized, an alarm is issued.

5. The tool change control system of the hydraulic inverted translation tool magazine according to claim 4, characterized in that, There are at least two readers, which are distributed along the circumference of the tool change position; the tags are pasted on the tool shank part of the tool.

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