Control method and device of chain type tool magazine system and chain type tool magazine system

Abstract

The invention provides a control method and device of a chain type tool magazine system and a chain type tool magazine. The method comprises the steps that the load of a hydraulic supporting arm is obtained, the target load is obtained, the temperature of a shape memory alloy support is obtained, and the target temperature is obtained; under the condition that the target load is larger than or equal to a first threshold value or the target temperature is larger than or equal to a second threshold value, heat dissipation is conducted on the shape memory alloy support through the spiral heat dissipation channel till the target temperature is within a preset range, and the lower limit of the preset range is the phase change temperature of the shape memory alloy. The upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket; and under the condition that the target temperature is within the preset range, the cutter claw is controlled to work. The method solves the problems that in the prior art, when a tool magazine operates a high-load tool for a long time, mechanical fatigue is likely to be generated, the rigidity of a tool claw is reduced, and then the tool claw droops.

Description

Technical Field

[0001] This invention relates to the field of CNC machining center control technology, and more specifically, to a control method, device, computer-readable storage medium, and chain tool magazine system. Background Technology

[0002] As a tool changing device in CNC machining centers, the control accuracy of chain tool magazines directly affects the operating efficiency and machining accuracy of CNC machining centers. Traditional chain tool magazines use a gear-driven steel chain transmission structure. Due to the lack of dynamic support design at the drive end, the tool pawls are prone to sagging due to insufficient rigidity when operating high-load tools for a long time. Furthermore, because the center of gravity of high-load tools is relatively high and deviates from the original design of the tool pawls, uneven load on the tool pawls leads to accumulated mechanical fatigue, which in turn causes the tool pawls to loosen and sag.

[0003] Existing technologies address these issues through localized reinforcement or manual maintenance; however, due to their inherent lag, they cannot adapt to dynamic changes in load. In summary, existing chain-type tool magazines cannot guarantee stable operation under high-load, long-cycle conditions. Summary of the Invention

[0004] The main objective of this application is to provide a control method, device, computer-readable storage medium, and chain tool magazine system to at least solve the problem in the prior art where mechanical fatigue easily occurs when the tool magazine operates under high load for a long time, leading to a decrease in the rigidity of the tool pawl and consequently causing the tool pawl to droop.

[0005] To achieve the above objectives, according to one aspect of this application, a control method for a chain-type tool magazine system is provided. The chain-type tool magazine system includes a tool gripper and a hydraulic support arm. The hydraulic support arm internally includes a shape memory alloy bracket and a spiral heat dissipation channel. The method includes: acquiring the load of the hydraulic support arm to obtain a target load; acquiring the temperature of the shape memory alloy bracket to obtain a target temperature; when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, dissipating heat from the shape memory alloy bracket through the spiral heat dissipation channel until the target temperature is within a preset range, wherein the lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket; and controlling the tool gripper to perform operations when the target temperature is within the preset range.

[0006] Optionally, an electromagnetic counterweight is installed at the top of the chain-type tool magazine system. The electromagnetic counterweight is connected to an electromagnetic coil and a motor. The electromagnetic coil and motor drive the electromagnetic counterweight to move. When the target temperature is within a preset range, the tool grippers are controlled to perform operations, including: acquiring the center of gravity offset and load change rate of the chain-type tool magazine system; using a fuzzy PID control algorithm to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and load change rate, the compensation displacement being used to eliminate the center of gravity offset; determining the energizing current of the electromagnetic coil based on the compensation displacement to obtain the target current; determining the pulse frequency of the motor based on the compensation displacement to obtain the target frequency; controlling the electromagnetic coil based on the target current and controlling the motor to drive the electromagnetic counterweight to move based on the target frequency.

[0007] Optionally, controlling the tool gripper to perform operations further includes: acquiring historical fault data of the chain tool magazine system, each set of historical fault data including the fault type of the chain tool magazine system and the vibration spectrum, strain distribution, and thermal imaging data under the fault state; training a deep residual network using the historical fault data to obtain a fault probability prediction model; real-time acquisition of the current vibration spectrum, current strain distribution, and current thermal imaging data of the chain tool magazine system to obtain tool magazine operation data; inputting the tool magazine operation data into the fault probability prediction model to obtain the fault probability, and determining the corresponding confidence level based on the fault probability; controlling the tool gripper to perform operations when the fault probability is less than a third threshold and the confidence level corresponding to the fault probability is less than a fourth threshold.

[0008] Optionally, the vibration spectrum, strain distribution, and thermal imaging data of the chain tool magazine system are acquired in real time to obtain tool magazine operation data, including: acquiring the strain distribution of the chain tool magazine system to obtain a first strain distribution; querying a preset mapping relationship based on the target temperature to obtain a second strain distribution, where the preset mapping relationship is the mapping relationship between the target temperature and the strain distribution of the shape memory alloy under the target temperature; correcting the first strain distribution based on the second strain distribution to obtain the current strain distribution in the tool magazine operation data; acquiring the vibration spectrum of the chain tool magazine system to obtain an initial vibration spectrum; processing the initial vibration spectrum through wavelet transform to obtain the current vibration spectrum in the tool magazine operation data; and acquiring the current thermal imaging data of the chain tool magazine system to obtain the current thermal imaging data in the tool magazine operation data.

[0009] Optionally, a deep residual network is trained using historical fault data to obtain a fault probability prediction model, including: dividing the historical fault data into a first training set, a second training set, and a test set; training the deep residual network based on the first training set to obtain a first prediction model; freezing the preset number of layers in the first prediction model; optimizing the parameters of the first prediction model based on the second training set to obtain a second prediction model; inputting the test set into the second prediction model to obtain prediction results; determining the test accuracy based on the prediction results and the test set; and, if the test accuracy is greater than a fifth threshold, performing transfer training on the second prediction model based on tool magazine operation data to obtain a fault probability prediction model.

[0010] Optionally, the chain-type tool magazine system includes an oil lubrication system and an air lubrication system. After obtaining the load of the hydraulic support arm, obtaining the target load, obtaining the temperature of the shape memory alloy bracket, and obtaining the target temperature, the method further includes: when the target load is greater than or equal to a first threshold and the target temperature is greater than or equal to a second threshold, dissipating heat from the shape memory alloy bracket through a spiral heat dissipation channel and simultaneously controlling the oil lubrication system and the air lubrication system to lubricate the tool claws.

[0011] Optionally, a fuzzy PID control algorithm is used to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and the load change rate. This includes: mapping the center of gravity offset and the load change rate to corresponding fuzzy sets, and determining the corresponding fuzzy membership degrees based on the fuzzy sets; performing fuzzy inference based on fuzzy rules and fuzzy membership degrees to obtain fuzzy PID parameters; performing a defuzzification operation on the fuzzy PID parameters to obtain target PID parameters, and correcting the PID algorithm based on the target PID parameters; and using the corrected PID algorithm to determine the compensation displacement based on the center of gravity offset and the load change rate.

[0012] According to another aspect of this application, a control device for a chain-type tool magazine system is provided. The chain-type tool magazine system includes a tool gripper and a hydraulic support arm. The hydraulic support arm includes a shape memory alloy bracket and a spiral heat dissipation channel. The device includes: an acquisition unit for acquiring the load of the hydraulic support arm to obtain a target load, and acquiring the temperature of the shape memory alloy bracket to obtain a target temperature; a first control unit for dissipating heat from the shape memory alloy bracket through the spiral heat dissipation channel when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, until the target temperature is within a preset range, wherein the lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket; and a second control unit for controlling the tool gripper to perform operations when the target temperature is within the preset range.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0014] According to another aspect of this application, a chain-type tool magazine system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0015] Applying the technical solution of this application, in the control method of the above-mentioned chain-type tool magazine system, firstly, the load of the hydraulic support arm is obtained to obtain the target load, and the temperature of the shape memory alloy bracket is obtained to obtain the target temperature; then, when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, heat is dissipated from the shape memory alloy bracket through a spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket; finally, when the target temperature is within the preset range, the tool pawl is controlled to perform operations. This application adds a shape memory alloy bracket to the hydraulic support arm, which increases the bracket rigidity under the heat generated by high-load operation, preventing the tool pawl from sagging under high load. At the same time, this application also monitors the temperature of the bracket to prevent the bracket from losing its phase transition function due to excessive temperature, resulting in a decrease in rigidity. This solves the problem in the prior art where the tool magazine is prone to mechanical fatigue when operating high-load tools for a long time, leading to a decrease in the rigidity of the tool pawl and thus causing the tool pawl to sag. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a control method for a chain tool magazine system according to an embodiment of this application is shown.

[0017] Figure 2 A schematic diagram of a chain-type tool magazine system according to an embodiment of this application is shown;

[0018] Figure 3 A structural block diagram of a control device for a chain-type tool magazine system provided according to an embodiment of this application is shown.

[0019] The above figures include the following reference numerals:

[0020] 1. Cutting tool; 2. Claw; 3. Hydraulic support rod. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] As described in the background section, existing chain tool magazines cannot cope with stable operation under high load and long cycle conditions. To solve the problem that existing tool magazines are prone to mechanical fatigue when operating high load tools for a long time, which leads to a decrease in the rigidity of the tool pawl and consequently causes the tool pawl to droop, embodiments of this application provide a control method, device, computer-readable storage medium, and chain tool magazine system for a chain tool magazine system.

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] This embodiment provides a control method for a chain-type tool magazine system that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0027] Figure 1 This is a flowchart of a control method for a chain-type tool magazine system according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0028] Step S201: Obtain the load of the hydraulic support arm to obtain the target load; obtain the temperature of the shape memory alloy bracket to obtain the target temperature.

[0029] In one embodiment, such as Figure 2 As shown, the chain-type tool magazine of this application includes at least a tool 1, a tool claw 2, and a hydraulic support rod 3. The hydraulic support rod is installed at the connection between the tool claw and the chain, and its interior integrates a shape memory alloy bracket. The bracket has embedded micro-spiral heat dissipation channels and is connected to an external circulating coolant pipeline.

[0030] In a preferred embodiment, the spiral diameter of the spiral heat dissipation channel is (0.5-1mm). It is understood that the spiral diameter is optimized through fluid dynamics simulation. If it is too small, it is easy to get clogged, and if it is too large, it will easily lead to a decrease in heat conduction efficiency.

[0031] Specifically, sensors (such as pressure sensors and temperature sensors) integrated into key nodes of the chain-type tool magazine are used to monitor the load on the hydraulic support arm and the temperature of the SMA bracket in real time. These key nodes can be the tool jaw connection, bearings, gears, etc. Sensor data is transmitted to the edge computing gateway via a CAN bus. The edge computing gateway uses modern signal processing technologies, such as digital filtering, to ensure data accuracy and analyzes the target load and temperature according to a preset algorithm.

[0032] Step S202: When the target load is greater than or equal to the first threshold or the target temperature is greater than or equal to the second threshold, the shape memory alloy bracket is cooled by the spiral heat dissipation channel until the target temperature is within the preset range. The lower limit of the preset range is the phase change temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket.

[0033] Specifically, when the target load reaches the first threshold (e.g., 200kg) or the target temperature exceeds the second threshold (e.g., 80℃), the edge computing gateway triggers the cooling circulation pump to force cooling of the SMA bracket through the spiral heat dissipation channel.

[0034] The SMA support undergoes a phase change at temperatures ≥60℃, increasing the stiffness of the support arm by 20%–30% and suppressing claw sagging. Combined with a heat dissipation channel for rapid heat conduction, this ensures that the SMA material does not exceed the upper limit of its optimal temperature control range (e.g., 80℃).

[0035] Understandably, when the load is ≥200kg, the high load will cause the SMA support to heat up due to the accumulation of working heat. Initiating the cooling operation at this time is to maintain the SMA temperature above the phase change temperature and below the upper limit of the optimal temperature control range, ensuring the rigid support of the hydraulic support arm by the SMA material.

[0036] Furthermore, when the load is ≥200kg, the pressure of the hydraulic support arm can be increased to compensate for the deformation of the cutter claw or the support requirements under load conditions.

[0037] Step S203: When the target temperature is within the preset range, control the cutter to perform the operation.

[0038] Specifically, once the target temperature enters the preset range, the hydraulic system automatically adjusts the stiffness of the support arm according to the load size, and combined with the response characteristics of the SMA, provides the necessary stable support for the cutter claw and suppresses sagging.

[0039] In this embodiment, firstly, the load of the hydraulic support arm is obtained to obtain the target load, and the temperature of the shape memory alloy bracket is obtained to obtain the target temperature. Then, when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, the shape memory alloy bracket is cooled through a spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket. Finally, when the target temperature is within the preset range, the cutting jaw is controlled to perform operations. This application adds a shape memory alloy bracket to the hydraulic support arm, which increases the bracket rigidity under the heat generated by high-load operation, preventing the cutting jaw from sagging under high load. At the same time, this application also monitors the temperature of the bracket to prevent the bracket from losing its phase transition function due to excessive temperature, which would lead to a decrease in rigidity. This solves the problem in the prior art where the tool magazine is prone to mechanical fatigue when operating high-load tools for a long time, resulting in a decrease in the rigidity of the cutting jaw and thus causing the cutting jaw to sag.

[0040] To prevent the high center of gravity of a high-load tool from causing load imbalance, in an optional implementation, step S203 includes:

[0041] Step S20301: Obtain the center of gravity offset and load change rate of the chain tool magazine system;

[0042] Specifically, the electromagnetic counterweight is installed on the top of the tool magazine and is driven synchronously by the ball screw and chain to achieve displacement compensation of the counterweight (stroke ±50mm, accuracy ±0.01mm). The laser displacement sensor is installed at the key support point or center of gravity monitoring area of ​​the chain tool magazine to detect the offset of the tool magazine's center of gravity in real time. The load cell is installed at the key support point of the chain tool magazine to detect the load.

[0043] Step S20302: The fuzzy PID control algorithm is used to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and the load change rate. The compensation displacement is used to eliminate the center of gravity offset.

[0044] Specifically, one design of the above-mentioned fuzzy PID control algorithm is as follows:

[0045] The input variables are the center of gravity offset (e) and the load change rate (de / dt), and the linguistic variables are defined as "small", "medium", and "large".

[0046] Membership functions are trigonometric functions, and the boundary values ​​of linguistic variables are determined based on the dynamic characteristics of the system.

[0047] The output variables are the electromagnetic coil current (I) and the motor pulse frequency (f), which are also quantized and controlled using fuzzy logic rules.

[0048] Fuzzy logic rules are predefined through experiments. For example, when the center of gravity offset and the load change rate are both "large", the output current and frequency will increase accordingly, and vice versa.

[0049] The formula for fuzzy PID is: Where Kp, Ki, and Kd are the fuzzy-adjusted PID parameters.

[0050] Step S20303: Determine the current flowing through the electromagnetic coil based on the compensation displacement to obtain the target current; determine the pulse frequency of the motor based on the compensation displacement to obtain the target frequency.

[0051] Step S20304: Control the electromagnetic coil according to the target current and control the motor to drive the electromagnetic counterweight to move according to the target frequency.

[0052] Specifically, the electromagnetic coil and motor are controlled based on the target current (I) and target frequency (f) calculated using a fuzzy PID algorithm. Adjustments to the electromagnetic coil current result in changes in the electromagnetic force, which in turn drives the counterweight to shift on the lead screw, compensating for center-of-gravity offset within ±0.01mm. The motor's pulse frequency controls the counterweight's moving speed and precision, ensuring rapid response and stable control.

[0053] Through the above embodiments, by dynamically adjusting the electromagnetic counterweight, the tool magazine system can maintain a near-ideal center of gravity position even under complex working conditions of high load and rapid movement. This significantly reduces the mechanical stress on the tool magazine structure and prevents malfunctions such as chain twisting and tool exchange failures. Micron-level compensation accuracy (±0.01mm) ensures the positioning accuracy of the tool magazine during each tool exchange, improving the machining accuracy and production efficiency of the machining center.

[0054] In order to anticipate failures and reduce losses, in an optional implementation, step S203 above further includes:

[0055] Step S20305: Obtain historical fault data of the chain tool magazine system. Each set of historical fault data includes the fault type of the chain tool magazine system and the vibration spectrum, strain distribution and thermal imaging data under the fault state.

[0056] Specifically, fault records of the chain tool magazine are collected, including fault type, vibration spectrum at the time of fault occurrence, strain distribution, and thermal imaging data. Historical data are preprocessed, including missing value imputation, normalization, and feature selection, to improve the efficiency and accuracy of model training.

[0057] Step S20306: Train a deep residual network using historical fault data to obtain a fault probability prediction model;

[0058] Specifically, a deep residual network model is constructed, taking vibration spectrum, strain distribution, and thermal imaging data as inputs, and fault type and its probability as outputs. The model is trained using a historical fault dataset (approximately 5000 sets), and the network weights are adjusted through backpropagation to achieve the expected accuracy in predicting fault probabilities on multimodal data.

[0059] Step S20307: Real-time acquisition of the current vibration spectrum, current strain distribution and current thermal imaging data of the chain tool magazine system to obtain tool magazine operation data;

[0060] Specifically, the vibration, strain, and temperature information of the tool magazine during operation are monitored in real time to obtain the above-mentioned tool magazine operation data. The data acquisition frequency needs to match the model prediction cycle to ensure the timeliness of the data.

[0061] Step S20308: Input the tool magazine operation data into the fault probability prediction model to obtain the fault probability, and determine the corresponding confidence level based on the fault probability;

[0062] Specifically, the real-time collected vibration spectrum, strain distribution, and thermal imaging data are converted into a model-readable format and input into the trained fault probability prediction model. The model outputs the fault probability, which, combined with a confidence threshold (fourth threshold), determines the current fault risk level of the equipment. The confidence level reflects the reliability of the model's prediction results.

[0063] Step S20309: If the failure probability is less than the third threshold or the confidence level corresponding to the failure probability is less than the fourth threshold, control the cutter to perform the operation.

[0064] Specifically, if the failure probability is below the third threshold (e.g., 10%), it indicates that the current operating status is good and the cutter gripper operation can be carried out safely; otherwise, an early warning should be issued and the maintenance process should be initiated. If the confidence level is less than the fourth threshold (e.g., 70%), it means that the prediction result is unreliable, and in this case, the operation process should be initiated in order to ensure normal production.

[0065] Through the above embodiments, by predicting the failure probability of the tool magazine in real time, the system can issue timely alarms when early signs of failure appear, avoiding unexpected downtime and improving production continuity. Accurate fault warnings reduce unnecessary maintenance checks, avoiding economic losses caused by frequent downtime, and also extend the mean time between failures (MTBF) of the tool magazine system.

[0066] In order to obtain the above-mentioned tool magazine operation data, in an optional implementation, step S20306 includes:

[0067] Step S203071: Obtain the strain distribution of the chain tool magazine system to obtain the first strain distribution. Query the preset mapping relationship according to the target temperature to obtain the second strain distribution. The preset mapping relationship is the mapping relationship between the target temperature and the strain distribution of the shape memory alloy under the action of the target temperature.

[0068] Specifically, fiber optic strain sensors are used to monitor the strain distribution of the tool magazine support structure in real time, obtaining the first strain distribution data. Based on the experimental data, a mapping relationship between temperature and the strain distribution of the SMA at a specific temperature is established through temperature-strain nonlinear regression analysis, ensuring that the strain data accurately reflects the true state of the SMA structure under different temperature conditions. The second strain distribution data is obtained by querying the preset mapping relationship based on the real-time monitored target temperature.

[0069] Step S203072: Correct the first strain distribution according to the second strain distribution to obtain the current strain distribution in the tool magazine operation data;

[0070] Specifically, based on the second strain distribution, the first strain distribution data is corrected for temperature effects to obtain a strain distribution that is closer to the actual operating state, i.e., the current strain distribution in the tool magazine operating data.

[0071] Step S203073: Obtain the vibration spectrum of the chain tool magazine system to get the initial vibration spectrum. Process the initial vibration spectrum through wavelet transform to obtain the current vibration spectrum in the tool magazine operation data.

[0072] Specifically, a triaxial vibration sensor is used to capture vibration signals in real time during the tool magazine's operation, obtaining raw vibration spectrum data. By performing wavelet transform on the initial vibration spectrum, it can be decomposed into detail spectra and approximate spectra at multiple scales, thereby achieving filtering of high-frequency noise and accurate extraction of low-frequency vibration features. In the wavelet domain, threshold denoising is performed on the detail spectra to retain key vibration modes reflecting the health of the mechanical structure. Then, the vibration spectrum is reconstructed through inverse wavelet transform to obtain the current vibration spectrum in the tool magazine's operation data.

[0073] Step S203074: Obtain the current thermal imaging data of the chain tool magazine system to obtain the current thermal imaging data in the tool magazine operation data.

[0074] Specifically, infrared thermal imagers are used to acquire real-time temperature distribution images of key parts of the tool magazine system, obtaining thermal imaging data, which is directly used as one of the inputs to the fault prediction model to identify potential hot spots or areas with uneven temperature, which may be signs of early failures.

[0075] Through the above embodiments, strain distribution correction with temperature compensation eliminates the influence of temperature fluctuations on the measurement results, making strain monitoring more accurate and fault analysis more comprehensive. Wavelet transform processing of the vibration signal effectively eliminates background noise, highlights fault-related vibration characteristics, and improves the timeliness and reliability of fault early warning. By integrating real-time monitoring and processing of vibration spectrum, strain distribution, and thermal imaging data, the fault prediction model can identify potential fault signs earlier.

[0076] In order to train the failure probability prediction model, in one optional implementation, step S20306 above includes:

[0077] Step S203061: Divide the historical fault data into a first training set, a second training set, and a test set;

[0078] Specifically, the historical fault dataset of the chain tool magazine is preprocessed, including data cleaning and feature selection. The processed dataset is then divided into a first training set, a second training set, and a test set according to a certain proportion (e.g., 70%, 15%, 15%), to provide a data foundation for model training and validation.

[0079] Step S203062: Train a deep residual network based on the first training set to obtain a first prediction model, freeze the preset number of layers in the first prediction model, and optimize the parameters of the first prediction model based on the second training set to obtain a second prediction model.

[0080] Specifically, the initial ResNet network is trained using the first training set, and the network weights are adjusted using the backpropagation algorithm to obtain the first prediction model. The weights of the first few layers of the first prediction model are frozen (a preset number of layers, such as the first 5 layers). These layers are typically used to extract basic features and maintain their stability in subsequent training. The unfrozen layers of the first prediction model are fine-tuned using the second training set to optimize the parameters and more accurately fit the specific fault modes of the tool magazine system, resulting in the optimized second prediction model.

[0081] Step S203063: Input the test set into the second prediction model to obtain the prediction results, and determine the test accuracy based on the prediction results and the test set;

[0082] Specifically, the test set is input into the second prediction model to evaluate the model's generalization ability on unseen data and determine whether the test accuracy meets the fifth threshold (e.g., 90%), which serves as a model reliability indicator.

[0083] Step S203064: If the test accuracy is greater than the fifth threshold, the second prediction model is transferred and trained based on the tool magazine operation data to obtain the fault probability prediction model.

[0084] Specifically, after the test accuracy reaches the fifth threshold, the second prediction model is transferred and trained using real-time collected tool magazine operation data to adapt to the current operating environment and status changes of the tool magazine system. During the transfer training process, the model continuously adjusts its parameters to optimize its predictive ability on the latest dataset, ensuring that the model can accurately predict the failure probability of the tool magazine system in practical applications.

[0085] Through the above embodiments, by conducting phased training and testing, the model can better learn and understand the failure modes of the tool magazine system, significantly improving prediction accuracy and facilitating early fault warnings, thus reducing sudden failures. Freezing the basic feature layer and combining it with transfer learning strategies enables the model to not only perform well on the training set but also maintain high prediction accuracy on unseen test sets, achieving broad applicability to tool magazine system failures.

[0086] To reduce wear on the cutter jaws and cutting tools, in one optional embodiment, after obtaining the load on the hydraulic support arm, obtaining the target load, obtaining the temperature of the shape memory alloy bracket, and obtaining the target temperature, the method further includes:

[0087] In step S301, when the target load is greater than or equal to the first threshold and the target temperature is greater than or equal to the second threshold, the shape memory alloy support is cooled by the spiral heat dissipation channel, and the oil lubrication system and the air lubrication system are simultaneously controlled to lubricate the cutting claw.

[0088] Specifically, when the target load is greater than or equal to the first threshold and the target temperature is greater than or equal to the second threshold, it indicates that the cutter and SMA support are under high stress, requiring additional lubrication measures to prevent accelerated wear. Based on a comprehensive assessment of the load and temperature, the PLC controller simultaneously activates the oil lubrication system and the air lubrication system, forming a composite lubricating film by spraying a mixture of lubricating oil and compressed gas to cover the cutter and the connecting parts.

[0089] Through the above embodiments, combining the advantages of oil lubrication and air lubrication, not only can sufficient lubrication be provided, but the surface of the cutting jaws can also be effectively cleaned and cooled, significantly improving the lubrication efficiency and operational stability of the cutting jaws under extreme working conditions. The adaptive lubrication system reduces wear problems between the cutting jaws and the SMA support caused by insufficient lubrication, extends the replacement cycle of mechanical components, reduces maintenance costs, and improves the overall economic efficiency of the equipment.

[0090] To determine the aforementioned compensation displacement, in one optional implementation, step S20302 includes:

[0091] Step S203021: Map the center of gravity offset and load change rate to the corresponding fuzzy set, and determine the corresponding fuzzy membership degree based on the fuzzy set;

[0092] Specifically, the center of gravity offset E(t) and load change rate R(t) of the current tool magazine system are obtained, and these two physical quantities are mapped to the corresponding fuzzy sets by defining appropriate fuzzy sets (such as "small", "medium", and "large"). The membership degree of the center of gravity offset and load change rate for each fuzzy set is calculated. The membership degree is between 0 and 1, indicating the degree to which the physical quantity belongs to a certain fuzzy set.

[0093] Step S203022: Perform fuzzy inference based on fuzzy rules and fuzzy membership degrees to obtain fuzzy PID parameters;

[0094] Specifically, based on the specific working conditions and operational experience of the chain tool magazine, a set of fuzzy rules is predefined, such as: "If the center of gravity offset is large and the load change rate is also high, the PID parameters should be adjusted significantly to quickly compensate for the center of gravity." Fuzzy rules are applied for fuzzy inference, and through Max-Min synthesis, one-sided clipping, etc., combined with the fuzzy membership degree of the center of gravity offset and the load change rate, the fuzzy set of fuzzy PID parameters is determined.

[0095] Step S203023: Defuzzify the fuzzy PID parameters to obtain the target PID parameters, and then correct the PID algorithm based on the target PID parameters;

[0096] Specifically, the fuzzy PID parameters obtained from fuzzy inference are defuzzified and converted into specific values. This process often uses methods such as the centroid method and the weighted average method to obtain the target PID parameters. Then, the target PID parameters are substituted into the formula.

[0097] Step S203024: The modified PID algorithm is used to determine the compensation displacement based on the center of gravity offset and the load change rate.

[0098] Specifically, the modified PID algorithm outputs a compensation displacement ΔD(t) command for the electromagnetic counterweight based on the real-time center of gravity offset E(t) and load change rate R(t). The electromagnetic counterweight is driven by the ball screw to achieve real-time center of gravity adjustment.

[0099] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0100] This application also provides a control device for a chain-type tool magazine system. It should be noted that the control device for the chain-type tool magazine system in this application can be used to execute the control method for the chain-type tool magazine system provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0101] The control device of the chain tool magazine system provided in the embodiments of this application is described below.

[0102] Figure 3 This is a structural block diagram of the control device for a chain-type tool magazine system according to an embodiment of this application. Figure 3 As shown, the device includes:

[0103] The acquisition unit 10 is used to acquire the load of the hydraulic support arm to obtain the target load, and to acquire the temperature of the shape memory alloy bracket to obtain the target temperature.

[0104] In one embodiment, such as Figure 2 As shown, the chain-type tool magazine of this application includes at least a tool 1, a tool claw 2, and a hydraulic support rod 3. The hydraulic support rod is installed at the connection between the tool claw and the chain, and its interior integrates a shape memory alloy bracket. The bracket has embedded micro-spiral heat dissipation channels and is connected to an external circulating coolant pipeline.

[0105] In a preferred embodiment, the spiral diameter of the spiral heat dissipation channel is (0.5-1mm). It is understood that the spiral diameter is optimized through fluid dynamics simulation. If it is too small, it is easy to get clogged, and if it is too large, it will easily lead to a decrease in heat conduction efficiency.

[0106] Specifically, sensors (such as pressure sensors and temperature sensors) integrated into key nodes of the chain-type tool magazine are used to monitor the load on the hydraulic support arm and the temperature of the SMA bracket in real time. These key nodes can be the tool jaw connection, bearings, gears, etc. Sensor data is transmitted to the edge computing gateway via a CAN bus. The edge computing gateway uses modern signal processing technologies, such as digital filtering, to ensure data accuracy and analyzes the target load and temperature according to a preset algorithm.

[0107] The first control unit 20 is used to dissipate heat from the shape memory alloy bracket through a spiral heat dissipation channel when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket.

[0108] Specifically, when the target load reaches the first threshold (e.g., 200kg) or the target temperature exceeds the second threshold (e.g., 80℃), the edge computing gateway triggers the cooling circulation pump to force cooling of the SMA bracket through the spiral heat dissipation channel.

[0109] The SMA support undergoes a phase change at temperatures ≥60℃, increasing the stiffness of the support arm by 20%–30% and suppressing claw sagging. Combined with a heat dissipation channel for rapid heat conduction, this ensures that the SMA material does not exceed the upper limit of its optimal temperature control range (e.g., 80℃).

[0110] Understandably, when the load is ≥200kg, the high load will cause the SMA support to heat up due to the accumulation of working heat. Initiating the cooling operation at this time is to maintain the SMA temperature above the phase change temperature and below the upper limit of the optimal temperature control range, ensuring the rigid support of the hydraulic support arm by the SMA material.

[0111] Furthermore, when the load is ≥200kg, the pressure of the hydraulic support arm can be increased to compensate for the deformation of the cutter claw or the support requirements under load conditions.

[0112] The second control unit 30 is used to control the cutting jaws to perform operations when the target temperature is within a preset range.

[0113] Specifically, once the target temperature enters the preset range, the hydraulic system automatically adjusts the stiffness of the support arm according to the load size, and combined with the response characteristics of the SMA, provides the necessary stable support for the cutter claw and suppresses sagging.

[0114] In this embodiment, the acquisition unit acquires the load of the hydraulic support arm to obtain the target load, and acquires the temperature of the shape memory alloy bracket to obtain the target temperature. When the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, the first control unit dissipates heat from the shape memory alloy bracket through a spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket. When the target temperature is within the preset range, the second control unit controls the cutting jaws to perform operations. This application adds a shape memory alloy bracket to the hydraulic support arm, which increases the bracket rigidity under the heat generated during high-load operation, preventing the cutting jaws from sagging under high load. Simultaneously, this application also monitors the bracket temperature to prevent excessively high temperatures from causing the bracket to lose its phase transition function, leading to a decrease in rigidity. This solves the problem in the prior art where tool magazines easily experience mechanical fatigue during long-term operation with high-load tools, resulting in decreased cutting jaw rigidity and subsequent cutting jaw sagging.

[0115] To prevent uneven load distribution caused by the high center of gravity of a high-load tool, in one optional embodiment, the second control unit includes:

[0116] The first acquisition module is used to acquire the center of gravity offset and load change rate of the chain tool magazine system.

[0117] Specifically, the electromagnetic counterweight is installed on the top of the tool magazine and is driven synchronously by the ball screw and chain to achieve displacement compensation of the counterweight (stroke ±50mm, accuracy ±0.01mm). The laser displacement sensor is installed at the key support point or center of gravity monitoring area of ​​the chain tool magazine to detect the offset of the tool magazine's center of gravity in real time. The load cell is installed at the key support point of the chain tool magazine to detect the load.

[0118] The first calculation module is used to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and the load change rate using a fuzzy PID control algorithm. The compensation displacement is used to eliminate the center of gravity offset.

[0119] Specifically, one design of the above-mentioned fuzzy PID control algorithm is as follows:

[0120] The input variables are the center of gravity offset (e) and the load change rate (de / dt), and the linguistic variables are defined as "small", "medium", and "large".

[0121] Membership functions are trigonometric functions, and the boundary values ​​of linguistic variables are determined based on the dynamic characteristics of the system.

[0122] The output variables are the electromagnetic coil current (I) and the motor pulse frequency (f), which are also quantized and controlled using fuzzy logic rules.

[0123] Fuzzy logic rules are predefined through experiments. For example, when the center of gravity offset and the load change rate are both "large", the output current and frequency will increase accordingly, and vice versa.

[0124] The formula for fuzzy PID is: Where Kp, Ki, and Kd are the fuzzy-adjusted PID parameters.

[0125] The second calculation module is used to determine the current flowing through the electromagnetic coil based on the compensation displacement to obtain the target current, and to determine the pulse frequency of the motor based on the compensation displacement to obtain the target frequency.

[0126] The first control module is used to control the electromagnetic coil according to the target current and to control the motor to drive the electromagnetic counterweight to move according to the target frequency.

[0127] Specifically, the electromagnetic coil and motor are controlled based on the target current (I) and target frequency (f) calculated using a fuzzy PID algorithm. Adjustments to the electromagnetic coil current result in changes in the electromagnetic force, which in turn drives the counterweight to shift on the lead screw, compensating for center-of-gravity offset within ±0.01mm. The motor's pulse frequency controls the counterweight's moving speed and precision, ensuring rapid response and stable control.

[0128] Through the above embodiments, by dynamically adjusting the electromagnetic counterweight, the tool magazine system can maintain a near-ideal center of gravity position even under complex working conditions of high load and rapid movement. This significantly reduces the mechanical stress on the tool magazine structure and prevents malfunctions such as chain twisting and tool exchange failures. Micron-level compensation accuracy (±0.01mm) ensures the positioning accuracy of the tool magazine during each tool exchange, improving the machining accuracy and production efficiency of the machining center.

[0129] To anticipate malfunctions and reduce losses, in one optional implementation, the second control unit further includes:

[0130] The second acquisition module is used to acquire historical fault data of the chain tool magazine system. Each set of historical fault data includes the fault type of the chain tool magazine system and the vibration spectrum, strain distribution and thermal imaging data under the fault state.

[0131] Specifically, fault records of the chain tool magazine are collected, including fault type, vibration spectrum at the time of fault occurrence, strain distribution, and thermal imaging data. Historical data are preprocessed, including missing value imputation, normalization, and feature selection, to improve the efficiency and accuracy of model training.

[0132] The training module is used to train a deep residual network using historical fault data to obtain a fault probability prediction model.

[0133] Specifically, a deep residual network model is constructed, taking vibration spectrum, strain distribution, and thermal imaging data as inputs, and fault type and its probability as outputs. The model is trained using a historical fault dataset (approximately 5000 sets), and the network weights are adjusted through backpropagation to achieve the expected accuracy in predicting fault probabilities on multimodal data.

[0134] The third acquisition module is used to collect the current vibration spectrum, current strain distribution and current thermal imaging data of the chain tool magazine system in real time to obtain tool magazine operation data.

[0135] Specifically, the vibration, strain, and temperature information of the tool magazine during operation are monitored in real time to obtain the above-mentioned tool magazine operation data. The data acquisition frequency needs to match the model prediction cycle to ensure the timeliness of the data.

[0136] The input module is used to input tool magazine operation data into the fault probability prediction model to obtain the fault probability, and determine the corresponding confidence level based on the fault probability;

[0137] Specifically, the real-time collected vibration spectrum, strain distribution, and thermal imaging data are converted into a model-readable format and input into the trained fault probability prediction model. The model outputs the fault probability, which, combined with a confidence threshold (fourth threshold), determines the current fault risk level of the equipment. The confidence level reflects the reliability of the model's prediction results.

[0138] The second control module is used to control the cutter to perform operations when the failure probability is less than the third threshold or the confidence level corresponding to the failure probability is less than the fourth threshold.

[0139] Specifically, if the failure probability is below the third threshold (e.g., 10%), it indicates that the current operating status is good and the cutter gripper operation can be carried out safely; otherwise, an early warning should be issued and the maintenance process should be initiated. If the confidence level is less than the fourth threshold (e.g., 70%), it means that the prediction result is unreliable, and in this case, the operation process should be initiated in order to ensure normal production.

[0140] Through the above embodiments, by predicting the failure probability of the tool magazine in real time, the system can issue timely alarms when early signs of failure appear, avoiding unexpected downtime and improving production continuity. Accurate fault warnings reduce unnecessary maintenance checks, avoiding economic losses caused by frequent downtime, and also extend the mean time between failures (MTBF) of the tool magazine system.

[0141] In order to obtain the aforementioned tool magazine operation data, in one optional implementation, the third acquisition module includes:

[0142] The first acquisition submodule is used to acquire the strain distribution of the chain tool magazine system, obtain the first strain distribution, and query the preset mapping relationship according to the target temperature to obtain the second strain distribution. The preset mapping relationship is the mapping relationship between the target temperature and the strain distribution of the shape memory alloy under the action of the target temperature.

[0143] Specifically, fiber optic strain sensors are used to monitor the strain distribution of the tool magazine support structure in real time, obtaining the first strain distribution data. Based on the experimental data, a mapping relationship between temperature and the strain distribution of the SMA at a specific temperature is established through temperature-strain nonlinear regression analysis, ensuring that the strain data accurately reflects the true state of the SMA structure under different temperature conditions. The second strain distribution data is obtained by querying the preset mapping relationship based on the real-time monitored target temperature.

[0144] The processing submodule is used to correct the first strain distribution based on the second strain distribution to obtain the current strain distribution in the tool magazine operation data;

[0145] Specifically, based on the second strain distribution, the first strain distribution data is corrected for temperature effects to obtain a strain distribution that is closer to the actual operating state, i.e., the current strain distribution in the tool magazine operating data.

[0146] The second acquisition submodule is used to acquire the vibration spectrum of the chain tool magazine system, obtain the initial vibration spectrum, and process the initial vibration spectrum through wavelet transform to obtain the current vibration spectrum in the tool magazine operation data;

[0147] Specifically, a triaxial vibration sensor is used to capture vibration signals in real time during the tool magazine's operation, obtaining raw vibration spectrum data. By performing wavelet transform on the initial vibration spectrum, it can be decomposed into detail spectra and approximate spectra at multiple scales, thereby achieving filtering of high-frequency noise and accurate extraction of low-frequency vibration features. In the wavelet domain, threshold denoising is performed on the detail spectra to retain key vibration modes reflecting the health of the mechanical structure. Then, the vibration spectrum is reconstructed through inverse wavelet transform to obtain the current vibration spectrum in the tool magazine's operation data.

[0148] The third acquisition submodule is used to acquire the current thermal imaging data of the chain tool magazine system and obtain the current thermal imaging data in the tool magazine operation data.

[0149] Specifically, infrared thermal imagers are used to acquire real-time temperature distribution images of key parts of the tool magazine system, obtaining thermal imaging data, which is directly used as one of the inputs to the fault prediction model to identify potential hot spots or areas with uneven temperature, which may be signs of early failures.

[0150] Through the above embodiments, strain distribution correction with temperature compensation eliminates the influence of temperature fluctuations on the measurement results, making strain monitoring more accurate and fault analysis more comprehensive. Wavelet transform processing of the vibration signal effectively eliminates background noise, highlights fault-related vibration characteristics, and improves the timeliness and reliability of fault early warning. By integrating real-time monitoring and processing of vibration spectrum, strain distribution, and thermal imaging data, the fault prediction model can identify potential fault signs earlier.

[0151] To train the failure probability prediction model, in one optional implementation, the training module includes:

[0152] The processing submodule is used to divide historical fault data into a first training set, a second training set, and a test set;

[0153] Specifically, the historical fault dataset of the chain tool magazine is preprocessed, including data cleaning and feature selection. The processed dataset is then divided into a first training set, a second training set, and a test set according to a certain proportion (e.g., 70%, 15%, 15%), to provide a data foundation for model training and validation.

[0154] The first training submodule is used to train a deep residual network based on the first training set to obtain a first prediction model, freeze the preset number of layers in the first prediction model, and optimize the parameters of the first prediction model based on the second training set to obtain a second prediction model.

[0155] Specifically, the initial ResNet network is trained using the first training set, and the network weights are adjusted using the backpropagation algorithm to obtain the first prediction model. The weights of the first few layers of the first prediction model are frozen (a preset number of layers, such as the first 5 layers). These layers are typically used to extract basic features and maintain their stability in subsequent training. The unfrozen layers of the first prediction model are fine-tuned using the second training set to optimize the parameters and more accurately fit the specific fault modes of the tool magazine system, resulting in the optimized second prediction model.

[0156] The second training submodule is used to input the test set into the second prediction model, obtain the prediction results, and determine the test accuracy based on the prediction results and the test set.

[0157] Specifically, the test set is input into the second prediction model to evaluate the model's generalization ability on unseen data and determine whether the test accuracy meets the fifth threshold (e.g., 90%), which serves as a model reliability indicator.

[0158] The third training submodule is used to perform transfer training on the second prediction model based on tool magazine operation data when the test accuracy is greater than the fifth threshold, so as to obtain the failure probability prediction model.

[0159] Specifically, after the test accuracy reaches the fifth threshold, the second prediction model is transferred and trained using real-time collected tool magazine operation data to adapt to the current operating environment and status changes of the tool magazine system. During the transfer training process, the model continuously adjusts its parameters to optimize its predictive ability on the latest dataset, ensuring that the model can accurately predict the failure probability of the tool magazine system in practical applications.

[0160] Through the above embodiments, by conducting phased training and testing, the model can better learn and understand the failure modes of the tool magazine system, significantly improving prediction accuracy and facilitating early fault warnings, thus reducing sudden failures. Freezing the basic feature layer and combining it with transfer learning strategies enables the model to not only perform well on the training set but also maintain high prediction accuracy on unseen test sets, achieving broad applicability to tool magazine system failures.

[0161] To reduce wear on the claws and cutting tools, in one optional embodiment, the device further includes:

[0162] The third control unit is used to obtain the load of the hydraulic support arm, obtain the target load, obtain the temperature of the shape memory alloy bracket, and obtain the target temperature. When the target load is greater than or equal to the first threshold and the target temperature is greater than or equal to the second threshold, it dissipates heat from the shape memory alloy bracket through the spiral heat dissipation channel and simultaneously controls the oil lubrication system and the air lubrication system to lubricate the cutting claw.

[0163] Specifically, when the target load is greater than or equal to the first threshold and the target temperature is greater than or equal to the second threshold, it indicates that the cutter and SMA support are under high stress, requiring additional lubrication measures to prevent accelerated wear. Based on a comprehensive assessment of the load and temperature, the PLC controller simultaneously activates the oil lubrication system and the air lubrication system, forming a composite lubricating film by spraying a mixture of lubricating oil and compressed gas to cover the cutter and the connecting parts.

[0164] Through the above embodiments, combining the advantages of oil lubrication and air lubrication, not only can sufficient lubrication be provided, but the surface of the cutting jaws can also be effectively cleaned and cooled, significantly improving the lubrication efficiency and operational stability of the cutting jaws under extreme working conditions. The adaptive lubrication system reduces wear problems between the cutting jaws and the SMA support caused by insufficient lubrication, extends the replacement cycle of mechanical components, reduces maintenance costs, and improves the overall economic efficiency of the equipment.

[0165] To determine the aforementioned compensation displacement, in one optional implementation, the first calculation module includes:

[0166] The first processing submodule is used to map the center of gravity offset and load change rate to the corresponding fuzzy set, and determine the corresponding fuzzy membership degree based on the fuzzy set;

[0167] Specifically, the center of gravity offset E(t) and load change rate R(t) of the current tool magazine system are obtained, and these two physical quantities are mapped to the corresponding fuzzy sets by defining appropriate fuzzy sets (such as "small", "medium", and "large"). The membership degree of the center of gravity offset and load change rate for each fuzzy set is calculated. The membership degree is between 0 and 1, indicating the degree to which the physical quantity belongs to a certain fuzzy set.

[0168] The second processing submodule is used to perform fuzzy inference based on fuzzy rules and fuzzy membership degrees to obtain fuzzy PID parameters;

[0169] Specifically, based on the specific working conditions and operational experience of the chain tool magazine, a set of fuzzy rules is predefined, such as: "If the center of gravity offset is large and the load change rate is also high, the PID parameters should be adjusted significantly to quickly compensate for the center of gravity." Fuzzy rules are applied for fuzzy inference, and through Max-Min synthesis, one-sided clipping, etc., combined with the fuzzy membership degree of the center of gravity offset and the load change rate, the fuzzy set of fuzzy PID parameters is determined.

[0170] The third processing submodule is used to defuzzify the fuzzy PID parameters to obtain the target PID parameters, and then correct the PID algorithm based on the target PID parameters.

[0171] Specifically, the fuzzy PID parameters obtained from fuzzy inference are defuzzified and converted into specific values. This process often uses methods such as the centroid method and the weighted average method to obtain the target PID parameters. Then, the target PID parameters are substituted into the formula.

[0172] The fourth processing submodule is used to determine the compensation displacement based on the center of gravity offset and the load change rate using a modified PID algorithm.

[0173] Specifically, the modified PID algorithm outputs a compensation displacement ΔD(t) command for the electromagnetic counterweight based on the real-time center of gravity offset E(t) and load change rate R(t). The electromagnetic counterweight is driven by the ball screw to achieve real-time center of gravity adjustment.

[0174] The control device of the aforementioned chain-type tool magazine system includes a processor and a memory. The aforementioned acquisition unit, first control unit, and second control unit are all stored as program units in the memory, and the processor executes the aforementioned program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0175] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can improve the machining accuracy of the chain tool magazine system.

[0176] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0177] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the chain tool magazine system.

[0178] This invention provides a processor for running a program, wherein the program executes the control method of the chain tool magazine system.

[0179] This invention provides a chain tool magazine system, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the steps of a control method for the chain tool magazine system.

[0180] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform the steps of initializing a control method having at least a chain-type tool magazine system.

[0181] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0182] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0183] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0184] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0185] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0186] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0187] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0188] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0189] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0190] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0191] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0192] 1) The control method of the chain-type tool magazine system of this application firstly obtains the load of the hydraulic support arm to obtain the target load, and obtains the temperature of the shape memory alloy bracket to obtain the target temperature; then, when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, the shape memory alloy bracket is cooled through a spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket; finally, when the target temperature is within the preset range, the tool pawl is controlled to perform operations. This application adds a shape memory alloy bracket to the hydraulic support arm, which increases the rigidity of the bracket under the heat generated by high-load operation, preventing the tool pawl from sagging under high load. At the same time, this application also monitors the temperature of the bracket to prevent the bracket from losing its phase transition function due to excessive temperature, resulting in a decrease in rigidity. This solves the problem in the prior art where the tool magazine is prone to mechanical fatigue when operating high-load tools for a long time, leading to a decrease in the rigidity of the tool pawl and thus causing the tool pawl to sag.

[0193] 2) The control device of the chain-type tool magazine system of this application acquires the load of the hydraulic support arm to obtain the target load and the temperature of the shape memory alloy bracket to obtain the target temperature. When the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, the first control unit dissipates heat from the shape memory alloy bracket through a spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket. When the target temperature is within the preset range, the second control unit controls the cutting jaws to perform operations. This application adds a shape memory alloy bracket to the hydraulic support arm, which increases the bracket rigidity under the heat generated during high-load operation, preventing the cutting jaws from sagging under high load. Simultaneously, this application also monitors the bracket temperature to prevent excessively high temperatures from causing the bracket to lose its phase transition function, leading to a decrease in rigidity. This solves the problem in the prior art where tool magazines easily experience mechanical fatigue during long-term operation with high-load tools, resulting in decreased cutting jaw rigidity and subsequent cutting jaw sagging.

[0194] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a chain-type tool magazine system, characterized in that, The chain-type tool magazine system includes a tool gripper and a hydraulic support arm. The hydraulic support arm internally includes a shape memory alloy bracket and a spiral heat dissipation channel, comprising: The load on the hydraulic support arm is obtained to obtain the target load, and the temperature of the shape memory alloy bracket is obtained to obtain the target temperature; When the target load is greater than or equal to the first threshold or the target temperature is greater than or equal to the second threshold, the shape memory alloy bracket is cooled through the spiral heat dissipation channel until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket. When the target temperature is within the preset range, the cutting jaws are controlled to perform operations.

2. The method according to claim 1, characterized in that, An electromagnetic counterweight is installed at the top of the chain-type tool magazine system. The electromagnetic counterweight is connected to an electromagnetic coil and a motor. The electromagnetic coil and the motor drive the electromagnetic counterweight to move. When the target temperature is within the preset range, the system controls the cutting claw to perform operations, including: Obtain the center of gravity offset and load change rate of the chain tool magazine system; A fuzzy PID control algorithm is used to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and the load change rate. The compensation displacement is used to eliminate the center of gravity offset. The current flowing through the electromagnetic coil is determined based on the compensated displacement to obtain the target current; the pulse frequency of the motor is determined based on the compensated displacement to obtain the target frequency. The electromagnetic coil is controlled according to the target current, and the motor is controlled according to the target frequency to drive the electromagnetic counterweight to move.

3. The method according to claim 1, characterized in that, The control of the cutting jaws to perform operations also includes: Acquire historical fault data of the chain tool magazine system. Each set of historical fault data includes the fault type of the chain tool magazine system and the vibration spectrum, strain distribution and thermal imaging data under the fault state. A deep residual network was trained using historical fault data to obtain a fault probability prediction model; The current vibration spectrum, current strain distribution and current thermal imaging data of the chain tool magazine system are collected in real time to obtain tool magazine operation data; The tool magazine operation data is input into the fault probability prediction model to obtain the fault probability, and the corresponding confidence level is determined based on the fault probability. If the failure probability is less than a third threshold or the confidence level corresponding to the failure probability is less than a fourth threshold, the cutter is controlled to perform the operation.

4. The method according to claim 3, characterized in that, Real-time acquisition of vibration spectrum, strain distribution, and thermal imaging data of the chain-type tool magazine system yields tool magazine operation data, including: The strain distribution of the chain tool magazine system is obtained to obtain a first strain distribution. A preset mapping relationship is queried according to the target temperature to obtain a second strain distribution. The preset mapping relationship is the mapping relationship between the target temperature and the strain distribution of the shape memory alloy under the action of the target temperature. The first strain distribution is corrected based on the second strain distribution to obtain the current strain distribution in the tool magazine operation data; The vibration spectrum of the chain tool magazine system is obtained to get the initial vibration spectrum. The initial vibration spectrum is then processed by wavelet transform to obtain the current vibration spectrum in the tool magazine operation data. Obtain the current thermal imaging data of the chain tool magazine system to obtain the current thermal imaging data in the tool magazine operation data.

5. The method according to claim 3, characterized in that, A deep residual network is trained using historical fault data to obtain a fault probability prediction model, including: The historical fault data is divided into a first training set, a second training set, and a test set; The deep residual network is trained according to the first training set to obtain a first prediction model. The number of layers in the first prediction model is frozen. The parameters of the first prediction model are optimized according to the second training set to obtain a second prediction model. The test set is input into the second prediction model to obtain the prediction result, and the test accuracy is determined based on the prediction result and the test set. If the test accuracy is greater than the fifth threshold, the second prediction model is transferred and trained based on the tool magazine operation data to obtain the failure probability prediction model.

6. The method according to claim 1, characterized in that, The chain-type tool magazine system includes an oil lubrication system and an air lubrication system. After obtaining the load of the hydraulic support arm to obtain the target load, and obtaining the temperature of the shape memory alloy bracket to obtain the target temperature, the method further includes: When the target load is greater than or equal to the first threshold and the target temperature is greater than or equal to the second threshold, the shape memory alloy bracket is cooled by the spiral heat dissipation channel, and the oil lubrication system and the air lubrication system are simultaneously controlled to lubricate the cutting claw.

7. The method according to claim 2, characterized in that, The fuzzy PID control algorithm is used to determine the compensation displacement of the electromagnetic counterweight based on the center of gravity offset and the load change rate, including: The center of gravity offset and the load change rate are mapped to the corresponding fuzzy sets, and the corresponding fuzzy membership degree is determined based on the fuzzy sets; Fuzzy inference is performed based on fuzzy rules and the fuzzy membership degree to obtain fuzzy PID parameters; The fuzzy PID parameters are defuzzified to obtain the target PID parameters, and the PID algorithm is corrected based on the target PID parameters. The modified PID algorithm is used to determine the compensation displacement based on the center of gravity offset and the load change rate.

8. A control device for a chain-type tool magazine system, characterized in that, The chain-type tool magazine system includes a tool gripper and a hydraulic support arm. The hydraulic support arm internally includes a shape memory alloy bracket and a spiral heat dissipation channel. The device includes: The acquisition unit is used to acquire the load of the hydraulic support arm to obtain the target load, and to acquire the temperature of the shape memory alloy bracket to obtain the target temperature. The first control unit is used to dissipate heat from the shape memory alloy bracket through the spiral heat dissipation channel when the target load is greater than or equal to a first threshold or the target temperature is greater than or equal to a second threshold, until the target temperature is within a preset range. The lower limit of the preset range is the phase transition temperature of the shape memory alloy, and the upper limit of the preset range is the upper limit temperature for maintaining the rigidity of the shape memory alloy bracket. The second control unit is used to control the cutting claw to perform operations when the target temperature is within the preset range.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A chain-type tool magazine system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 7.

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