Matrix tool changing control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of double-gantry numerical control machine tools, in particular to a matrix tool changing control method, system and device and a storage medium, and the method comprises the steps that a tool changing process is divided into a plurality of stages, and servo rotary table angles corresponding to the stages are set; the execution progress of the tool changing process is monitored, and the servo rotary table is controlled to rotate synchronously based on the execution progress; and synchronously detecting the actual position of the servo turntable, matching the actual position with the angle of the servo turntable corresponding to the stage, and if the actual position is matched with the angle of the servo turntable corresponding to the stage, continuing to execute the stage. According to the method, smooth execution of matrix tool changing is ensured.

Description

Technical Field

[0001] This invention belongs to the technical field of double gantry CNC machine tools, specifically relating to a matrix tool changing control method, system, equipment, and storage medium. Background Technology

[0002] In the matrix tool change process of a double-gantry CNC machine tool, the alignment between the spindle and the tool magazine is a crucial step to ensure a successful tool change. This alignment process requires extremely high precision, because any slight deviation may prevent the tool from being installed or removed smoothly, thus affecting the continuity and accuracy of the entire machining process.

[0003] However, in actual operation, the relative position of the spindle and the tool magazine is not fixed. As the spindle moves up and down, rotates, and tools are loaded and unloaded, their relative position will change to some extent.

[0004] Accurately compensating for such changes is a technical problem that the tool change procedure needs to solve. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a matrix tool changing control method, system, device and storage medium to solve the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a matrix tool changing control method, comprising: The tool changing process is divided into multiple stages, and the servo turntable angle corresponding to each stage is set. Monitor the execution progress of the tool changing process, and control the servo turntable to rotate synchronously based on the execution progress; The actual position of the servo turntable is detected synchronously, and the actual position is matched with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed.

[0007] In one optional implementation, the tool changing process is divided into multiple stages, and the servo turntable angle corresponding to each stage is set, including: The tool changing process is divided into a five-axis head positioning process for the spindle and slide, a tool changing process, and a safety inspection process. The tool changing process includes an operation stage outside the tool magazine door, a stage of rotating the tool magazine to the original tool position of the spindle, a stage of taking out and replacing the tool, and a stage of rotating the tool magazine to the new tool slot position. The relative position of the spindle and the tool magazine is detected by a laser rangefinder at each stage, and the corresponding servo turntable angle is set based on the relative position. During the five-axis head positioning process of the spindle and slide, as well as the safety inspection process, the servo turntable release action and safety inspection are performed.

[0008] In one optional implementation, monitoring the execution progress of the tool change process and controlling the servo rotary table to rotate synchronously based on the execution progress includes: Acquire execution data, which includes the motion state of the servo motor and the clamping and releasing state of the tool; The execution data is matched with the standard execution data of each stage, and the stage with the highest matching degree is selected as the current execution stage. Set the servo turntable angle corresponding to the next execution phase of the current execution phase to the target angle; Control the servo turntable to rotate to the target angle.

[0009] In an optional implementation, the actual position of the servo turntable is detected synchronously, and the actual position is matched with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed, including: Set the servo turntable axis to a non-modular 360° positioning axis; The actual angle of the servo turntable is detected using an angle sensor. Calculate the vector angle difference between the actual angle and the target angle, and determine whether the vector angle difference is within a set threshold range: If so, then continue with the execution phase corresponding to the target angle; If not, the rotation direction and rotation angle of the servo turntable are determined based on the vector angle difference, so as to adjust the angle of the servo turntable.

[0010] In a second aspect, the present invention provides a matrix tool changing control system, comprising: The parameter setting module is used to divide the tool changing process into multiple stages and set the servo turntable angle corresponding to each stage. The progress monitoring module is used to monitor the execution progress of the tool changing process and control the servo turntable to rotate synchronously based on the execution progress. The execution control module is used to synchronously detect the actual position of the servo turntable and match the actual position with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed.

[0011] In an optional implementation, the parameter setting module includes: The stage division unit is used to divide the tool changing process into the spindle and slide five-axis head positioning process, the tool changing process and the safety detection process. The tool changing process includes the tool magazine door operation stage, the tool magazine rotation to the original tool position of the spindle stage, the tool removal and replacement stage, and the tool magazine rotation to the new tool cavity position stage. An angle setting unit is used to detect the relative position of the spindle and the tool magazine in each stage using a laser rangefinder sensor, and set the corresponding servo turntable angle based on the relative position. The status setting unit is used to perform servo turntable relaxation and safety checks during the five-axis head positioning process of the spindle and slide and the safety detection process.

[0012] In an optional implementation, the progress monitoring module includes: The data acquisition unit is used to acquire execution data, which includes the motion state of the servo motor and the clamping and releasing state of the tool; The progress positioning unit is used to match the execution data with the standard execution data of each stage, and select the stage with the highest matching degree as the current execution stage; The target setting unit is used to set the servo turntable angle corresponding to the next execution stage of the current execution stage to the target angle. A rotation control unit is used to control the servo turntable to rotate to the target angle.

[0013] In an optional implementation, the execution control module includes: The mode setting unit is used to set the servo turntable axis to a non-modular 360° positioning axis; An angle detection unit is used to detect the actual angle of the servo turntable using an angle sensor. An angle determination unit is used to calculate the vector angle difference between the actual angle and the target angle, and to determine whether the vector angle difference is within a set threshold range; An execution confirmation unit is used to continue executing the execution phase corresponding to the target angle if the vector angle difference is within a set threshold range. The position adjustment unit is used to determine the rotation direction and rotation angle of the servo turntable based on the vector angle difference if the vector angle difference is not within the set threshold range, so as to adjust the angle of the servo turntable.

[0014] Thirdly, a device is provided, comprising: The memory is used to store the matrix tool changer control program; A processor is configured to implement the steps of the matrix tool changer control method as provided in the first aspect when executing the matrix tool changer control program.

[0015] Fourthly, a computer-readable storage medium is provided, on which a matrix tool changer control program is stored, wherein when the matrix tool changer control program is executed by a processor, the steps of the matrix tool changer control method provided in the first aspect are implemented.

[0016] The beneficial effects of the present invention are that the matrix tool changing control method, system, device and storage medium provided by the present invention can monitor and control the entire tool changing process, and achieve precise control of the relative position of the spindle and the tool magazine by controlling the servo motor, thereby ensuring the smooth execution of matrix tool changing.

[0017] Furthermore, the design principle of this invention is reliable, the structure is simple, and it has a very wide range of application prospects. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of a method according to an embodiment of the present invention.

[0020] Figure 2 This is a structural schematic diagram of a double-gantry CNC machine tool.

[0021] Figure 3 This is another illustrative flowchart of a method according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic block diagram of a system according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of a device provided in an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0026] The matrix tool changing control method provided in this embodiment of the invention is executed by a computer device, and correspondingly, the matrix tool changing control system runs in the computer device.

[0027] Figure 1 This is a schematic flowchart illustrating a method according to an embodiment of the present invention. Wherein, Figure 1 The executing entity can be a matrix tool changer control system. Depending on different requirements, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0028] like Figure 1 As shown, the method includes: S1. Divide the tool changing process into multiple stages and set the servo turntable angle corresponding to each stage.

[0029] In the matrix tool change process of a double-gantry CNC machine tool, to ensure the accuracy and efficiency of tool changing, we need to meticulously divide the entire process into multiple stages. These stages include, but are not limited to: initial preparation stage, tool selection stage, spindle and tool magazine alignment stage, tool exchange stage, and tool magazine reset stage. For each stage, we need to accurately calculate the target angle to which the servo rotary table needs to rotate, based on the machine tool layout, tool magazine design, and specific machining task. These angle settings must ensure that during the tool change process, the spindle can accurately align with the tool in the tool magazine, thereby smoothly completing the tool change.

[0030] S2. Monitor the execution progress of the tool changing process, and control the servo turntable to rotate synchronously based on the execution progress.

[0031] During the tool change process, we need to monitor the progress of each stage in real time. This includes key actions such as spindle movement, tool clamping and release, and servo table rotation. By monitoring the execution of these actions, we can accurately determine the current stage of the tool change process and control the synchronous rotation of the servo table accordingly. This synchronous rotation needs to ensure that while the spindle is moving, the servo table can rotate precisely at a preset angle to maintain a stable relative position between the spindle and the tool magazine.

[0032] S3. Synchronously detect the actual position of the servo turntable and match the actual position with the servo turntable angle corresponding to the stage. If the two match, continue to execute the stage.

[0033] During the rotation of the servo rotary table, we need to detect its actual position in real time using devices such as encoders or position sensors. This step is crucial for ensuring the accuracy of the tool change process. By matching the detected actual position with the preset servo rotary table angle, we can determine whether the rotary table has accurately reached the target position. If they match, it means the rotary table has rotated precisely according to the preset angle, and the next stage of the tool change process can proceed. If they do not match, the tool change process must be stopped immediately, and corresponding troubleshooting and repair work must be carried out to ensure the normal operation of the machine tool and the successful completion of the machining task.

[0034] To facilitate understanding of the present invention, the matrix tool changing control method provided by the present invention will be further described below with reference to the principle of the matrix tool changing control method of the present invention and in conjunction with embodiments.

[0035] Double gantry CNC machine tool, such as Figure 2 As shown, the machine tool includes a first gantry ①, a second gantry ②, and a machine tool working area ③. The double gantry machine tool shares a bed guide rail for horizontal movement and simultaneously processes parts on the common worktable.

[0036] First, perform basic setup for the double-gantry CNC machine tool, including: By authorizing the gantry synchronization of the SIEMENS system, the internal data interface and location synchronization data setting function are enabled; Siemens loop and global user data are used, and variable types are defined in MGUD for calling compilation; technical parameters and setting methods are adopted, and the loop parameters can be set on the control panel or preset through GUD (Global User Defined) variables.

[0037] In one embodiment of the present invention, based on step S1, the following will provide a possible embodiment and describe its specific implementation in a non-limiting manner.

[0038] The standard tool change procedure is as follows: Figure 3 As shown, it includes: (1) Tool changing and rotary table operation Proceed to the tool change procedure: Start the machining center's tool change program, ensuring that the tools in the tool magazine can be changed smoothly. During the tool change process, carefully observe the condition of the tools to ensure that they are not damaged or excessively worn.

[0039] Synchronous Rotation of the Turntable: Based on the input turntable positioning angle, the turntable is controlled to rotate synchronously. During rotation, the stability and accuracy of the turntable are maintained to ensure that the tool can accurately reach the designated position.

[0040] (2) Positioning of the spindle and slide five-axis head Spindle positioning: Start the spindle positioning program and move the spindle to the designated position. During the positioning process, carefully check the spindle's movement trajectory and speed to ensure there are no abnormalities.

[0041] Ram 5-axis head positioning: Controls the ram 5-axis head to move to the spindle positioning position, preparing for subsequent tool changes. During the movement, carefully observe the motion status and positional accuracy of the ram 5-axis head.

[0042] (3) Tool changing and tool magazine operation Operating from outside the tool magazine: Outside the tool magazine door, prepare new tools and check their condition. If necessary, perform maintenance such as cleaning or lubrication on the tools.

[0043] Tool magazine rotation to the spindle's original tool position: Control the tool magazine to rotate to the spindle's original tool position so that the original tool can be removed. During rotation, pay attention to maintaining the stability and accuracy of the tool magazine.

[0044] Remove and replace the tool: Use a special tool or equipment to remove the old tool from the spindle. Install the new tool onto the spindle, ensuring it is secure and reliable.

[0045] Tool magazine rotation to new tool slot: Control the tool magazine to rotate to the position of the new tool slot so that the new tool can be placed in the slot. During placement, pay attention to maintaining the stability and positional accuracy of the new tool.

[0046] (4) Safety inspection and adjustment Turntable relaxation and safety check: After changing the cutting tools, perform a turntable relaxation and safety check. Check whether the turntable's locking mechanism is reliable and whether the turntable's movement is smooth and without abnormalities.

[0047] Adjusting the tool position and angle: Adjust the tool position and angle according to the requirements of the machining task. Use measuring tools or equipment to accurately measure and calibrate the tool position and angle.

[0048] (5) Processing operation and monitoring Start the machining program: After confirming that all parameters and settings are correct, start the machining center's machining program. During the machining process, carefully observe the machining status and equipment operation.

[0049] Monitoring the machining process: Real-time monitoring of parameters such as tool wear, cutting force, and temperature during machining. If any abnormality is detected, immediately stop the machine and investigate the cause.

[0050] Based on the above tool changing procedure, set the basic parameters: The tool changing process is divided into a spindle and ram five-axis head positioning process, a tool changing process, and a safety detection process. The tool changing process includes an operation stage outside the tool magazine door, a tool magazine rotation stage to the original tool position on the spindle, a tool removal and replacement stage, and a tool magazine rotation stage to the new tool slot position. The relative position of the spindle and tool magazine in each stage is detected using a laser rangefinder sensor, or a laser rangefinder sensor is used to set the corresponding servo turntable angle based on the relative position. During the spindle and ram five-axis head positioning process and the safety detection process, the servo turntable release action and safety detection are performed.

[0051] Specifically: The five-axis head positioning process for the spindle and ram: This stage primarily ensures that the spindle and ram five-axis head can accurately move to the preset starting position before tool change, providing a stable reference for subsequent operations. Through a sophisticated control system, the spindle and ram five-axis head are guided to move along a preset trajectory until they reach the predetermined positioning point. This process may involve fine-tuning the mechanical structure and using sensors (such as laser rangefinders) for position verification to ensure positioning accuracy.

[0052] Tool changing process: Operation outside the tool magazine door: During this stage, the operator or automated equipment performs preparatory work outside the tool magazine door, such as selecting the type of tool to be replaced, confirming the tool number, etc., while ensuring that the tool magazine door is in a safe closed state.

[0053] Tool magazine rotation to the spindle's original tool position: The tool magazine begins to rotate until the tool holder carrying the original tool is aligned with the spindle position, preparing for subsequent tool removal. This process also relies on precise control algorithms to ensure accurate rotation angles.

[0054] Tool Retrieval and Replacement Stage: The spindle's robotic arm or corresponding device activates to safely remove the old tool from the spindle and place it in the designated retrieval position in the tool magazine. Subsequently, a new tool is selected from the tool magazine and precisely installed onto the spindle. High attention must be paid to the smoothness and safety of the mechanical movements during this stage.

[0055] Tool magazine rotation to new tool slot position stage: After tool change is completed, the tool magazine rotates again to adjust the position of the new tool slot to the non-working area, in preparation for the next tool change.

[0056] Safety checks are required at every stage of the tool change process, especially during the spindle and ram five-axis head positioning process and after tool change. These checks include, but are not limited to: Servo turntable relaxation action: After ensuring that all mechanical parts are in a stable state, perform the relaxation action of the servo turntable to avoid mechanical wear or failure caused by prolonged tension.

[0057] Safety Inspection: Utilizing high-precision inspection equipment such as laser rangefinders, the relative positions of the spindle, tool magazine, and surrounding environment are monitored in real time to ensure no collision risk. Simultaneously, the functionality and integrity of all sensors, emergency stop buttons, and other safety devices are checked to ensure rapid response in emergencies.

[0058] In practical scenarios, for stages requiring spindle and tool magazine alignment, a laser rangefinder measures the relative position of the spindle and tool magazine at each stage. Using the aligned position as the standard, the error between the relative position and the standard position is calculated. This error is then used to generate a servo stage angle to eliminate the error. For example, if the sensor measures a 1 mm deviation of the tool magazine from the standard position in the horizontal direction, the control system may instruct the servo stage to make a slight angle adjustment to realign the tool magazine with the spindle.

[0059] In one embodiment of the present invention, based on step S2, the following will provide a possible embodiment and describe its specific implementation in a non-limiting manner.

[0060] S201, Obtain execution data During tool changing on a CNC machine tool, the control system needs to acquire a series of execution data in real time to monitor and evaluate each stage of the tool changing process. This execution data includes, but is not limited to: The motion status of the servo motor includes key parameters such as motor speed, direction of rotation, and position, which reflect the motion of the servo turntable.

[0061] Tool clamping and release status: Sensors monitor whether the tool is successfully clamped or released by the spindle, which is an important basis for judging whether the tool change is successful.

[0062] S202, Matching standard execution data To accurately determine the current tool change stage, the control system needs to match the acquired execution data with preset standard execution data. The standard execution data is derived from extensive prior experiments and tests based on the CNC machine tool's tool change process and the characteristics of each stage. The matching process includes: Data preprocessing: The acquired execution data is cleaned and formatted to ensure it conforms to the format of standard execution data.

[0063] Similarity calculation: The similarity between the obtained execution data and the standard execution data is calculated using algorithms (such as cosine similarity, Euclidean distance, etc.).

[0064] Stage selection: Based on the similarity calculation results, the stage with the highest matching degree is selected as the current execution stage.

[0065] S203. Determine the current execution stage and set the target perspective. Once the current execution stage is determined, the control system can determine the servo table angle corresponding to the next execution stage based on the preset tool change procedure and set it as the target angle. This process includes: Stage transition logic: Based on the definition of the tool change process, determine the servo turntable angle change required from the current execution stage to the next execution stage.

[0066] Target angle calculation: The target angle is calculated by combining the current angle of the servo turntable and the stage transition logic.

[0067] S204, Control the servo turntable to rotate to the target angle. Finally, the control system sends a command to the servo turntable, controlling its rotation to the target angle. This process includes: Command generation: Generate corresponding control commands based on the target angle and the control protocol of the servo turntable.

[0068] Command transmission: Send control commands to the controller of the servo turntable so that it can execute the rotation operation.

[0069] Status monitoring: During the rotation of the servo turntable, its motion status and position information are continuously monitored to ensure the safety and accuracy of the rotation process.

[0070] Feedback processing: Receive feedback signals from the servo turntable, confirm that it has reached the target angle, and prepare to enter the next execution stage.

[0071] In one embodiment of the present invention, based on step S3, the following will provide a possible embodiment and describe its specific implementation in a non-limiting manner.

[0072] S301, Set non-modular 360° positioning axis First, in the control system of the CNC machine tool, the servo rotary table axis is configured as a non-modulus 360° positioning axis. This means that the rotary table's angle is no longer limited to a 360° cycle, but can be positioned and rotated within a wider range. This setting typically needs to be configured in the parameter settings of the control system to ensure that the system can correctly identify and handle the non-standard angles of the rotary table.

[0073] S302, Detecting the actual angle using an angle sensor To obtain the actual angle of the servo turntable in real time, a high-precision angle sensor needs to be installed on the turntable. This sensor can continuously monitor the angle changes of the turntable and convert them into electrical signals that are transmitted to the control system. By analyzing these signals, the control system can accurately obtain the actual angle information of the turntable.

[0074] S303. Calculate the vector angle difference and determine whether it is within the threshold range. After obtaining the actual and target angles, the control system needs to calculate the vector angle difference between them. Since the turntable axis is not modular 360°, this calculation requires a vector method to account for the continuity and periodicity of the angles. The calculated vector angle difference will be used to determine whether the turntable needs angle adjustment.

[0075] Next, the control system will determine whether the vector angle difference is within a set threshold range. This threshold is preset based on machining accuracy and efficiency requirements and is used to determine when the turntable angle needs to be adjusted. If the vector angle difference is within the threshold range, it indicates that the actual angle of the turntable is close enough to the target angle, and the execution stage corresponding to the current target angle can continue.

[0076] S304, Adjusting the servo turntable angle based on vector angle difference If the vector angle difference is not within the set threshold range, the control system needs to determine the rotation direction and angle of the servo turntable based on the vector angle difference. This determination process needs to take into account the non-modular 360° characteristics of the turntable to ensure the accuracy of the rotation direction and angle.

[0077] Once the rotation direction and angle are determined, the control system sends commands to the servo turntable's driver to control it to perform the corresponding rotation operation. During rotation, the control system continuously monitors the turntable's angle changes to ensure it accurately reaches the target angle.

[0078] S305, Feedback and Adjustment After the servo turntable rotates to the target angle, the control system receives feedback signals from the angle sensor to confirm whether the actual angle of the turntable matches the target angle. If there is a discrepancy, the control system will make fine adjustments to ensure the turntable's precise positioning. This feedback and adjustment process is crucial for improving machining accuracy and efficiency.

[0079] In some embodiments, the matrix tool changer control system may include multiple functional modules composed of computer program segments. The computer programs for each program segment in the matrix tool changer control system may be stored in the memory of a computer device and executed by at least one processor to perform (see details). Figure 1 (Description) Functions of matrix tool changer control.

[0080] In this embodiment, the matrix tool changing control system can be divided into multiple functional modules according to the functions it performs, such as... Figure 4As shown. The functional modules of system 400 may include: parameter setting module 410, progress monitoring module 420, and execution control module 430. The module referred to in this invention is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0081] The parameter setting module is used to divide the tool changing process into multiple stages and set the servo turntable angle corresponding to each stage. The progress monitoring module is used to monitor the execution progress of the tool changing process and control the servo turntable to rotate synchronously based on the execution progress. The execution control module is used to synchronously detect the actual position of the servo turntable and match the actual position with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed.

[0082] Optionally, as an embodiment of the present invention, the parameter setting module includes: The stage division unit is used to divide the tool changing process into the spindle and slide five-axis head positioning process, the tool changing process and the safety detection process. The tool changing process includes the tool magazine door operation stage, the tool magazine rotation to the original tool position of the spindle stage, the tool removal and replacement stage, and the tool magazine rotation to the new tool cavity position stage. An angle setting unit is used to detect the relative position of the spindle and the tool magazine in each stage using a laser rangefinder sensor, and set the corresponding servo turntable angle based on the relative position. The status setting unit is used to perform servo turntable relaxation and safety checks during the five-axis head positioning process of the spindle and slide and the safety detection process.

[0083] Optionally, as an embodiment of the present invention, the progress monitoring module includes: The data acquisition unit is used to acquire execution data, which includes the motion state of the servo motor and the clamping and releasing state of the tool; The progress positioning unit is used to match the execution data with the standard execution data of each stage, and select the stage with the highest matching degree as the current execution stage; The target setting unit is used to set the servo turntable angle corresponding to the next execution stage of the current execution stage to the target angle. A rotation control unit is used to control the servo turntable to rotate to the target angle.

[0084] Optionally, as an embodiment of the present invention, the execution control module includes: The mode setting unit is used to set the servo turntable axis to a non-modular 360° positioning axis; An angle detection unit is used to detect the actual angle of the servo turntable using an angle sensor. An angle determination unit is used to calculate the vector angle difference between the actual angle and the target angle, and to determine whether the vector angle difference is within a set threshold range; An execution confirmation unit is used to continue executing the execution phase corresponding to the target angle if the vector angle difference is within a set threshold range. The position adjustment unit is used to determine the rotation direction and rotation angle of the servo turntable based on the vector angle difference if the vector angle difference is not within the set threshold range, so as to adjust the angle of the servo turntable.

[0085] Figure 5 The matrix tool changer control method provided in the embodiments of this application can be applied to devices. Those skilled in the art will understand that the device structure involved in the embodiments of this invention does not constitute a limitation on the device. A device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In the embodiments of this invention, the device includes, but is not limited to, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0086] The device 500 may include a processor 510, a memory 520, and a communication unit 530. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figure does not constitute a limitation of the present invention. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0087] The memory 520 can be used to store execution instructions of the processor 510. The memory 520 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 520 are executed by the processor 510, the device 500 is able to perform some or all of the steps in the above method embodiments.

[0088] The processor 510 serves as the control center of the storage device, connecting various parts of the electronic device via various interfaces and lines. It executes software programs and / or modules stored in the memory 520, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 510 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0089] The communication unit 530 is used to establish a communication channel, enabling the storage device to communicate with other devices. It can receive user data sent by other devices or send user data to other devices.

[0090] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps provided in the embodiments of the present invention. The storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0091] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other medium capable of storing program code. It includes several instructions to cause a computer device (which may be a personal computer, a server, or a second device, network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0092] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0093] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or modules may be electrical, mechanical, or other forms.

[0094] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0096] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be covered within the protection scope of the present invention.

Claims

1. A matrix tool changing control method, characterized in that, include: The tool changing process is divided into multiple stages, and the servo turntable angle corresponding to each stage is set. Monitor the execution progress of the tool changing process, and control the servo turntable to rotate synchronously based on the execution progress; The actual position of the servo turntable is detected synchronously, and the actual position is matched with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed.

2. The method according to claim 1, characterized in that, The tool changing process is divided into multiple stages, and the servo turntable angle corresponding to each stage is set, including: The tool changing process is divided into a five-axis head positioning process for the spindle and slide, a tool changing process, and a safety inspection process. The tool changing process includes an operation stage outside the tool magazine door, a stage of rotating the tool magazine to the original tool position of the spindle, a stage of taking out and replacing the tool, and a stage of rotating the tool magazine to the new tool slot position. The relative position of the spindle and the tool magazine is detected by a laser rangefinder at each stage, and the corresponding servo turntable angle is set based on the relative position. During the five-axis head positioning process of the spindle and slide, as well as the safety inspection process, the servo turntable release action and safety inspection are performed.

3. The method according to claim 1, characterized in that, Monitoring the execution progress of the tool change process and controlling the servo turntable to rotate synchronously based on the execution progress includes: Acquire execution data, which includes the motion state of the servo motor and the clamping and releasing state of the tool; The execution data is matched with the standard execution data of each stage, and the stage with the highest matching degree is selected as the current execution stage. Set the servo turntable angle corresponding to the next execution phase of the current execution phase to the target angle; Control the servo turntable to rotate to the target angle.

4. The method according to claim 3, characterized in that, The actual position of the servo turntable is detected synchronously, and the actual position is matched with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed, including: Set the servo turntable axis to a non-modular 360° positioning axis; The actual angle of the servo turntable is detected using an angle sensor. Calculate the vector angle difference between the actual angle and the target angle, and determine whether the vector angle difference is within a set threshold range: If so, then continue with the execution phase corresponding to the target angle; If not, the rotation direction and rotation angle of the servo turntable are determined based on the vector angle difference, so as to adjust the angle of the servo turntable.

5. A matrix tool changing control system, characterized in that, include: The parameter setting module is used to divide the tool changing process into multiple stages and set the servo turntable angle corresponding to each stage. The progress monitoring module is used to monitor the execution progress of the tool changing process and control the servo turntable to rotate synchronously based on the execution progress. The execution control module is used to synchronously detect the actual position of the servo turntable and match the actual position with the servo turntable angle corresponding to the stage. If the two match, the stage continues to be executed.

6. The system according to claim 5, characterized in that, The parameter setting module includes: The stage division unit is used to divide the tool changing process into the spindle and slide five-axis head positioning process, the tool changing process and the safety detection process. The tool changing process includes the tool magazine door operation stage, the tool magazine rotation to the original tool position of the spindle stage, the tool removal and replacement stage, and the tool magazine rotation to the new tool cavity position stage. An angle setting unit is used to detect the relative position of the spindle and the tool magazine in each stage using a laser rangefinder sensor, and set the corresponding servo turntable angle based on the relative position. The status setting unit is used to perform servo turntable relaxation and safety checks during the five-axis head positioning process of the spindle and slide and the safety detection process.

7. The system according to claim 5, characterized in that, The progress monitoring module includes: The data acquisition unit is used to acquire execution data, which includes the motion state of the servo motor and the clamping and releasing state of the tool; The progress positioning unit is used to match the execution data with the standard execution data of each stage, and select the stage with the highest matching degree as the current execution stage; The target setting unit is used to set the servo turntable angle corresponding to the next execution stage of the current execution stage to the target angle. A rotation control unit is used to control the servo turntable to rotate to the target angle.

8. The system according to claim 7, characterized in that, The execution control module includes: The mode setting unit is used to set the servo turntable axis to a non-modular 360° positioning axis; An angle detection unit is used to detect the actual angle of the servo turntable using an angle sensor. An angle determination unit is used to calculate the vector angle difference between the actual angle and the target angle, and to determine whether the vector angle difference is within a set threshold range; An execution confirmation unit is used to continue executing the execution phase corresponding to the target angle if the vector angle difference is within a set threshold range. The position adjustment unit is used to determine the rotation direction and rotation angle of the servo turntable based on the vector angle difference if the vector angle difference is not within the set threshold range, so as to adjust the angle of the servo turntable.

9. A device, characterized in that, include: The memory is used to store the matrix tool changer control program; A processor, configured to implement the steps of the matrix tool changer control method as described in any one of claims 1-4 when executing the matrix tool changer control program.

10. A computer-readable storage medium storing a computer program, characterized in that, The readable storage medium stores a matrix tool changing control program, which, when executed by a processor, implements the steps of the matrix tool changing control method as described in any one of claims 1-4.

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