Machine tool linkage control method and system for part machining

Abstract

The invention provides a machine tool linkage control method and system for part machining, and relates to the technical field of machine tool control, and the method comprises the steps: obtaining the operation monitoring data of a first machine tool when the first machine tool reaches a preset execution node, and analyzing a movement track, a machining angle position and part evaluation parameters; meanwhile, operation monitoring data of a second machine tool are obtained, and the machining state, the clamp operation position and the clamp angle are analyzed; and linkage time window and linkage clamp angle alignment strategy analysis is carried out with the minimum linkage connection time window, position alignment and machining precision maximization as targets, linkage control parameters are obtained, and the linkage control parameters comprise the first machine tool control parameter and the second machine tool control parameter. The multi-machine-tool linkage control method solves the technical problems that most of multi-machine-tool linkage control methods in the prior art depend on a preset time window, a fixed coordinate system or simple mechanical linkage, large machining errors are possibly generated in the actual cooperative machining process of machine tools, and then the product quality is affected.

Description

Technical Field

[0001] This invention relates to the field of machine tool control technology, and more specifically to a machine tool linkage control method and system for parts processing. Background Technology

[0002] The application of machine tool linkage control mainly focuses on improving the coordination and synchronization between multiple machine tools to achieve multi-process, high-efficiency, and high-precision machining tasks. Existing machine tool linkage control technologies can be broadly categorized as follows: Mechanical transmission control, which typically controls the linkage between machine tools directly through mechanical connections or servo systems. This method requires complex mechanical and electrical control systems, resulting in poor system flexibility and often issues with mechanical wear and reliability. Time-based linkage control, which typically schedules machine tool operations through preset time windows. This method is effective for simple tasks within a short timeframe, but falls short for high-precision, high-complexity multi-machine tool collaborative machining, easily leading to inaccurate collaboration between machine tools and affecting machining quality. Position-based linkage control, which typically coordinates machining tasks by adjusting the coordinate position of the machine tools or fixture docking. This method usually relies on a fixed coordinate system but cannot adapt to dynamic changes in the machine tool state during machining, resulting in uncertainty in position docking. Summary of the Invention

[0003] This application provides a machine tool linkage control method and system for parts processing, aiming to solve the technical problem that most existing multi-machine tool linkage control methods rely on preset time windows, fixed coordinate systems or simple mechanical linkages, which may lead to large processing errors in the actual collaborative processing of machine tools, thereby affecting product quality.

[0004] The first aspect disclosed in this application provides a machine tool linkage control method for parts processing. The method includes: when a first machine tool reaches a preset execution node, acquiring the operation monitoring data of the first machine tool and analyzing the movement trajectory, machining angle position, and parts evaluation parameters of the first machine tool; simultaneously acquiring the operation monitoring data of a second machine tool and analyzing the machining state, fixture running position, and fixture angle of the second machine tool, wherein the first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent process of the first machine tool; based on the movement trajectory, machining angle position, and parts evaluation parameters of the first machine tool and the machining state, fixture running position, and fixture angle of the second machine tool, performing linkage time window and linkage fixture angle alignment strategy analysis with the objectives of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, and obtaining linkage control parameters, wherein the linkage control parameters include control parameters of the first machine tool and control parameters of the second machine tool.

[0005] The second aspect of this application discloses a machine tool linkage control system for parts processing. The system is used in the aforementioned machine tool linkage control method for parts processing. The system includes: a first data analysis module, used to acquire the operation monitoring data of the first machine tool when it reaches a preset execution node, and analyze the movement trajectory, machining angle position, and parts evaluation parameters of the first machine tool; a second data analysis module, used to acquire the operation monitoring data of the second machine tool simultaneously with the acquisition of the operation monitoring data of the first machine tool, and analyze the machining state, fixture running position, and fixture angle of the second machine tool, wherein the first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent operation of the first machine tool; and a linkage control parameter acquisition module, used to perform linkage time window and linkage fixture angle alignment strategy analysis based on the movement trajectory, machining angle position, and parts evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool, with the objectives of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, to obtain linkage control parameters, wherein the linkage control parameters include control parameters of the first machine tool and control parameters of the second machine tool.

[0006] One or more technical solutions provided in this application have at least the following beneficial effects: By acquiring and analyzing the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool when it reaches the preset execution node, the working status and machining accuracy of the machine tool can be determined in real time, avoiding machining errors caused by position and angle deviations. Simultaneously, the operation monitoring data of the second machine tool is acquired and analyzed in real time to obtain the machining status, fixture position, and fixture angle, ensuring that the parts processed by the first machine tool can be accurately and timely transferred to the second machine tool, avoiding component transfer and docking errors, and improving production efficiency and accuracy. Through analysis of the linkage time window and linkage fixture angle alignment strategy with the objectives of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, optimizations are obtained. The linkage control parameters include control parameters for the first machine tool and the second machine tool. Minimizing the linkage connection time window between the machine tools can reduce machine tool idle time to the greatest extent, improving overall processing efficiency. Precise control of the processing rhythm of the two machine tools avoids wasted time due to machine tool waiting. Maximizing position alignment ensures the docking accuracy of the two machine tools throughout the processing, thereby reducing errors caused by inaccurate positioning. This is crucial for multi-machine tool collaborative processing and multi-process processing, significantly improving product quality. By maximizing processing accuracy, efficient collaboration between the first and second machine tools is ensured throughout the processing, avoiding component quality problems caused by insufficient processing accuracy and improving product consistency and reliability. In summary, this method, through precise machine tool linkage control, achieves real-time monitoring of machine tool operation, optimization of processing accuracy, and precise control of time and position coordination, ultimately improving processing efficiency and enhancing product processing accuracy and consistency.

[0007] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0008] Figure 1 This is a schematic flowchart of a machine tool linkage control method for parts processing provided in an embodiment of this application.

[0009] Figure 2 This is a schematic diagram of a machine tool linkage control system for parts processing provided in an embodiment of this application.

[0010] Explanation of reference numerals in the attached diagram: First data parsing module 10, Second data parsing module 20, Linkage control parameter acquisition module 30. Detailed Implementation

[0011] This application provides a machine tool linkage control method and system for parts processing, which solves the technical problem that most existing multi-machine tool linkage control methods rely on preset time windows, fixed coordinate systems or simple mechanical linkages, resulting in large processing errors in the actual collaborative processing of machine tools, thus affecting product quality.

[0012] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0013] Example 1, as Figure 1 As shown in the figure, this application provides a machine tool linkage control method for parts processing, the method including: When the first machine tool reaches the preset execution node, the operation monitoring data of the first machine tool is acquired, and the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool are analyzed.

[0014] Preset execution nodes are specific positions or status nodes set by the machine tool during the machining process. They are used to indicate that the machine tool has completed certain operations and that its data needs to be acquired for subsequent analysis. These nodes can be set based on time, machining steps, or specific machining parameters. When the machine tool's operation reaches this specific node, the data acquisition and analysis process is automatically triggered. The status, speed, position, and other information of the machine tool can be monitored to determine whether the node has been reached.

[0015] When a preset execution node is reached, the operation monitoring data of the first machine tool is acquired. This data is acquired in real time and reflects the current status, position, angle and other information of the machine tool. It can be achieved through devices such as sensors, displacement sensors, and accelerometers.

[0016] Based on the collected operational monitoring data, the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool are analyzed. The movement trajectory refers to the path the machine tool takes during machining. Specifically, the movement trajectory is reconstructed using displacement data recorded by sensors. This displacement data is typically recorded in a time series, reflecting the machine tool's position at each moment. The machining angle position refers to the angle of the machine tool's machining tool or fixture at a specific moment, determining its relative position to the component. This is achieved using encoders, angle sensors, and other equipment on the machine tool to obtain the current machining angle data. Component evaluation parameters are a set of parameters that measure the machining quality, accuracy, and completeness of the components, including dimensional accuracy, shape accuracy, and surface roughness. This is achieved by using component measurement equipment, such as laser scanners and coordinate measuring machines, to acquire the component's machining quality data in real time.

[0017] While acquiring the operation monitoring data of the first machine tool, the operation monitoring data of the second machine tool is also acquired, and the processing status, fixture running position, and fixture angle of the second machine tool are analyzed. The first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent process of the first machine tool.

[0018] Similar to the first machine tool, the second machine tool's operation monitoring data is collected through real-time sensors and monitoring equipment. To ensure the synchronization of the linkage control, the monitoring data of the first and second machine tools need to be acquired synchronously and synchronized in time to ensure that the data of the two machine tools within the same time window can be correlated and compared.

[0019] The analysis focuses on the machining status, fixture running position, and fixture angle of the second machine tool. The machining status includes the machine tool's current operating condition, such as whether it is in machining, standby, or performing a specific task. This is determined based on machine tool status signals, such as power-on / off signals and machining completion signals. The fixture running position refers to the position of the fixture used to fix the parts on the machine tool during machining. The fixture position of the second machine tool is closely related to the machining accuracy and process flow of the parts. Position sensors, such as optical sensors and displacement sensors, are used to monitor the precise position of the fixture in real time. The fixture angle refers to the angle of the fixture on the machine tool relative to a certain reference coordinate system. Ensuring that the fixture angle meets the machining requirements can significantly improve the machining accuracy of the parts. An angle sensor, such as an encoder or gyroscope, is used to monitor the real-time angle of the fixture.

[0020] The first and second machine tools are linked machine tools, which means that in the entire machining process, the machining progress of the first machine tool will affect the operation of the second machine tool, and vice versa. As the downstream process of the first machine tool, the machining status, fixture position and angle of the second machine tool need to be coordinated with the status and data of the first machine tool to ensure the overall accuracy and efficiency of the parts machining.

[0021] Based on the movement trajectory, machining angle position, component evaluation parameters of the first machine tool, machining state, fixture running position, and fixture angle of the second machine tool, the linkage time window and linkage fixture angle alignment strategy are analyzed with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, and linkage control parameters are obtained. The linkage control parameters include the control parameters of the first machine tool and the control parameters of the second machine tool.

[0022] The linkage time window is the time interval between the completion of processing on the first machine tool and the start of processing on the second machine tool. This time window is calculated and optimized based on the processing progress of the first machine tool, the preparation status of the second machine tool, and the specific requirements of the task. The goal is to shorten the time window to the minimum to improve overall production efficiency. By analyzing the processing tasks of the two machine tools and their coordination, the start-up and completion times of each machine tool are optimized so that the processing progress of the two can be seamlessly connected.

[0023] During the machining process of the linked machine tool, the fixture angle of the second machine tool must be consistent with the machining angle of the first machine tool to avoid machining errors of parts caused by fixture angle deviation. By comparing the fixture angle data of the first and second machine tools, the angle of the fixture of the second machine tool is adjusted by the algorithm to align it with the angle used in the machining process of the first machine tool. This can be achieved through real-time feedback and dynamic adjustment.

[0024] Machining accuracy is affected by multiple factors. For each machine tool, it is necessary to analyze the machining status and the accuracy requirements of the parts, and optimize the machine tool's motion trajectory, fixture positioning, and angles to maximize the final machining accuracy of the parts.

[0025] By integrating data from the first machine tool and the second machine tool, conducting comprehensive analysis, and using optimization algorithms to obtain the final linkage control parameters, the collaborative processing of the first and second machine tools can achieve the best results.

[0026] Furthermore, when the first machine tool reaches the preset execution node, the operation monitoring data of the first machine tool is acquired, including: Obtain task allocation data for the linked machine tool; analyze the machining process based on the task allocation data to determine the connection constraints; analyze the precision constraint nodes of the linkage control based on the connection constraints, and set the preset execution node based on the precision constraint nodes. The preset execution node is the latest node that meets the requirements of linkage control for synchronous interaction of monitoring data of the linked machine tool.

[0027] Task allocation data refers to the specific information on how to allocate machining tasks to each machine tool during multi-machine collaborative machining. Task allocation includes the machining process type, work content, machining sequence, and time arrangement of each machine tool, and usually comes from the production scheduling system, task planning module, or manufacturing execution system.

[0028] The purpose of machining process analysis is to clarify the specific machining process performed by each machine tool in a task based on task allocation data, and to determine the flow of the machining process and the connections between them. The analysis includes the machining task of each machine tool, the sequence of machining steps, and the connections between processes and tasks. Through analysis, the connection conditions between each step are identified, especially constraints related to time, position, and accuracy. These connection constraints include: time constraints (e.g., the machining on the first machine tool must be completed before the second machine tool starts, otherwise it will lead to waiting time or excessive idle time); position constraints (parts machined on the first machine tool need to be accurately transferred to the second machine tool, thus requiring precise alignment of the parts' positions and angles); and accuracy constraints (since subsequent processes need to be further processed based on the results of the previous process, the accuracy requirements of the first machine tool directly affect the machining accuracy of the second machine tool).

[0029] Precision constraint nodes refer to the requirements in multi-machine tool collaborative machining processes where the machining accuracy of the machine tools must meet a certain standard at certain key nodes. These nodes are related to key machining steps, key positions, key angles, etc. in the machining process. For example, when the first machine tool completes the machining of a part, its positional accuracy must meet the positional accuracy requirements of the second machine tool fixture to ensure that the part can be correctly transferred to the second machine tool for subsequent machining.

[0030] A preset execution node refers to the latest node for the synchronization and interaction of monitoring data between the linked machine tools during the entire linkage machining process. Before this node, all monitoring data from the first and second machine tools must be synchronized to ensure smooth transitions to subsequent processes. Based on the accuracy constraints and machining task requirements, an appropriate execution node time is set. This node should ensure that there are no conflicts in the linkage between the machine tools while meeting the accuracy and time requirements.

[0031] Furthermore, based on the task allocation data, processing technology is analyzed to determine the connection constraints, including: A historical sample database is constructed, including machine tool independent operation cases and machine tool collaborative operation cases. Based on the historical sample database, positive example samples and negative example samples are constructed according to the connection control relationship of the machine tool independent operation cases and the linkage control relationship of the machine tool collaborative operation cases. The positive example samples are historical sample data that meet the requirements of collaborative operation evaluation, and the negative example samples are historical sample data that do not meet the requirements of collaborative operation evaluation. Connection constraint analysis is performed on the positive example samples and negative example samples respectively, and the positive example constraint conditions and negative example constraint conditions are integrated to obtain the connection constraint conditions.

[0032] The historical sample database is a data repository containing past machine tool operation cases. By analyzing this historical sample data, a reference basis can be provided for machine tool linkage control, especially for the performance evaluation of independent and collaborative machine tool operations. Independent machine tool operation cases refer to the machining process and results when each machine tool performs a task alone, including the operating parameters of each machine tool during independent machining (such as machining time, cutting speed, machining accuracy, etc.), various process flows and technical requirements, as well as error analysis and result evaluation during machining. Collaborative machine tool operation cases refer to cases where multiple machine tools work together to complete machining tasks, including the process of two or more machine tools working together, as well as the machining sequence, task allocation, and the role and function of each machine tool in the entire process, and the time coordination, positional connection, and precision control in collaborative operations.

[0033] Positive examples refer to historical sample data that meet the requirements for collaborative operation evaluation. In these sample data, all process requirements, time coordination, position alignment, and precision control were successfully executed during the linkage control and collaborative operation of the machine tools. Negative examples refer to historical sample data that do not meet the requirements for collaborative operation evaluation. In other words, in these sample data, problems occurred in the collaborative operation of the machine tools, such as machining accuracy not meeting standards, improper task scheduling, excessively long linkage time windows, and position alignment failures.

[0034] The system selects successful and unsuccessful collaborative work cases from the historical sample database. Based on preset evaluation criteria, such as accuracy requirements, time coordination, and position alignment, it evaluates these cases to determine which ones meet the requirements and which ones do not. Based on the evaluation results, each sample is labeled and divided into positive and negative samples.

[0035] Connection constraints refer to the various requirements and limitations that need to be met during the linkage operation of machine tools. These conditions ensure that the work between different machine tools can be smoothly connected, and guarantee the smoothness, efficiency and quality of the entire processing flow.

[0036] The conditions shown in the positive examples are key to successful collaborative operations, including: minimizing the time window, i.e., ensuring the minimum difference in operation time between the two machine tools and avoiding idle time; position and angle alignment, i.e., when parts are transferred between the two machine tools, the fixtures, parts, and machining angles can be precisely aligned; and precision control, i.e., ensuring that the first and second machine tools are accurate and meet the process requirements during the machining process.

[0037] Negative examples illustrate the conditions for failed collaboration. Analyzing these failure cases helps identify the factors that cause collaborative work to fail, including: unreasonable task scheduling leading to excessively long or short time windows; positional alignment failures causing errors in component transfer or processing; and substandard processing accuracy preventing subsequent processes or resulting in defective components.

[0038] The constraints in the positive and negative examples are integrated to form a complete set of interconnected constraints. The positive example constraints represent the best practices for successful operation of the linked machine tool and should be used as the optimization target. The negative example constraints represent the factors of failure and should be avoided or adjusted to ensure that the collaborative operation can be completed smoothly.

[0039] Furthermore, obtaining operational monitoring data for the first machine tool previously included: Acquire the deployment monitoring equipment for the first machine tool, the second machine tool, ..., the Nth machine tool, where N is the number of linked machine tools; synchronize and align the clocks of the monitoring equipment for each linked machine tool; establish a unified coordinate system, and project the machine tool coordinates into the unified coordinate system according to the machining position relationship between each linked machine tool and the fixture, thereby determining the position coordinates of each linked machine tool and its fixture.

[0040] Monitoring equipment includes all sensors and devices used to collect information such as machine tool status, position, machining accuracy, and fixture condition. In order to achieve precise control and data synchronization of multiple linked machine tools, various monitoring devices need to be installed on each machine tool, including position sensors, angle sensors, force sensors, vibration sensors, temperature sensors, and machining status sensors. Appropriate monitoring devices should be selected according to the function and task of each machine tool, and it should be ensured that they can provide high-precision data.

[0041] Clock synchronization ensures that sensor data from different machine tools are effectively integrated in the same time dimension, avoiding analysis errors caused by time deviations. This can be achieved by synchronizing the clocks of the monitoring devices of each machine tool to a unified time standard through network time protocols. This method ensures that the operating data of all machine tools can be processed and analyzed on a unified time basis.

[0042] To integrate the monitoring data of various machine tools, a unified coordinate system is established. This unified coordinate system serves as a reference framework for the operation of all machine tools and fixtures, describing the spatial position of each machine tool and its fixture. This ensures precise coordination between machine tools and the transfer of parts when multiple machine tools work collaboratively. Specifically, a fixed reference point is selected within the workshop, typically located at the center of the machining area, as the origin of the coordinate system. Based on the workshop layout, standard coordinate axes (X, Y, and Z axes) are defined to describe the position of the machine tools. This coordinate system should cover the working areas of all linked machine tools and adapt to the machining needs of different machine tools.

[0043] The coordinates (including X, Y, and Z axis coordinates) of each machine tool, as well as the position and angle data of the fixture, are projected into a unified coordinate system and precisely aligned. The goal is to unify the operation of each machine tool under a common framework, which ensures that the data from different machine tools can be effectively integrated and analyzed in the same coordinate system.

[0044] Furthermore, a unified coordinate system is established, and the machine tool coordinates are aligned and projected onto the unified coordinate system according to the machining position relationship between each linked machine tool and its fixture. This determines the position coordinates of each linked machine tool and its fixture, including: A unified coordinate system is constructed with the center of the processing area as the origin. The coordinate position and contour of each machine tool are measured by a laser tracker and projected into the unified coordinate system. The distribution of machine tool processing parts is identified, and the positional relationship between the fixture and the machine tool processing parts is determined. According to the relative position of the linked machine tool and the machine tool processing parts, as well as the positional relationship between the fixture and the machine tool processing parts, the machine tool processing parts and fixtures are projected into the unified coordinate system to determine the position coordinates of each linked machine tool and its fixture.

[0045] A unified coordinate system is a reference frame for the operation of multiple linked machine tools and their fixtures. The positional information of all machine tools and fixtures is described in this coordinate system. The center of the machining area is selected as the origin of the coordinate system to ensure that the unified coordinate system can cover the workspace of all linked machine tools. Three main axes are defined in the coordinate system, including the X-axis, Y-axis and Z-axis. The X-axis and Y-axis are parallel to the worktable surface, and the Z-axis is perpendicular to the worktable surface, indicating the position of the machine tools and fixtures in the vertical direction.

[0046] A laser tracker is a high-precision measuring device widely used to measure the position, angle, and contour of objects. By emitting a laser beam and receiving reflected signals, the laser tracker monitors the spatial position of each machine tool in real time, including the specific coordinates of the X, Y, and Z axes, and generates coordinate positions. It also measures the machine tool's external contour, including its geometry, table dimensions, and angles. The data collected by the laser tracker is projected onto a defined, unified coordinate system, ensuring that the measurement data of each machine tool is aligned with the origin and axes of this unified coordinate system. This guarantees that the machine tool's position and contour data are accurately mapped to this coordinate system.

[0047] Using measuring equipment such as laser trackers and 3D scanners, the precise positions of each machine tool component on the machine tool are determined, including their relative positions to other machine tool components. Fixtures are used to hold components in place, and the relative positions of the fixtures and machine tool components are determined using measuring equipment. By analyzing the positional relationship between the fixtures and the machined components, this data is projected onto an established unified coordinate system. In this way, the operation of the machine tool can be precisely mapped to a common reference frame, and the precise position coordinates of each machine tool, fixture, and machined component can be determined within this unified coordinate system.

[0048] Furthermore, the machine tool operation monitoring data includes: cumulative processing monitoring data for this cycle and real-time monitoring data.

[0049] This period's cumulative machining monitoring data refers to the sum of all machining data from the starting node to the current node throughout the entire machining cycle. This data provides a comprehensive overview of the machining progress and status, including cutting time, cutting length, and material removal. Cutting time refers to the total time the machine tool spends performing cutting operations, reflecting the machine tool's machining efficiency and the time spent by the machine tool throughout the entire machining process. The length of cutting time directly affects the production cycle and machining efficiency. Cutting length refers to the actual cutting path length of the machine tool during machining, used to determine the depth and breadth of machining, and also indirectly reflects the complexity of machining. Material removal refers to the amount of material removed from the workpiece by the machine tool during machining. This is an important indicator for measuring the machine tool's machining load and machining progress, and a large removal amount is usually required in high-efficiency machining.

[0050] Real-time monitoring data refers to the instantaneous data acquired by the machine tool at the current moment or within a short period of time. It reflects the dynamic state of the machine tool. Real-time data typically comes from real-time sensors, control systems, and various measuring devices, and can reflect changes in the machine tool during the machining process in real time. Monitoring data includes multi-dimensional parameters, including: real-time machining status data, such as position data, speed data, and acceleration data; machining process parameters, such as cutting force, spindle speed, and feed rate; thermal monitoring data, such as machine tool temperature and tool temperature; and vibration monitoring data, such as vibration amplitude and vibration frequency.

[0051] Furthermore, the operation monitoring data of the first machine tool is acquired, and the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool are analyzed, including: When the preset execution node is not reached, the cumulative processing monitoring data of this cycle is transmitted to the edge node for machine tool operation parameter analysis, including movement trajectory, processing angle position, and component evaluation parameter analysis; when the preset execution node is reached, real-time monitoring data is obtained through the linkage control center, and the machine tool operation parameters are downloaded from the edge node.

[0052] Before reaching the preset execution node, to reduce data transmission latency and improve processing efficiency, the accumulated processing monitoring data for this cycle is first transmitted to the edge node for preliminary analysis. The edge node is a computing unit closer to the data source, enabling it to quickly process and analyze data, thus reducing the burden on the central control system. At the edge node, the following analyses are performed: movement trajectory analysis, analyzing the movement path of the machine tool to ensure it conforms to the predetermined trajectory and meets processing accuracy requirements; processing angle and position analysis, analyzing the processing angles of the machine tool to determine if they meet processing requirements; and component evaluation analysis, assessing the quality and processing accuracy of components during processing to ensure they meet standards.

[0053] When the preset execution node is reached, real-time monitoring data of the machine tool is acquired through the linkage control center. The linkage control center is the core of managing the collaborative work of multiple machine tools, and is responsible for adjusting the control strategy based on the real-time data of the machine tools to ensure the smooth execution of the machining task. Through the linkage control center, the operating data of each machine tool is collected in real time, including information such as current position, machining status, and fixture angle. This data changes in real time and usually requires high-frequency acquisition and processing to ensure that the operating status of the machine tool is reflected in real time.

[0054] Meanwhile, the linkage control center downloads the previously transmitted and processed machine tool operating parameters from the edge nodes, integrates the data downloaded from the edge nodes with the real-time monitoring data, and through comparative analysis, ensures that the collaborative operation between the machining accuracy, machining time and machining status of each machine tool meets the preset requirements, and then determines the subsequent machine tool control strategy.

[0055] Furthermore, based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool, a linkage time window and linkage fixture angle alignment strategy analysis is performed with the objectives of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy. This yields linkage control parameters, including: Based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool, an information entropy model is established. The uncertainty of time window, position alignment, and machining accuracy is calculated using this information entropy model. An optimization objective function is constructed with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy. This transforms the uncertainties of time window, position alignment, and machining accuracy into the form of information entropy, and the objective is optimized by minimizing the information entropy. Based on the information entropy model and the optimization objective function, a genetic algorithm is used to solve for the control parameters, thus obtaining the linkage control parameters.

[0056] Based on the above input data, an information entropy model is established. The goal of this model is to quantify the uncertainty of various factors in the processing process. For example, there may be time delays or positional deviations in the movement trajectory of the first machine tool and the processing state of the second machine tool. These factors increase the uncertainty of the system. The calculation of information entropy is usually based on probability distribution. For example, given the possible results and probabilities of each operation (such as the movement of the first machine tool, the adjustment of the fixture of the second machine tool, etc.), the entropy value of the system can be calculated. The higher the entropy value, the greater the uncertainty in the system.

[0057] By establishing an information entropy model, we calculate three key uncertainty factors in the processing: time window, position alignment, and processing accuracy uncertainty.

[0058] A time window refers to the time range within which machining tasks connect two machine tools. In multi-machine collaborative machining, the size of the time window directly affects machining efficiency and the overall production cycle. If the time window is too long, it may lead to idle time; if the time window is too short, it may lead to substandard machining accuracy or the machine tool failing to complete its preparation work. The relationship between the size of the time window and the machine tool operating parameters is analyzed using an information entropy model. For example, if there is uncertainty between the machining time of the first machine tool and the preparation time of the second machine tool, this uncertainty can be calculated using entropy values; a larger information entropy indicates a larger time window uncertainty.

[0059] Position alignment refers to the precision of the spatial alignment between fixtures or machining parts of two machine tools during operation. Position alignment uncertainty reflects whether the two machine tools can accurately align and complete high-precision machining during linkage. The information entropy model can quantify the error or inconsistency of position alignment. For example, the machining position of the first machine tool may deviate from the fixture position of the second machine tool. Information entropy can be used to quantify the uncertainty of this deviation. A larger information entropy value indicates a larger position alignment uncertainty.

[0060] Machining accuracy refers to the deviation between the dimensions and shape of the machined parts and the predetermined specifications. Improving machining accuracy depends on the precision of the machine tools and the collaborative operation between the two machine tools. By analyzing the evaluation parameters of the parts, machining angles, fixture positions, etc., the uncertainty of machining accuracy can be calculated. Through the information entropy model, the links with insufficient accuracy can be identified and their impact on the final machining result can be quantified. A larger entropy value indicates a higher uncertainty in machining accuracy, which may lead to parts failing to meet the requirements.

[0061] The goal of optimizing the objective function is to minimize the time window, maximize position alignment, and maximize machining accuracy of the machine tool. Optimizing the objective function transforms these factors into a computable mathematical expression, which can then be solved using optimization algorithms. By converting the uncertainties of time window, position alignment, and machining accuracy into information entropy, the optimization of the objective function becomes a problem of minimizing information entropy. For each uncertain factor, including time window, position, and accuracy, the corresponding entropy value can be calculated separately, with the ultimate goal of minimizing the overall information entropy.

[0062] The goal of minimizing information entropy is to reduce the uncertainty of the system. Minimizing information entropy in the optimization process can ensure that the uncertainty of time window, position alignment and machining accuracy is reduced, thereby maximizing the coordination between machine tools and the machining quality. By minimizing information entropy, the impact of time delay, position deviation and machining error can be reduced, thereby optimizing the linkage and cooperation between machine tools and improving the efficiency and accuracy of the entire machining process.

[0063] Genetic algorithms (GALs) are optimization algorithms that simulate natural selection and genetic mechanisms. They are widely used to solve optimization problems. Through iterative evolution of a population, GALs can find the optimal solution. The general steps of a GAL include initializing the population, selecting individuals with good fitness, crossover and mutation operations, and generational evolution. In the solution process, the operational relationship between the information entropy model and the objective function can be expressed as: objective function = f(information entropy model, linkage control parameters), where f represents the formula for calculating the objective function, the information entropy model describes the uncertainty and complexity of the system, and the linkage control parameters represent the variables to be optimized. By minimizing or maximizing the objective function, the optimal linkage control parameters can be found, thereby minimizing the linkage connection time window, maximizing position alignment, and maximizing processing accuracy.

[0064] Furthermore, it also includes: Based on the aforementioned linkage control parameters, the clamp position control accuracy and clamping force tracking are performed. When a tracking deviation is detected, the tracking deviation is traced back in time to obtain the deviation change characteristics. The tracking deviation and deviation change characteristics are recorded to dynamically compensate the linkage control parameters.

[0065] Fixture position control accuracy refers to the precision of the fixture's position control during machine tool operation. The fixture needs to be precisely aligned with the machining requirements of the parts and maintain a stable machining position. High-precision sensors, such as optical displacement sensors and laser sensors, are used to continuously track the current position and movement trajectory of the fixture.

[0066] Clamping force refers to the force applied to a part by a fixture. Excessive clamping force may cause the part to deform, while insufficient clamping force may cause the workpiece to loosen, affecting machining accuracy. Force sensors, such as pressure sensors and strain gauges, are used to monitor the force applied by the fixture in real time.

[0067] Tracking deviation refers to the difference between the actual value of the fixture position or clamping force and the expected value. Deviation can be caused by a variety of factors, such as machine tool vibration, temperature change, fixture wear, etc. By monitoring the position and clamping force of the fixture in real time, the deviation from the expected target can be identified.

[0068] When a tracking deviation is identified, time-series tracing is performed. Time-series tracing refers to recording the changes in deviation over time to analyze and track the cause and timing of the deviation. Through tracing, it is possible to locate which link or parameter caused the deviation. By analyzing the characteristics of the tracking deviation, it is possible to identify whether the deviation is a gradual increasing trend or a sudden change. This helps to determine whether the deviation is caused by equipment failure, external environmental factors, or other factors.

[0069] Dynamic compensation refers to the automatic adjustment of control parameters, such as fixture position and clamping force, based on real-time monitored deviation data during machining to maintain machining accuracy. The goal of compensation is to eliminate deviations as much as possible and restore the workpiece to a predetermined target state. Specifically, based on real-time monitored fixture position deviations, the fixture position is automatically adjusted to ensure alignment with the predetermined path; when clamping force deviations occur, the applied force of the fixture is automatically adjusted based on real-time measured data to ensure the workpiece is firmly clamped and prevent loosening during machining. Dynamic compensation is achieved through a closed-loop control system, ensuring machining accuracy and stability.

[0070] In summary, the machine tool linkage control method for parts processing provided in this application has the following technical effects: By acquiring and analyzing the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool when it reaches the preset execution node, the working status and machining accuracy of the machine tool can be determined in real time, avoiding machining errors caused by position and angle deviations. Simultaneously, the operation monitoring data of the second machine tool is acquired and analyzed in real time to obtain the machining status, fixture position, and fixture angle, ensuring that the parts processed by the first machine tool can be accurately and timely transferred to the second machine tool, avoiding component transfer and docking errors, and improving production efficiency and accuracy. Through analysis of the linkage time window and linkage fixture angle alignment strategy with the objectives of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, optimizations are obtained. The linkage control parameters include control parameters for the first machine tool and the second machine tool. Minimizing the linkage connection time window between the machine tools can reduce machine tool idle time to the greatest extent, improving overall processing efficiency. Precise control of the processing rhythm of the two machine tools avoids wasted time due to machine tool waiting. Maximizing position alignment ensures the docking accuracy of the two machine tools throughout the processing, thereby reducing errors caused by inaccurate positioning. This is crucial for multi-machine tool collaborative processing and multi-process processing, significantly improving product quality. By maximizing processing accuracy, efficient collaboration between the first and second machine tools is ensured throughout the processing, avoiding component quality problems caused by insufficient processing accuracy and improving product consistency and reliability. In summary, this method, through precise machine tool linkage control, achieves real-time monitoring of machine tool operation, optimization of processing accuracy, and precise control of time and position coordination, ultimately improving processing efficiency and enhancing product processing accuracy and consistency.

[0071] Example 2, based on the same inventive concept as the machine tool linkage control method for parts processing in the foregoing examples, such as... Figure 2 As shown in the figure, this application provides a machine tool linkage control system for parts processing, the system comprising: The first data analysis module 10 is used to acquire the operation monitoring data of the first machine tool when the first machine tool reaches the preset execution node, and to analyze the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool. The second data analysis module 20 is used to acquire the operation monitoring data of the second machine tool at the same time as acquiring the operation monitoring data of the first machine tool, and to analyze the machining status, fixture running position, and fixture angle of the second machine tool. The first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent process of the first machine tool. The linkage control parameter acquisition module 30 is used to perform linkage time window and linkage fixture angle alignment strategy analysis based on the movement trajectory, machining angle position, component evaluation parameters of the first machine tool, and machining status, fixture running position, and fixture angle of the second machine tool, with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, and to obtain linkage control parameters, which include the control parameters of the first machine tool and the control parameters of the second machine tool.

[0072] Furthermore, the first data parsing module 10 is used to perform the following operation steps: Obtain task allocation data for the linked machine tool; analyze the machining process based on the task allocation data to determine the connection constraints; analyze the precision constraint nodes of the linkage control based on the connection constraints, and set the preset execution node based on the precision constraint nodes. The preset execution node is the latest node that meets the requirements of linkage control for synchronous interaction of monitoring data of the linked machine tool.

[0073] Furthermore, the first data parsing module 10 is used to perform the following operation steps: A historical sample database is constructed, including machine tool independent operation cases and machine tool collaborative operation cases. Based on the historical sample database, positive example samples and negative example samples are constructed according to the connection control relationship of the machine tool independent operation cases and the linkage control relationship of the machine tool collaborative operation cases. The positive example samples are historical sample data that meet the requirements of collaborative operation evaluation, and the negative example samples are historical sample data that do not meet the requirements of collaborative operation evaluation. Connection constraint analysis is performed on the positive example samples and negative example samples respectively, and the positive example constraint conditions and negative example constraint conditions are integrated to obtain the connection constraint conditions.

[0074] Furthermore, the first data parsing module 10 is used to perform the following operation steps: Acquire the deployment monitoring equipment for the first machine tool, the second machine tool, ..., the Nth machine tool, where N is the number of linked machine tools; synchronize and align the clocks of the monitoring equipment for each linked machine tool; establish a unified coordinate system, and project the machine tool coordinates into the unified coordinate system according to the machining position relationship between each linked machine tool and the fixture, thereby determining the position coordinates of each linked machine tool and its fixture.

[0075] Furthermore, the first data parsing module 10 is used to perform the following operation steps: A unified coordinate system is constructed with the center of the processing area as the origin. The coordinate position and contour of each machine tool are measured by a laser tracker and projected into the unified coordinate system. The distribution of machine tool processing parts is identified, and the positional relationship between the fixture and the machine tool processing parts is determined. According to the relative position of the linked machine tool and the machine tool processing parts, as well as the positional relationship between the fixture and the machine tool processing parts, the machine tool processing parts and fixtures are projected into the unified coordinate system to determine the position coordinates of each linked machine tool and its fixture.

[0076] Furthermore, the machine tool operation monitoring data includes: cumulative processing monitoring data for this cycle and real-time monitoring data.

[0077] Furthermore, the first data parsing module 10 is used to perform the following operation steps: When the preset execution node is not reached, the cumulative processing monitoring data of this cycle is transmitted to the edge node for machine tool operation parameter analysis, including movement trajectory, processing angle position, and component evaluation parameter analysis; when the preset execution node is reached, real-time monitoring data is obtained through the linkage control center, and the machine tool operation parameters are downloaded from the edge node.

[0078] Furthermore, the linkage control parameter acquisition module 30 is used to perform the following operation steps: Based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool, an information entropy model is established. The uncertainty of time window, position alignment, and machining accuracy is calculated using this information entropy model. An optimization objective function is constructed with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy. This transforms the uncertainties of time window, position alignment, and machining accuracy into the form of information entropy, and the objective is optimized by minimizing the information entropy. Based on the information entropy model and the optimization objective function, a genetic algorithm is used to solve for the control parameters, thus obtaining the linkage control parameters.

[0079] Furthermore, the system also includes a timing traceability module, used to perform the following operation steps: Based on the aforementioned linkage control parameters, the clamp position control accuracy and clamping force tracking are performed. When a tracking deviation is detected, the tracking deviation is traced back in time to obtain the deviation change characteristics. The tracking deviation and deviation change characteristics are recorded to dynamically compensate the linkage control parameters.

[0080] Through the foregoing detailed description of the machine tool linkage control method for parts processing, those skilled in the art can clearly understand the machine tool linkage control system for parts processing in this embodiment. Since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and relevant parts can be referred to the method section.

[0081] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A machine tool linkage control method for parts processing, characterized in that, The method includes: When the first machine tool reaches the preset execution node, the operation monitoring data of the first machine tool is acquired, and the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool are analyzed. While acquiring the operation monitoring data of the first machine tool, the operation monitoring data of the second machine tool is also acquired, and the processing status, fixture running position, and fixture angle of the second machine tool are analyzed. The first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent process of the first machine tool. Based on the movement trajectory, machining angle position, component evaluation parameters of the first machine tool, machining state, fixture running position, and fixture angle of the second machine tool, the linkage time window and linkage fixture angle alignment strategy are analyzed with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, and linkage control parameters are obtained. The linkage control parameters include the control parameters of the first machine tool and the control parameters of the second machine tool.

2. The machine tool linkage control method for parts processing according to claim 1, characterized in that, When the first machine tool reaches the preset execution node, the operation monitoring data of the first machine tool is acquired, including: Obtain task allocation data for the linked machine tool; Based on the task allocation data, the processing technology is analyzed to determine the connection constraints. Based on the connection constraint conditions, the precision constraint nodes of the linkage control are analyzed, and the preset execution nodes are set based on the precision constraint nodes. The preset execution nodes are the latest nodes that meet the requirements of linkage control for synchronous interaction of monitoring data of the linkage machine tool.

3. The machine tool linkage control method for parts processing according to claim 2, characterized in that, Based on the task allocation data, the processing technology is analyzed to determine the connection constraints, including: Build a historical sample database, including cases of machine tool independent operation and cases of machine tool collaborative operation; Based on the historical sample database, positive examples and negative examples are constructed according to the connection control relationship of machine tool independent operation cases and the linkage control relationship of machine tool collaborative operation cases. The positive examples are historical sample data that meet the requirements of collaborative operation evaluation, and the negative examples are historical sample data that do not meet the requirements of collaborative operation evaluation. Based on the positive and negative examples, a connection constraint analysis is performed respectively, and the positive and negative example constraints are integrated to obtain the connection constraint conditions.

4. The machine tool linkage control method for parts processing according to claim 1, characterized in that, Obtaining operational monitoring data for the first machine tool previously included: Acquire the deployment monitoring equipment for the first machine tool, the second machine tool, ..., the Nth machine tool, where N is the number of linked machine tools; The monitoring equipment of each linked machine tool is synchronized with the clock. Establish a unified coordinate system, align the machine tool coordinates and project them into the unified coordinate system according to the machining position relationship between each linked machine tool and fixture, and determine the position coordinates of each linked machine tool and its fixture.

5. The machine tool linkage control method for parts processing according to claim 4, characterized in that, Establish a unified coordinate system, align and project the machine tool coordinates onto the unified coordinate system according to the machining position relationship between each linked machine tool and fixture, and determine the position coordinates of each linked machine tool and its fixture, including: A unified coordinate system is constructed with the center of the processing area as the origin. The coordinate position and contour of each machine tool are measured by a laser tracker and projected onto the unified coordinate system; Identify the distribution of machine tool processing components and determine the positional relationship between the fixture and the machine tool processing components. Based on the relative positions of the linked machine tool and the machine tool processing components, as well as the positional relationship between the fixture and the machine tool processing components, project the machine tool processing components and the fixture into the unified coordinate system to determine the positional coordinates of each linked machine tool and its fixture.

6. The machine tool linkage control method for parts processing according to claim 1, characterized in that, The machine tool operation monitoring data includes: cumulative processing monitoring data for this cycle and real-time monitoring data.

7. The machine tool linkage control method for parts processing according to claim 6, characterized in that, Acquire the operation monitoring data of the first machine tool, and analyze the machine tool's movement trajectory, machining angle position, and component evaluation parameters, including: When the preset execution node is not reached, the cumulative processing monitoring data of this cycle is transmitted to the edge node for machine tool operation parameter analysis, including movement trajectory, processing angle position, and component evaluation parameter analysis. When the preset execution node is reached, real-time monitoring data is obtained through the linkage control center, and the machine tool operating parameters are downloaded from the edge node.

8. The machine tool linkage control method for parts processing according to claim 1, characterized in that, Based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool, a linkage time window and linkage fixture angle alignment strategy analysis is performed with the goals of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy. This yields linkage control parameters, including: An information entropy model is established based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool, and the machining state, fixture running position, and fixture angle of the second machine tool. The uncertainty of time window, position alignment, and processing accuracy is calculated using the information entropy model. With the goals of minimizing the linkage connection time window, maximizing position alignment, and maximizing processing accuracy, an optimization objective function is constructed. The uncertainties of time window, position alignment, and processing accuracy are transformed into the form of information entropy, and the objective is optimized by minimizing the information entropy. Based on the information entropy model and the optimized objective function, the control parameters are solved using a genetic algorithm to obtain the linkage control parameters.

9. The machine tool linkage control method for parts processing according to claim 8, characterized in that, Also includes: Based on the aforementioned linkage control parameters, the clamp position control accuracy and clamping force tracking are performed. When a tracking deviation is detected, the timing trace is performed based on the tracking deviation to obtain the deviation change characteristics. The tracking deviation and its change characteristics are recorded to dynamically compensate the linkage control parameters.

10. A machine tool linkage control system for parts processing, characterized in that, The system is used to implement the machine tool linkage control method for machining parts according to any one of claims 1-9, the system comprising: The first data parsing module is used to acquire the operation monitoring data of the first machine tool when the first machine tool reaches the preset execution node, and to parse the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool. The second data analysis module is used to acquire the operation monitoring data of the second machine tool while acquiring the operation monitoring data of the first machine tool, and to analyze the processing status, fixture running position, and fixture angle of the second machine tool. The first machine tool and the second machine tool are linked machine tools, and the second machine tool is a subsequent process of the first machine tool. The linkage control parameter acquisition module is used to analyze the linkage time window and linkage fixture angle alignment strategy based on the movement trajectory, machining angle position, and component evaluation parameters of the first machine tool and the machining state, fixture running position, and fixture angle of the second machine tool, with the goal of minimizing the linkage connection time window, maximizing position alignment, and maximizing machining accuracy, and to obtain linkage control parameters, which include the control parameters of the first machine tool and the control parameters of the second machine tool.

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