Tool changing dynamic real-time compensation method and system for external tool magazine

Abstract

The invention provides a tool changing dynamic real-time compensation method and system for an external tool magazine, and the method comprises the steps: setting a tool magazine reference group, enabling a probe of a machine tool to measure the tool magazine reference group, and building an initial transformation matrix of a tool magazine coordinate system and a machine tool coordinate system; receiving a tool changing instruction, enabling a probe of the machine tool to measure a reference hole and a reference end face of the tool magazine reference group, establishing an actual transformation matrix of a tool magazine coordinate system and a machine tool coordinate system, and calculating the actual transformation matrix and the initial transformation matrix as a deviation matrix of dynamic offset; generating a compensation displacement and a compensation instruction; a shaft of the machine tool is made to move according to the compensation instruction, and compensated coordinate parameters are obtained; and tool changing is executed according to the compensated coordinate parameters. The tool changing fault is avoided through preventive compensation, the maintenance cost and shutdown loss are reduced, and remarkable protectiveness and economical efficiency are achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tool changing precision control of numerical control machine tools, and in particular relates to a tool changing dynamic real-time compensation method and system for an external tool magazine. The present application is applicable to a flexible machining unit equipped with an external tool magazine, i.e. a flexible machining unit with tool changing between a machine tool worktable and a spindle, a multi-machine tool shared tool magazine scenario. BACKGROUND

[0002] Currently, in flexible manufacturing systems, i.e. FMS and automated machining units, the scheme of using a rail-guided vehicle, i.e. RGV, to carry a matrix tool magazine to a machine tool worktable for tool changing has been widely applied. The core defect of the prior art is the dependence on one-time, manually guided initial calibration, and the lack of subsequent dynamic compensation mechanism.

[0003] Initial calibration method is backward: Currently, the industry generally relies on traditional manual methods when performing initial coordinate calibration of the tool magazine. The operator needs to use a spindle mandrel, a micrometer or a lever gauge, etc. three-joint tool, through manual observation of the dial reading and manual adjustment of the machine tool shaft movement, to repeatedly align the reference surface on the tool magazine. This process is tedious, time-consuming, and heavily dependent on the technical experience and responsibility of the operator, and the calibration accuracy is difficult to maintain stability and high consistency.

[0004] Parameter solidification and reference drift: Regardless of the way the initial coordinates are obtained, the system will store all the tool position parameters of this calibration as fixed values in the numerical control system. In all subsequent production runs, when the RGV carries the tool magazine to the machine tool worktable, the numerical control system will always blindly call and use this set of static parameters to command the tool changing action.

[0005] Unable to cope with dynamic deviation: This scheme cannot solve the small random deviation of the tool magazine position each time it is parked, i.e. dynamic deviation, caused by RGV track wear, positioning pin gap, thermal deformation, mechanical stress, etc., as well as the slow time-varying drift of the reference position caused by changes in environmental temperature, equipment foundation settlement, long-term wear of mechanical structure, etc.

[0006] High failure risk and derivative damage: This is prone to cause deviation of the tool changing position, thereby causing serious faults such as tool jamming and tool collision. This not only directly damages the expensive tool, but also damages the accuracy of the machine tool spindle due to the huge impact force, causing the radial runout to increase and the dynamic balance to be destroyed, thereby affecting the machining quality of all subsequent workpieces. Ultimately, these faults will cause workpiece scrap, unplanned shutdown of the entire automated production line, resulting in huge economic losses and loss of production efficiency.

[0007] Patent document CN113843645A discloses a robot tool magazine tool changing control method and control system, which includes parameter configuration of tool magazine wall and external tool magazine according to the structure of the tool magazine wall and the external tool magazine; receiving a tool changing instruction and judging the type of the tool changing instruction; if it is an internal tool changing instruction from the machine tool numerical control system, calculating the corresponding tool seat coordinates according to the tool seat numbers of the new tool and the old tool on the tool magazine wall, the theoretical offset and the actual offset of the corresponding tool seat, and completing the replacement of the new tool and the old tool; if it is an external tool changing instruction from the external tool magazine system, calculating the corresponding tool seat coordinates according to the tool seat numbers of the old tool and the new tool on the tool magazine wall, the tool seat numbers of the old tool and the new tool in the external tool magazine, and the theoretical offset and the actual offset of the corresponding tool seat, and completing the replacement of the new tool in the external tool magazine and the old tool in the tool magazine wall. This scheme cannot fundamentally eliminate the dynamic deviation and reference drift caused by factors such as thermal deformation, mechanical wear, vibration and RGV repeated positioning error.

[0008] This problem needs to be solved urgently. SUMMARY

[0009] In view of the defects in the prior art, the purpose of the present application is to provide a tool changing dynamic real-time compensation method and system for an external tool magazine.

[0010] According to the tool changing dynamic real-time compensation method for an external tool magazine provided by the present application, the following steps are included: Step S1: setting a tool magazine reference group, letting the probe of the machine tool measure the reference holes and reference end faces of the tool magazine reference group, and establishing an initial transformation matrix of the tool magazine coordinate system and the machine tool coordinate system; Step S2: receiving a tool changing instruction, letting the probe of the machine tool measure the reference holes and reference end faces of the tool magazine reference group, establishing an actual transformation matrix of the tool magazine coordinate system and the machine tool coordinate system, and calculating the actual transformation matrix and the initial transformation matrix as a deviation matrix of dynamic offset; Step S3: generating a compensation displacement and a compensation instruction based on the deviation matrix; Step S4: letting the shaft of the machine tool move according to the compensation instruction to obtain a compensated coordinate parameter; letting the probe of the machine tool measure the reference holes and reference end faces of the tool magazine reference group to obtain a verification measurement result; judging whether the residual error between the verification measurement result and the initial calibration value is within a preset tolerance threshold, and if the result is yes, the verification is passed and step S5 is executed; if the result is no, an alarm is given to the operator; Step S5: executing tool changing according to the compensated coordinate parameter.

[0011] Preferably, in the step S1, the coordinates of all tool positions are measured and stored; The reference holes of the tool magazine reference group are located on the surface of the tool changing device, and the hole diameter is Φ10H7; The perpendicularity of the reference end face to the reference hole axis is less than 0.005 mm.

[0012] Preferably, the expression of the deviation matrix is: ΔT=T M→T1 · (T M→T0 ) -1 Wherein, ΔT represents the deviation matrix, → represents the matrix transformation, T M→T1 represents the transformation matrix from M to T1, T M→T0 represents the transformation matrix from M to T0, · represents the product, the-1 in the upper right corner represents the inverse of the matrix, T0 represents the tool magazine coordinate system established in the initial calibration stage; T1 represents the tool magazine coordinate system reflecting the current position of the tool magazine established by real-time measurement before each tool changing; M is the inherent coordinate system with the machine tool body as the reference; The compensation displacement amount is obtained based on the translation vector components of the deviation matrix on the machine tool X, Y and Z axes, denoted as (ΔX, ΔY, ΔZ), and then a compensation instruction of coordinate offset is generated according to the compensation displacement amount.

[0013] Preferably, in the step S4, the range of the preset tolerance threshold is-0.002~0.002mm.

[0014] According to the present application, a tool changing dynamic real-time compensation system for an external tool magazine is provided, comprising: Module M1: setting a tool magazine reference group, letting the probe of the machine tool measure the reference hole and the reference end face of the tool magazine reference group, and establishing the initial transformation matrix of the tool magazine coordinate system and the machine tool coordinate system; Module M2: receiving a tool changing instruction, letting the probe of the machine tool measure the reference hole and the reference end face of the tool magazine reference group, establishing the actual transformation matrix of the tool magazine coordinate system and the machine tool coordinate system, and calculating the actual transformation matrix and the initial transformation matrix as the deviation matrix of the dynamic offset; Module M3: generating a compensation displacement amount and a compensation instruction based on the deviation matrix; Module M4: letting the axes of the machine tool move according to the compensation instruction to obtain the compensated coordinate parameters; letting the probe of the machine tool measure the reference hole and the reference end face of the tool magazine reference group to obtain the verification measurement result; judging whether the residual error between the verification measurement result and the initial calibration value is within the range of the preset tolerance threshold, and if the result is yes, the verification is passed, and the module M5 is triggered to work; if the result is no, an alarm is given to the operator; Module M5: performing tool changing according to the compensated coordinate parameters.

[0015] Preferably, in the module M1, the coordinates of all tool positions are measured and stored; The reference hole of the tool magazine reference group is located on the surface of the tool changing device, and the hole diameter is Φ10H7; The perpendicularity of the reference end face to the reference hole axis is less than 0.005 mm.

[0016] Preferably, the mathematical expression of the deviation matrix is: ΔT=T M→T1 · (T M→T0 ) -1 Wherein, ΔT represents the deviation matrix, represents the matrix transformation, T M→T1 represents the transformation matrix from M to T1, T M→T0 represents the transformation matrix from M to T0, · represents the product, the-1 in the upper right corner represents the inverse of the matrix, T0 represents the tool magazine coordinate system established in the initial calibration stage; T1 represents the tool magazine coordinate system reflecting the current position of the tool magazine established by real-time measurement before each tool changing; M is the inherent coordinate system with the machine tool body as the reference; The compensation displacement amount is obtained based on the translation vector components of the deviation matrix in the machine tool X, Y and Z axes, and is recorded as (ΔX, ΔY, ΔZ), and then a compensation instruction of coordinate offset is generated according to the compensation displacement amount.

[0017] Preferably, in the module M4, the range of the preset tolerance threshold is-0.002~0.002mm.

[0018] According to the present application, a computer readable storage medium storing a computer program is provided, and the computer program is executed by a processor to realize the steps of the tool changing dynamic real-time compensation method for the external tool magazine. According to the present application, an electronic device is provided, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is executed by the processor to realize the steps of the tool changing dynamic real-time compensation method for the external tool magazine.

[0019] Compared with the prior art, the present application has the following beneficial effects: 1、The present application fundamentally eliminates the dynamic deviation and reference drift caused by factors such as thermal deformation, mechanical wear, vibration and RGV repeated positioning error by innovating one-time calibration into real-time compensation before each tool changing, maintains the long-term precision stability of tool changing at a high level of initial calibration, and reduces the occurrence rate of serious faults such as tool jamming and tool collision to a very low level, has high precision and greatly enhanced reliability.

[0020] 2、The application introduces the "measurement-compensation-verification" closed-loop logic, which specifically corresponds to steps S2-S4. The mechanism of re-verification after compensation ensures the effectiveness of the compensation action, the system can automatically perceive environmental changes and device state, and make intelligent response, without manual intervention for frequent recalibration, meet the needs of flexible manufacturing cell 7x24 hours uninterrupted, high reliability production, form intelligent closed-loop control, strong self-adaptability.

[0021] 3、The application avoids tool change failure through preventive compensation, directly protects expensive tools and high-precision machine tool spindles from impact damage, avoids batch workpiece quality problems caused by spindle precision degradation, prolongs the service life of key equipment, reduces maintenance cost and downtime loss, significantly protects and saves.

[0022] 4、The application makes full use of the existing high-precision probe and motion control system of the numerical control machine tool, without additional addition of expensive external detection equipment such as laser tracker and vision sensor, to achieve the highest functional gain with the lowest hardware cost, easy to upgrade and promote on existing equipment, cost-effective, easy to implement.

[0023] 5、The application significantly improves the output efficiency and economic benefit of the whole production line by greatly reducing unplanned downtime, reducing waste, improving equipment availability and performance utilization, and ultimately improving the overall equipment efficiency, i.e. OEE. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1 A schematic diagram of the machine tool structure provided by the application is shown in the figure. Figure 2 A flowchart provided by the application.

[0025] The figure shows: 1-RGV 2-Reference hole 3-External tool magazine 4-Probe 5-Machine tool spindle 6-Machine tool worktable DETAILED DESCRIPTION The application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0026] The present application aims to solve the core problem of high tool clamping and collision failure rate caused by the inability to correct in real time due to dynamic deviation and the lack of dynamic compensation of reference drift in the traditional external tool magazine tool changing process. The present application builds a "real-time measurement-dynamic compensation-verification closed loop" process, relies on the existing spindle probe of the machine tool to realize dynamic deviation detection and compensation before each tool change, improves the stability of tool changing accuracy, reduces the risk of failure, and meets the dynamic processing needs of flexible production lines.

[0027] Specifically, according to the tool changing dynamic real-time compensation method for an external tool magazine provided by the present application, the method comprises the following steps: S1, initial calibration stage, offline: when the machine tool and the tool magazine system are first installed and debugged, a reference group for establishing a coordinate system is set on the tool magazine, the reference group at least comprising a reference hole and a reference end face; the machine tool spindle is controlled to move, so that the probe on the spindle measures the reference hole and the reference end face in turn, and an initial transformation matrix T between the tool magazine coordinate system T and the machine tool coordinate system M is established according to the measurement data; M→T0 and the coordinates P_tool_i of all tool positions in the tool magazine coordinate system T are stored; S2, real-time measurement and deviation calculation stage, online: when the RGV carries the tool magazine to the machine tool workbench and positions it, before executing the tool changing instruction, the machine tool spindle is controlled to move, so that the probe measures the reference hole and the reference end face in the reference group again; according to the measurement data this time, an actual transformation matrix T between the tool magazine coordinate system T and the machine tool coordinate system M at the current time is calculated; M→T1 a deviation matrix of the current transformation matrix and the initial transformation matrix is calculated. Specifically, the deviation matrix represents the dynamic deviation of the tool magazine relative to the initial calibration position; The mathematical expression of the deviation matrix is: ΔT=T M→T1 ·(T M→T0 ) -1 Wherein, ΔT represents the deviation matrix, → represents the matrix transformation, T M→T1 represents the transformation matrix from M to T1, T M→T0 represents the transformation matrix from M to T0, · represents the product, the -1 in the upper right corner represents the inverse of the matrix, T0 represents the tool magazine coordinate system established in the initial calibration stage, which serves as the reference for subsequent calculation and compensation; T1 represents the tool magazine coordinate system reflecting the current position of the tool magazine established by real-time measurement before each tool change; M is the inherent coordinate system with the machine tool body as the reference, referred to as the machine tool coordinate system; T is the coordinate system established with the tool magazine reference group as the reference, referred to as the tool magazine coordinate system.

[0028] The compensation displacement amount is obtained based on the translation vector components of the deviation matrix in the X, Y and Z axes of the machine tool, denoted as (ΔX, ΔY, ΔZ), and a compensation instruction of coordinate offset is generated according to the compensation displacement amount.

[0029] S3, dynamic compensation stage: the system analyzes the deviation matrix ΔTrans into the compensation displacement amount required by each axis of the machine tool.

[0030] Specifically, the compensation displacement amount is obtained based on the translation vector components of the deviation matrix in the X, Y and Z axes of the machine tool.

[0031] In a preferred embodiment of the present application, the deviation matrix is a 4x4 homogeneous transformation matrix. The compensation displacement amount (ΔX, ΔY, ΔZ) is directly determined by extracting the first three elements of the fourth column of the matrix. Its physical meaning is that it represents the spatial position change of the tool magazine coordinate system origin due to dynamic offset.

[0032] The numerical control system then generates a coordinate offset compensation instruction according to the compensation displacement amount (ΔX, ΔY, ΔZ).

[0033] For example, after the system analyzes the deviation matrix, the compensation displacement amount is ΔX = -0.003mm, ΔY = +0.002mm, ΔZ = -0.001mm.

[0034] S4, compensation verification stage, i.e. closed loop confirmation: control the movement of each axis of the machine tool according to the compensation instruction to eliminate the dynamic offset; after the movement is completed, the probe measures the reference group again; verify whether the residual error between the measurement result and the initial calibration value is within the preset tolerance threshold; If the residual error is within the tolerance range, the verification is passed, and step S5 is executed; If the residual error is out of tolerance, return to step S2 to re-measure and compensate, or issue an alarm signal to prompt manual intervention; S5, execute tool change: after the compensation verification is passed, the numerical control system calls the compensated coordinate parameters to control the tool changing mechanism to execute the tool changing operation.

[0035] The present application covers aerospace parts, precision molds, automotive core components and other machining scenarios with high requirements for dynamic precision of tool changing.

[0036] Embodiment 1: This embodiment is implemented on a five-axis numerical control machining center equipped with a matrix tool magazine with an RGV conveying system. The spindle of the machine tool is equipped with a high-precision trigger probe, i.e. Renishaw OMP40.

[0037] Referring to the drawings, the reference group is set: on the tool magazine body, near the tool changing position, that is, on the surface of the tool changing device, a standard reference hole with a diameter of Φ10H7 and an accuracy of ±0.005 mm and a reference end face with a surface roughness Ra0.8 and a perpendicularity to the reference hole axis of less than 0.005 mm are machined. This group of features constitutes the reference group required to establish the coordinate system.

[0038] S1 Initial calibration, offline: when the system is first installed, the technician starts the initial calibration program. The machine spindle probe automatically moves to measure the reference hole first, then the X, Y origin and the reference end face, and the Z origin, automatically establishing the initial transformation relationship between the tool magazine coordinate system T and the machine coordinate system M, that is, the initial transformation matrix T M→T0 , and automatically measuring and storing the coordinates of all tool positions.

[0039] S2 Real-time measurement, online: in production, whenever the RGV transports the tool magazine to the position and sends a ready signal, the tool changing command triggers this compensation method. The probe automatically repeatedly measures the reference hole and the end face, and the system calculates the current transformation matrix, that is, the actual transformation matrix T M→T1 and the deviation matrix ΔT in real time.

[0040] S3 Dynamic compensation: the system analyzes the deviation matrix into compensation displacement amounts of the machine X, Y, Z axes. For example, ΔX = -0.003 mm, ΔY = +0.002 mm, ΔZ = -0.001 mm.

[0041] Specifically, the dynamic compensation stage: the system converts the deviation matrix ΔT into the compensation displacement amounts required by each axis of the machine. Specifically, by extracting the translation vector component in the deviation matrix ΔT, the linear compensation displacement amounts (ΔX, ΔY, ΔZ) of the machine X, Y, Z axes are directly obtained. The numerical control system generates coordinate offset compensation instructions according to the compensation displacement amounts. S4 Compensation verification: after the machine axes move according to the compensation amounts, the probe immediately measures the reference hole and the end face again. The system sets the tolerance threshold to ±0.002 mm. If the measurement residual is within this range, the verification is passed; if it is out of tolerance, the system alarms and prompts “dynamic compensation abnormality”, and the tool magazine positioning or the reference group needs to be checked for contamination or damage.

[0042] S5 Execute tool changing: after the verification is passed, the tool changing robot executes the tool changing action based on the compensated coordinates, and the whole process is smooth and accurate.

[0043] In another embodiment, the reference group can also be three reference balls distributed in different positions. The tolerance threshold can be adaptively adjusted according to the weight and value of different tools, such as heavy tools using a stricter threshold. The compensation verification step S4 is also configured to be performed only once after calibration or every few hours to balance the production rhythm and reliability.

[0044] The application also provides a tool changing dynamic real-time compensation system for an external tool magazine, which can be realized by executing the process steps of the tool changing dynamic real-time compensation method for an external tool magazine, i.e., the tool changing dynamic real-time compensation method for an external tool magazine can be understood by those skilled in the art as a preferred embodiment of the tool changing dynamic real-time compensation system for an external tool magazine.

[0045] According to the application, a tool changing dynamic real-time compensation system for an external tool magazine is provided, which comprises: Module M1: setting a reference group of the tool magazine, allowing a probe of the machine tool to measure reference holes and reference end faces of the reference group of the tool magazine, and establishing an initial transformation matrix of the tool magazine coordinate system and the machine tool coordinate system; Module M2: receiving a tool changing instruction, allowing the probe of the machine tool to measure the reference holes and the reference end faces of the reference group of the tool magazine, establishing an actual transformation matrix of the tool magazine coordinate system and the machine tool coordinate system, and calculating a deviation matrix of the actual transformation matrix and the initial transformation matrix as a dynamic offset; Module M3: generating a compensation displacement and a compensation instruction based on the deviation matrix; Module M4: allowing an axis of the machine tool to move according to the compensation instruction to obtain a compensated coordinate parameter; allowing the probe of the machine tool to measure the reference holes and the reference end faces of the reference group of the tool magazine to obtain a verification measurement result; and judging whether a residual error between the verification measurement result and an initial calibration value is within a preset tolerance threshold, and if yes, the verification is passed, and module M5 is triggered to work; if no, an alarm is given to an operator; Module M5: performing tool changing according to the compensated coordinate parameter.

[0046] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the system provided by the present application and each device, module and unit thereof can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. by logically programming the method steps to achieve the same functions. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures within the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules for implementing methods and structures within hardware components.

[0047] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0048] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that they do not conflict.

Claims

1. A method for dynamic real-time compensation of tool changing in an external tool magazine, characterized in that, include: Step S1: Set up the tool magazine reference group, and have the machine tool probe measure the reference hole and reference end face of the tool magazine reference group to establish the initial transformation matrix between the tool magazine coordinate system and the machine tool coordinate system; Step S2: Receive the tool change command, instruct the machine tool probe to measure the reference hole and reference end face of the tool magazine reference group, establish the actual transformation matrix between the tool magazine coordinate system and the machine tool coordinate system, and calculate the deviation matrix between the actual transformation matrix and the initial transformation matrix as the dynamic offset. Step S3: Generate the compensation displacement and compensation command based on the deviation matrix; Step S4: Move the machine tool axis according to the compensation command to obtain the compensated coordinate parameters; The machine tool probe measures the reference hole and reference end face of the tool magazine reference group to obtain the verification measurement result; it is determined whether the residual between the verification measurement result and the initial calibration value is within the range of the preset tolerance threshold. If the result is yes, the verification is passed and step S5 is executed; if the result is no, an alarm is triggered to notify the operator. Step S5: Perform tool change according to the compensated coordinate parameters.

2. The method for dynamic real-time compensation of tool changing in an external tool magazine according to claim 1, characterized in that, In step S1, the coordinates of all tool positions are measured and stored; The reference hole of the tool magazine reference group is located on the surface of the tool changing device, and the hole diameter is Φ10H7. The perpendicularity between the reference end face and the axis of the reference hole is less than 0.005 mm.

3. The method for dynamic real-time compensation of tool changing in an external tool magazine according to claim 1, characterized in that, The mathematical expression for the deviation matrix is: ΔT=T M→T1 ·(T M→T0 ) -1 Where ΔT represents the deviation matrix, → represents the matrix transformation, and T M→T1 Let T represent the transformation matrix from M to T1. M→T0 T0 represents the transformation matrix from M to T0, · represents the product, and -1 in the upper right corner represents the inverse of the matrix. T0 represents the tool magazine coordinate system established during the initial calibration phase; T1 represents the tool magazine coordinate system established by real-time measurement before each tool change, reflecting the current position of the tool magazine; M is the inherent coordinate system with the machine tool body as the reference. The compensation displacement is obtained based on the translation vector components of the deviation matrix on the X, Y, and Z axes of the machine tool, denoted as (ΔX, ΔY, ΔZ), and then a coordinate offset compensation command is generated based on the compensation displacement.

4. The method for dynamic real-time compensation of tool changing in an external tool magazine according to claim 1, characterized in that, In step S4, the range of the preset tolerance threshold is -0.002 to 0.002 mm.

5. A dynamic real-time compensation system for tool changing in an external tool magazine, characterized in that, include: Module M1: Set up the tool magazine reference group, and have the machine tool probe measure the reference hole and reference end face of the tool magazine reference group to establish the initial transformation matrix between the tool magazine coordinate system and the machine tool coordinate system; Module M2: Receives tool change command, instructs the machine tool probe to measure the reference hole and reference end face of the tool magazine reference group, establishes the actual transformation matrix between the tool magazine coordinate system and the machine tool coordinate system, and calculates the deviation matrix between the actual transformation matrix and the initial transformation matrix as the dynamic offset. Module M3: Generates compensation displacement and compensation command based on the deviation matrix; Module M4: Moves the machine tool axis according to the compensation command to obtain the compensated coordinate parameters; The machine tool probe measures the reference hole and reference end face of the tool magazine reference group to obtain the verification measurement result; it is determined whether the residual between the verification measurement result and the initial calibration value is within the range of the preset tolerance threshold. If the result is yes, the verification is passed and module M5 is triggered to work. If the result is negative, an alarm will be triggered to notify the operator. Module M5: Performs tool change based on the compensated coordinate parameters.

6. The dynamic real-time compensation system for tool changing in an external tool magazine according to claim 5, characterized in that, In module M1, the coordinates of all tool positions are measured and stored; The reference hole of the tool magazine reference group is located on the surface of the tool changing device, and the hole diameter is Φ10H7. The perpendicularity between the reference end face and the axis of the reference hole is less than 0.005 mm.

7. The dynamic real-time compensation system for tool changing in an external tool magazine according to claim 5, characterized in that, The mathematical expression for the deviation matrix is: ΔT=T M→T1 ·(T M→T0 ) -1 Where ΔT represents the deviation matrix, → represents the matrix transformation, and T M→T1 Let T represent the transformation matrix from M to T1. M→T0 T0 represents the transformation matrix from M to T0, · represents the product, and -1 in the upper right corner represents the inverse of the matrix. T0 represents the tool magazine coordinate system established during the initial calibration phase; T1 represents the tool magazine coordinate system established by real-time measurement before each tool change, reflecting the current position of the tool magazine; M is the inherent coordinate system with the machine tool body as the reference. The compensation displacement is obtained based on the translation vector components of the deviation matrix on the X, Y, and Z axes of the machine tool, denoted as (ΔX, ΔY, ΔZ), and then a coordinate offset compensation command is generated based on the compensation displacement.

8. The dynamic real-time compensation system for tool changing in an external tool magazine according to claim 5, characterized in that, In module M4, the range of the preset tolerance threshold is -0.002 to 0.002 mm.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic real-time compensation method for tool changing of an external tool magazine as described in any one of claims 1 to 4.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic real-time compensation method for tool changing of an external tool magazine as described in any one of claims 1 to 4.

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