Machine tool motion interference prevention method, controller, numerical control machine tool and storage medium

Abstract

The invention provides a machine tool motion interference prevention method, a controller, a numerical control machine tool, a system and a storage medium, and the machine tool motion interference prevention method comprises the steps: obtaining the real-time position information of a rotary table and a swing head, and judging whether a current working mode belongs to a vertical working mode or a horizontal working mode; if the current working mode is the vertical working mode, predicting whether the controlled position of the swing head is below a first threshold position or not; if yes, it is judged that motion interference possibly occurs; if the current working mode is the horizontal working mode, whether the controlled position of the swing head is located below a second threshold value position or not is predicted; if yes, predicting whether the controlled position of the turntable exceeds a third threshold position or not; if yes, it is judged that motion interference possibly occurs. By means of the machine tool motion interference prevention method, possible motion interference between the swing head and the rotary table can be effectively avoided in the horizontal working mode and the vertical working mode, and the working stroke range is hardly sacrificed.

Description

Technical Field

[0001] This application relates to the field of machine tool technology, and in particular to a method for preventing machine tool motion interference, a controller, a CNC machine tool, a system, and a storage medium. Background Technology

[0002] When a CNC machine tool is working, interference between related components (including between machining components and between machining components and workpieces) must be effectively prevented, such as interference between the swivel head and the spindle box or interference between the swivel head and the rotary table.

[0003] The published patent document CN117381519A addresses the safety hazard of mutual collision between the spindle and the spindle box during the ascent of the oscillating head in a five-axis machining center, proposing a control method to prevent such collisions. One technical solution of this control method is to detect when the Z-axis motor's ascent stroke reaches the second soft limit as a judgment condition. However, this patent document does not provide separate solutions for the technical problem of interference between the oscillating head and other components in different working modes, such as vertical and horizontal machining.

[0004] Furthermore, in this patent document, the swivel head spindle is moving while the spindle box is stationary. However, both the swivel head and the rotary table may be moving during operation. Therefore, for CNC machine tools that can be used in both horizontal and vertical modes, there is currently a lack of effective methods to avoid potential motion interference between the swivel head and the rotary table while minimizing the sacrifice of the working stroke range. Summary of the Invention

[0005] The embodiments of this application aim to solve at least one of the problems of the prior art. The embodiments of this application provide a machine tool motion interference prevention method, controller, CNC machine tool, system and storage medium, so as to effectively avoid possible motion interference of the swivel head and rotary table in both horizontal and vertical working modes, and with relatively little sacrifice of the working stroke range.

[0006] The technical solution of this application embodiment is as follows:

[0007] The first aspect of this application provides a method for preventing machine tool motion interference, including:

[0008] Obtain the real-time position information of both the turntable and the oscillating head, and determine whether the current working mode is vertical or horizontal.

[0009] If the current working mode is vertical working mode, it is predicted whether the controlled position of the swing head will be below the first threshold position, where the first threshold position is a preset position in the vertical direction; if so, it is determined that motion interference may occur.

[0010] If the current working mode is horizontal working mode, then it is predicted whether the controlled position of the swing head will be below the second threshold position, where the second threshold position is a preset position in the vertical direction; if so, it is predicted whether the controlled position of the turntable will exceed the third threshold position, where the third threshold position is a preset position in the horizontal direction; if so, it is determined that motion interference may occur.

[0011] Optionally, predicting whether the controlled position of the swing head will be below the second threshold position includes:

[0012] The next moving direction and travel distance of the oscillating head are determined according to the program instructions of the processing program, and the next swing direction and swing angle of the oscillating head are determined.

[0013] If the next step of the swing head only moves, the position of the swing axis of the swing head during the next movement is taken as the controlled position of the swing head and compared with the second threshold position; if the next step of the swing head involves swaying, the position of the lowest point of the swing head during the swaying process is calculated and taken as the controlled position of the swing head and compared with the second threshold position.

[0014] Optionally, if the next step of the swing head only swings, the second threshold position is configured such that the vertical distance L2 between the second threshold position and the swing axis of the swing head satisfies the following relationship:

[0015] L2≥max{r0·sinα+0.5d1·cosα},

[0016] In the formula, r0 is the swing radius of the swing head, d1 is the diameter of the end face of the swing head, and α is the angle between the length direction of the swing head and the horizontal plane during the swing process.

[0017] Optionally, predicting whether the controlled position of the turntable will exceed a third threshold position includes:

[0018] The next moving direction and travel distance of the turntable are determined according to the program instructions of the machining program, and the next swing direction and swing angle of the swing head are determined according to the program instructions of the machining program.

[0019] If the next movement of the swing head involves swaying, the distance between the rotation axis of the current position of the turntable and the limit travel position of the rotation axis of the turntable during the swinging process is calculated, and the distance is compared with the distance corresponding to the turntable when it is located at the third threshold position, wherein the limit travel position of the rotation axis of the turntable is the limit position of the turntable moving towards the direction closer to the swing head.

[0020] Optionally, the third threshold position is configured such that the distance L3 between the third threshold position and the limit travel position of the rotation axis of the turntable is:

[0021] L3≥max{l1+0.5d2+r0·cosα+0.5d1·sinα},

[0022] In the formula, r0 is the swing radius of the swing head, d1 is the diameter of the end face of the swing head, d2 is the rotation diameter of the turntable, l1 is the distance between the limit travel position of the rotation axis of the turntable and the swing axis of the swing head, α is the angle between the length direction of the swing head and the horizontal plane during the swing, wherein the limit travel position of the rotation axis of the turntable is the limit position of the turntable moving towards the swing head.

[0023] Optionally, the machine tool motion interference prevention method further includes:

[0024] Based on the determination of potential motion interference, a control command is sent, which is used to control at least one of the turntable and the swing head to stop moving or return to its original position before the movement; and / or,

[0025] Based on the determination that motion interference may occur, a prompt message is sent, which includes at least one of text prompts, sound prompts, and light prompts.

[0026] A second aspect of this application provides a controller for a CNC machine tool, the controller storing a computer program including program instructions adapted for loading by a processor to execute steps in the machine tool motion interference prevention method of any of the foregoing embodiments.

[0027] A third aspect of this application provides a CNC machine tool that can be used in both vertical and horizontal orientations. The CNC machine tool has a base, a rotary table, a column, a spindle box, a swivel head, and the aforementioned controller applied to the CNC machine tool. The column and the rotary table are disposed on the base, the spindle box is mounted on the column, and the swivel head is mounted on the spindle box. The swivel head has a vertical state and a horizontal state. The rotary table can move back and forth along the Z-axis and rotate around the Y-axis. The spindle box can move back and forth along the Y-axis and along the X-axis. The swivel head can swing around the X-axis. The controller is used to control the movement of the swivel head and the rotary table. The Z-axis direction is the spindle direction when the swivel head is in the horizontal state. The Z-axis direction and the X-axis direction are both horizontal directions. The X-axis direction is another horizontal direction perpendicular to the Z-axis, and the Y-axis direction is a vertical direction.

[0028] A fourth aspect of this application provides a machine tool motion interference prevention system, the machine tool motion interference prevention system comprising:

[0029] The real-time position acquisition module is used to acquire the real-time position information of both the turntable and the oscillating head, and to determine whether the current working mode is vertical or horizontal.

[0030] The vertical working mode motion interference judgment module is used to predict whether the controlled position of the swing head will be below a first threshold position if the current working mode is vertical working mode, wherein the first threshold position is a preset position in the vertical direction; if so, it is determined that motion interference may occur.

[0031] The horizontal working mode motion interference judgment module is used to predict whether the controlled position of the swing head will be below a second threshold position if the current working mode is horizontal working mode, wherein the second threshold position is a preset position in the vertical direction; if so, it predicts whether the controlled position of the turntable will exceed a third threshold position, wherein the third threshold position is a preset position in the horizontal direction; if so, it determines that motion interference may occur.

[0032] A fifth aspect of this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions adapted for loading by a processor to perform steps in the machine tool motion interference prevention method of any of the preceding embodiments.

[0033] A sixth aspect of this application provides a computer program product including program instructions adapted for loading by a processor to execute steps in the machine tool motion interference prevention method of any of the preceding embodiments.

[0034] The machine tool motion interference prevention method in this application embodiment has at least the following technical effects: The method distinguishes between vertical and horizontal working modes, and determines whether motion interference is possible under different working modes based on preset threshold positions. Running the above-mentioned machine tool motion interference prevention method allows the machine tool to move its maximum working stroke as much as possible under different working modes. Furthermore, it separately defines the horizontal motion limit of the turntable when the swivel head is at its vertical limit position and the vertical motion limit of the swivel head when the turntable is at its horizontal limit position. This ensures that motion interference is only considered possible when both the turntable and the swivel head are outside their respective motion limit ranges, further reducing the sacrifice of working stroke to prevent motion interference.

[0035] The other aspects mentioned above in the embodiments of this application (controller, CNC machine tool, machine tool motion interference prevention system and storage medium) also have at least the technical effects of the machine tool motion interference prevention method in the foregoing embodiments, and will not be repeated here.

[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows. Some will become apparent from the description, or may be learned by practice of this application. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating a machine tool motion interference prevention method in some embodiments of this application.

[0038] Figure 2 This is a schematic diagram of the limit travel of the Y-axis of a CNC machine tool in vertical working mode in some embodiments of this application, wherein (a) is a schematic diagram of the Y-axis travel and Z-axis travel, and (b) is a schematic diagram of the X-axis travel.

[0039] Figure 3 This is a schematic diagram of the limit travel of the Y-axis of a CNC machine tool in a horizontal working mode when only the head moves, as shown in some embodiments of this application. (a) is a schematic diagram of the Y-axis travel and Z-axis travel, and (b) is a schematic diagram of the X-axis travel.

[0040] Figure 4 This is a schematic diagram of the limit travel of the Y-axis of the swivel head of a CNC machine tool in horizontal working mode in some embodiments of this application when the swivel head is swaying.

[0041] Figure 5 This is a schematic diagram of the turntable's Z-axis limit travel in the horizontal working mode of some embodiments of this application when the oscillating head swings, wherein (a) is within the Z-axis limit travel range and (b) is outside the Z-axis limit travel range. Detailed Implementation

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below.

[0043] Obviously, the accompanying drawings described below are merely some embodiments of this application. Those skilled in the art can obtain drawings of other embodiments based on the technical solutions illustrated in these drawings without any inventive effort.

[0044] It should be understood that "multiple" as used herein refers to two or more. In the description of this application, unless otherwise stated, " / " means "or", for example, "A / B" means A or B; "and / or" in this document is merely a description of the relationship between related objects, and it can represent three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, B exists alone, etc.

[0045] Furthermore, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first" or "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0046] When CNC machine tools are in operation, potential motion interference between the swivel head and rotary table within their respective travel ranges should be prevented, especially for CNC machine tools that can be used in both vertical and horizontal configurations. However, traditional methods for preventing machine tool motion interference typically limit the design travel range of the swivel head and rotary table during the design phase based on conservative safety principles, thus sacrificing working travel to solve potential interference problems. Furthermore, for CNC machine tools that can be used in both vertical and horizontal configurations, traditional methods do not differentiate between vertical and horizontal working modes, limiting the working travel to a uniform level based on conservative safety principles. However, sacrificing working travel means that larger workpieces cannot be processed, limiting the scope of applications. The technical solution provided in this application aims to address the above problems to a certain extent.

[0047] Some embodiments of the first aspect of this application provide a method for preventing motion interference in machine tools. To facilitate the description of the technical solutions in the embodiments of this application, a five-axis CNC machine tool suitable for both vertical and horizontal use is used as an example to illustrate this method for preventing motion interference. The five-axis CNC machine tool, a tilting head and rotary table type, has a tilting head and a rotary table. The rotary table can move along a horizontal direction and rotate along its own rotation axis. The spindle head, where the tilting head is located, can move along another horizontal direction and a vertical direction, and can swing along the tilting axis within a certain angle range. It is understood that the technical solutions in the embodiments of this application are also applicable to other similar types of CNC machine tools.

[0048] For ease of description, the embodiments of this application also define the directions of the X-axis, Y-axis, and Z-axis with reference to international standards. The spindle direction in horizontal working mode is defined as the Z-axis direction, another horizontal direction perpendicular to the Z-axis direction is defined as the X-axis direction, and the vertical direction is defined as the Y-axis direction. Therefore, the rotary table of the aforementioned swivel-head rotary table type five-axis CNC machine tool, which can be used in both vertical and horizontal configurations, moves within the Z-axis travel range. By means of the movement of the spindle head, the swivel head moves within the X-axis and Y-axis travel ranges. The rotary table can rotate around the Y-axis (the axis of rotation around the Y-axis is the B-axis), and the swivel head can swing around the X-axis within a certain angle range (the axis of rotation around the X-axis is the A-axis).

[0049] Please see Figure 1 and combined Figures 2 to 5 ,in Figure 1 This is a flowchart illustrating a machine tool motion interference prevention method in some embodiments of this application. The machine tool motion interference prevention method includes:

[0050] S100: Obtain the real-time position information of both the turntable 20 and the oscillating head 10, and determine whether the current working mode is vertical or horizontal. If the current working mode is vertical, proceed to step S110; if the current working mode is horizontal, proceed to step S120. In vertical working mode, the length direction of the oscillating head 10 is vertical; in horizontal-vertical working mode, the length direction of the oscillating head 10 is horizontal. Obtaining the real-time position information of both the turntable 20 and the oscillating head 10 includes obtaining their real-time coordinates.

[0051] S110: In the vertical working mode, predict whether the controlled position of the swing head 10 will be below the first threshold position y1', where the first threshold position y1' is a preset position in the vertical direction; if so, proceed to step S160.

[0052] In this embodiment, the "controlled position" refers to a portion of the swing head 10 used for comparison with a threshold position. For example, comparing the vertical coordinate of the swing axis on the swing head 10 with the first threshold position y1', the controlled position is the vertical coordinate of the swing axis on the swing head 10. By comparing the controlled position with the first threshold position y1', a preliminary determination can be made as to whether motion interference is possible. In this embodiment, the first threshold position y1' is the coordinate in the Y-axis direction (i.e., the vertical direction). When comparing the controlled position with the first threshold position y1', it is not necessary to also compare their X-axis and Z-axis coordinates.

[0053] For the vertical working mode, it is relatively simple to determine whether the swing head 10 will interfere with the turntable 20: calculate the controlled position of the swing head 10 after the next movement, and if the controlled position is not lower than (including equal to) the coordinates of the first threshold position in the vertical direction, it can be considered that the two will not interfere.

[0054] Figure 2 This is a schematic diagram showing the limit travel of the Y-axis of a CNC machine tool in vertical working mode according to some embodiments of this application, wherein (a) is a schematic diagram of the Y-axis travel and Z-axis travel, and (b) is a schematic diagram of the X-axis travel. Please refer to... Figure 2 In (a), if it is calculated that the controlled position 1011 of the swing head 10 in the vertical working mode after the next movement is not lower than the first threshold position y1', then it can be considered that the swing head 10 and the turntable 20 will not interfere with each other. Figure 2 In this diagram, the controlled position 1011 of the oscillating head is the end point of the oscillating head 10. Both the Y-axis and Z-axis travels are at their maximum designed travels. If both the oscillating head 10 and the turntable 20 move according to their respective maximum designed travels, motion interference may occur. The travel range of the Y-axis limited travel in vertical mode is determined by the first threshold position y1'. In other words, in vertical operating mode, if the controlled position 1011 of the oscillating head is outside the Y-axis limited travel of vertical mode, then interference between the oscillating head 10 and the turntable 20 is considered to occur. Figure 2 (b) also shows the X-axis travel. It is generally assumed that the oscillating head 10 moves only within the X-axis travel range, and there will be no interference between the oscillating head 10 and the turntable 20.

[0055] It is easy to understand that if the oscillating head 10 will swing again in the next step, the calculation of whether the controlled position 1011 of the oscillating head 10 in the vertical working mode after the next movement is lower than the first threshold position should take into account the Y-axis coordinate of the controlled position 1011 at the lowest point of the end of the oscillating head 10.

[0056] S120: In horizontal working mode, predict whether the controlled position of the swing head 10 will be below the second threshold position y″1, where the second threshold position y″1 is a preset position in the vertical direction; if so, proceed to step S140.

[0057] Figure 3 This is a schematic diagram of the limit travel of the Y-axis of a CNC machine tool in a horizontal working mode when only the head moves, as shown in some embodiments of this application. (a) is a schematic diagram of the Y-axis travel and Z-axis travel, and (b) is a schematic diagram of the X-axis travel. Figure 4 This is a schematic diagram showing the limit travel of the Y-axis of the swivel head in some embodiments of this application when the swivel head oscillates during horizontal operation. Please refer to... Figure 3 (a) and Figure 4The controlled position 1021 of the oscillating head is located on the swing axis of the oscillating head 10. In the horizontal working mode, if it is calculated that after the next movement of the oscillating head 10, the controlled position 1021 of the oscillating head is below the second threshold position y″1 (that is, the controlled position 1021 of the oscillating head is outside the Y-axis limited stroke), it is not directly assumed that the oscillating head 10 and the turntable 20 may interfere with each other's movements. Instead, the process jumps to step S140 to continue the judgment in combination with other conditions. Figure 3 (b) in the diagram also shows the X-axis travel.

[0058] S140: Continue to predict whether the controlled position of the turntable 20 will exceed the third threshold position z″1, wherein the third threshold position z″1 is a preset position in the horizontal direction; if so, proceed to step S160.

[0059] Figure 5 This diagram illustrates the Z-axis limit travel of the turntable in the horizontal working mode of some embodiments of this application when the turntable head oscillates. Case (a) shows the turntable within the Z-axis limit travel range, and case (b) shows the turntable outside the Z-axis limit travel range. Please refer to... Figure 4 as well as Figure 5 In horizontal working mode, if it is calculated that after the next movement of the swing head 10, the controlled position 2022 of the turntable will not exceed the third threshold position z″1 (for example, Figure 5 In (a) of the above, if the controlled position 2022 of the turntable is located to the left of the third threshold position z″1, or if the Z-axis coordinates of the controlled position 2022 of the turntable and the third threshold position z″1 coincide exactly (i.e., the controlled position 2022 of the turntable does not exceed the third threshold position z″1), then it is still determined that no motion interference will occur; if it is calculated that after the next movement of the swing head 10, the controlled position 2022 of the turntable will exceed the third threshold position z″1 (for example, Figure 5 In (b), if the controlled position 2022 of the turntable is located to the right of the third threshold position z″1 (i.e., the controlled position 2022 of the turntable exceeds the third threshold position z″1), then it is determined that motion interference may occur. Figure 5 In the diagram, the controlled position 2022 of the turntable is the rotation axis of the turntable 20 itself. The third threshold position z″1 limits the Z-axis travel of the turntable 20.

[0060] S160: Determines possible motion interference. In vertical operating mode, if the predicted controlled position of the oscillating head will be below the first threshold position y1' (i.e., the controlled position of the oscillating head is outside the Y-axis limit travel of the oscillating head), then it is determined that motion interference may occur between the oscillating head 10 and the turntable 20. In horizontal operating mode, if the predicted controlled position of the oscillating head will be below the second threshold position y″1 (i.e., the controlled position of the oscillating head is outside the Y-axis limit travel of the oscillating head), and the predicted controlled position of the turntable will exceed the third threshold position z″1 (i.e., the controlled position of the turntable is outside the Z-axis limit travel of the turntable), then it is determined that motion interference may occur between the oscillating head 10 and the turntable 20. Therefore, for vertical operating mode, if one determination condition is "yes", it is determined that motion interference may occur between the oscillating head 10 and the turntable 20. For horizontal operating mode, if both determination conditions are "yes", it is determined that motion interference may occur between the oscillating head 10 and the turntable 20.

[0061] The machine tool motion interference prevention method in this embodiment distinguishes between vertical and horizontal working modes, and determines whether motion interference is possible under the corresponding working mode according to the preset threshold position of each working mode. Running the above-mentioned machine tool motion interference prevention method allows the machine tool to move its maximum working stroke as much as possible under different working modes. Furthermore, the horizontal motion limit stroke of the turntable when the swivel head is at its vertical limit position and the vertical motion limit stroke of the swivel head when the turntable is at its horizontal limit position are respectively defined. This ensures that motion interference is only considered possible when both the turntable and the swivel head are outside their respective motion limit stroke ranges, further reducing the sacrifice of working stroke to prevent motion interference.

[0062] Motion interference prevention methods for CNC machine tools are broadly classified into two categories: hard limits and soft limits. Hard limits restrict the motion range by installing limit switches and other sensors; however, it is difficult to adjust the motion range according to actual conditions, and the addition of sensors and other components increases the production cost of the CNC machine tool. Soft limits restrict the motion range through program control, overcoming the shortcomings of hard limits. The machine tool motion interference prevention method in this application belongs to the soft limit method, and therefore, the motion range can be changed by adjusting the program parameters according to actual conditions.

[0063] Optionally, in some embodiments of this application, whether the controlled position of the predicted swing head 10 will be below the second threshold position includes:

[0064] The next moving direction and travel distance of the oscillating head 10 are determined according to the program instructions of the machining program, and the next swing direction and swing angle of the oscillating head 10 are determined according to the program instructions of the machining program.

[0065] Please see Figure 3In (a), if the swing head 10 moves only in the next step, then the position of the swing axis of the swing head 10 during the next movement is taken as the controlled position 1021 of the swing head 10, and the controlled position 1021 of the swing head 10 is compared with the second threshold position y″1; please refer to Figure 4 If the swing head 10 swings in the next step, the position of the lowest point of the swing head 10 during the swing is calculated and taken as the controlled position 1021 of the swing head 10 and compared with the second threshold position y″1. When the swing head 10 swings (including swinging only and the superposition of movement and swing), the coordinates of different parts of it on the Y-axis may be different. Therefore, the Y-axis coordinate of the lowest point of the swing head 10 is taken as the coordinate of the controlled position of the swing head 10.

[0066] Optionally, if the pendulum head 10 only swings in the next step, the second threshold position y″1 is configured such that the vertical distance L2 between the second threshold position y″1 and the swing axis of the pendulum head 10 satisfies the following relationship:

[0067] L2≥max{r0·sinα+0.5d1·cosα},

[0068] In the formula, r0 is the swing radius of the pendulum head 10, d1 is the diameter of the end face of the pendulum head 10, and α is the angle between the length direction of the pendulum head 10 and the horizontal plane during the swing process.

[0069] During the oscillation process, the vertical distance {r0·sinα+0.5d1·cosα} between the controlled position 1021 of the pendulum head 10 and the oscillation axis of the pendulum head 10 has a maximum and minimum value. When this distance is at its maximum value, the controlled position 1021 of the pendulum head 10 is at its minimum. The second threshold position y″1 should at least be the Y-axis coordinate of the controlled position 1021 of the pendulum head 10 at its minimum.

[0070] In addition to oscillation, the oscillating head 10 may also move, so the vertical distance L2 between the second threshold position y″1 and the oscillation axis of the oscillating head 10 should not be less than the maximum value of {r0·sinα+0.5d1·cosα}.

[0071] Optionally, in some embodiments of this application, whether the controlled position of the predictive turntable 20 will exceed the third threshold position z″1 includes:

[0072] The next moving direction and travel of the turntable 20 are determined according to the program instructions of the machining program, and the next swing direction and swing angle of the swing head 10 are determined.

[0073] If the next movement of the swing head 10 involves swaying, the distance between the rotation axis of the turntable 20 at its current position and the limit travel position of the rotation axis of the turntable 20 during the swaying process of the swing head 10 is calculated, and the distance is compared with the distance corresponding to the turntable 20 when it is located at the third threshold position z″1, wherein the limit travel position of the rotation axis of the turntable 20 is the limit position of the turntable 20 moving towards the swing head 10.

[0074] Please see Figure 5 The extreme position of the turntable 20 moving towards the direction closer to the swing head 10 (i.e. Figure 5 The extreme position at the right end of the Z-axis direction is the extreme travel position of the rotation axis of the turntable 20. Taking the coordinate of the Z-axis direction at this extreme travel position as the starting point for measuring the coordinate of the Z-axis direction, the distance between the rotation axis of the current position of the turntable 20 and the Z-axis direction at this extreme travel position is the coordinate of the rotation axis of the current position of the turntable 20 in the Z-axis direction.

[0075] Optionally, in some embodiments of this application, please refer to Figure 5 The third threshold position is configured as follows: the distance L3 between the third threshold position z″1 and the limit travel position of the rotation axis of the turntable 20 is:

[0076] L3≥max{l1+0.5d2+r0·cosα+0.5d1·sinα},

[0077] In the formula, r0 is the swing radius of the swing head 10, d1 is the diameter of the end face of the swing head 10, d2 is the rotation diameter of the turntable 20, l1 is the distance between the limit stroke position of the rotation axis of the turntable 20 and the swing axis of the swing head 10, and α is the angle between the length direction of the swing head 10 and the horizontal plane during the swing process. The limit stroke position of the rotation axis of the turntable 20 is the limit position of the turntable 20 moving towards the swing head 10.

[0078] Please see Figure 5 In (a), if the rotation axis of turntable 20 is located to the left of the third threshold position z1”, or if the rotation axis of turntable 20 coincides with the third threshold position z″1, then turntable 20 is within the range of its Z-axis limit travel. In this case, even if the oscillating head 10 is outside the range of its Y-axis limit travel, interference between the oscillating head 10 and turntable 20 is not considered to occur. Please refer to [link / reference]. Figure 5 In (b), if the rotation axis of turntable 20 is located to the right of the third threshold position z″1, then turntable 20 is outside the range of the Z-axis limit travel. At this time, if the swing head 10 is also outside the range of the Y-axis limit travel, it is considered that the swing head 10 and turntable 20 will interfere.

[0079] Optionally, in some embodiments of this application, the machine tool motion interference prevention method further includes:

[0080] Based on the determination of potential motion interference, a control command is sent to stop at least one of the turntable 20 and the oscillating head 10 from continuing its movement or to return it to its previous position. The control command may brake either the turntable 20 or the oscillating head 10, or both. Alternatively, the control command may return at least one of the turntable 20 and the oscillating head 10 to its previous position, for example... Figure 5 (b) in the diagram allows the swing head 10 to move along the Y-axis in a direction away from the turntable 20.

[0081] Optionally, in some embodiments of this application, the machine tool motion interference prevention method further includes:

[0082] Based on the determination that motion interference may occur, a prompt message is sent. The prompt message includes at least one of the following: text prompt message, sound prompt message, and light prompt message. For example, the sound prompt message can be an alarm sound or a buzzer sound, and the light prompt message can be selected with different colored lights or flashing at different frequencies as needed.

[0083] A second aspect of this application provides a controller for a CNC machine tool, the controller storing a computer program including program instructions adapted for loading by a processor to execute steps in the machine tool motion interference prevention method of any of the foregoing embodiments.

[0084] A third aspect of this application provides a CNC machine tool that can be used in both vertical and horizontal orientations. The CNC machine tool has a base, a rotary table 20, a column, a spindle box, a swivel head 10, and the aforementioned controller for the CNC machine tool. The column and rotary table 20 are mounted on the base, the spindle box is mounted on the column, and the swivel head 10 is mounted on the spindle box. The swivel head 10 has a vertical state and a horizontal state. The rotary table 20 can move back and forth along the Z-axis and rotate around the Y-axis. The spindle box can move back and forth along the Y-axis and along the X-axis. The swivel head 10 can swing around the X-axis. The controller is used to control the movements of the swivel head 10 and the rotary table 20. The Z-axis direction is the spindle direction when the swivel head 10 is in the horizontal state. Both the Z-axis and X-axis directions are horizontal. The X-axis direction is another horizontal direction perpendicular to the Z-axis, and the Y-axis direction is vertical.

[0085] It should be noted that in the embodiments of this application, "set at" and "installed at" both include the case of indirect setting / indirect installation. The CNC machine tool for both vertical and horizontal use in the embodiments of this application defines the Z-axis, X-axis and Y-axis in horizontal working mode.

[0086] A fourth aspect of this application provides a machine tool motion interference prevention system, the machine tool motion interference prevention system comprising:

[0087] The real-time position acquisition module is used to acquire the real-time position information of both the turntable 20 and the swing head 10, and to determine whether the current working mode is a vertical working mode or a horizontal working mode.

[0088] The vertical working mode motion interference judgment module is used to predict whether the controlled position of the swing head 10 will be below the first threshold position y1' if the current working mode is vertical working mode, where the first threshold position y1' is a preset position in the vertical direction; if so, it is determined that motion interference may occur.

[0089] The horizontal working mode motion interference judgment module is used to predict whether the controlled position of the swing head 10 will be below the second threshold position y″1 if the current working mode is horizontal working mode, where the second threshold position y″1 is a preset position in the vertical direction; if so, it predicts whether the controlled position of the turntable 20 will exceed the third threshold position z″1, where the third threshold position z″1 is a preset position in the horizontal direction; if so, it determines that motion interference may occur.

[0090] Some embodiments of the fifth aspect of this application provide a computer-readable storage medium storing a computer program, the computer program including program instructions adapted for loading by a processor to perform steps in the machine tool motion interference prevention method of any of the preceding embodiments.

[0091] For technical details not disclosed in the embodiments of the computer-readable storage medium involved in this application, please refer to the description of any embodiment of the machine tool motion interference prevention method in the first aspect of this application. As an example, program instructions may be deployed on a computer device, or executed on multiple computer devices located in one location, or executed on multiple computer devices distributed in multiple locations and interconnected through a communication network.

[0092] Some embodiments of the sixth aspect of this application provide a computer program product including program instructions adapted for loading by a processor to perform steps in the machine tool motion interference prevention method of any of the preceding embodiments.

[0093] In any of the above embodiments, implementation can be achieved, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0094] The above-listed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A method for preventing machine tool motion interference, characterized in that, include: Obtain the real-time position information of both the turntable and the oscillating head, and determine whether the current working mode is vertical or horizontal. If the current working mode is vertical working mode, it is predicted whether the controlled position of the swing head will be below the first threshold position, where the first threshold position is a preset position in the vertical direction; if so, it is determined that motion interference may occur. If the current working mode is horizontal working mode, then it is predicted whether the controlled position of the swing head will be below the second threshold position, where the second threshold position is a preset position in the vertical direction; if so, it is predicted whether the controlled position of the turntable will exceed the third threshold position, where the third threshold position is a preset position in the horizontal direction; if so, it is determined that motion interference may occur.

2. The machine tool motion interference prevention method according to claim 1, characterized in that, The prediction of whether the controlled position of the swinging head will be below the second threshold position includes: The next moving direction and stroke of the oscillating head are determined according to the program instructions of the processing program, as well as the next swing direction and swing angle of the oscillating head. If the next step of the swing head only moves, the position of the swing axis of the swing head during the next movement is taken as the controlled position of the swing head and compared with the second threshold position; if the next step of the swing head involves swaying, the position of the lowest point of the swing head during the swaying process is calculated and taken as the controlled position of the swing head and compared with the second threshold position.

3. The machine tool motion interference prevention method according to claim 2, characterized in that, When the pendulum head only swings in the next step, the second threshold position is configured such that the vertical distance L2 between the second threshold position and the swing axis of the pendulum head satisfies the following relationship: L2≥max{r0·sinα+0.5d1·cosα}, In the formula, r0 is the swing radius of the swing head, d1 is the diameter of the end face of the swing head, and α is the angle between the length direction of the swing head and the horizontal plane during the swing process.

4. The machine tool motion interference prevention method according to claim 1, characterized in that, The prediction of whether the controlled position of the turntable will exceed the third threshold position includes: The next moving direction and travel distance of the turntable are determined according to the program instructions of the machining program, and the next swing direction and swing angle of the swing head are determined according to the program instructions of the machining program. If the next movement of the swing head involves swaying, the distance between the rotation axis of the current position of the turntable and the limit travel position of the rotation axis of the turntable during the swinging process is calculated, and the distance is compared with the distance corresponding to the turntable when it is located at the third threshold position, wherein the limit travel position of the rotation axis of the turntable is the limit position of the turntable moving towards the direction closer to the swing head.

5. The machine tool motion interference prevention method according to claim 4, characterized in that, The third threshold position is configured such that the distance L3 between the third threshold position and the limit travel position of the rotation axis of the turntable is: L3≥max{l1+0.5d2+r0·cosα+0.5d1·sinα}, In the formula, r0 is the swing radius of the swing head, d1 is the diameter of the end face of the swing head, d2 is the rotation diameter of the turntable, l1 is the distance between the limit travel position of the rotation axis of the turntable and the swing axis of the swing head, α is the angle between the length direction of the swing head and the horizontal plane during the swing, wherein the limit travel position of the rotation axis of the turntable is the limit position of the turntable moving towards the swing head.

6. The machine tool motion interference prevention method according to any one of claims 1 to 5, characterized in that, The machine tool motion interference prevention method also includes: Based on the determination of potential motion interference, a control command is sent, which is used to control at least one of the turntable and the swing head to stop moving or return to its original position before the movement; and / or, Based on the determination that motion interference may occur, a prompt message is sent, which includes at least one of text prompts, sound prompts, and light prompts.

7. A controller applied to CNC machine tools, characterized in that, The system stores a computer program, which includes program instructions adapted for loading by a processor to perform the steps in the machine tool motion interference prevention method as claimed in any one of claims 1 to 6.

8. A CNC machine tool that can be used both vertically and horizontally, characterized in that, The system comprises a base, a rotary table, a column, a spindle box, a swivel head, and a controller as described in claim 7 for use in a CNC machine tool. The column and the rotary table are mounted on the base, the spindle box is mounted on the column, and the swivel head is mounted on the spindle box. The swivel head has a vertical state and a horizontal state. The rotary table is capable of reciprocating along the Z-axis and rotating around the Y-axis. The spindle box is capable of reciprocating along the Y-axis and reciprocating along the X-axis. The swivel head is capable of oscillating around the X-axis. The controller is used to control at least the movement of the swivel head and the rotary table. The Z-axis is the direction of the spindle when the swivel head is in the horizontal state. The Z-axis and the X-axis are both horizontal directions. The X-axis is another horizontal direction perpendicular to the Z-axis. The Y-axis is a vertical direction.

9. A machine tool motion interference prevention system, characterized in that, include: The real-time position acquisition module is used to acquire the real-time position information of both the turntable and the oscillating head, and to determine whether the current working mode is vertical or horizontal. The vertical working mode motion interference judgment module is used to predict whether the controlled position of the swing head will be below a first threshold position if the current working mode is vertical working mode, wherein the first threshold position is a preset position in the vertical direction; if so, it is determined that motion interference may occur. The horizontal working mode motion interference judgment module is used to predict whether the controlled position of the swing head will be below a second threshold position if the current working mode is horizontal working mode, wherein the second threshold position is a preset position in the vertical direction; if so, it predicts whether the controlled position of the turntable will exceed a third threshold position, wherein the third threshold position is a preset position in the horizontal direction; if so, it determines that motion interference may occur.

10. A computer-readable storage medium, characterized in that, The system stores a computer program, which includes program instructions adapted for loading by a processor to perform the steps in the machine tool motion interference prevention method as claimed in any one of claims 1 to 6.

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