A control method and system for a dual-tool-changing composite chain tool magazine

Abstract

The present invention relates to the field of tool magazine control technology, and in particular to a control method and system for a dual-tool-changing composite chain tool magazine. The method comprises the following steps: numbering tool storage positions according to their forward rotation direction, and recording two tool-changing positions as A and B respectively; placing tools into the tool storage positions and forming a comparison table; generating a tool sequence array E, and generating preference values ​​for each tool corresponding to tool-changing position A and tool-changing position B; calculating the estimated motion distances of all tool storage positions based on all preference values, and taking the tool storage position with the smallest estimated motion distance as the reference tool storage position; calculating the storage position of each tool using the reference tool storage position and the preference value; the tool-changing arms at tool-changing position A and tool-changing position B work alternately; when removing a tool, rotating the numbered tool storage position to the tool-changing position for the current operation; when placing a tool, placing the tool into the corresponding storage position and updating the comparison table. The present invention can effectively improve the efficiency of tool magazine operation and reduce the problem of tool magazine wear.

Description

Technical Field

[0001] The present invention relates to the technical field of tool magazine control, and in particular to a control method and system for a double-tool-changing-station composite chain tool magazine. Background Art

[0002] The compound chain tool magazine is a core component of a machining center. All tools required for machining are stored in the magazine, and tools are removed from the magazine and replaced on the spindle as needed. As the number of tools required for machining increases, more tools need to be stored in the magazine. Furthermore, the time required to retrieve and place tools in the magazine is long, making a single tool change station increasingly inadequate for the increasingly efficient machining needs. This is why compound chain tool magazines with dual tool change stations have emerged.

[0003] The existing double-tool-changing compound chain tool magazine still continues the simple control form of the single-tool-changing compound chain tool magazine, that is, it simply controls the tool chain to move to the tool-changing position to take and store tools. Therefore, when frequently used tools are scattered or placed far away from the tool-changing position, the tool chain in the tool magazine needs to move frequently and a long distance each time. This not only affects the efficiency of the tool magazine, but also causes great wear and tear on the internal components of the tool magazine. Summary of the Invention

[0004] The present invention provides a control method and system for a dual-tool-changing-station composite chain tool magazine, which can effectively solve the problems of low tool magazine movement efficiency and high wear in the prior art.

[0005] The present invention provides a control method for a dual-tool-changing composite chain tool magazine, comprising the following steps:

[0006] The tool storage positions are numbered 1, 2, 3, ... N in the forward direction of rotation, and the two tool change positions are marked as A and B respectively in the forward direction of rotation, so that the number of tool storage positions between tool change position A and tool change position B is less than or equal to the number of tool storage positions between tool change position B and tool change position A;

[0007] Place the tools into the tool storage locations, leaving at least one empty tool storage location between every two adjacent tools, and form a comparison table;

[0008] Generate a tool sequence array E, where the kth data is the tool number at the kth tool pick-up, and generate the preference values ​​of each tool corresponding to the tool change position A and the tool change position B;

[0009] Calculate the estimated motion distances of all tool storage locations based on all preference values, and use the tool storage location with the smallest estimated motion distance as the reference tool storage location;

[0010] Use the reference tool storage location and preference values ​​to calculate the storage location of each tool;

[0011] The tool changing arms at tool changing locations A and B work alternately;

[0012] When taking the tool, find the corresponding tool storage location number in the comparison table according to the target tool number, and then move the tool storage location with that number to the tool changing position for this work. After the tool changing arm takes the tool, it puts the replaced tool into the tool magazine; when placing the tool, put the tool into the corresponding storage location and update the comparison table.

[0013] Furthermore, it also includes:

[0014] Before inserting the tool, a detector is set at the tool change position A. When the tool storage position reaches the tool change position A, the detector generates a signal.

[0015] Set the rotation parameter X=0; continuously update the X value. If the stored tool position rotates in the forward direction, X increases by one each time the detector is triggered. If X>N-1 after the increase, X is reset to 0. If the stored tool position rotates in the reverse direction, X decreases by one each time the detector is triggered. If X<1-N after the decrease, X is reset to 0.

[0016] Furthermore, the specific steps for generating the comparison table are:

[0017] Rotate forward according to the tool storage position, and record the number of tool storage positions from the tool placement position to the tool change position A as NAO; each time a tool is placed, read X at that time and calculate the reading at the tool change position A as Pa:

[0018] If NAO-X < 1, then Pa = NAO-X + N;

[0019] If 1≤NAO-X≤N, then Pa=NAO-X;

[0020] If NAO-X>N, then Pa=NAO-XN;

[0021] Record the tool number of the tool in the comparison table, and the corresponding tool storage location number Pn:

[0022] If Pa+N-NAO>N, then Pn=Pa–NAO;

[0023] If Pa+N-NAO≤N, then Pn=Pa+N-NAO.

[0024] Furthermore, a detector is provided at the tool change position B, and when the tool storage position reaches the tool change position B, the detector generates a signal;

[0025] Set the verification parameter Y=0; continuously update the Y value. If the stored tool position rotates in the forward direction, each time the detector is triggered, Y increases by one. If after the increase, Y>N-1, then Y is reset to 0. If the stored tool position rotates in the reverse direction, each time the detector is triggered, Y decreases by one. If after the decrease, Y<1-N, then Y is reset to 0.

[0026] Every time Y is updated, it is compared with X. If the values ​​are different, an alarm will be issued and the machine will be shut down.

[0027] Furthermore, the preference values ​​of each tool corresponding to the tool change position A to the tool change position B are generated as follows:

[0028] Traverse the sequential array E, count the frequency of each tool number at the odd position in the sequential array E, and record the frequency corresponding to the tool number q as TA(q); count the frequency of each tool number at the even position in the sequential array E, and record the frequency corresponding to the tool number q as TB(q);

[0029] After adding an empty space at the first position of the sequential array E, a new array F is formed. The frequency of each tool at the odd position in the sequential array F is counted, and the frequency corresponding to the tool number q is recorded as RA(q); the frequency of each tool at the even position in the sequential array F is counted, and the frequency corresponding to the tool number q is recorded as RB(q);

[0030] Calculate the preference value of each tool corresponding to the tool change position A, and record the preference value corresponding to tool number q as SA(q)=TA(q)+RA(q);

[0031] Calculate the preference value of each tool corresponding to the tool change position B, and record the preference value corresponding to the tool number q as SB(q)=TB(q)+RB(q).

[0032] Furthermore, the estimated motion distances of all tool storage locations are calculated as follows:

[0033] The number of tool storage locations between tool change location A and tool change location B is recorded as NAB according to the forward direction of the tool storage location. Calculate NAB / 2 and round down to get M.

[0034] When calculating the estimated working distance of the tool storage position numbered p, first calculate the virtual tool change position numbers PFa and PFb;

[0035] If pM<1, then PFa=p-M+N; if pM≥1, then PFa=pM;

[0036] If p+M≤N, then PFb=p+M; if p+M>N, then PFb=p+MN;

[0037] The tool numbered q corresponds to the tool storage location numbered P(q), the distance from P(q) to PFa is calculated as DA(q), and the distance from P(q) to PFb is calculated as DB(q);

[0038] Calculate SA(q)·DA(q)+SB(q)·DB(q) for all tools and sum them up to obtain the estimated working distance D(p) of the tool storage location numbered p.

[0039] Furthermore, the storage location of the tool is calculated as follows:

[0040] Calculate the permutation sequence of each tool and record the permutation sequence corresponding to tool number q as G(q)=SA(q)+SB(q);

[0041] According to the arrangement sequence from large to small, an empty tool storage position is found for each tool, so that the distance between the empty tool storage position and the reference tool storage position is the minimum. The tool storage position is the storage position of the corresponding tool.

[0042] Furthermore, when the tool storage position is rotated to the tool changing position, the shortest path is used for movement.

[0043] Furthermore, when generating the tool sequence array E, first all tools are numbered in the order of use to generate a total array Eall, and then Eall is split into multiple segments of equal length to form multiple tool sequence arrays E, and each sequence array E is used in sequence for calculation.

[0044] The present invention also provides a dual-tool-changing-station compound chain tool magazine control system, which is used to implement the aforementioned dual-tool-changing-station compound chain tool magazine control method, comprising:

[0045] Multiple tool storage pockets, each with a tool storage position;

[0046] Multiple connecting plates are used to connect all the knife storage sleeves into a knife chain structure;

[0047] A driving component, used to drive the chain structure to rotate;

[0048] The two tool changing arms both move towards and away from the tool chain structure;

[0049] Two detectors are respectively arranged at the two tool changing arms for detecting the tool storage positions.

[0050] The technical solution of the present invention can achieve the following technical effects:

[0051] This method re-plans the distribution of tools according to the usage of each tool, so that frequently used tools can be placed closer to the two tool change positions, and occasionally used tools are placed farther away from the two tool change positions. In this way, the tool chain structure can greatly reduce the movement amplitude and stroke during processing, effectively improve the movement efficiency of the tool magazine, and reduce the wear of the tool magazine components.

[0052] Furthermore, the method can automatically calculate the reference point for re-planning the tool position and use it for planning, thereby reducing the complexity of personnel operations and lowering the requirements on the technical level of the operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 Schematic diagram of the structure of the double-tool-changing compound chain tool magazine control system of the present invention;

[0055] Figure 2 For the present invention Figure 1 A magnified view of point A;

[0056] Figure 3 Schematic diagram of the first state of the double-tool-changing compound chain tool magazine of the present invention;

[0057] Figure 4 Schematic diagram of the second state of the double-tool-changing compound chain tool magazine of the present invention;

[0058] Reference numerals: 1. tool storage sleeve; 2. driving component; 3. tool changing arm; 4. detector. DETAILED DESCRIPTION

[0059] The basic principles and main features of the technical solution of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention. The following will be described more intuitively through one or more embodiments, and the described embodiments are only part of the embodiments of the present invention, not all embodiments.

[0060] In the description of the present invention, words indicating directions or positional relationships (such as up, down, left, right, etc.) are based on the directions shown in the drawings or some conventional positional relationships. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the features referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0061] The present invention relates to a dual-tool-changing compound chain tool magazine control system. The hardware part of the system is as follows: Figures 1 and 2 Shown, including:

[0062] Multiple tool storage sleeves 1, each tool storage sleeve is provided with a tool storage position, and the tool is placed in the tool storage position;

[0063] Multiple connecting plates are used to connect all the knife storage sleeves 1 into a complete knife chain structure;

[0064] The driving component 2 is used to drive the chain structure to rotate; when the driving component 2 rotates forward, the direction in which the knife chain structure rotates is the forward direction (clockwise in the figure), and when the driving component 2 rotates reversely, the direction in which the knife chain structure rotates is the reverse direction (counterclockwise in the figure);

[0065] The two tool changing arms 3 both move towards and away from the tool chain structure. The tool changing arm 3 is provided with two grippers. One gripper is used to take out the tool from the tool magazine. After the tool is taken out, the tool changing arm 3 is sent to the spindle position, and then the other gripper removes the old tool from the spindle and then installs the new tool on the spindle. The tool changing arm 3 then brings the old tool back to the tool chain structure and places it in the tool storage position.

[0066] Two detectors 4 are respectively arranged at the two tool changing arms for detecting the tool storage positions; the detectors 4 can not only count the number of tool storage positions passed, but also determine whether the tool storage position is accurately stopped at the tool changing position, thereby working in conjunction with the drive component 2 to achieve precise positioning.

[0067] The present invention also relates to a control method for a dual-tool-changing composite chain tool magazine. Based on the above-mentioned system hardware structure, this method supplements its control method. The control method is divided into three major steps: hardware calibration, preliminary calculation, and processing control. The specific content of each major step is as follows:

[0068] Hardware calibration: This step is mainly to assign some parameters to the hardware when implementing this method;

[0069] First, the tool storage positions are numbered 1, 2, 3, ..., N in the forward direction of rotation, and the two tool change positions are marked as A and B respectively in the forward direction of rotation, so that the number of tool storage positions between tool change position A and tool change position B is less than or equal to the number of tool storage positions between tool change position B and tool change position A. Thus, the entire tool chain structure is divided into two sections, one long and one short, with tool change position A and tool change position B as the node.

[0070] Place the tools in the tool storage locations, leaving at least one empty tool storage location between every two adjacent tools, and form a one-to-one correspondence table between tool numbers and tool storage location numbers.

[0071] Preliminary calculation: This step mainly calculates the best tool storage location number for each tool, so that the movement distance of the tool chain structure during the processing can be minimized, so that when the tools are stored subsequently, they can be stored in the best storage location; the best storage location is to use a tool storage location as a reference point, and the more frequently used tools are, the closer they are to the reference point. In this way, during processing, if the tools can be placed on the tool chain structure according to their best storage location, the reference point will stay in the short interval between tool change location A and tool change location B for a long time, and each frequently used tool will also be located in the short interval between tool change location A and tool change location B. In this way, the tool chain structure only needs to move a small distance to move the corresponding tool to the tool change location. Figure 3 For example, if the reference point is at tool storage position 8 in the figure, tool storage position 8 will always remain in the short interval between tool change position A and tool change position B during processing, so that tool storage positions 6 to 11 only need to move a small distance to reach the tool change position.

[0072] First, a tool sequence array E is generated based on the processing data (such as CNC programs, operating procedures, and other files). The kth data is the tool number when the tool is picked up for the kth time. For example, if E = [1, 2, 3, 1, 2, 1], then the tools to be used in this processing are tools numbered 1, 2, 3, 1, 2, and 1, respectively.

[0073] Generate preference values ​​for each tool corresponding to tool change arm A and tool change arm B. The preference values ​​mainly reflect the number of times tool change arm A and tool change arm B respectively pick up each tool. The preference values ​​can be used to determine which tool is used more frequently and the number of times each tool change arm grabs each tool (including picking up and placing the tool).

[0074] The estimated motion distances for all tool storage locations are calculated based on all preference values. The estimated motion distance is the total distance the tool chain will move during machining if a specific tool storage location is used as the reference point and the tool positions remain unchanged. For each tool storage location, the smaller the estimated motion distance, the closer the tool distribution is to the optimal storage location using that location as the reference point. This reduces the number of tools that need to be re-planned later. Therefore, the tool storage location with the smallest estimated motion distance can be used as the reference location.

[0075] The storage location of each tool is calculated using the reference tool storage location and the preference value, forming a storage table in which the tool number corresponds to the storage location.

[0076] Processing control: This step mainly involves the corresponding tool magazine control method when the machine tool is processing;

[0077] The tool changing arms at tool changing stations A and B perform tool storage and retrieval work alternately; for example, tool changing arm A first takes tool No. 1 from the tool magazine; then tool changing arm B takes tool No. 2 from the tool magazine, and then tool changing arm B replaces tool No. 1 and puts tool No. 1 back into the tool magazine; then tool changing arm A takes tool No. 3 from the tool magazine, and then tool changing arm A replaces tool No. 2 and puts tool No. 2 back into the tool magazine... and so on; note that tool retrieval should be performed first; this alternating work form can ensure that the tool magazine is quickly ready for the next tool needed, effectively improving the efficiency of the tool magazine operation;

[0078] When taking the tool, find the corresponding tool storage position number in the comparison table according to the target tool number, and then rotate the tool storage position with that number to the tool changing position of this work. After the tool changing arm takes the tool, it puts the replaced tool into the tool magazine; when placing the tool, place the tool in the corresponding storage position according to the storage table. After the tool is placed in the storage position, update the comparison table immediately, and re-record the tool number of the tool placed this time and the tool storage position number of its corresponding storage position in the comparison table.

[0079] As can be seen, this method re-plans the distribution of tools based on their usage, placing frequently used tools closer to the two tool change stations and occasionally used tools further away. This significantly reduces the range of motion and travel of the tool chain during machining, effectively improving the efficiency of the tool magazine and reducing wear on tool magazine components. Furthermore, this method automatically calculates the reference point for tool position re-planning and uses this for planning, reducing operator complexity and further enhancing the convenience of the tool magazine.

[0080] Since the tool storage location number needs to be determined in order to accurately stop the tool storage location at the corresponding tool change position, a method for detecting the tool storage location number is required. The existing method can be achieved by marking the tool storage location and then identifying the mark; however, this identification method not only requires different marks on each tool storage location, but also requires a set of complex identification equipment, which is expensive and easy to damage. This method provides a lower-cost identification method, including:

[0081] Before inserting the tool, a detector is set at the tool change position A. When the tool storage position reaches the tool change position A, the detector generates a signal.

[0082] Set the rotation parameter X=0; continuously update the X value. If the tool storage position rotates in the forward direction, X increases by one each time the detector is triggered. If X>N-1 after the increase, it means that the number of tool storage positions past the tool change position A has reached N, that is, the tool chain structure has rotated one circle, and X needs to be reset to 0 and recounted. If the tool storage position rotates in the reverse direction, X decreases by one each time the detector is triggered. If X<1-N after the decrease, it means that the number of tool storage positions past the tool change position A has reached N, that is, the tool chain structure has rotated one circle, and X needs to be reset to 0 and recounted.

[0083] In this way, you only need to know the tool storage position number at tool change location A once, and then you can use X to determine the number of tool storage positions passing through tool change location A and the rotation direction of the tool storage position. In this way, you can calculate the tool storage position number at tool change location A at this time, so there is no need to use complex identification methods, which can greatly save costs.

[0084] The most convenient situation is to record the location of the first tool as tool storage location No. 1 when placing the first tool. In this way, the contents of the comparison table can be quickly formed. Specifically, according to the positive direction of the tool storage location, the number of tool storage locations from the tool placement location to the tool change location A is recorded as NAO; each time a tool is placed, read X at this time and calculate the reading at the tool change location A at this time as Pa:

[0085] If NAO-X < 1, then Pa = NAO-X + N;

[0086] If 1≤NAO-X≤N, then Pa=NAO-X;

[0087] If NAO-X>N, then Pa=NAO-XN;

[0088] Record the tool number of the tool in the comparison table, and the corresponding tool storage location number Pn:

[0089] If Pa+N-NAO>N, then Pn=Pa–NAO;

[0090] If Pa+N-NAO≤N, then Pn=Pa+N-NAO.

[0091] by Figure 3 For example, the number of tool storage locations from tool placement point O to tool change point A is NAO=5 (i.e. tool storage locations numbered 2, 3, 4, 5, and 6).

[0092] When placing the first tool, the location of the tool is recorded as tool storage location No. 1. If this tool is tool No. 1, then X=0, the calculated Pa=6, Pn=1, and the comparison table records tool No. 1 corresponding to tool storage location No. 1;

[0093] When the first knife is placed, the knife chain structure rotates two knife storage positions in the positive direction (i.e. clockwise). Figure 4 As shown, if this tool is tool No. 2, then X=2, the calculated Pa=4, Pn=19, and the comparison table records tool No. 2 as corresponding to tool storage location No. 19...

[0094] By analogy, it can be seen that at this time, by recording the location where the first tool is placed as tool storage location No. 1, and combining it with the above-mentioned identification method, the tool storage location corresponding to each tool can be directly calculated through the movement amplitude of the tool chain structure. That is, for personnel, when placing tools, there is no need to strictly follow the correspondence with the tool storage location number. Only the tool number needs to be entered, and the tool storage location number corresponding to the tool number can be automatically generated.

[0095] A detector is also set at the tool change position B, and when the tool storage position reaches the tool change position B, the detector generates a signal;

[0096] Set the verification parameter Y=0; continuously update the Y value. The update mode of Y is the same as that of X. If the stored tool position rotates in the forward direction, each time the detector is triggered, Y increases by one. If Y>N-1 after the increase, Y is reset to 0. If the stored tool position rotates in the reverse direction, each time the detector is triggered, Y decreases by one. If Y<1-N after the decrease, Y is reset to 0.

[0097] After each update, Y is compared with X. Any discrepancies indicate inconsistent rotational speeds at various locations within the tool chain, potentially indicating looseness or other issues, necessitating an alarm and machine shutdown for repair. Generally, Y is used only for verification and is not included in calculations. However, if a problem with the detector at tool changer A causes the X value to disappear, Y can directly replace X in the calculation, avoiding system disruptions caused by sudden damage.

[0098] Generate the preference value of each tool corresponding to the tool change position A to the tool change position B as follows:

[0099] Traverse the sequential array E and count the frequency of each tool number at the odd position in the sequential array E. The odd position is the tool that the tool change arm A will take out of the tool magazine. The frequency corresponding to the tool number q is TA(q); count the frequency of each tool number at the even position in the sequential array E. The even position is the tool that the tool change arm B will take out of the tool magazine. The frequency corresponding to the tool number q is TB(q);

[0100] After each tool is taken out by a tool changing arm, it will be put back into the tool magazine by another tool changing arm during the next tool change. Therefore, a new array F is formed after adding an empty space at the first position of the sequential array E. Array F is the order in which the tools are placed. The frequency of each tool at the odd position in the sequential array F is counted. The odd position is the tool that the tool changing arm A will store in the tool magazine. The frequency corresponding to the tool number q is RA(q); the frequency of each tool at the even position in the sequential array F is counted. The even position is the tool that the tool changing arm B will store in the tool magazine. The frequency corresponding to the tool number q is RB(q);

[0101] Calculate the preference value of each tool corresponding to the tool change position A, and record the preference value corresponding to tool number q as SA(q)=TA(q)+RA(q);

[0102] Calculate the preference value of each tool corresponding to the tool change position B, and record the preference value corresponding to the tool number q as SB(q)=TB(q)+RB(q).

[0103] The specific calculation of the estimated distance of all tool storage locations is:

[0104] The number of tool storage locations between tool change location A and tool change location B is recorded as NAB according to the forward direction of the tool storage location. Calculate NAB / 2 and round down to get M.

[0105] When calculating the estimated working distance of the tool storage position numbered p, first calculate the virtual tool change position numbers PFa and PFb. Their physical meaning is: if the tool storage position rotates to the midpoint of the short interval between tool change position A and tool change position B, the corresponding tool storage position numbers for tool change position A and tool change position B are PFa and PFb;

[0106] If pM<1, then PFa=p-M+N; if pM≥1, then PFa=pM;

[0107] If p+M≤N, then PFb=p+M; if p+M>N, then PFb=p+MN;

[0108] The tool storage location corresponding to the tool numbered q is numbered P(q), the distance from P(q) to PFa is calculated as DA(q), and the distance from P(q) to PFb is calculated as DB(q), that is, the distances that the tool storage location corresponding to each tool needs to travel when it rotates to the tool change location A and the tool change location B respectively;

[0109] Calculate SA(q)·DA(q)+SB(q)·DB(q) for all tools and sum them up. Count the total distance that all tools need to travel to obtain the estimated working distance D(p) of the tool storage location numbered p.

[0110] The storage location of the calculated tool is as follows:

[0111] Calculate the permutation sequence of each tool and record the permutation sequence corresponding to tool number q as G(q)=SA(q)+SB(q);

[0112] Find an empty tool storage location for each tool in order from large to small according to the arrangement sequence, so that the distance between the empty tool storage location and the reference tool storage location is minimized. If there are two empty tool storage locations with equal distances, the tool can be placed in any tool storage location, and the tool storage location is the storage location of the corresponding tool.

[0113] When the tool storage position rotates to the tool change position, the shortest path is used for movement. That is, if the tool storage position to be rotated is Pb, and the tool storage position number currently detected at the tool change position A is Pa, then the rotation distance = min(|Pb-Pa|, N-|Pb-Pa|), and then the forward and reverse rotation of the tool storage position is determined, so as to minimize the movement amplitude of the tool chain structure.

[0114] Since tools may have obvious time relationships when they are used, for example, tool No. 1 is frequently used in the early stage of processing, while tool No. 10 is not used in the early stage, and tool No. 1 is not used in the later stage of processing, while tool No. 10 is frequently used in the early stage of processing, if all tool sequences are calculated at once, not only will the calculation workload be large, but in the one-time calculation, tool No. 1 and tool No. 10 will both be in tool storage locations closer to the reference point, but tool No. 10 and tool No. 1 only play the role of occupying positions in the early and late stages, making it impossible for other tools that are relatively frequently used in the corresponding period to be placed in the optimal position. Therefore, this method adopts the following approach: before generating the tool sequence array E, all tools are first numbered in the order of use to generate a total array Eall, and then Eall is split into multiple segments of equal length to form multiple tool sequence arrays E, and each sequence array E is used in sequence for calculation. In this way, the entire processing process is divided into multiple segments according to time, so that a new reference point is calculated every period, thereby effectively distributing the tools according to each time period, ensuring that the best distribution effect can be achieved in each time period, thereby improving the overall efficiency of the tool magazine.

[0115] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a double-tool-changing compound chain tool magazine, characterized in that the steps include: The tool storage positions are numbered 1, 2, 3, ... N in the forward direction of rotation, and the two tool change positions are marked as A and B respectively in the forward direction of rotation, so that the number of tool storage positions between tool change position A and tool change position B is less than or equal to the number of tool storage positions between tool change position B and tool change position A; A detector is set at the tool change position A, and when the tool storage position reaches the tool change position A, the detector generates a signal; Set the rotation parameter X=0; continuously update the X value. If the stored tool position rotates forward, X increases by one each time the detector is triggered. If X>N-1 after the increase, X is reset to 0. If the stored tool position rotates backward, X decreases by one each time the detector is triggered. If X<1-N after the decrease, X is reset to 0. Place the tools into the tool storage locations, leaving at least one empty tool storage location between every two adjacent tools, and form a comparison table; The specific steps to generate the comparison table are: Rotate forward according to the tool storage position, and record the number of tool storage positions from the tool placement position to the tool change position A as NAO; each time a tool is placed, read X at that time and calculate the reading at the tool change position A as Pa: If NAO-X < 1, then Pa = NAO-X + N; If 1≤NAO-X≤N, then Pa=NAO-X; If NAO-X>N, then Pa=NAO-XN; Record the tool number of the tool in the comparison table, and the corresponding tool storage location number Pn: If Pa+N-NAO>N, then Pn=Pa–NAO; If Pa+N-NAO≤N, then Pn=Pa+N-NAO; Generate a tool sequence array E, where the kth data is the tool number at the kth tool pick-up, and generate the preference values ​​of each tool corresponding to the tool change position A and the tool change position B; Calculate the estimated motion distances of all tool storage locations based on all preference values, and use the tool storage location with the smallest estimated motion distance as the reference tool storage location; Use the reference tool storage location and preference values ​​to calculate the storage location of each tool; The tool changing arms at tool changing locations A and B work alternately; When taking the tool, find the corresponding tool storage location number in the comparison table according to the target tool number, and then move the tool storage location with that number to the tool changing position for this work. After the tool changing arm takes the tool, it puts the replaced tool into the tool magazine; when placing the tool, put the tool into the corresponding storage location and update the comparison table.

2. The control method of the double-tool-changing compound chain tool magazine according to claim 1 is characterized in that: A detector is set at the tool change position B, and when the tool storage position reaches the tool change position B, the detector generates a signal; Set the verification parameter Y=0; continuously update the Y value. If the stored tool position rotates in the forward direction, each time the detector is triggered, Y increases by one. If after the increase, Y>N-1, then Y is reset to 0. If the stored tool position rotates in the reverse direction, each time the detector is triggered, Y decreases by one. If after the decrease, Y<1-N, then Y is reset to 0. Every time Y is updated, it is compared with X. If the values ​​are different, an alarm will be issued and the machine will be shut down.

3. The control method of the double-tool-changing compound chain tool magazine according to claim 1, characterized in that: Generate the preference value of each tool corresponding to the tool change position A to the tool change position B as follows: Traverse the sequential array E, count the frequency of each tool number at the odd position in the sequential array E, and record the frequency corresponding to the tool number q as TA(q); count the frequency of each tool number at the even position in the sequential array E, and record the frequency corresponding to the tool number q as TB(q); After adding an empty space at the first position of the sequential array E, a new array F is formed. The frequency of each tool at the odd position in the sequential array F is counted, and the frequency corresponding to the tool number q is recorded as RA(q); the frequency of each tool at the even position in the sequential array F is counted, and the frequency corresponding to the tool number q is recorded as RB(q); Calculate the preference value of each tool corresponding to the tool change position A, and record the preference value corresponding to tool number q as SA(q)=TA(q)+RA(q); Calculate the preference value of each tool corresponding to the tool change position B, and record the preference value corresponding to the tool number q as SB(q)=TB(q)+RB(q).

4. The control method of the double-tool-changing compound chain tool magazine according to claim 3 is characterized in that: The specific calculation of the estimated distance of all tool storage locations is: The number of tool storage locations between tool change location A and tool change location B is recorded as NAB according to the forward direction of the tool storage location. Calculate NAB / 2 and round down to get M. When calculating the estimated working distance of the tool storage position numbered p, first calculate the virtual tool change position numbers PFa and PFb; If pM<1, then PFa=p-M+N; if pM≥1, then PFa=pM; If p+M≤N, then PFb=p+M; if p+M>N, then PFb=p+MN; The tool numbered q corresponds to the tool storage location numbered P(q), the distance from P(q) to PFa is calculated as DA(q), and the distance from P(q) to PFb is calculated as DB(q); Calculate SA(q)·DA(q)+SB(q)·DB(q) for all tools and sum them up to obtain the estimated working distance D(p) of the tool storage location numbered p.

5. The control method of the double-tool-changing compound chain tool magazine according to claim 3 is characterized in that: The storage location of the calculated tool is as follows: Calculate the permutation sequence of each tool and record the permutation sequence corresponding to tool number q as G(q)=SA(q)+SB(q); According to the arrangement sequence from large to small, an empty tool storage position is found for each tool, so that the distance between the empty tool storage position and the reference tool storage position is the minimum. The tool storage position is the storage position of the corresponding tool.

6. The control method of the double-tool-changing compound chain tool magazine according to claim 1, characterized in that: When the tool storage position is rotated to the tool change position, the shortest path is used for movement.

7. The control method of the double-tool-changing compound chain tool magazine according to claim 1, characterized in that: When generating the tool sequence array E, firstly, all tools are numbered in the order of use to generate a total array Eall, and then Eall is split into multiple segments of equal length to form multiple tool sequence arrays E, and each sequence array E is used in sequence for calculation.

8. A dual-tool-changing compound chain tool magazine control system, characterized in that: A control method for a dual-tool-changing composite chain tool magazine according to any one of claims 1 to 7, comprising: Multiple tool storage pockets, each with a tool storage position; Multiple connecting plates are used to connect all the knife storage sleeves into a knife chain structure; A driving component, used to drive the chain structure to rotate; The two tool changing arms both move towards and away from the tool chain structure; Two detectors are respectively arranged at the two tool changing arms for detecting the tool storage positions.

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