Machine tool control method and system, controller, machine tool and storage medium

Abstract

The invention relates to the technical field of machine tools, and provides a machine tool control method and system, a controller, a machine tool and a storage medium, and the machine tool control method comprises the following steps: obtaining a coordinate value of a spindle box in the vertical direction, and judging whether the current coordinate value is located in a first height interval or a second height interval and a set first function relation; if the current coordinate value is located in the first height interval, the acceleration of the stand column in the moving process is set to be a preset fixed value, and the absolute value of the preset fixed value is not larger than the absolute value of the maximum acceleration allowed by the machine tool; if the current coordinate value is located in the second height interval, the current vertical distance is calculated, and the acceleration of the stand column in the moving process is set based on the current vertical distance, the reference vertical distance, the first function relation and the preset fixed value. According to the machine tool control method, the balance of high movement acceleration and high rigidity of the machine tool can be relatively better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tools, and in particular to a machine tool control method, system, controller, machine tool and storage medium. BACKGROUND

[0002] In order to improve the working range and flexibility of the machine tool, and adapt to the machining requirements of various complex workpieces, the column of some machine tools is arranged to be movable in the horizontal direction, and the spindle box moves in the vertical direction on the column. For example, the dynamic column machining center is widely used in the field of machining requirements of workpieces with complex geometric shapes such as molds and aerospace, and the column of the dynamic column machining center can move in the horizontal direction.

[0003] At the same time, the above-mentioned application field has more and more requirements for high moving speed, high acceleration, high spindle speed and high precision machining during workpiece machining, including but not limited to high cutting speed (the cutting speed is 5-10 times the conventional cutting speed), high feed / fast moving speed (up to 40 m / min to 180 m / min) and large acceleration / deceleration (mostly 1g-2g, where the size of 1g is 9.8 m / s 2 ) and the like. This poses a huge challenge to the dynamic column machining center with a movable column structure arrangement form - how to achieve a relative balance between high moving acceleration and high rigidity.

[0004] In view of this problem, the literature currently proposes to control the acceleration of the column according to the height of the spindle, so as to reduce the impact and vibration applied to the column. Specifically, the literature proposes that in the case where the spindle is at a lower position, the size of the acceleration of the column is set to a value greater than the standard value; and in the case where the spindle is at a higher position, the size of the acceleration of the column is set to the standard value.

[0005] However, according to the control strategy of the literature, the corresponding control is still not relatively better in the balance between high moving acceleration and high rigidity. That is, in some cases, under the basic requirement of high rigidity of the machine tool, the acceleration of the column movement still has room for improvement. SUMMARY

[0006] Embodiments of the present application aim to at least solve one of the problems of the prior art. The embodiments of the present application provide a machine tool control method, system, controller, machine tool and storage medium, which can achieve a relatively better balance between high moving acceleration and high rigidity of the machine tool.

[0007] The related technical solutions of the embodiments of the present application include the following:

[0008] A first aspect of embodiments of the present application provides a machine tool control method applied to a machine tool having a column and a headstock, the column being movable in a horizontal direction, and the headstock being movable in a vertical direction relative to the column; the machine tool control method comprising:

[0009] S120: acquiring a current coordinate value of the headstock in the vertical direction and a set first function relationship, and determining whether the current coordinate value is located in a first height interval or a second height interval, wherein the first height interval and the second height interval are connected at a critical height value, the height of the headstock in the second height interval is higher than the height of the headstock in the first height interval, and the first function relationship is a function relationship between the acceleration of the column movement and the height of the headstock, in which the acceleration of the column movement and the height of the headstock are negatively correlated;

[0010] S140: if the current coordinate value is located in the first height interval, setting the acceleration of the column movement process as a preset fixed value, wherein the absolute value of the preset fixed value is not greater than the absolute value of the maximum acceleration allowed by the machine tool;

[0011] S160: if the current coordinate value is located in the second height interval, calculating a current vertical distance, and setting the acceleration of the column movement process based on the current vertical distance, a reference vertical distance, the first function relationship and the preset fixed value, wherein the current vertical distance is the vertical distance between the current position of the headstock and the bottom of the column, and the reference vertical distance is the vertical distance between the position of the critical height value and the bottom of the column;

[0012] S180: generating a control instruction for driving the column movement based on the set acceleration of the column movement process.

[0013] Optionally, in the first function relationship, the ratio of the set acceleration of the column movement process to the preset fixed value is a first ratio, the ratio of the current vertical distance to the reference vertical distance is a second ratio, and the first ratio and the second ratio are reciprocals of each other; or,

[0014] The first function relationship is a linear function relationship, and the first function relationship is expressed as that the absolute value of the acceleration decreases by a certain proportion relative to the absolute value of the preset fixed value for each height increase of the headstock.

[0015] Optionally, in the case that the current coordinate value is located in the second height interval, the column movement process is set to include a jerk-up phase, a jerk-down phase, an acceleration-up phase, and a deceleration-down phase; the absolute value of the acceleration at the end time of the jerk-up phase and the absolute value of the acceleration at the end time of the acceleration-up phase are both not greater than the absolute value of the set acceleration of the column movement process, or the absolute value of the set acceleration of the column movement process is the average value of the absolute values of the accelerations in the column movement process and the maximum absolute value of the acceleration in the column movement process is not higher than a preset ratio of the absolute value of the set acceleration of the column movement process.

[0016] Optionally, the control instruction for driving the column movement includes a piecewise function relationship of velocity and time, the piecewise function relationship includes a polynomial function with a highest order term being a quadratic term, and the absolute value of twice the product of the quadratic term coefficient of the polynomial function of each phase of the column movement process and the time elapsed in the phase is not greater than the absolute value of the set acceleration of the column movement process; or the control instruction for driving the column movement includes a piecewise function relationship of acceleration and time, the piecewise function relationship includes a polynomial function with a highest order term being a linear term, and the absolute value of the product of the linear term coefficient of the polynomial function of each phase of the column movement process and the time elapsed in the phase is not greater than the absolute value of the set acceleration of the column movement process.

[0017] Optionally, the absolute value of the preset fixed value is not greater than the absolute value of an acceleration calculation value required by the bending stiffness of the machine tool, wherein the acceleration calculation value is directly proportional to both the maximum bending stress of the column surface allowed by the machine tool and the moment of inertia of the column section, and the acceleration calculation value is inversely proportional to the mass of the column, the reference vertical distance, and the distance from the sectional geometric center of the column to the surface of the column.

[0018] Optionally, the critical height value at which the first height interval and the second height interval connect is located at a height from the lowest position that the spindle head can reach relative to the column along the vertical direction to the position of the center of gravity of the column, wherein the lowest position that the spindle head can reach relative to the column along the vertical direction is higher than the bottom of the column.

[0019] A second aspect of the embodiments of the present application provides a machine tool control system applied to a machine tool having a column and a spindle head, the column being capable of moving along a horizontal direction, and the spindle head being capable of moving relative to the column along a vertical direction; the machine tool control system comprises:

[0020] a main spindle box height information obtaining module, configured to obtain a current coordinate value of the main spindle box in a vertical direction and a set first function relationship, and determine whether the current coordinate value is located in a first height interval or a second height interval, wherein the first height interval and the second height interval are connected by a critical height value, the height of the main spindle box in the second height interval is higher than that in the first height interval, and the first function relationship is a function relationship between an acceleration of the column movement and the height of the main spindle box, and in the first function relationship, the acceleration of the column movement and the height of the main spindle box are negatively correlated;

[0021] a column movement acceleration first determining module, configured to, if the current coordinate value is located in the first height interval, set the acceleration of the column movement process as a preset fixed value, wherein the absolute value of the preset fixed value is not greater than the absolute value of the maximum acceleration allowed by the machine tool;

[0022] a column movement acceleration second determining module, configured to, if the current coordinate value is located in the second height interval, calculate a current vertical distance, and set the acceleration of the column movement process based on the current vertical distance, a reference vertical distance, the first function relationship and the preset fixed value, wherein the current vertical distance is a vertical distance between the current position of the main spindle box and the bottom of the column, and the reference vertical distance is a vertical distance between the position of the critical height value and the bottom of the column;

[0023] a driving control instruction generating module, configured to generate a control instruction for driving the column movement based on the set acceleration of the column movement process.

[0024] A third aspect of the embodiments of the present application provides a controller applied to a machine tool, the controller applied to the machine tool stores a computer program, the computer program includes program instructions, the program instructions are suitable for being loaded by a processor to execute the steps in the machine tool control method according to any one of the technical solutions of the first aspect of the embodiments of the present application.

[0025] A fourth aspect of the embodiments of the present application provides a machine tool, the machine tool includes a base, a column and a main spindle box, the column is arranged on the base and can move in a horizontal direction, the main spindle box is arranged on the column and can move in a vertical direction relative to the column, and further includes the machine tool control system according to the technical solution of the second aspect of the embodiments of the present application or the controller applied to the machine tool according to the technical solution of the third aspect of the embodiments of the present application, wherein the controller is at least used to control the speed or acceleration of the column movement.

[0026] A fifth aspect of the embodiments of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program comprising program instructions adapted to be loaded by a processor to execute the steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.

[0027] A sixth aspect of the embodiments of the present application provides a computer program product, the computer program product comprising program instructions adapted to be loaded by a processor to execute the steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.

[0028] The machine tool control method in the embodiments of the present application has at least the following technical effects: for the case that the current coordinate value of the spindle head is located in the second height interval, the current vertical distance is calculated, and the acceleration of the column movement process is set based on the current vertical distance, the reference vertical distance, the first function relationship and the preset fixed value, wherein the first function relationship is a function relationship between the acceleration of the column movement and the height of the spindle head, and in the first function relationship, the acceleration of the column movement and the height of the spindle head are negatively related. Therefore, for the case that the spindle head is in a high position, the value of the acceleration of the column movement process set according to the relationship among the current vertical distance, the reference vertical distance, the preset fixed value and the value of the acceleration of the column movement process set can be more accurately determined, and the value of the acceleration of the column movement process set monotonically decreases with the increase of the current vertical distance, so that a relatively better balance between the high movement acceleration and the high rigidity of the machine tool can be achieved.

[0029] The above other aspects (the machine tool control system, the controller, the machine tool, the storage medium and the computer program product) in the embodiments of the present application also have at least the technical effects of the machine tool control method in the above embodiments, which will not be repeated here.

[0030] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. Thus, some aspects will be apparent to those of ordinary skill in the art from the following description, the accompanying drawings and the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The structure schematic diagram of the machine tool in some embodiments of the present application;

[0032] Figure 2 The flowchart of the machine tool control method in some embodiments of the present application;

[0033] Figure 3The set column moving process (without uniform acceleration process) for the case that the current coordinate value is in the second height interval in some embodiments of the present application, wherein (a) is a schematic diagram of the function relationship between acceleration and time in the column moving process, and (b) is a schematic diagram of the function relationship between speed and time in the column moving process.

[0034] Figure 4 The set column moving process (including uniform acceleration process) for the case that the current coordinate value is in the second height interval in some embodiments of the present application, wherein (a) is a schematic diagram of the function relationship between acceleration and time in the column moving process, and (b) is a schematic diagram of the function relationship between speed and time in the column moving process.

[0035] In the figure:

[0036] 10-column, 20-spindle box, 30-rotary table, 40-base. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments of the present application or the prior art will be briefly introduced below.

[0038] Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings of embodiments can be obtained from the technical solutions shown in these drawings without creative labor.

[0039] It should be understood that "multiple" referred to herein means two or more. In the description of the present application, unless otherwise specified, " / " represents the meaning of or, for example, "A / B" represents A or B; "and / or" herein is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent the above three cases of A alone, A and B together, B alone, etc.

[0040] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first" or "second" and the like are used to distinguish the same items or similar items with basically the same function and effect. Those skilled in the art can understand that "first" and "second" and the like do not limit the quantity and execution order, and "first" and "second" and the like do not necessarily mean different.

[0041] Please refer to Figures 1 to 2 Some embodiments of the first aspect of the present application provide a machine tool control method. Please refer to Figure 1 The machine tool control method is applied to a machine tool with a column 10 and a spindle box 20, the column 10 can move along the horizontal direction (i.e.Figure 1 The direction perpendicular to both the Y axis and the Z axis, that is, Figure 1 The spindle box 20 can move in the vertical direction (ie the X-axis direction not shown in the figure) relative to the column 10. Figure 1 Move in the Y-axis direction.

[0042] like Figure 2 As shown, the machine tool control method includes:

[0043] Step S120: Obtain the current vertical coordinate value of the spindle box 20 and the set first function relationship a=f(h), and determine whether the current coordinate value is in the first height interval or the second height interval, wherein the first height interval and the second height interval are both based on the critical height value h tv Correspondingly, the height h of the spindle box 20 in the second height range is higher than the height h of the spindle box 20 in the first height range. The first functional relationship a=f(h) is the functional relationship between the acceleration a of the movement of the column 10 and the height h of the spindle box 20. In the first functional relationship a=f(h), the acceleration a of the movement of the column 10 and the height h of the spindle box 20 are negatively correlated.

[0044] The current vertical coordinate value of the spindle box 20 (i.e., the Y-axis coordinate value) reflects the vertical distance of the current position of the spindle box 20 relative to the Y-axis origin of the machine tool. Therefore, the vertical distance of the current position of the spindle box 20 relative to the bottom of the column 10 (i.e., the current vertical distance h cv ) can be calculated by converting the current vertical coordinate value of the spindle box 20 and the vertical distance of the bottom of the column 10 relative to the Y-axis origin of the machine tool. The first height interval and the second height interval are both based on the critical height value h tv Seamless connection, for example, 0mm≤h<400mm can be set as the first height interval, and 400mm≤h≤800mm can be set as the second height interval, then the critical height value h tv or set 0mm≤h≤400mm as the first height interval, and 400mm<h≤800mm as the second height interval, the critical height value h tv In the first functional relationship a=f(h), the acceleration a of the column 10 is negatively correlated with the height h of the spindle box 20. That is, the acceleration a of the column 10 decreases monotonically as the height h of the spindle box 20 increases.

[0045] Step S140: If the current coordinate value is in the first height range, then set the acceleration a of the column 10 during the movement process to a preset fixed value a. pre And generate a control instruction for driving the column 10 to move, wherein a fixed value a is preset pre The absolute value of the acceleration is not greater than the maximum acceleration a allowed by the machine toolmax the acceleration of the moving process of the column 10 is preset as a fixed value a pre , i.e., the value is assigned as a fixed value.

[0046] Step S160: If the current coordinate value is located in the second height interval, the current vertical distance h cv is calculated. cv , the reference vertical distance h rv , the first function relationship a=f(h) and the preset fixed value a pre , the acceleration a of the moving process of the column 10 is set, wherein the current vertical distance h cv is the vertical distance between the current position of the spindle head 20 and the bottom of the column 10, and the reference vertical distance h rv is the vertical distance between the position of the critical height value h tv and the bottom of the column 10.

[0047] It can be understood that the column 10 has the acceleration a in the moving process, which can be regarded as that the column 10 bears the inertial force F. The inertial force F makes the column 10 bear the bending moment M in the moving process, and the bending moment M is proportional to the product of the vertical distance and the acceleration.

[0048] Therefore, for the case that the spindle head 20 is in the high position, the acceleration a of the moving process of the column 10 is set based on the current vertical distance h cv , the reference vertical distance h rv , the first function relationship a=f(h) and the preset fixed value a pre , wherein the first function relationship a=f(h) is the function relationship between the acceleration a of the moving process of the column 10 and the height h of the spindle head 20, and the acceleration a of the moving process of the column 10 and the height h of the spindle head 20 are negatively correlated in the first function relationship a=f(h). Therefore, for the case that the spindle head 20 is in the high position, the value of the acceleration a of the moving process of the column 10 can be determined more accurately according to the relationship among the current vertical distance h cv , the reference vertical distance h rv , the preset fixed value a pre and the value of the acceleration a of the moving process of the column 10, and the value of the acceleration a of the moving process of the column 10 monotonically decreases with the increase of the current vertical distance h cv , so that the balance between the high moving acceleration and the high rigidity of the machine tool can be relatively better.

[0049] Optionally, in some embodiments of the present application, in the first function relationship a=f(h), the ratio of the acceleration a of the moving process of the column 10 to the preset fixed value a pre is the first ratio, and the current vertical distance hcv with the reference vertical distance h rv is a second ratio, the first ratio and the second ratio are reciprocal to each other, the reference vertical distance h rv is a critical height value h tv , and the current vertical distance h cv is the vertical distance between the position of the spindle head 20 and the bottom of the column 10. That is, the product of the set acceleration a of the column 10 movement process and the current vertical distance h pre is equal to a preset value a rv , i.e., h cv ·a = h rv ·a pre . The equivalent relationship of the first functional relationship a = f(h) is Since the current vertical distance h cv can be converted from the current coordinate value of the spindle head 20 in the vertical direction, the equivalent expression of the first functional relationship a = f(h) is actually given. Based on the equivalent relationship, it can be known that the value of the set acceleration a of the column 10 movement process monotonically decreases with the increase of the height h of the spindle head 20.

[0050] Optionally, in some embodiments of the present application, the first functional relationship a = f(h) is a linear functional relationship, and the first functional relationship a = f(h) is expressed as that the absolute value of the acceleration a decreases by a certain percentage relative to the absolute value of the preset fixed value a pre when the spindle head 20 is raised by a certain height.

[0051] For example, wherein the set value of the coefficient k should at least satisfy k·h max < h rv , h max is the maximum vertical distance of the column 10 that the spindle head 20 can reach; or, By setting the preset fixed value a pre and the minimum acceleration value a min , the slope of the linear functional relationship can be determined, wherein the minimum acceleration value a min is the size of the set acceleration when the spindle head 20 reaches the maximum vertical distance of the column 10. and are also equivalent expressions of the first functional relationship a = f(h). Based on these equivalent relationships, it can also be known that the value of the set acceleration a of the column 10 movement process monotonically decreases with the increase of the height h of the spindle head 20.

[0052] ​Optionally, in some embodiments of the present application, the movement process of the column 10 when the current coordinate value is located in the second height interval is set to include a jerk-up phase, a jerk-down phase, a constant-acceleration phase, and a constant-speed phase; the absolute value of the acceleration a at the end of the jerk-up phase and the absolute value of the acceleration a at the end of the constant-acceleration phase are both not greater than the absolute value of the acceleration a set for the movement process of the column 10, or the absolute value of the acceleration a set for the movement process of the column 10 is the average value of the absolute values of the acceleration a in the movement process of the column 10 and the maximum absolute value of the acceleration a in the movement process of the column 10 is not greater than a preset ratio of the absolute value of the acceleration a set for the movement process of the column 10. max

[0053] For the case that the spindle head 20 is at a relatively high position, in order to further reduce the impact caused by the sudden change of the acceleration a in the movement process of the column 10, the movement process of the column 10 is set to at least experience a jerk-up phase, a jerk-down phase, a constant-acceleration phase, and a constant-speed phase in some embodiments of the present application, instead of that the acceleration a directly increases from zero to a non-zero value and remains unchanged for a certain period of time (similar to a square wave or pulse form).

[0054] A specific embodiment of the movement process of the column 10 is shown in Figure 3 and Figure 4 As shown in (a) and (b) in Figure 3 , from 0 to t1, the value of the acceleration a of the column 10 gradually increases from 0 to |a max |, so the column 10 is in a jerk-up phase, and the speed v gradually increases and the rising slope becomes steeper and steeper (i.e., the speed v increases faster and faster); from t1 to t2, the value of the acceleration a of the column 10 gradually decreases from |a max | to 0, so the column 10 is in a jerk-down phase, and the speed v is still increasing but the rising slope becomes flatter and flatter (i.e., the speed v increases slower and slower); from t2 to t3, the value of the acceleration a of the column 10 maintains 0, so the column 10 is in a constant-speed phase, and the value of the speed v remains unchanged; from t3 to t4, the value of the acceleration a of the column 10 gradually decreases from 0 to -|a max |, so the column 10 is in a constant-acceleration phase, and the speed v gradually decreases and the falling slope becomes steeper and steeper (i.e., the speed v decreases faster and faster); from t4 to t5, the value of the acceleration a of the column 10 gradually increases from -|a max | to 0, so the column 10 is in a jerk-down phase, and the speed v is still gradually decreasing but the falling slope becomes flatter and flatter (i.e., the speed v decreases slower and slower).

[0055] In contrast, as shown in Figure 4 ​As shown in (a) and (b), the column 10 also has two time periods of t1 to t2 and t5 to t6. In these two time periods, the column 10 is in uniform acceleration and uniform deceleration, respectively, and the velocity v continues to increase and decrease with a fixed slope, respectively.

[0056] As mentioned above, in some embodiments of the present application, the absolute value of the acceleration a at the end of the acceleration phase and the absolute value of the acceleration a at the end of the deceleration phase are both not greater than the absolute value |a| of the acceleration a of the column 10 movement, i.e., the absolute value |a| of the maximum acceleration of the column 10 movement. max | is not greater than the assigned absolute value |a| of the acceleration a, thereby most satisfying the requirement of high rigidity.

[0057] Alternatively, as mentioned above, in some other embodiments of the present application, to take a step back, even if the absolute value |a| of the maximum acceleration of the column 10 movement is higher than the assigned absolute value |a| of the acceleration a, but is not higher than a preset ratio (for example, 105%) of the absolute value |a| of the acceleration a of the column 10 movement, i.e., |a| < 105%·|a|, the absolute value of the acceleration a at the end of the acceleration phase and the absolute value of the acceleration a at the end of the deceleration phase are both not greater than the absolute value |a| of the acceleration a of the column 10 movement. max | is not greater than the assigned absolute value |a| of the acceleration a, thereby most satisfying the requirement of high rigidity. max |≤105%·|a|. It can be understood that the preset ratio can also be other ratios greater than 100%. The absolute value |a| of the acceleration a of the column 10 movement is the average value |a| of the absolute value of the acceleration a of the column 10 movement. avg Therefore, the acceleration a of the column 10 movement as a whole is not too large, and thus the requirement of high rigidity can still be satisfied.

[0058] Optionally, in some embodiments of the present application, the control instruction for driving the column 10 movement includes a piecewise function relationship of velocity and time, the piecewise function relationship includes a polynomial function with the highest order term being a quadratic term, and the absolute value of twice the product of the quadratic term coefficient of the polynomial function of each stage of the column 10 movement and the time of the stage is not greater than the absolute value of the acceleration a of the column 10 movement.

[0059] The control instruction for the movable part of the machine tool in the numerical control system is selected to be a velocity control instruction, which can be intuitively perceived and controlled by the user to control the speed of the column 10 movement. The entire movement of the column 10 is divided into multiple stages with different velocities and accelerations, and thus the control instruction includes a piecewise function relationship of velocity and time.

[0060] For example, the piecewise function relationship of velocity and time can be v1(t) = a2·t 2 + v0, where 0≤t < t1; v2(t) = a2·t1 2+v0+α1·(t-t1)-α2·(t-t1) 2 , where t1≤t<t2, α1 is the coefficient of the linear term, α2 is the coefficient of the quadratic term, |2α2·t1|≤|a| and |2α2·(t2-t1)|≤|a|, then |2α2·t1|≤|a| and |α1·t2-2α2·(t2-t1)|≤|a|, and thus the absolute value of the acceleration a at the end moment of the acceleration phase and the absolute value of the acceleration a at the end moment of the acceleration and deceleration phase are both no greater than the set absolute value of the acceleration a of the movement process of the column 10 |a|, that is, the high rigidity requirement is met to the greatest extent.

[0061] Optionally, in some embodiments of the present application, the control instructions for driving the movement of the column 10 include a piecewise function relationship between acceleration and time, the piecewise function relationship includes a polynomial function whose highest-order term is a linear term, and the absolute value of the product of the linear term coefficient of the polynomial function in each stage of the movement process of the column 10 and the time elapsed in that stage is not greater than the absolute value of the acceleration of the set movement process of the column 10.

[0062] For example, the piecewise function relationship between acceleration and time can be a1(t) = β1·t, where 0≤t<t1; a2(t) = β1·t1-β1·(t-t1), where t1≤t<t2, and the coefficient β1 satisfies: |β1·t1|≤|a| and |2β1·t1-β1·t2|≤|a|, so that the absolute value of the acceleration a at the end moment of the acceleration stage and the absolute value of the acceleration a at the end moment of the acceleration and deceleration stage are not greater than the set absolute value of the acceleration a of the movement process of the column 10 |a|, that is, the high rigidity requirement is met to the greatest extent.

[0063] Optionally, in some embodiments of the present application, a fixed value a is preset. pre The absolute value of |a pre |Not greater than the calculated acceleration value a required for the bending stiffness of the machine tool cal The absolute value of |a cal |, where the acceleration calculation value a cal The maximum bending stress σ on the surface of the column 10 allowed by the machine tool max and the section inertia moment I of the column 10 are proportional to each other, and the calculated acceleration value a cal The mass m and reference vertical distance h from the column 10 rv and the distance y from the cross-section geometric center of the column 10 to the surface of the column 10 are inversely proportional, that is,

[0064] Preset fixed value a pre The absolute value of |a pre| In addition to being restricted by practical conditions and not exceeding the absolute value of the maximum acceleration allowed by the machine tool, the acceleration calculation value a required for the bending stiffness of the machine tool should also be considered. cal The absolute value of |a cal |. If the preset fixed value a pre More than |a cal |, then according to the preset fixed value a pre The acceleration a assigned to the movement of the column 10 still cannot meet the requirements of the bending stiffness. Therefore, the preset fixed value a pre The absolute value of |a pre |Not greater than the calculated acceleration value a required for the bending stiffness of the machine tool cal The absolute value of |a cal |.

[0065] Optionally, in some embodiments of the present application, the critical height value h at which the first height interval and the second height interval meet is tv The height is from the lowest position that the spindle box 20 can reach relative to the column 10 to the center of gravity of the column 10, wherein the lowest position that the column 10 can reach when moving in the vertical direction is higher than the bottom of the column 10, that is, the critical height value h tv It is not the height of the bottom of the column 10 but the lowest position that the headstock 20 can reach.

[0066] A second aspect of an embodiment of the present application provides a machine tool control system, which is applied to a machine tool having a column 10 and a spindle box 20, wherein the column 10 is movable horizontally and the spindle box 20 is movable vertically relative to the column 10. The machine tool control system includes:

[0067] The spindle box height information acquisition module is used to obtain the current coordinate value of the spindle box 20 in the vertical direction and determine whether the current coordinate value is in the first height interval or the second height interval, wherein the first height interval and the second height interval are both based on the critical height value h tv Accordingly, the height h of the spindle box 20 in the second height interval is higher than the height h of the spindle box 20 in the first height interval. The first functional relationship a=f(h) is a functional relationship between the acceleration a of the movement of the column 10 and the height h of the spindle box 20. In the first functional relationship a=f(h), the acceleration a of the movement of the column 10 and the height h of the spindle box 20 are negatively correlated.

[0068] The first module for determining the acceleration of the column movement is used to set the acceleration a of the column 10 during movement to a preset fixed value a if the current coordinate value is within the first height interval. pre , where a fixed value is preset pre The absolute value of the acceleration is not greater than the maximum acceleration a allowed by the machine tool max The absolute value of

[0069] a second column movement acceleration determining module, configured to calculate a current vertical distance h cv , a reference vertical distance h rv , a first function relationship a=f(h) and a preset fixed value a pre set the acceleration a of the column 10 movement process, wherein the current vertical distance h cv is the vertical distance between the current position of the spindle box 20 and the bottom of the column 10, the reference vertical distance h rv is the vertical distance between the position of the critical height value h tv and the bottom of the column 10;

[0070] a drive control instruction generating module, configured to generate a control instruction for driving the column 10 to move based on the set acceleration a of the column 10 movement process.

[0071] Some embodiments of the third aspect of the present application provide a controller applied to a machine tool. The controller applied to the machine tool stores a computer program, and the computer program includes program instructions adapted to be loaded by a processor to execute the steps in the machine tool control method according to any of the technical solutions of the first aspect of the present application.

[0072] As an independent hardware module, the controller storing the related computer program is installed on the machine tool body of the machine tool, and can control the actions of the related components of the machine tool, so that the balance between high movement acceleration and high rigidity of the machine tool can be relatively better.

[0073] Some embodiments of the fourth aspect of the present application provide a machine tool. As shown in Figure 1 , the machine tool includes a base 40, a column 10 and a spindle box 20, the column 10 is arranged on the base 40 and can move in a horizontal direction, the spindle box 20 is arranged on the column 10 and can move in a vertical direction relative to the column 10, and further includes the machine tool control system according to the technical solution of the second aspect of the present application or the controller applied to the machine tool according to the technical solution of the third aspect of the present application, wherein the controller is at least used to control the acceleration a of the column 10 movement.

[0074] Specifically, as shown in Figure 1 , the machine tool further has a base 40 and a rotary table 30, wherein the column 10 can move in a horizontal direction (i.e. the X-axis direction not shown in Figure 1 ) relative to the base 40, the rotary table 30 can move in another horizontal direction (i.e. the Z-axis direction shown in Figure 1 ) relative to the base 40, and the spindle box 20 can move in a vertical direction (i.e. the Y-axis direction shown in Figure 1The machine tool can move in the Y-axis direction (as shown in FIG. 1) and the Z-axis direction (as shown in the Y-axis direction in FIG. 1). It can be understood that the machine tool in the embodiments of the present application can also be other forms of machine tools.

[0075] Some embodiments of the fifth aspect of the present application provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program includes program instructions suitable for being loaded by a processor to perform the steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.

[0076] For technical details not disclosed in the embodiments of the computer-readable storage medium involved in the present application, please refer to the description of any embodiment of the machine tool control method in the embodiments of the first aspect of the present application. As an example, the program instructions can be deployed on one computer device, or executed on multiple computer devices located in one place, or executed on multiple computer devices distributed in multiple places and interconnected through a communication network.

[0077] Some embodiments of the sixth aspect of the present application provide a computer program product. The computer program product includes program instructions suitable for being loaded by a processor to perform the steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.

[0078] In any of the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted by a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium accessible by a computer or a data processing device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0079] The above merely provides the preferred embodiment of the present application, and cannot be used to limit the scope of the present application. Any modification, equivalent, or improvement made within the spirit and principle of the present application shall be covered within the scope of the present application.

Claims

1. A machine tool control method, applied to a machine tool having a column and a spindle box, wherein the column is movable in a horizontal direction and the spindle box is movable in a vertical direction relative to the column, characterized in that: The machine tool control method comprises: S120: Acquire a current vertical coordinate value of the spindle box and a set first functional relationship, and determine whether the current coordinate value is within a first height interval or a second height interval, wherein the first height interval and the second height interval are connected by a critical height value, and the height of the spindle box in the second height interval is higher than that in the first height interval, and the first functional relationship is a functional relationship between the acceleration of the column movement and the height of the spindle box, and in the first functional relationship, the acceleration of the column movement and the height of the spindle box are negatively correlated; S140: If the current coordinate value is within the first height range, setting the acceleration of the column movement process to a preset fixed value, wherein the absolute value of the preset fixed value is not greater than the absolute value of the maximum acceleration allowed by the machine tool; S160: If the current coordinate value is within the second height interval, calculating a current vertical distance, and setting an acceleration of the column movement process based on the current vertical distance, a reference vertical distance, the first functional relationship, and the preset fixed value, wherein the current vertical distance is the vertical distance between the current position of the spindle box and the bottom of the column, and the reference vertical distance is the vertical distance between the position of the critical height value and the bottom of the column; S180: Based on the set acceleration of the column movement process, generate a control instruction for driving the column to move.

2. The machine tool control method according to claim 1, wherein: In the first functional relationship, the ratio of the acceleration of the column movement process to the preset fixed value is a first ratio, the current vertical distance to the reference vertical distance is a second ratio, and the first ratio and the second ratio are reciprocals of each other; or, The first functional relationship is a linear functional relationship, and the first functional relationship indicates that the absolute value of the acceleration decreases by a certain proportion relative to the absolute value of the preset fixed value every time the spindle box rises to a certain height.

3. The machine tool control method according to claim 1, wherein: The column movement process when the current coordinate value is located in the second height range is set to include an acceleration stage, a deceleration stage, an acceleration / deceleration stage, and a deceleration / deceleration stage; the absolute value of the acceleration at the end moment of the acceleration stage and the absolute value of the acceleration at the end moment of the acceleration / deceleration stage are both not greater than the set absolute value of the acceleration of the column movement process, or the set absolute value of the acceleration of the column movement process is the average value of the absolute values ​​of the acceleration of the column movement process and the absolute value of the maximum acceleration of the column movement process is not higher than a preset ratio of the absolute value of the acceleration of the column movement process.

4. The machine tool control method according to claim 3, characterized in that: The control instruction for driving the movement of the column includes a piecewise function relationship between speed and time, the piecewise function relationship includes a polynomial function whose highest order term is a quadratic term, and the absolute value of twice the product of the quadratic term coefficient of the polynomial function in each stage of the column movement process and the time elapsed in this stage is not greater than the absolute value of the acceleration of the set column movement process; or, the control instruction for driving the movement of the column includes a piecewise function relationship between acceleration and time, the piecewise function relationship includes a polynomial function whose highest order term is a linear term, and the absolute value of the product of the linear term coefficient of the polynomial function in each stage of the column movement process and the time elapsed in this stage is not greater than the absolute value of the acceleration of the set column movement process.

5. The machine tool control method according to claim 1, wherein: The absolute value of the preset fixed value is not greater than the absolute value of the calculated acceleration value required for the bending stiffness of the machine tool, wherein the calculated acceleration value is proportional to the maximum bending stress on the column surface allowed by the machine tool and the section moment of inertia of the column, and the calculated acceleration value is inversely proportional to the mass of the column, the reference vertical distance, and the distance from the geometric center of the cross section of the column to the surface of the column.

6. The machine tool control method according to any one of claims 1 to 5, characterized in that: The critical height value connecting the first height interval and the second height interval is located at a height from the lowest position that the spindle box can reach when moving in the vertical direction relative to the column to the position of the center of gravity of the column, wherein the lowest position that the column can reach when moving in the vertical direction is higher than the bottom of the column.

7. A machine tool control system, applied to a machine tool having a column and a spindle box, wherein the column can move horizontally and the spindle box can move vertically relative to the column, characterized in that: include: a spindle box height information acquisition module, configured to acquire a current vertical coordinate value of the spindle box and a set first functional relationship, and determine whether the current coordinate value is within a first height interval or a second height interval, wherein the first height interval and the second height interval are connected by a critical height value, the height of the spindle box in the second height interval is higher than the height of the spindle box in the first height interval, and the first functional relationship is a functional relationship between the acceleration of the column movement and the height of the spindle box, and in the first functional relationship, the acceleration of the column movement and the height of the spindle box are negatively correlated; a first column movement acceleration determination module, configured to set the acceleration of the column movement process to a preset fixed value if the current coordinate value is within the first height interval, wherein the absolute value of the preset fixed value is not greater than the absolute value of the maximum acceleration allowed by the machine tool; a second column movement acceleration determination module, configured to calculate a current vertical distance if the current coordinate value is within the second height interval, and set an acceleration of the column movement process based on the current vertical distance, a reference vertical distance, the first functional relationship, and the preset fixed value, wherein the current vertical distance is the vertical distance between the current position of the spindle box and the bottom of the column, and the reference vertical distance is the vertical distance between the position of the critical height value and the bottom of the column; The driving control instruction generating module is used to generate a control instruction for driving the column to move based on the set acceleration of the column movement process.

8. A controller for a machine tool, characterized in that: A computer program is stored, the computer program comprising program instructions, the program instructions being suitable for being loaded by a processor to execute the steps in the machine tool control method according to any one of claims 1 to 6.

9. A machine tool comprising a base, a column, and a spindle box, wherein the column is arranged on the base and can move horizontally, and the spindle box is arranged on the column and can move vertically relative to the column, characterized in that: It also includes the machine tool control system according to claim 7 or the controller applied to a machine tool according to claim 8, wherein the controller is at least used to control the speed or acceleration of the movement of the column.

10. A computer-readable storage medium, characterized in that A computer program is stored, the computer program comprising program instructions, the program instructions being suitable for being loaded by a processor to execute the steps in the machine tool control method according to any one of claims 1 to 6.

Images