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 set function relationship between the acceleration of vertical column movement and the height of a spindle box and a program code of a machining program; identifying a height interval in which the spindle box is located during the operation period of the next program code of the machining program; the maximum height of the height interval is obtained, and the movement acceleration of the stand column is determined according to the maximum height and the first function relation; and taking the determined acceleration of the movement of the stand column as the acceleration of the movement process of the stand column during the operation period of the next program code, and generating a control instruction for driving the stand column to move. According to the machine tool control method, in the process that the stand column and the spindle box move at the same time, the acceleration of the stand column in the moving process can be adjusted in real time in response to the height change of the spindle box.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tools, 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. The column can move in the horizontal direction.

[0003] At present, the control of the motion parameters (such as speed, acceleration or jerk) in the column moving process in most of such machine tools is to use the same value, that is, the same acceleration parameter or jerk parameter is used regardless of the height position of the spindle box.

[0004] Research shows that the height of the spindle box in the column moving process has a non-negligible influence on the structural stiffness of the machine tool: the increase of the height of the spindle box position will cause the bending moment of the column to increase, thereby causing the structural stiffness of the machine tool to decrease.

[0005] Therefore, some documents propose 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.

[0006] However, in the process of simultaneous movement of the column and the spindle box, how to adjust the motion parameters of the column movement in real time in response to the change of the height of the spindle box becomes a new technical problem to be solved. SUMMARY

[0007] 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 adjust the acceleration in the column moving process in real time in response to the change of the height of the spindle box in the process of simultaneous movement of the column and the spindle box.

[0008] The related technical solutions of the embodiments of the present application include the following:

[0009] The first aspect of the embodiments of the present application provides a machine tool control method applied to a machine tool having a column and a spindle box, the column being movable in the horizontal direction, and the spindle box being movable in the vertical direction relative to the column; the machine tool control method comprises:

[0010] S120: obtaining a first function relationship and a program code of a machining program, wherein the first function relationship is a function relationship between an acceleration of the column and a height of the spindle headstock;

[0011] S140: identifying a height interval in which the spindle headstock is located during execution of a next segment of the machining program;

[0012] S160: obtaining a maximum height of the height interval, and determining an acceleration of the column according to the maximum height and the first function relationship;

[0013] S180: taking the determined acceleration of the column as an acceleration of a movement process of the column during execution of the next segment of the program code, and generating a control instruction for driving the movement of the column.

[0014] Optionally, the first function relationship is a linear function relationship in at least part of the height interval, and the linear function relationship indicates that an absolute value of the acceleration decreases by a certain proportion with respect to an absolute value of a reference acceleration when the spindle headstock is raised by a certain height, and the reference acceleration is a pre-set acceleration of the movement process of the column when the spindle headstock is located at a lowest position of the column.

[0015] Optionally, S160 comprises:

[0016] S161: comparing a height of a starting position of the spindle headstock with a height of a terminal position of the spindle headstock;

[0017] S162: if the two heights are equal, determining the acceleration of the column according to the first function relationship at the same height; if the two heights are not equal, determining the acceleration of the column according to the first function relationship at the height of the higher one of the two heights.

[0018] Optionally, S162 comprises:

[0019] If the higher one of the height of the starting position of the spindle headstock and the height of the terminal position of the spindle headstock is located in a first height interval, the acceleration of the column is a fixed value; if the higher one of the height of the starting position of the spindle headstock and the height of the terminal position of the spindle headstock is located in a second height interval, the first function relationship is the linear function relationship, wherein the height of the spindle headstock is divided into the first height interval and the second height interval, the first height interval and the second height interval are connected by a critical height value, and the height of the spindle headstock in the second height interval is higher than the height of the spindle headstock in the first height interval.

[0020] Optionally, S180 comprises:

[0021] S181: dividing a movement process of the column into n time segments according to a vertical displacement of the spindle head, where n is a natural number not less than 2;

[0022] S182: for each time segment, assigning a maximum height of the spindle head in the time segment to an acceleration of the column in the time segment according to the first function relationship;

[0023] S183: generating a control instruction for driving the column to move according to a pre-set second function relationship, where an expression of the second function relationship is a piecewise function of a real-time acceleration of the column in the movement process with respect to time, a segment point of the piecewise function is consistent with a segment point of the n time segments and the piecewise function is continuous at the segment point, and an absolute value of a maximum acceleration of the column in each segment of the piecewise function is not greater than the acceleration assignment.

[0024] Optionally, before S140, the method further includes: reading a next segment of program code of the machining program, and determining whether the machine tool belongs to a cutting state or a non-cutting state during running of the next segment of program code; if the machine tool belongs to the cutting state, not assigning an acceleration of a movement process of the column during running of the next segment of program code.

[0025] A second aspect of the embodiment of the 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 in a horizontal direction, and the spindle head being capable of moving in a vertical direction relative to the column; the machine tool control system includes:

[0026] an information acquisition module configured to acquire a set first function relationship and program code of a machining program, where the first function relationship is a function relationship between an acceleration of the column in the movement and a height of the spindle head;

[0027] a height information identification module configured to identify a height interval in which the spindle head is located during running of a next segment of program code of the machining program;

[0028] a column movement acceleration determination module configured to acquire a maximum height of the height interval, and determine an acceleration of the column in the movement according to the maximum height and the first function relationship;

[0029] a driving instruction generation module configured to take the determined acceleration of the column in the movement as an acceleration of a movement process of the column during running of the next segment of program code, and generate a control instruction for driving the column to move.

[0030] 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 storing a computer program, the computer program including program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the technical solutions of the first aspect of the embodiments of the present application.

[0031] A fourth aspect of the embodiments of the present application provides a machine tool including a base, a column and a headstock, the column being arranged on the base and capable of moving in a horizontal direction, the headstock being arranged on the column and capable of moving in a vertical direction relative to the column, and further including 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 used at least to control acceleration of the column movement.

[0032] A fifth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program, the computer program including program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the technical solutions of the first aspect of the embodiments of the present application.

[0033] A sixth aspect of the embodiments of the present application provides a computer program product including program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the technical solutions of the first aspect of the embodiments of the present application.

[0034] The machine tool control method in the embodiments of the present application has at least the following technical effects: the height interval in which the headstock is located during running of the next program code of the machining program is read in advance, the acceleration of the column movement is determined according to the maximum height in the height interval and the first function relationship, and the control instruction for driving the column movement is generated before running of the next program code of the machining program, that is, the acceleration in the movement process of the column to be generated is adjusted according to the height change of the headstock to be generated before the column moves, so that the acceleration in the movement process of the column is adjusted in real time in response to the height change of the headstock during the movement of the column and the headstock at the same time.

[0035] 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 foregoing embodiments, which will not be repeated here.

[0036] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. As such, it will be appreciated that some of the aspects and advantages of the embodiments of the present application will be learned from the description below. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 a structural schematic diagram of a machine tool in some embodiments of the present application;

[0038] Figure 2 a flowchart of a machine tool control method in some embodiments of the present application;

[0039] Figure 3 a flowchart of a sub-step of step S180 in some embodiments of the present application.

[0040] In the drawings:

[0041] 10-column, 20-spindle box, 30-rotary table, 40-base. DETAILED DESCRIPTION

[0042] 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 as follows.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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 having a column 10 and a spindle box 20, the column 10 being capable of moving along a horizontal direction (i.e. Figure 1 perpendicular to both the Y-axis and the Z-axis, that is Figure 1The main spindle head 20 can move relative to the column 10 in a vertical direction (i.e. the Y-axis direction in the coordinate system shown in FIG. 1) and in the X-axis direction. Figure 1

[0047] As shown in FIG. 1, the machine tool control method comprises the following steps. Figure 2

[0048] Step S120: obtaining a set first function relationship and program codes of the machining program, wherein the first function relationship is a function relationship a = f(h) between an acceleration a of the column 10 and a height h of the main spindle head 20. The set first function relationship a = f(h) can be set by a user (e.g. inputted or selected by a control panel interface of the machine tool) or pre-set by a numerical control system of the machine tool. The first function relationship a = f(h) can be a linear function relationship or a non-linear function relationship. It can be understood that the first function relationship a = f(h) can also be a piecewise function relationship.

[0049] Step S140: identifying a height interval of the main spindle head 20 during a next segment of the machining program. During the movement of the column 10, the column 10 can be considered to bear an inertial force F, wherein F = -m-a, m is the mass of the column 10. The inertial force F will cause the column 10 to also bear a bending moment M, wherein M = F-h. The bending moment M will cause the column 10 to generate a larger bending stress, which is not conducive to the bending stiffness of the column 10. Therefore, for the bending stiffness of the column 10, the change of the height h of the main spindle head 20 during the movement of the column 10 is worth paying attention to. The height information of the main spindle head 20 includes the vertical distance of the current position of the main spindle head 20 relative to the bottom of the column 10, which can be converted from the vertical coordinate value (i.e. the Y-axis coordinate value) of the main spindle head 20 and the vertical distance of the bottom of the column 10 relative to the Y-axis origin of the machine tool.

[0050] Step S160: obtaining a maximum height in the height interval of the main spindle head 20 and determining the acceleration of the column 10 according to the maximum height and the first function relationship. During the operation of the machine tool, the movement of the main spindle head 20 in the vertical direction (i.e. the Y-axis direction in the coordinate system shown in FIG. 1) is usually opposite to the movement of the column 10 in the horizontal direction (i.e. the X-axis direction in the coordinate system shown in FIG. 1). Figure 1 Figure 1 ​​​The movement in the X-axis direction and the movement in the Y-axis direction are performed simultaneously. During the movement of the column 10 in the horizontal direction, the movement of the headstock 20 in the vertical direction can have a large height difference, and therefore it is necessary to determine the acceleration a of the movement of the column 10 in accordance with which height the first function relationship a = f(h) is applied. Under the same conditions, the headstock 20 in the high position is worse than the headstock 20 in the low position in terms of the stress situation. Therefore, in consideration of the high rigidity requirement of the machine tool, the determination of the acceleration of the movement of the column 10 is performed in accordance with the worse stress situation of the headstock 20 in the high position (i.e., the situation in which the headstock 20 is in the maximum height in the height range).

[0051] Step S180: The determined acceleration a of the movement of the column 10 is taken as the acceleration a of the movement of the column 10 during the running of the next segment of program code, and a control instruction for driving the movement of the column 10 is generated. Before the running of the next segment of program code, the acceleration a of the movement of the column 10 during the running of the next segment of program code is assigned in advance, so that the acceleration a of the movement of the column 10 is adjusted in real time in response to the change in the height h of the headstock 20.

[0052] In the embodiment of the present application, the height range in which the headstock 20 is located during the running of the next segment of program code of the machining program is read in advance, the maximum height in the height range in which the headstock 20 is located is applied to the first function relationship a = f(h) to determine the acceleration a of the movement of the column 10, and a control instruction for driving the movement of the column 10 is generated before the running of the next segment of program code of the machining program, i.e., the acceleration a in the movement of the column 10 to be generated is adjusted in accordance with the change in the height h of the headstock 20 to be generated before the movement of the column 10, so that the acceleration a in the movement of the column 10 is adjusted in real time in response to the change in the height h of the headstock 20 during the simultaneous movement of the column 10 and the headstock 20.

[0053] Optionally, in some embodiments of the present application, the first function relationship a = f(h) is a linear function relationship in at least part of the height range, which is expressed as that the absolute value of the acceleration a decreases by a certain percentage with respect to the absolute value of the reference acceleration a rv for each height h by which the headstock 20 is raised, and the reference acceleration a rv is the acceleration of the movement of the column 10 in the case in which the headstock 20 is located at the lowest position of the column 10. For example, the function relationship expression of the first function relationship a = f(h) in the case in which the headstock 20 is located above the lowest position is set as where the set value of the coefficient k should at least satisfy k · h max < h min , and h minThe lowest position of the column 10 that the spindle box 20 can reach (when the height h of the spindle box 20 is h min When, a=a rv ), h max or, more specifically, for example, the spindle box 20 rises 50mm per time, the value of the acceleration a relative to the reference acceleration a rv 3% reduction. The linear function relationship is relatively simple to calculate, so its real-time response speed is relatively good. The expression of the linear function relationship can be built into the CNC system or input by the user.

[0054] Optionally, in some embodiments of the present application, step S160 further includes:

[0055] Step S161: Compare the height h of the starting position of the spindle box 20 s The height h of the end position of the spindle box 20 e ;

[0056] Step S162: If the two are of the same height (i.e. h s =h e ), then with the same height (i.e. h s =h e ) According to the set first function relationship a=f(h), the acceleration a of the column 10 is determined; if the two are not at the same height (ie h s ≠h e ), the acceleration a of the movement of the column 10 is determined based on the height of the higher of the two according to the set first functional relationship a=f(h).

[0057] In the case of rapid positioning, the spindle box 20 is in the vertical direction (ie Figure 1 Movement in the Y-axis direction (in the Y-axis direction) is typically unidirectional within a time period, i.e., there is no return travel from the starting position to the ending position. Therefore, in some cases, the maximum height within the height range of the spindle box 20 during the execution of the next program code of the machining program is the height of the starting position or the height of the ending position.

[0058] Optionally, in some embodiments of the present application, step S162 includes: if the height h of the starting position of the spindle box 20 is s The height h of the end position of the spindle box 20 e If the higher of the two is in the first height range, the acceleration a of the column 10 is a fixed value; if the height h of the starting position of the spindle box 20 is s The height h of the end position of the spindle box 20 e The higher of the two is in the second height interval, so the first functional relationship a=f(h) is a linear functional relationship, with hs With h e The height of the higher of the two determines the acceleration a of the column 10 according to the set first function relationship a=f(h), wherein the height of the spindle box 20 is divided into a first height range and a second height range, and the first height range and the second height range are both at a critical height value h tv Accordingly, the height of the spindle box 20 in the second height range is higher than the height of the spindle box 20 in the first height range.

[0059] When the height h of the spindle box 20 is always at the low position (i.e., in the first height range), the stress on the spindle 10 is relatively good, so the change in bending moment M caused by the change in the height h of the spindle box 20 can be ignored, and the acceleration a of the movement of the column 10 is uniformly assigned a fixed value. However, when the height h of the spindle box 20 is always at the high position (i.e., in the second height range) or moves between the low and high positions (i.e., the starting and ending positions pass through two height ranges), the stress on the spindle 10 deteriorates over time, so the calculation should be based on the situation where the spindle box 20 is in the high position, where the stress is poor.

[0060] In the above embodiment of the present application, the first functional relationship a=f(h) is essentially established as a piecewise functional relationship based on the height h of the spindle box 20: if the height h of the spindle box 20 is always within the first height range, the acceleration a of the column 10 is a fixed value; if either the starting position or the ending position of the height h of the spindle box 20 is within the second height range, the acceleration a of the column 10 is calculated according to the linear functional relationship. This configuration takes into account both the requirements of fast machine tool response and high structural rigidity.

[0061] Optionally, in some embodiments of the present application, Figure 3 As shown, step S180 includes:

[0062] Step S181: Divide the movement process of the column 10 into n time periods, where n is a natural number not less than 2;

[0063] Step S182: For each time period, the maximum height of the spindle box 20 during the time period is substituted into the first functional relationship a=f(h) to assign a value to the acceleration of the movement of the column 10 during the time period;

[0064] Step S183: generating a control instruction for driving the column 10 to move according to a preset second function relationship, where the expression of the second function relationship is a piecewise function a=g(t) of real-time acceleration a of the column 10 during movement with respect to time t, the piecewise points of the piecewise function a=g(t) are consistent with the piecewise points of the n segments of time, and the piecewise function a=g(t) is continuous at the piecewise points, and the absolute value of the maximum acceleration of the column 10 movement of each segment of the piecewise function a=g(t) is not greater than the assigned acceleration.

[0065] In order to more finely respond to the change of the height h of the spindle head 20, the movement process of the column 10 is divided into n segments according to the vertical displacement of the spindle head 20 (for example, the height h of the spindle head 20 changes by 150 mm, and the movement process of the column 10 can be divided into 6 segments at intervals of every 25 mm. It can be understood that it can also be divided at unequal intervals), so that the acceleration a of the column 10 movement can be more accurately adjusted according to the change of the height h of the spindle head 20.

[0066] After assigning the acceleration a of a certain segment or the entire segment of the movement process of the column 10, it does not mean that the acceleration a of the segment is a constant value. In fact, the acceleration a of the segment is variable, but the absolute value of the maximum acceleration during the acceleration a of the segment is variable is not greater than the absolute value of the assigned acceleration a. On the segment, the form of the second function relationship a=g(t) includes but is not limited to trapezoidal acceleration-deceleration function relationship or S-shaped acceleration-deceleration function relationship. On the a=g(t) function relationship curve with time t as the horizontal coordinate and acceleration a as the vertical coordinate, a=g(t) is a continuous function curve, that is, at the same time t, the acceleration a does not jump or mutate, but presents as a continuous function curve, so that the column 10 will not suffer from the impact due to the mutation of the acceleration a. The second function relationship a=g(t) can be a function relationship preset by the numerical control system.

[0067] For example, the expression of the second function relationship a=g(t) can be g(t)=β1·t, where 0≤t<t1; g(t)=β1·t1-β1·(t-t1), where t1≤t≤t2. The above-mentioned second function relationship a=g(t) is a piecewise function, and the second function relationship a=g(t) is continuous at the piecewise point t1 (that is, the second function relationship a=g(t) is not only a piecewise function, but also a continuous function). The coefficient β1 satisfies: |β1·t1|≤|a| and |2β1·t1-β1·t2|≤|a|, and then the absolute value of the acceleration a at the end time of the jerk stage and the absolute value of the acceleration a at the end time of the acceleration-deceleration stage are both not greater than the absolute value |a| of the assigned acceleration a of the movement process of the column 10, that is, the absolute value of the maximum acceleration of the column 10 movement of each segment of the piecewise function a=g(t) is not greater than the assigned acceleration.

[0068] Optionally, in some embodiments of the present application, before step S140, there is further included: reading the next segment of program code of the machining program, and judging whether the machine tool belongs to the cutting state or the non-cutting state during the running of the next segment of program code; if it belongs to the cutting state, the acceleration a of the moving process of the column 10 during the running of the next segment of program code is not assigned. For the movement of the column 10 and the spindle box 20 in the non-cutting state such as rapid positioning, the acceleration a of the moving process of the column 10 is assigned according to the first function relationship a=f(h) in some embodiments described above, so that balance can be achieved in rapid movement and maintenance of structural rigidity. However, in the cutting state, the motion parameters of both the column 10 and the spindle box 20 should be determined comprehensively according to factors such as the shape of the workpiece being machined and the size of the cutting force.

[0069] Some embodiments of the second aspect of the present application provide a machine tool control system applied to a machine tool having a column 10 and a spindle box 20. As shown in Figure 1 the column 10 can move in the horizontal direction, and the spindle box 20 can move relative to the column 10 in the vertical direction; the machine tool control system comprises:

[0070] an information acquisition module for acquiring a set first function relationship a=f(h) and program code of a machining program, wherein the first function relationship a=f(h) is a function relationship between the acceleration a of the movement of the column 10 and the height h of the spindle box 20;

[0071] a height information identification module for identifying the height interval in which the spindle box 20 is located during the running of the next segment of program code of the machining program;

[0072] a column movement acceleration determination module for acquiring the maximum height in the height interval in which the spindle box 20 is located, and determining the acceleration a of the movement of the column 10 according to the maximum height and the first function relationship;

[0073] a driving instruction generation module for taking the determined acceleration a of the movement of the column 10 as the acceleration of the moving process of the column 10 during the running of the next segment of program code, and generating a control instruction for driving the movement of the column 10.

[0074] The machine tool control system in the embodiments of the present application has at least the technical effects of the machine tool control method in the foregoing embodiments, which will not be repeated here.

[0075] 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, 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 of the embodiments of the first aspect of the present application. The controller applied to the machine tool in the embodiments of the present application at least has the technical effects of the machine tool control method in the foregoing embodiments, which will not be repeated here.

[0076] 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 as to adjust the acceleration of the column 10 during movement in real time in response to the change of the height of the spindle box 20 during the movement of the column 10 and the spindle box 20 at the same time.

[0077] 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 movement of the column 10. The machine tool in the embodiments of the present application at least has the technical effects of the machine tool control method or the controller in the foregoing embodiments, which will not be repeated here.

[0078] 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 1 ) relative to the column 10. It can be understood that the machine tool in the embodiments of the present application can also be other forms of machine tools.

[0079] 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, 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 of the embodiments of the first aspect of the present application.

[0080] For technical details not disclosed in the computer-readable storage medium embodiments involved in the present application, please refer to the description of any embodiment of the machine tool control method in 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.

[0081] Some embodiments of the sixth aspect of the present application provide a computer program product, which includes program instructions suitable for a processor to load to perform the steps in the machine tool control method according to any technical solution of the first aspect of the present application.

[0082] 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 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.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data processing device such as a server, data center, etc. containing one or more available media sets. 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.

[0083] The above-mentioned is only the preferred embodiment of the present application, of course, cannot limit the scope of the present application, therefore, the equivalent changes made according to the claims of the present application, still belongs to the scope covered by 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 set first functional relationship and a program code of a machining program, wherein the first functional relationship is a functional relationship between the acceleration of the column movement and the height of the spindle box; S140: Identifying the height range of the spindle box during the execution of the next program code of the machining program; S160: Acquire the maximum height of the spindle box in the height range, and determine the acceleration of the column movement according to the maximum height and the first functional relationship; S180: Using the determined acceleration of the column movement as the acceleration of the column movement process during the execution of the next section of program code, and generating a control instruction for driving the column to move.

2. The machine tool control method according to claim 1, wherein: The first functional relationship is a linear functional relationship within at least part of the height range, and the linear functional relationship is expressed as follows: every time the spindle box rises a certain height, the absolute value of the acceleration decreases by a certain proportion relative to the absolute value of a reference acceleration, and the reference acceleration is a preset acceleration of the movement process of the column when the spindle box is located at the lowest position of the column.

3. The machine tool control method according to claim 2, wherein: The S160 includes: S161: Comparing the height of the starting position of the spindle box with the height of the ending position of the spindle box; S162: If the two are at the same height, the acceleration of the column movement is determined based on the first functional relationship at the same height; if the two are not at the same height, the acceleration of the column movement is determined based on the first functional relationship at the height of the higher one.

4. The machine tool control method according to claim 3, characterized in that: S162 includes: If the higher of the height of the starting position of the spindle box and the height of the ending position of the spindle box is in the first height range, the acceleration of the column movement is a fixed value; if the higher of the height of the starting position of the spindle box and the height of the ending position of the spindle box is in the second height range, the first functional relationship is the linear functional relationship, wherein the height of the spindle box is divided into a first height range and a second height range, the first height range and the second height range are connected at a critical height value, and the height of the spindle box in the second height range is higher than the height of the spindle box in the first height range.

5. The machine tool control method according to claim 1, wherein: The S180 includes: S181: Divide the movement process of the column into n time periods, where n is a natural number not less than 2; S182: For each time period, substituting the maximum height of the spindle box during the time period into the first functional relationship to assign a value to the acceleration of the movement of the column during the time period; S183: Generate a control instruction for driving the movement of the column based on a preset second functional relationship, wherein the expression of the second functional relationship is a piecewise function of the real-time acceleration of the column during the movement process with respect to time, the segmentation points of the piecewise function are consistent with the segmentation points of the n time segments and the piecewise function is continuous at the segmentation points, and the absolute value of the maximum acceleration of the column movement in each segment of the piecewise function is not greater than the assigned value of the acceleration.

6. The machine tool control method according to any one of claims 1 to 5, characterized in that: Before S140, it also includes: reading the next program code of the machining program, and judging whether the machine tool is in a cutting state or a non-cutting state during the execution of the next program code; if it is in the cutting state, no value is assigned to the acceleration of the movement process of the column during the execution of the next program code.

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: The machine tool control system includes: an information acquisition module, configured to acquire a set first functional relationship and a program code of a machining program, wherein the first functional relationship is a functional relationship between the acceleration of the column movement and the height of the spindle box; A height information recognition module, used to identify the height interval of the spindle box during the execution of the next program code of the machining program; a column movement acceleration determination module, configured to obtain a maximum height of the spindle box within the height range, and determine the acceleration of the column movement according to the maximum height and the first functional relationship; The driving instruction generating module is used to use the determined acceleration of the movement of the column as the acceleration of the movement process of the column during the execution of the next section of program code, and generate a control instruction for driving the movement of the column.

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 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.

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