Automatic tool changer depth adjustment method for billiard cue engraving

Abstract

This application relates to the field of CNC machining technology, specifically to a depth adjustment method for an automatic tool changer used in billiard cue cue texture machining. The method includes: acquiring the vibration intensity and rotational speed of the engraving tool spindle during billiard cue cue texture machining; analyzing the differences in rotational speed and vibration intensity in the frequency domain to obtain a cooperative difference vector at each acquisition moment; obtaining the cooperative tightness between the spindle rotational speed and vibration intensity at each acquisition moment based on the changing trend and average level of the cooperative difference vector, thereby obtaining the cooperative change anomaly degree at each acquisition moment; analyzing the changing trend of the cooperative change anomaly degree to obtain the depth adjustment ratio of the engraving tool, so as to adjust and determine the engraving depth of the engraving tool in the automatic tool changer engraving machine. This application can adjust the engraving depth of the tools used in the automatic tool changer engraving machine in a timely manner, avoiding affecting the engraving effect of the billiard cue cue texture machining.

Description

Technical Field

[0001] This application relates to the field of CNC machining technology, specifically to a depth adjustment method for an automatic tool changer used for machining the texture of billiard cues. Background Technology

[0002] When using an automatic tool changer (APC) to process the textures on a billiard cue, the complexity of the textures necessitates the use of an automatic tool changer to change tools, thereby improving the precision of the workpiece. Furthermore, during the engraving process, the APC can control the automatic tool changer via the machine tool's programmable control system to select and change tools, accurately adjust the engraving depth, effectively improve the surface roughness of the billiard cue, and reduce tool wear, thus achieving the best processing results for the billiard cue's textures.

[0003] Existing technologies primarily rely on real-time monitoring of the tool spindle state during the engraving process and adjusting the axial engraving depth based on abnormal spindle conditions to avoid negatively impacting the billiard cue texture. However, the tool spindle state during engraving is influenced by the combined effects of spindle speed and vibration characteristics. Existing technologies adjust engraving depth solely based on abnormal spindle conditions, failing to adequately consider the synergistic effect between these two factors. This results in the inability to promptly adjust the engraving depth of the automatic tool changer, ultimately reducing the overall engraving quality of the billiard cue texture. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a depth adjustment method for an automatic tool changer used for processing the texture of billiard cues, thereby resolving the existing issues.

[0005] The depth adjustment method of the automatic tool changer for machining the texture of billiard cues in this application adopts the following technical solution:

[0006] One embodiment of this application provides a method for adjusting the depth of an automatic tool changer for machining the texture of billiard cues, comprising the following steps:

[0007] Obtain the vibration intensity and rotational speed of the engraving tool spindle during the processing of billiard cue texture;

[0008] Frequency domain analysis was performed on the spindle speed and vibration intensity of the tool, and the differences between the speed and vibration intensity in the frequency domain were analyzed to obtain the cooperative difference vector at each acquisition time. Based on the trend and average level of the cooperative difference vector, the cooperative tightness between the spindle speed and vibration intensity at each acquisition time was obtained.

[0009] The random fluctuations in the coordination tightness between the tool spindle speed and vibration intensity within a preset time period before each acquisition moment are analyzed to obtain the degree of abnormality of coordination change at each acquisition moment.

[0010] By analyzing the trend of changes in the anomalies of all coordinated changes within a preset time period before each acquisition time, the depth adjustment ratio of the engraving tool at each acquisition time is obtained, so as to determine the adjustment of the engraving depth of the engraving tool in the automatic tool changer.

[0011] Preferably, the method for obtaining the collaborative difference vector at each acquisition time is as follows:

[0012] The vibration intensity vector and rotational speed vector at each acquisition time are extracted, and frequency domain transformation is performed to obtain the vibration frequency domain amplitude vector and rotational speed frequency domain amplitude vector at each acquisition time. The difference between the vibration frequency domain amplitude vector and the rotational speed frequency domain amplitude vector is obtained to obtain the cooperative difference vector at each acquisition time.

[0013] Preferably, the method for extracting the vibration intensity vector and rotational speed vector is as follows: the normalized vibration intensity and rotational speed before each acquisition time are arranged in chronological order to obtain the vibration intensity vector and rotational speed vector at each acquisition time.

[0014] Preferably, the method for calculating the degree of cooperation is as follows:

[0015] D t =exp(-(μ t ×μs t In the formula, D t Let μ be the coordination tightness corresponding to the t-th acquisition time, and exp() be an exponential function with the natural constant as the base. t Let μs be the mean of the collaborative difference vector at the t-th acquisition time. t Let be the mean of the absolute values ​​of all elements in the first-order difference vector of the collaborative difference vector at the t-th acquisition time.

[0016] Preferably, the method for calculating the degree of coordinated change anomaly at each acquisition time is as follows: In the formula, S t Let μf be the degree of coordinated change anomaly at the t-th acquisition time. t Let f be the mean of the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time, M be the number of elements in the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time, and f be the mean of the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time. t,j and f t,j-1 These are the j-th and (j-1)-th elements in the residual sequence corresponding to the collaboration tightness sequence at the t-th acquisition time, respectively.

[0017] Preferably, the process of obtaining the residual sequence further includes: arranging the coordination tightness corresponding to all acquisition times within a preset duration at each acquisition time in chronological order to obtain the coordination tightness sequence at each acquisition time.

[0018] Preferably, the process of obtaining the residual sequence further includes: performing time series decomposition on the coordination tightness sequence at each acquisition time to obtain the residual sequence of the coordination tightness sequence at each acquisition time.

[0019] Preferably, the method for obtaining the depth adjustment ratio of the carving tool at each acquisition time is as follows: extract the cooperative anomaly sequence at each acquisition time, and calculate the ratio of the number of all positive elements to the total number of elements in the first-order difference sequence of the cooperative anomaly sequence as the depth adjustment ratio of the carving tool at each acquisition time.

[0020] Preferably, the coordinated anomaly sequence at each acquisition time is composed of the coordinated change anomaly degree of all acquisition times within a preset time period prior to each acquisition time, arranged in chronological order.

[0021] Preferably, the determination of adjusting the engraving depth of the engraving tool in the automatic tool changer includes: if the depth adjustment ratio corresponding to the current acquisition time is less than or equal to a preset adjustment threshold, then no adjustment of the engraving depth of the engraving tool is performed; otherwise, the engraving depth of the engraving tool is adjusted.

[0022] This application has at least the following beneficial effects:

[0023] This application uses frequency domain analysis to analyze the cooperative difference between the spindle speed characteristics and the spindle vibration characteristics, and accurately measures the cooperative tightness between the spindle speed characteristics and vibration characteristics based on the cooperative difference, thereby more clearly reflecting the motion state of the spindle and facilitating more accurate measurement of abnormal characteristics of the spindle in the future.

[0024] This application uses the residual characteristics of the cooperating tightness sequence to accurately measure the abnormal characteristics of the cooperating tightness on the tool spindle, which more accurately reflects the abnormality of the tool spindle motion state when the engraving tool wears, and is conducive to more timely adjustment of the engraving depth of the tools used in the automatic tool changer engraving machine.

[0025] This application fully considers the synergistic effect between the spindle speed characteristics and the spindle vibration characteristics during the engraving process. It obtains the depth adjustment ratio by observing the abnormal changes in the synergistic tightness on the spindle, and then uses the depth adjustment ratio to adjust the engraving depth of the automatic tool changer in a timely manner, so as to avoid affecting the engraving effect of the billiard cue texture. Attached Figure Description

[0026] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 The flowchart illustrates the steps of the automatic tool changer depth adjustment method for billiard cue texture machining provided in this application. Detailed Implementation

[0028] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of the automatic tool changer depth adjustment method for billiard cue texture processing proposed in this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0029] Unless otherwise defined, terms such as “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a circuit structure, article, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the article or device that includes said element. Furthermore, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0030] The following description, in conjunction with the accompanying drawings, details the specific scheme of the depth adjustment method for the automatic tool changer used for processing the texture of billiard cues provided in this application.

[0031] This application provides an embodiment of an automatic tool changer depth adjustment method for billiard cue texture machining. For details, please refer to [link to relevant documentation]. Figure 1 This includes the following steps:

[0032] Step 1: Obtain the vibration intensity and rotation speed of the engraving tool spindle during the processing of the billiard cue texture.

[0033] The automatic tool changer in the billiard cue engraving machine replaces the cutting tools used for machining the cue cue patterns. The automatic tool changer consists of three parts: a tool magazine, a robotic arm, and a drive unit. The machine tool's programmable control system is built by programming a PLC program based on the motion characteristics of the automatic tool changer. The machine tool's programmable control system then controls the selection and changing of cutting tools for machining the cue cue patterns.

[0034] When using an automatic tool changer engraving machine to engrave the texture of a billiard cue, the engraving tool is selected by executing the tool magazine selection program in the machine tool's programmable control system, and the tool changing program in the machine tool's programmable control system is executed to change the tool, thus completing the selection and tool changing action control of the automatic tool changer.

[0035] After the automatic tool changer in the automatic tool changing engraving machine completes the tool change, the engraving tool is used to process the texture of the billiard cue. The vibration intensity and rotation speed of the engraving tool spindle are collected in real time by vibration sensor and speed sensor. In this embodiment, the data acquisition frequency is 1kHz. The implementer can adaptively select the acquisition frequency according to the actual situation.

[0036] To reduce the interference of external noise on data acquisition and thus more accurately adjust the engraving depth, the vibration intensity and rotation speed acquired one second before each acquisition moment are filtered. The filtering method can be amplitude limiting filtering, mean filtering, or median filtering. In this embodiment, the median filtering algorithm is used to filter the data. Furthermore, the filtered vibration intensity and rotation speed are normalized to eliminate the influence of different dimensions of the parameters on subsequent analysis. The normalized vibration intensity and rotation speed before each acquisition moment are arranged in chronological order to obtain the vibration intensity vector and rotation speed vector for each acquisition moment.

[0037] Step 2: Perform frequency domain analysis on the spindle speed and vibration intensity of the tool, and analyze the differences between the speed and vibration intensity in the frequency domain to obtain the cooperative difference vector at each acquisition time. Based on the trend and average level of the cooperative difference vector, obtain the cooperative tightness between the spindle speed and vibration intensity at each acquisition time.

[0038] The engraving tool spindle is the core component of an automatic tool changer (APC). APCs use the high-speed rotation of the spindle to precisely machine the texture of the billiard cue. During the engraving process, the spindle's condition is influenced by both its rotational speed and vibration characteristics. This interaction can exacerbate tool wear and negatively impact the smoothness of the surface texture. To reduce tool wear and improve the smoothness of the surface texture, it's necessary to combine the synergistic effects of the spindle's rotational speed and vibration characteristics to adjust the engraving depth in a timely manner.

[0039] To analyze the combined effects of the spindle speed and vibration characteristics on the tool spindle state, the vibration intensity vector and speed vector at each acquisition moment are input into the Fourier transform algorithm. The Fourier transform algorithm can be either Discrete Fourier Transform or Fast Fourier Transform. This embodiment uses Discrete Fourier Transform to obtain all frequency domain data points in the vibration intensity vector and all frequency domain data points in the speed vector at each acquisition moment. The horizontal axis of the frequency domain data points represents the frequency, and the vertical axis represents the frequency domain amplitude.

[0040] Furthermore, the frequency domain amplitudes of all frequency domain data points in the vibration intensity vector and rotational speed vector are arranged in ascending order of frequency and denoted as the vibration frequency domain amplitude vector and rotational speed frequency domain amplitude vector at each acquisition time. These vectors respectively reflect the vibration frequency domain amplitude characteristics and rotational speed frequency domain characteristics of the tool spindle state during the billiard cue pattern machining process. The smaller the difference in frequency domain amplitude between the two, the smaller the synergistic difference between the tool spindle rotational speed characteristics and the tool spindle vibration characteristics, which can more clearly indicate the high-level synergistic effect between the tool spindle rotational speed characteristics and the tool spindle vibration characteristics.

[0041] Therefore, to avoid inconsistencies in the lengths of the vibration frequency domain amplitude vector and the rotational speed frequency domain amplitude vector, polynomial interpolation is used to fill the frequency domain feature vectors, ensuring that the lengths of the vibration frequency domain amplitude vector and the rotational speed frequency domain amplitude vector remain consistent. The difference between the interpolated and filled vibration frequency domain amplitude vectors and the rotational speed frequency domain amplitude vectors is then calculated to obtain the collaborative difference vector at each acquisition moment. This collaborative difference vector reflects the changes in the collaborative difference between the tool spindle speed characteristics and vibration characteristics at different frequencies. If the collaborative difference changes stably at a low level, it indicates a close collaborative effect between the tool spindle speed characteristics and vibration characteristics during the billiard cue texture processing. In this case, it is easier to exacerbate the wear of the tool in the automatic tool changer engraving machine, and the vibration interference will affect the fineness of the billiard cue surface texture processing. Therefore, the engraving depth should be adjusted promptly to improve the engraving effect of the billiard cue texture processing.

[0042] Based on the above analysis, the degree of coordination between the tool spindle speed characteristics and vibration characteristics at each acquisition moment during the billiard cue texture machining process is calculated:

[0043] D t =exp(-(μ t ×μs t ));

[0044] In the formula, D t Let μ be the coordination tightness corresponding to the t-th acquisition time, and exp() be an exponential function with the natural constant as the base. t Let μs be the mean of the collaborative difference vector at the t-th acquisition time. t Let be the mean of the absolute values ​​of all elements in the first-order difference vector of the collaborative difference vector at the t-th acquisition time.

[0045] It should be understood that the tightness of the coordination reflects the tightness of the coordination between the spindle speed characteristics and the vibration characteristics. The stronger the tightness of the coordination between the two, the more likely the spindle is to malfunction when machining the texture of the billiard cue, which will aggravate the wear of the tools in the automatic tool changer and will affect the fineness of the texture of the billiard cue surface under strong vibration interference. At this time, it is necessary to adjust the engraving depth in time.

[0046] Step 3: By analyzing the abnormal characteristics of the coordinated change of the tool spindle state during the processing of the billiard cue pattern, the degree of abnormality of the coordinated change at each acquisition time is obtained.

[0047] The higher the non-linear random fluctuation in the tightness of the engraving tool spindle in the automatic tool changer, the more abnormal the spindle condition is. This makes it easier to accelerate the wear of the engraving tool and affect the smoothness and delicacy of the billiard cue texture. It is necessary to adjust the engraving depth accurately in time to avoid severe wear of the engraving tool in the automatic tool changer.

[0048] Therefore, to analyze the nonlinear random fluctuations in the coordination tightness of the tool spindle between different acquisition times, the coordination tightness corresponding to all acquisition times within a preset duration is arranged in chronological order to obtain a coordination tightness sequence for each acquisition time. In this embodiment, the preset duration is 1 second. The coordination tightness sequence reflects the characteristics of coordination tightness changes over a short period of time, and can more accurately reflect the changing state of the engraving tool spindle in the automatic tool changer, thereby facilitating timely adjustment of the engraving depth.

[0049] Furthermore, in order to more accurately analyze the nonlinear random fluctuations in the coordination tightness, the coordination tightness sequence at each acquisition time is input into the STL time series decomposition algorithm (Seasonal-Trend decomposition using LOESS). The STL time series decomposition algorithm is used to output the residual sequence of the coordination tightness sequence. The STL time series decomposition algorithm is a well-known technology and will not be described in detail.

[0050] The residual sequence of the cohesion tightness sequence can accurately show the nonlinear random fluctuation of the cohesion tightness. If the average level of the residuals in the residual sequence of the cohesion tightness sequence is higher and the nonlinear random fluctuation of the residuals is stronger, then the abnormal characteristics of the cohesion tightness on the spindle of the engraving tool in the automatic tool changer engraving machine are higher, and the engraving depth should be adjusted accurately in a timely manner.

[0051] Based on the above analysis, the degree of anomaly in the coordinated change at each data acquisition moment during the billiard cue texture processing was calculated:

[0052]

[0053] In the formula, S t Let μf be the degree of coordinated change anomaly at the t-th acquisition time. t Let f be the mean of the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time, M be the number of elements in the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time, and f be the mean of the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time. t,j and f t,j-1 These are the j-th and (j-1)-th elements in the residual sequence corresponding to the collaboration tightness sequence at the t-th acquisition time, respectively.

[0054] Understandably, the degree of abnormality in the coordination change reflects the abnormal characteristics of the coordination tightness on the spindle of the engraving tool of the automatic tool changer within a short period of time. If the abnormal characteristics of the coordination tightness on the spindle of the engraving tool are higher, the wear characteristics between the engraving tool and the billiard cue are more significant, which is more likely to affect the smoothness and fineness of the billiard cue pattern and produce more serious roughness. Therefore, the depth of the engraving tool should be adjusted accurately in a timely manner.

[0055] Step 4: By analyzing the trend of changes in the abnormality of all coordinated changes within a preset time period before each acquisition time, obtain the depth adjustment ratio of the engraving tool at each acquisition time, so as to adjust and determine the engraving depth of the engraving tool in the automatic tool changer engraving machine.

[0056] During the process of machining the texture of a billiard cue using an automatic tool changer, the longer the abnormal characteristic of the coordinated change between the spindle speed and vibration characteristics of the tool persists, the more significant the wear characteristics between the carving tool and the billiard cue will be, and the billiard cue texture will exhibit severe roughness. In this case, it is necessary to promptly reduce the carving depth of the tool to avoid affecting the carving effect of the billiard cue texture.

[0057] Therefore, in order to avoid adverse effects on the engraving effect of billiard cue texture processing, for the current acquisition time, the degree of coordinated change of all acquisition times within the preset time period before the current acquisition time is arranged in chronological order to obtain the coordinated anomaly sequence of the current acquisition time. The coordinated anomaly sequence reflects the continuous change of coordinated anomaly characteristics between the tool spindle speed characteristics and vibration characteristics.

[0058] Furthermore, the first-order difference sequence of the cooperative anomaly sequence at the current acquisition time is calculated. This first-order difference sequence reflects the changes in cooperative anomaly on the tool spindle. The more positive values ​​in the first-order difference sequence of the cooperative anomaly sequence, the higher the persistence of the cooperative anomaly characteristics. In this case, the engraving depth of the engraving tool in the automatic tool changer should be reduced. Therefore, the ratio of the number of all positive elements to the total number of elements in the first-order difference sequence of the cooperative anomaly sequence is denoted as the depth adjustment ratio of the engraving tool at the current acquisition time. The larger the depth adjustment ratio, the smaller the engraving depth of the engraving tool in the automatic tool changer should be.

[0059] Therefore, by monitoring the depth adjustment ratio at each acquisition moment within the automatic tool changer engraving machine in real time, this embodiment presets an adjustment threshold of 0.6 to promptly and adaptively adjust the engraving depth. Specifically, if the depth adjustment ratio at the current acquisition moment is less than or equal to the adjustment threshold, it indicates that the wear on the engraving tool is small and will not affect the fineness of the surface texture of the billiard cue, so there is no need to adjust the engraving depth of the engraving tool in the automatic tool changer engraving machine; conversely, if the depth adjustment ratio at the current acquisition moment is greater than the adjustment threshold, it indicates that the wear on the engraving tool is high and will easily affect the fineness of the surface texture of the billiard cue, so the engraving depth of the engraving tool needs to be adjusted, reducing the engraving depth of the engraving tool in the automatic tool changer engraving machine, thereby achieving timely adjustment of the engraving depth of the tools used in the automatic tool changer engraving machine and avoiding affecting the engraving effect of the billiard cue texture processing.

[0060] It is understood that references to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the appearance of phrases such as "in one embodiment," "in some embodiments," "in other embodiments," or "in still other embodiments" in different parts of this specification does not necessarily refer to the same embodiment, but rather means "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0061] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous. Moreover, the sequence numbers of the steps in the embodiments do not imply a specific order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments in this specification.

[0062] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A depth adjustment method for an automatic tool changer used for machining the texture of billiard cues, characterized in that, Includes the following steps: Obtain the vibration intensity and rotational speed of the engraving tool spindle during the processing of billiard cue texture; Frequency domain analysis was performed on the spindle speed and vibration intensity of the tool, and the differences between the speed and vibration intensity in the frequency domain were analyzed to obtain the cooperative difference vector at each acquisition time. Based on the trend and average level of the cooperative difference vector, the cooperative tightness between the spindle speed and vibration intensity at each acquisition time was obtained. The random fluctuations in the coordination tightness between the tool spindle speed and vibration intensity within a preset time period before each acquisition moment are analyzed to obtain the degree of abnormality of coordination change at each acquisition moment. By analyzing the trend of changes in the abnormality of all coordinated changes within a preset time period before each acquisition time, the depth adjustment ratio of the engraving tool at each acquisition time is obtained, so as to determine the adjustment of the engraving depth of the engraving tool in the automatic tool changer. The method for obtaining the collaborative difference vector at each acquisition time is as follows: The vibration intensity vector and rotational speed vector at each acquisition moment are extracted, and frequency domain transformation is performed to obtain the vibration frequency domain amplitude vector and rotational speed frequency domain amplitude vector at each acquisition moment. The difference between the vibration frequency domain amplitude vector and the rotational speed frequency domain amplitude vector is calculated to obtain the cooperative difference vector at each acquisition moment. The method for calculating the degree of collaboration is as follows: In the formula, Let be the coordination tightness corresponding to the t-th acquisition time. It is an exponential function with the natural constant as its base. Let be the mean of the collaborative difference vector at the t-th acquisition time. Let be the mean of the absolute values ​​of all elements in the first-order difference vector of the collaborative difference vector at the t-th acquisition time. The method for calculating the degree of coordinated change anomaly at each acquisition time is as follows: In the formula, Let be the degree of cooperative change anomaly at the t-th data collection time. Let be the mean of the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time. Let be the number of elements in the residual sequence corresponding to the coordination tightness sequence at the t-th acquisition time. and These are the j-th and (j-1)-th elements in the residual sequence corresponding to the collaboration tightness sequence at the t-th acquisition time, respectively.

2. The method for adjusting the depth of an automatic tool changer for machining the texture of a billiard cue as described in claim 1, characterized in that, The method for extracting the vibration intensity vector and rotation speed vector is as follows: the normalized vibration intensity and rotation speed before each acquisition time are arranged in chronological order to obtain the vibration intensity vector and rotation speed vector at each acquisition time.

3. The method for adjusting the depth of an automatic tool changer for machining the texture of a billiard cue as described in claim 1, characterized in that, The process of obtaining the residual sequence further includes: arranging the coordination tightness corresponding to all acquisition times within a preset duration at each acquisition time in chronological order to obtain the coordination tightness sequence at each acquisition time.

4. The method for adjusting the depth of an automatic tool changer for machining the texture of a billiard cue as described in claim 1, characterized in that, The process of obtaining the residual sequence further includes: performing time series decomposition on the coordination tightness sequence at each acquisition time to obtain the residual sequence of the coordination tightness sequence at each acquisition time.

5. The method for depth adjustment of the automatic tool changer for processing the texture of billiard cues as described in claim 1, characterized in that, The method for obtaining the depth adjustment ratio of the carving tool at each acquisition time is as follows: extract the cooperative anomaly sequence at each acquisition time, and take the ratio of the number of all positive elements in the first-order difference sequence of the cooperative anomaly sequence to the total number of elements as the depth adjustment ratio of the carving tool at each acquisition time.

6. The method for adjusting the depth of an automatic tool changer for machining the texture of a billiard cue as described in claim 5, characterized in that, The coordinated anomaly sequence at each acquisition time is composed of the coordinated change anomaly degree of all acquisition times within a preset time period prior to each acquisition time, arranged in chronological order.

7. The method for adjusting the depth of an automatic tool changer for machining the texture of a billiard cue as described in claim 1, characterized in that, The method for adjusting the engraving depth of the engraving tool in the automatic tool changer includes: if the depth adjustment ratio corresponding to the current acquisition time is less than or equal to the preset adjustment threshold, then no engraving depth adjustment of the engraving tool is performed; otherwise, the engraving depth of the engraving tool is adjusted.

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