Tool changing control method and device for numerical control machine tool and storage medium

Abstract

The application relates to a tool changing control method and device of a numerical control machine tool and a storage medium, wherein a mechanical zero point is set as a first tool changing point, a tool changing deceleration point is set as a second tool changing point, a tool magazine advanced rotation position point is set as a third tool changing point, and a tool changing highest point is set as a fourth tool changing point; a spindle is sequentially lifted in a Z-axis direction at the first tool changing point, the second tool changing point, the third tool changing point and the fourth tool changing point to complete a spindle tool changing action; and a workpiece is moved to a next machining starting point, a tool magazine is rotated, a spindle is started to rotate and cooling liquid is opened in parallel to the spindle tool changing action through setting of a background task and a starting condition thereof. Through the setting of the background task and the starting condition thereof, the workpiece is moved to the next machining starting point, the tool magazine is rotated, the spindle is started to rotate and the cooling liquid is opened in parallel to the spindle tool changing action, the spindle can be stopped in the Z-axis direction, the tool changing action is smooth, the tool changing efficiency is improved, and energy consumption is reduced.

Description

Technical Field

[0001] This invention relates to the field of CNC drilling and tapping machine tools, and in particular to a tool changing control method, device, and storage medium for CNC machine tools. Background Technology

[0002] CNC drilling and tapping machines are multi-functional CNC machine tools that integrate drilling and tapping functions. They are primarily used for precision machining of materials such as metals and plastics, playing a vital role in modern manufacturing. They are suitable for high-precision, small-batch, multi-variety or large-volume production scenarios. Leveraging these advantages, drilling and tapping machines have become key production equipment in industries such as 3C, new energy, and precision molds, and continue to evolve towards higher speeds and greater intelligence. The tool magazine capacity of drilling and tapping machines is typically between 21 and 30 tools. Frequent tool changes are required during machining, and tool change efficiency directly affects overall machining efficiency. Current tool change control methods often employ macro-programmed serial execution of action instructions, resulting in tool change times generally exceeding 1.3 seconds, which is insufficient to meet the demands of high-efficiency production. Summary of the Invention

[0003] This invention provides a tool changing control method, device, and storage medium for CNC machine tools, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of this invention is a tool changing control method for CNC machine tools, comprising the following steps: S100: Obtain the configurations of the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point. The tool change point configurations include: setting the mechanical zero point as the first tool change point, setting the tool change deceleration point as the second tool change point, setting the tool magazine advance rotation position point as the third tool change point, and setting the highest tool change point as the fourth tool change point; and obtaining the background task configurations and their startup conditions, wherein the background task includes the first background task, the second background task, and the third background task. S200. When a tool change command is received, the spindle with the tool is executed to move sequentially along the Z-axis at the first tool change point, the second tool change point, the third tool change point and the fourth tool change point to complete the spindle tool change action. Meanwhile, based on the set background tasks and their start conditions, the workpiece is driven to move along the X-axis and Y-axis to the next machining starting point, and the tool magazine rotation, spindle rotation start, and coolant activation are executed.

[0005] According to some embodiments of the present invention, in step S200, The first background task is to drive the workpiece to move along the X-axis and Y-axis directions to the next machining starting point, and the first startup condition for the first background task is to raise the spindle along the Z-axis direction to a position higher than the first tool change point. Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the first tool change point, the first background task is triggered to drive the workpiece to move along the X-axis and Y-axis respectively, so that the workpiece moves to the next machining start point.

[0006] According to some embodiments of the present invention, in step S200, Setting the tool magazine rotation as the second background task and setting the spindle rising along the Z-axis to a position higher than the third tool change point as the second start condition for the second background task; Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the third tool change point, the second background task is triggered to start the tool magazine rotation and, based on the target tool position data, rotate the target tool to the tool change position to complete the spindle tool change action.

[0007] According to some embodiments of the present invention, step S100 further includes the step of: A. When the machining program reaches the tool change command, the program segment following the tool change command is pre-read to obtain the machining coordinate offset value after the tool change, the coordinates of the next machining start point, the machining speed, the target tool position data, and the auxiliary M code.

[0008] According to some embodiments of the present invention, step S100 further includes the step of: B. Calculate the time required for the spindle to stop and be positioned based on the current spindle speed, so as to obtain the first acceleration required for the spindle to rise along the Z-axis to the first tool change point; C. Based on the first acceleration, the spindle is moved along the Z-axis from the machining point to the first tool change point.

[0009] According to some embodiments of the present invention, the method further includes the following steps: S300: Set the coordinates of the next machining start point to the target point for the spindle descent, and start the spindle descent process along the Z-axis. S400. When the spindle descends along the Z-axis to the first tool change point, the spindle is controlled to start rotating according to the machining speed. S500: When the spindle speed reaches the machining speed, control the tool to perform machining operations.

[0010] According to some embodiments of the present invention, in step S300, the descent process of the spindle along the Z-axis includes: Based on the spindle descent target point, the action of the spindle descending along the Z-axis from the fourth tool change point to the spindle descent target point is executed; Adjust the tool position based on the machining coordinate offset value after tool change.

[0011] According to some embodiments of the present invention, in step S400, Setting the spindle rotation start and coolant activation as the third background task, and setting the spindle descending along the Z-axis to below the first tool change point as the third start condition for the third background task; Step S400 includes: during the tool change process, when the spindle descends along the Z-axis to a point lower than the first tool change point, the third background task is triggered to start rotating the spindle and turning on the coolant.

[0012] The present invention also relates to a computer device, including a memory and a processor, wherein the processor executes the method described above when executing a computer program stored in the memory.

[0013] The present invention also relates to a computer-readable storage medium having program instructions stored thereon, which, when executed by a processor, implement the method described above.

[0014] The beneficial effects of this invention include: acquiring the configuration of a first tool change point, a second tool change point, a third tool change point, and a fourth tool change point, wherein the tool change point configuration includes: setting the mechanical zero point as the first tool change point, setting the tool change deceleration point as the second tool change point, setting the tool magazine's pre-rotation position point as the third tool change point, and setting the highest point of the tool change as the fourth tool change point; and acquiring the background task configuration and its start conditions, wherein the background task includes a first background task, a second background task, and a third background task; when a tool change command is received, the spindle with the tool is executed to move sequentially along the Z-axis at the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point to complete the spindle tool change action; simultaneously, according to the set background task and its start conditions, the workpiece is driven to move along the X-axis and Y-axis to the next machining start point, and the tool magazine rotation, spindle rotation start, and coolant activation are executed. By pre-setting background tasks and their start conditions, the workpiece is moved along the X-axis and Y-axis respectively, so that the workpiece moves to the next machining start point, and the tool magazine rotation, spindle start rotation and coolant activation are synchronized with the spindle tool change action. This reduces the spindle's pause along the Z-axis, thereby greatly reducing waiting time, increasing the smoothness of the tool change action, improving tool change efficiency and reducing energy consumption.

[0015] Furthermore, additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Figure 1 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0017] Figure 2 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0018] Figure 3 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0019] Figure 4 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0020] Figure 5 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0021] Figure 6 This is an optional flowchart of the tool changing control method for CNC machine tools in this embodiment of the invention.

[0022] Figure 7 This is a schematic diagram of the location of the tool machining point in an embodiment of the present invention.

[0023] Figure 8 This is a schematic diagram of the tool change point location in an embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the Z-axis movement of the tool magazine and the advance command sent to the tool magazine in an embodiment of the present invention.

[0025] Figure 10 This is a schematic diagram of the Z-axis and tool magazine movement in an embodiment of the present invention without prior instruction to the tool magazine. Detailed Implementation

[0026] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0027] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0028] Furthermore, 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. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0029] It should be understood that although the terms first, second, third, etc., may be used to describe various elements in this invention, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element without departing from the scope of this invention, and similarly, a second element may also be referred to as a first element.

[0030] Reference Figures 1 to 6 In some embodiments, the tool changing control method for CNC machine tools according to the present invention includes at least the following steps: S100: Obtain the configurations of the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point. The tool change point configurations include: setting the mechanical zero point as the first tool change point, setting the tool change deceleration point as the second tool change point, setting the tool magazine advance rotation position point as the third tool change point, and setting the highest tool change point as the fourth tool change point; and obtaining the background task configurations and their startup conditions, wherein the background tasks include the first background task, the second background task, and the third background task. S200. When a tool change command is received, the spindle with the tool is moved sequentially along the Z-axis at the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point to complete the spindle tool change action. Meanwhile, based on the set background tasks and their start conditions, the workpiece is driven to move along the X-axis and Y-axis to the next machining starting point, and the tool magazine rotation, spindle rotation start, and coolant activation are executed.

[0031] This article uses "Z-axis" to refer to the movement of the principal axis along the Z-axis direction for simplicity. See also Figure 7 and Figure 8 Specifically, during the tool changing process, this invention divides the Z-axis ascent process into four points: a first tool changing point, a second tool changing point, a third tool changing point, and a fourth tool changing point. These four points correspond to the mechanical zero point, the tool changing deceleration point, the tool magazine's pre-rotation position point, and the highest point of the tool changing process, respectively. At the fourth tool changing point, the current tool is replaced with the target tool from the tool magazine.

[0032] It should be noted that the existing tool changing action includes the following steps executed sequentially: the Z-axis rises to the machine zero point at rapid traverse speed; the spindle orientation M command is executed; the spindle orientation is completed before the Z-axis reaches the machine zero point, the Z-axis rises to the tool changing point, and if the spindle positioning is not completed before the Z-axis reaches the machine zero point, the speed is reduced to zero, and the Z-axis waits for the spindle positioning to complete before rising to the tool changing point; the tool turret rotates to the target tool's position; the Z-axis descends to complete the tool changing action; the XYAC axes move to the program start point; the spindle is started, and the Z-axis descends to the lower limit point; machining begins after the rotational speed is reached. This traditional tool changing control method has several drawbacks. For example, the actions are executed sequentially, meaning the next action must wait for the previous action to complete before it can begin, resulting in a less smooth overall process and a poor visual experience. Furthermore, the time consumed by the tool changing action is equal to the sum of the times of all actions, which is lengthy and affects the machining efficiency of the drilling and tapping machine.

[0033] Specifically, there are two keys on the spindle, which are used to hold the tool holder in place. Spindle orientation means that the spindle must be set to a certain fixed angle (the keys are aligned with the tool magazine's locking position) so that the pawl can smoothly engage and secure the tool holder. Otherwise, the pawl locking position cannot be aligned with the tool holder locking position, which can lead to problems such as the tool holder not being able to be locked or falling off.

[0034] This invention, by pre-setting background tasks and their start conditions, moves the workpiece along the X-axis and Y-axis directions respectively, so that the workpiece moves to the next machining start point, and the tool magazine rotation, spindle start rotation, and coolant activation are all synchronized with the spindle tool change action. This reduces Z-axis pauses, thereby greatly reducing waiting time, increasing the smoothness of the tool change action, improving tool change efficiency, and reducing energy consumption.

[0035] The specific implementation method of step S100 is as follows: In this embodiment of the invention, the mechanical zero point is set as the first tool change point, the tool change deceleration point is set as the second tool change point, the tool magazine advance rotation position is set as the third tool change point, and the highest point of tool change is set as the fourth tool change point.

[0036] In some embodiments, step S100 further includes the step of: A. When the machining program reaches the tool change instruction, the program segment after the tool change instruction is pre-read to obtain the machining coordinate offset value after the tool change, the coordinates of the next machining start point, the machining speed, the target tool position data and the auxiliary M code; B. Based on the current spindle speed, calculate the time required for the spindle to stop and be positioned, so as to obtain the first acceleration required for the spindle to rise along the Z-axis to the first tool change point; C. Based on the first acceleration, the spindle moves along the Z-axis from the machining point to the first tool change point.

[0037] Specifically, the program segment following the tool change command: This command runs parallel to and immediately follows the tool change command. It is added in a fixed format during the post-processing stage based on the first machining point (XYZ coordinates) of the next tool. These commands enable the X, Y, A / B, and C axes to be simultaneously positioned to the next machining start point when the Z-axis is above the first tool change point, avoiding repositioning after tool change, reducing auxiliary time, and improving machining efficiency.

[0038] Specifically, the spindle's stopping time at different speeds and the positioning time can be obtained through prior testing. The acceleration of the Z-axis from the machining position to the first tool change point can be calculated using the T-shaped acceleration curve S=1 / 2at². In this formula, S is the displacement (in meters), a is the acceleration (in m / s²), and t is the time (in seconds). When the calculated acceleration is greater than the maximum acceleration of the Z-axis, it means that the time it takes for the spindle to stop and position is shorter than the time required for the Z-axis to rise to the machine zero point at its fastest. Therefore, when the Z-axis passes the machine zero point, it does not need to decelerate to zero to wait for the spindle to position; the Z-axis can directly continue the subsequent tool change operation at its highest speed, reducing pauses. When the calculated acceleration is less than the maximum acceleration of the Z-axis, it means that the time it takes for the spindle to stop and position itself is longer than the time required for the Z-axis to rise to the machine zero point. At this time, the Z-axis moves to the first tool change point according to the calculated acceleration. When it passes the first tool change point, the spindle has already stopped and positioned itself. At this time, the Z-axis can still continue the subsequent tool change operation at a higher speed, reducing pauses, thereby shortening the tool change time and improving the tool change efficiency.

[0039] If the calculated acceleration is greater than the maximum acceleration along the Z-axis, the maximum acceleration along the Z-axis is determined as the first acceleration. If the calculated acceleration is less than the maximum acceleration along the Z-axis, the calculated acceleration is determined as the first acceleration.

[0040] In a specific embodiment, the spindle stops and is positioned during the process of the Z-axis rising from the current machining point to the first tool change point.

[0041] Specifically, when the machining program reaches the tool change instruction, the program segment following the tool change instruction is pre-read to obtain the machining coordinate offset value, the coordinates of the next machining start point, the machining speed, and the auxiliary M code after the tool change. At the same time, the XY machining start point coordinates and the target tool position data are sent to the first background task and the second background task, respectively.

[0042] Based on the current spindle speed, calculate the time required for the spindle to stop and position itself, thereby obtaining the first acceleration required for the Z-axis to rise to the machine zero point. This acceleration is used to instruct the Z-axis to move from the machining point to the machine zero point, ensuring that the spindle has already been positioned when the Z-axis passes the first tool change point. This eliminates the need for the Z-axis to pause and wait for the spindle to complete its positioning.

[0043] Perform the Z-axis movement to the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point.

[0044] It should be understood that by pre-reading subsequent instructions to obtain information such as the initial machining coordinates after tool change (i.e., the coordinates of the next machining start point mentioned above), machining speed, and auxiliary M code, and by using multiple task threads to run in the background of the NC controller, the Z-axis, XY-axis, tool magazine, spindle, coolant and other actions are executed synchronously and in parallel during the tool change process, which greatly reduces waiting time, increases the smoothness of tool change actions and improves tool change efficiency.

[0045] Specifically, the machine zero point is the fixed origin of the machine tool coordinate system, set by the manufacturer at the factory via limit switches or encoder zero pulses, and cannot be modified. The machine zero point is located at a fixed physical position on the machine tool bed or tool magazine. The workpiece X-axis and workpiece Y-axis are the machine tool's planar motion coordinate axes; X represents horizontal left and right, and Y represents horizontal forward and backward. Together, they determine the position of the workpiece or tool magazine on the horizontal plane, ensuring alignment between the tool magazine and the spindle during tool changes. The machining coordinate offset value after tool change is the three-dimensional offset added to the machine tool coordinate system after a new tool is installed to realign the tool tip with the program-set "zero point." Auxiliary M-codes are machine tool auxiliary function commands within the range M00–M99 of the ISO standard, excluding main program controls (M30, M98, etc.). Spindle positioning rotates the spindle to a fixed angle and locks it, precisely aligning the tool holder keyway with the tool magazine's robotic gripper, thus ensuring reliable tool gripping or release. The Z-axis is the vertical linear motion axis in the basic coordinate system of a machine tool. Its direction is defined as positive when the tool moves away from the workpiece (i.e., upward movement of the spindle is positive, and downward movement is negative).

[0046] Specific implementation methods of steps S200 to S500: The method of this invention executes the Z-axis to rise sequentially at the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point to complete the spindle tool change action.

[0047] Specifically, during the tool change process, the Z-axis needs to pass through the mechanical zero point, the tool change deceleration point, the tool magazine pre-rotation position point, and the highest point of the tool change when it rises, in order to complete the spindle tool change action.

[0048] The method of this invention drives the workpiece to move along the X-axis and Y-axis directions respectively by setting background tasks and their start conditions, so that the workpiece moves to the next machining start point; at the same time, the tool magazine rotation, the spindle rotation start, and the coolant turn on are all performed in parallel with the spindle tool change action.

[0049] In some embodiments, in step S200, The first background task is to move the workpiece along the X-axis and Y-axis to the next machining start point, and the first startup condition for the first background task is to raise the spindle along the Z-axis to a position higher than the first tool change point. Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the first tool change point, a first background task is triggered to drive the workpiece to move along the X-axis and Y-axis respectively, so that the workpiece moves to the next machining start point.

[0050] It should be understood that when the Z-axis rises above the first tool change point, the first background task is triggered, initiating the movement of the workpiece along both the X and Y axes to the next machining start point. Specifically, this involves moving both the workpiece and the worktable to the next machining start point.

[0051] In some embodiments, in step S200, Set the tool magazine rotation as the second background task, and set the spindle rising along the Z-axis to a position above the third tool change point as the second start condition for the second background task. Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the third tool change point, a second background task is triggered to start the tool magazine rotation. Based on the target tool position data, the target tool is rotated to the tool change position to complete the spindle tool change action.

[0052] See Figure 2 In some embodiments, after step S200, the tool changing control method for CNC machine tools further includes the following steps: S300: Set the coordinates of the next machining start point to the target point for the spindle descent, and start the spindle descent process along the Z-axis. S400: When the spindle descends along the Z-axis to the first tool change point, control the spindle to start rotating according to the machining speed. S500: When the spindle speed reaches the machining speed, control the tool to perform machining operations.

[0053] In some embodiments, step S300, the descent process of the spindle along the Z-axis direction includes: Based on the target point for spindle descent, execute the action of the spindle descending along the Z-axis from the fourth tool change point to the target point for spindle descent; Adjust the tool position based on the machining coordinate offset value after tool change.

[0054] In some embodiments, in step S400, Set the spindle rotation start and coolant activation as the third background task, and set the spindle descent along the Z-axis to below the first tool change point as the third start condition for the third background task. Step S400 includes: during the tool change process, when the spindle descends along the Z-axis to below the first tool change point, a third background task is triggered to start the rotating spindle and turn on the coolant.

[0055] Specifically, XY movement is set as the first background task. During tool changing, when the Z-axis rises above the first tool change point, the first background task is executed to perform XY movement. Tool magazine rotation is set as the second background task. During tool changing, when the Z-axis rises above the third tool change point, the second background task is executed to rotate the tool magazine. Spindle rotation and coolant activation are set as the third background task. During tool changing, when the Z-axis falls below the first tool change point, the third background task is executed to rotate the spindle and activate the coolant.

[0056] Understandably, after the tool magazine rotates to its position, the Z-axis descent target point is set as the coordinates of the next machining start point, initiating the Z-axis descent process. When the Z-axis descent passes the first tool change point, the spindle starts rotating, minimizing the process of the Z-axis stopping and the spindle re-rotating. Machining begins after the spindle reaches the required speed.

[0057] It should be noted that, in summary, the entire method execution flow is "Z-axis first rises and then falls": The ascent process is executed sequentially at the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point; the first background task is executed simultaneously at the first tool change point, and the second background task is executed simultaneously at the third tool change point. Then, during the descent process, when the tool change point is reached, the third background task is executed simultaneously.

[0058] It should be noted that coolant is a liquid used for cooling, lubrication, and chip removal during the cutting process (usually an emulsion or cutting oil); it can be briefly opened before tool change to clean the taper hole of the tool holder and prevent impurities from being brought into the spindle.

[0059] The spindle start-up rotation and coolant activation are set as separate background tasks. In another possible implementation, in step S500, the spindle start-up rotation is set as the third background task, and the Z-axis descent below the first tool change point is set as the third start condition for the third background task. During the tool change process, when the Z-axis drops below the first tool change point, the third background task is triggered, and the rotary spindle is started.

[0060] In some specific embodiments, in step S400, the coolant activation is set as a third background task.

[0061] When the machining program reaches the tool change command, the program segment following the tool change command is pre-read to obtain the machining coordinate offset value, the coordinates of the next machining start point, the machining speed, and the auxiliary M code after the tool change. At the same time, the XY machining start point coordinates and the target tool position data are sent to the first background task and the second background task, respectively.

[0062] When the Z-axis descends past the first tool change point, the spindle starts to rotate, and the coolant is turned on at the same time; when the Z-axis descends to the machining start point, the time the Z-axis waits for the spindle to rotate and the coolant to turn on is reduced.

[0063] See Figure 3 , Figure 4 and Figure 5 , Figure 3 , Figure 4 and Figure 5 In this diagram, tool change point 1 represents the first tool change point, and background task 1 represents the first background task; tool change point 2 represents the second tool change point, and background task 2 represents the second background task; background task 3 represents the third background task. Specifically, the machine zero point is set as the first tool change point, the tool change deceleration point is set as the second tool change point, the tool magazine's pre-rotation position is set as the third tool change point, and the highest point of tool change is set as the fourth tool change point. When the tool pawl is fully engaged with the tool holder, due to the limitations of the tool magazine structure, the guide wheel and guide plate will inevitably contact each other. If the contact speed is too high, it will cause vibration, abnormal noise, or even tool drop in the tool magazine and machine tool. To solve this problem, the second tool change point is determined based on the distance between the first tool change point and the contact position between the guide wheel and guide plate. The third tool change point is determined based on the distance between the position of the tool to be used and the tool change position, combined with the spindle speed, to determine the pre-rotation time of the tool magazine. Since the position of the tool to be used changes according to actual machining requirements each time, the third tool change point is dynamically adjusted according to the machining requirements each time. The fourth tool change point is when the spindle moves above the tool to be used, preparing to move down to mount the tool.

[0064] See Figure 3 , Figure 4 and Figure 5 In another possible implementation, the tool changing control method for CNC machine tools includes the following steps: Spindle positioning; Z-axis rises past the first tool change point; Z-axis rises past the second tool change point; Z-axis rises past the third tool change point; Z-axis rises to the fourth tool change point; Determine if the tool magazine has reached the target tool position. If the tool magazine has not reached the target tool position, wait for the tool magazine to reach the target tool position; if the tool magazine reaches the target tool position, proceed to the next step. The Z-axis descends past the third tool change point; the Z-axis descends to the second tool change point; the Z-axis descends to the first tool change point; the Z-axis reaches the machining start point.

[0065] See Figure 8 ,exist Figure 8 The bottom image is a magnified view of the Z1 position, indicating that the spindle has risen a distance d above the tool holder. Before the spindle rises a distance d, a command is sent to the tool magazine to cause it to rotate. There is a time lag between sending the command and the actual rotation of the tool magazine; by the time the tool magazine actually rotates, the spindle has already risen a distance d along the Z-axis.

[0066] See Figure 9 and Figure 10 The green line represents the Z-axis speed curve, and the blue line represents the tool magazine axis speed curve. Observe the position of the red circle, from... Figure 9 and Figure 10 The comparison shows that, Figure 10 In the process, if the tool magazine is not given a command in advance, there will be a lag in the connection between the Z-axis and the tool magazine movement, resulting in wasted time; Figure 9 In this process, instructions are sent to the tool magazine in advance, and there is a slight overlap between the Z-axis and the tool magazine's movement, which can significantly improve efficiency.

[0067] This invention also provides a computer device including a memory and a processor, wherein the processor performs the above-described method when executing a computer program stored in the memory.

[0068] This invention also provides a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the method described above.

[0069] It should be understood that the method steps in the embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium. The method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, for this purpose, the program can run on a programmed application-specific integrated circuit (ASIC).

[0070] Furthermore, the procedures described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by the context. The procedures described herein (or variations and / or combinations thereof) may be executed under the control of one or more computer systems configured with executable instructions, and may be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. The computer program comprises a plurality of instructions executable by one or more processors.

[0071] Furthermore, the method can be implemented in any suitable type of computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices, etc. Aspects of the invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein. Furthermore, the machine-readable code, or portions thereof, can be transmitted via wired or wireless networks. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media comprises instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. When programmed according to the methods and techniques described in the invention, the invention may also include the computer itself.

[0072] A computer program can be applied to input data to perform the functions described herein, thereby transforming the input data to generate output data stored in non-volatile memory. The output information can also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects generated on the display.

[0073] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of the present invention. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A tool changing control method for a CNC machine tool, characterized in that, Includes the following steps: S100: Obtain the configurations of the first tool change point, the second tool change point, the third tool change point, and the fourth tool change point. The tool change point configurations include: setting the mechanical zero point as the first tool change point, setting the tool change deceleration point as the second tool change point, setting the tool magazine advance rotation position point as the third tool change point, and setting the highest tool change point as the fourth tool change point; and obtaining the background task configurations and their startup conditions, wherein the background task includes the first background task, the second background task, and the third background task. S200. When a tool change command is received, the spindle with the tool is executed to move sequentially along the Z-axis at the first tool change point, the second tool change point, the third tool change point and the fourth tool change point to complete the spindle tool change action. S300: Set the coordinates of the next machining start point to the target point for the spindle descent, and start the spindle descent process along the Z-axis. S400: When the spindle descends along the Z-axis to below the first tool change point, the spindle is controlled to start rotating according to the machining speed. S500: When the spindle speed reaches the machining speed, control the tool to perform machining operations; During steps S200 to S400, according to the set background task and its start conditions, the workpiece is driven to move along the X-axis and Y-axis to the next machining starting point, and the tool magazine rotation, spindle rotation start and coolant turn-on are executed.

2. The tool changing control method for a CNC machine tool according to claim 1, characterized in that, In step S200 The first background task is to drive the workpiece to move along the X-axis and Y-axis directions to the next machining starting point, and the first startup condition for the first background task is to raise the spindle along the Z-axis direction to a position higher than the first tool change point. Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the first tool change point, the first background task is triggered to drive the workpiece to move along the X-axis and Y-axis respectively, so that the workpiece moves to the next machining start point.

3. The tool changing control method for a CNC machine tool according to claim 1, characterized in that, In step S200 Setting the tool magazine rotation as the second background task and setting the spindle rising along the Z-axis to a position higher than the third tool change point as the second start condition for the second background task; Step S200 includes: during the tool change process, when the spindle rises along the Z-axis to a position higher than the third tool change point, the second background task is triggered to start the tool magazine rotation and, based on the target tool position data, rotate the target tool to the tool change position to complete the spindle tool change action.

4. The tool changing control method for a CNC machine tool according to claim 1, characterized in that, Step S100 further includes the following step: A. When the machining program reaches the tool change command, the program segment following the tool change command is pre-read to obtain the machining coordinate offset value after the tool change, the coordinates of the next machining start point, the machining speed, the target tool position data, and the auxiliary M code.

5. The tool changing control method for a CNC machine tool according to claim 4, characterized in that, Step S100 further includes the following step: B. Calculate the time required for the spindle to stop and be positioned based on the current spindle speed, so as to obtain the first acceleration required for the spindle to rise along the Z-axis to the first tool change point; C. Based on the first acceleration, the spindle is moved along the Z-axis from the machining point to the first tool change point.

6. The tool changing control method for a CNC machine tool according to claim 1, characterized in that, In step S300, the descent process of the spindle along the Z-axis includes: Based on the spindle descent target point, the action of the spindle descending along the Z-axis from the fourth tool change point to the spindle descent target point is executed; Adjust the tool position based on the machining coordinate offset value after tool change.

7. The tool changing control method for a CNC machine tool according to claim 1, characterized in that, In step S400 Setting the spindle rotation start and coolant activation as the third background task, and setting the spindle descending along the Z-axis to below the first tool change point as the third start condition for the third background task; Step S400 includes: during the tool change process, when the spindle descends along the Z-axis to a point lower than the first tool change point, the third background task is triggered to start rotating the spindle and turning on the coolant.

8. A computer device comprising a memory and a processor, characterized in that, When the processor executes a computer program stored in the memory, it performs the method as described in any one of claims 1 to 7.

9. A computer-readable storage medium having stored thereon program instructions that, when executed by a processor, perform the method as described in any one of claims 1 to 7.

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