Method and device for synchronously controlling tool changing and positioning of numerical control machine tool

Abstract

The invention discloses a tool changing and positioning synchronous control method and device for a numerical control machine tool. The method comprises the following steps: determining a first group of motion shafts directly associated with the tool changing action in the numerical control machine tool, and determining a second group of motion shafts not directly associated with the tool changing action in the numerical control machine tool; when the tool changing action starts, the first set of moving shafts are controlled to execute the tool changing action, and meanwhile the second set of moving shafts are controlled to move according to the designated position; in the process, the positions of the two motion shafts are monitored, and the relative position relation between the two motion shafts is obtained; and before determining that the tool changing action is completed, forbidding the second group of motion axes to enter the potential conflict area according to the relative position relationship. The technical problems that in the prior art, all shafts of a numerical control machine tool stop moving in the tool changing process, the non-cutting time is long, and the production efficiency is affected are solved.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and more specifically, to a method and apparatus for synchronous control of tool changing and positioning of a CNC machine tool. Background Technology

[0002] In traditional CNC machine tool designs, to ensure equipment safety, the tool changing process is strictly separated from subsequent axis positioning and machining actions. This means that after each tool change, the machine tool must wait for all safety actions to be confirmed before it can begin positioning and machining the next workpiece.

[0003] While this operation mode, which separates tool changing from axis positioning, ensures the absolute safety of the machine tool and avoids any possible collision accidents, it can affect production efficiency. Especially in the mass production of precision parts, the accumulated non-cutting time (such as tool changing and positioning) in each machining cycle can significantly impact overall production efficiency.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method and apparatus for synchronous control of tool changing and positioning in CNC machine tools, which at least solves the technical problem in the related art that when CNC machine tools stop moving during tool changing, the non-cutting time is long and affects production efficiency.

[0006] According to one aspect of the present invention, a method for synchronous control of tool changing and positioning in a CNC machine tool is provided, comprising: determining a first set of motion axes in the CNC machine tool that are directly associated with a tool changing action, and determining a second set of motion axes in the CNC machine tool that are not directly associated with the tool changing action; when the tool changing action begins, controlling the first set of motion axes to perform the tool changing action, and simultaneously controlling the second set of motion axes to move to a specified position; during the process of the first set of motion axes performing the tool changing action and the second set of motion axes moving to the specified position, monitoring the positions of the first set of motion axes and the second set of motion axes to obtain a relative positional relationship between the first set of motion axes and the second set of motion axes; before determining that the tool changing action is completed, prohibiting the second set of motion axes from entering a potential conflict area according to the relative positional relationship, wherein the potential conflict area is an area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

[0007] Optionally, determining a first group of motion axes in the CNC machine tool that are directly related to the tool changing action, and determining a second group of motion axes in the CNC machine tool that are not directly related to the tool changing action, includes: determining the motion axes related to the tool magazine among two or more motion axes of the CNC machine tool as the first group of motion axes, and determining the motion axes unrelated to the tool magazine among two or more motion axes as the second group of motion axes.

[0008] Optionally, before determining the first set of motion axes in the CNC machine tool that are directly associated with the tool changing action, and before determining the second set of motion axes in the CNC machine tool that are not directly associated with the tool changing action, the tool changing and positioning synchronization control method of the CNC machine tool includes: acquiring the internal structure data of the CNC machine tool; generating the internal space of the CNC machine tool based on the internal structure data; acquiring the tool changing process information of the CNC machine tool; and dividing the internal space according to the internal structure data and the tool changing process information to obtain multiple regions including the potential conflict region.

[0009] Optionally, the internal space is spatially divided according to the internal structure data and the tool changing process information to obtain multiple regions including the potential conflict area, including: identifying the first group of motion axes and the second group of motion axes of at least two motion axes in the CNC machine tool according to the internal structure data and the tool changing process information; spatially dividing the internal space according to the first motion range of the first group of motion axes and the second motion range of the second group of motion axes to obtain the multiple regions, wherein the multiple regions include the safety area of ​​the first group of motion axes and / or the free movement area of ​​the second group of motion axes.

[0010] Optionally, the internal space is spatially divided according to the internal structure data and the tool changing process information to obtain multiple regions including the potential conflict region, including: defining a safe region for the first set of motion axes and a free movement region for the second set of motion axes according to the machine tool type of the CNC machine tool and the internal structure data; determining the overlapping region of the safe region and the free movement region as the potential conflict region; and determining the safe region, the free movement region, and the potential conflict region as the multiple regions.

[0011] Optionally, determining the completion of the tool change action includes: acquiring the motion command corresponding to the tool change action of the first set of motion axes; determining the encoder feedback position corresponding to each step in the tool change action; generating a mapping relationship between the motion command and the feedback position; acquiring the real-time feedback position of the encoder; and determining the completion of the tool change action when the real-time feedback position matches a preset completion position based on the mapping relationship.

[0012] Optionally, the CNC machine tool tool changing and positioning synchronization control method further includes: after determining that the tool changing action and the positioning action of the second set of motion axes have been completed, summarizing the feedback signals; and when determining that the tool changing action and the positioning action are both effective according to the feedback signals, proceeding to the following process.

[0013] According to another aspect of the present invention, a tool changing and positioning synchronization control device for a CNC machine tool is also provided, comprising: a first determining unit, configured to determine a first group of motion axes in the CNC machine tool that are directly associated with the tool changing action, and to determine a second group of motion axes in the CNC machine tool that are not directly associated with the tool changing action; a controlling unit, configured to control the first group of motion axes to perform the tool changing action when the tool changing action begins, and simultaneously control the second group of motion axes to move to a specified position; a monitoring unit, configured to monitor the positions of the first group of motion axes and the second group of motion axes during the execution of the tool changing action by the first group of motion axes and the movement of the second group of motion axes to the specified position, thereby obtaining a relative positional relationship between the first group of motion axes and the second group of motion axes; and a prohibition unit, configured to prohibit the second group of motion axes from entering a potential conflict area according to the relative positional relationship before the tool changing action is determined to be completed, wherein the potential conflict area is an area in the internal space of the CNC machine tool where the first group of motion axes and the second group of motion axes may collide.

[0014] Optionally, the first determining unit includes: a first determining module, configured to determine the motion axis related to the tool magazine among two or more motion axes of the CNC machine tool as the first group of motion axes, and to determine the motion axis unrelated to the tool magazine among two or more motion axes as the second group of motion axes.

[0015] Optionally, the tool changing and positioning synchronization control device for the CNC machine tool includes: a first acquisition unit, used to acquire internal structure data of the CNC machine tool before determining a first set of motion axes directly associated with the tool changing action and a second set of motion axes not directly associated with the tool changing action; a generation unit, used to generate the internal space of the CNC machine tool based on the internal structure data; a second acquisition unit, used to acquire tool changing process information of the CNC machine tool; and a space division unit, used to divide the internal space according to the internal structure data and the tool changing process information to obtain multiple regions including the potential conflict area.

[0016] Optionally, the space division unit includes: an identification module, used to identify the first group of motion axes and the second group of motion axes of at least two motion axes in the CNC machine tool according to the internal structure data and the tool changing process information; and a space division module, used to divide the internal space according to the first motion range of the first group of motion axes and the second motion range of the second group of motion axes to obtain the plurality of regions, wherein the plurality of regions include the safety region of the first group of motion axes and / or the free movement region of the second group of motion axes.

[0017] Optionally, the space division unit includes: a definition module, used to define a safe area for the first set of motion axes and a free movement area for the second set of motion axes according to the machine tool type and the internal structure data of the CNC machine tool; a second determination module, used to determine the overlapping area of ​​the safe area and the free movement area as the potential conflict area; and a third determination module, used to determine the safe area, the free movement area, and the potential conflict area as the plurality of areas.

[0018] Optionally, the prohibition unit includes: a first acquisition module, configured to acquire motion commands corresponding to the tool changing action of the first set of motion axes; a fourth determination module, configured to determine the encoder feedback position corresponding to each step in the tool changing action; a generation module, configured to generate a mapping relationship between the motion commands and the feedback positions; a second acquisition module, configured to acquire the real-time feedback position of the encoder; and a fifth determination module, configured to determine that the tool changing action is completed when the real-time feedback position matches a preset completion position based on the mapping relationship.

[0019] Optionally, the CNC machine tool tool changing and positioning synchronization control device further includes: a summarizing unit, used to summarize the feedback signals after determining that the tool changing action and the positioning action of the second set of motion axes have been completed; and a second determining unit, used to proceed to the following process when it is determined from the feedback signals that the tool changing action and the positioning action are both effective.

[0020] According to one aspect of the present invention, a CNC machine tool is provided, wherein the CNC machine tool uses the tool changing and positioning synchronization control method of any one of the above-described CNC machine tools.

[0021] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the tool changing and positioning synchronization control method for a CNC machine tool as described in any one of the above embodiments.

[0022] According to one aspect of the present invention, a processor is provided, the processor being configured to run a program, wherein the program, when running, executes the tool changing and positioning synchronization control method for a CNC machine tool as described in any of the above embodiments.

[0023] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform the tool changing and positioning synchronization control method for a CNC machine tool as described above.

[0024] In this embodiment of the invention, a first set of motion axes directly associated with the tool changing action is determined in the CNC machine tool, and a second set of motion axes not directly associated with the tool changing action is determined in the CNC machine tool. At the start of the tool changing action, the first set of motion axes is controlled to perform the tool changing action, while the second set of motion axes is controlled to move to a specified position. During the process of the first set of motion axes performing the tool changing action and the second set of motion axes moving to the specified position, the positions of the first and second sets of motion axes are monitored to obtain the relative positional relationship between them. Before the tool changing action is determined to be complete, the second set of motion axes is prohibited from entering a potential conflict area based on the relative positional relationship. The potential conflict area is the area within the internal space of the CNC machine tool where the first and second sets of motion axes may collide. The above technical solution achieves the goal of planning the tool changing action as a linear motion, treating it as the same type of motion as other axes, reducing waiting time, realizing spatial division, and isolating axes related to tool changing from those unrelated in space. This ensures that non-associated axes can be positioned synchronously during tool changing. Under the premise of ensuring no interference and safety, the synchronous operation of tool changing and axis positioning is initiated, thereby improving the machining efficiency of the machine tool. This allows non-associated axes to continue moving during tool changing, with tool changing and axis positioning occurring simultaneously, greatly shortening non-cutting time and improving the machining efficiency and production cycle of CNC machine tools. In turn, it solves the technical problem in related technologies where the axes of CNC machine tools stop moving during tool changing, resulting in long non-cutting times and affecting production efficiency. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This is a hardware structure block diagram of a mobile terminal for a CNC machine tool tool changing and positioning synchronization control method according to an embodiment of the present invention.

[0027] Figure 2 This is a flowchart of a CNC machine tool tool changing and positioning synchronization control method according to an embodiment of the present invention;

[0028] Figure 3 This is a flowchart of the evaluation of tool changing and positioning synchronization control according to an embodiment of the present invention;

[0029] Figure 4 This is a flowchart illustrating a scenario where axis positioning and tool changing can be performed simultaneously according to an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of a tool changing and positioning synchronization control device for a CNC machine tool according to an embodiment of the present invention.

[0031] The above figures include the following reference numerals:

[0032] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] As described in the background section, in related technologies, CNC machine tools suffer from drawbacks such as the stopping of movement of each axis during tool changing, resulting in longer non-cutting times and impacting production efficiency. Embodiments of this invention provide a method and apparatus for synchronous control of tool changing and positioning in a CNC machine tool, a CNC machine tool, a computer-readable storage medium, a processor, and a computer program product.

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0037] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a CNC machine tool tool changing and positioning synchronization control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0038] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the CNC machine tool tool changing and positioning synchronization control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] Example 1

[0040] According to an embodiment of the present invention, a method embodiment of a tool changing and positioning synchronization control method for a CNC machine tool is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0041] Figure 2 This is a flowchart of a CNC machine tool tool changing and positioning synchronization control method according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0042] Step S202: Determine the first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and determine the second set of motion axes in the CNC machine tool that are not directly related to the tool changing action.

[0043] Optionally, the aforementioned direct correlation indicates that the displacement or state of the motion axis is a necessary condition for the physical realization of the tool changing action. Its motion trajectory is rigidly coupled, spatially overlapped, or functionally dependent on the tool changing mechanism. If it fails to complete the predetermined action, the tool changing process cannot be started or completed, and its motion state directly determines the safety of the tool changing. No direct correlation indicates that the motion axis does not participate in or depend on the physical realization of the tool changing action. Its positional changes do not affect the tool exchange process, and its motion trajectory is spatially isolated from the tool changing sensitive area, allowing it to move safely in parallel during the tool changing process, thereby improving efficiency.

[0044] In this embodiment, the motion axes of the CNC machine tool are precisely classified to achieve synchronous execution of tool changing and non-tool changing actions.

[0045] This method first identifies the motion axes directly related to tool changing, such as the Z-axis and spindle in a vertical machining center, because they directly participate in tool changing and positioning. Next, it identifies a second set of motion axes not directly related to tool changing, such as the X-axis, Y-axis, and A-axis. These axes do not participate in tool exchange during tool changing but can move independently.

[0046] By implementing this control method, the machining efficiency of CNC machine tools is significantly improved. By synchronizing the tool changing action with the movement of non-tool changing axes, non-cutting time is greatly reduced. During tool changing, non-associated axes can move to the next machining position in advance, reducing waiting time and speeding up the machining process. At the same time, this control method does not sacrifice safety while improving efficiency. Through zone division, it ensures that the movement of axes unrelated to tool changing does not interfere with the tool changing mechanism, avoiding potential collisions within the machine tool and guaranteeing stable machine operation and machining accuracy.

[0047] Step S204: When the tool change action begins, control the first set of motion axes to perform the tool change action, and at the same time control the second set of motion axes to move to the specified position.

[0048] In this embodiment, the CNC machine tool's movements are divided into functional actions and axis movements, i.e., the movements of each axis, including movements of multiple axes such as X, Y, Z, and A. These axis movements can occur simultaneously, and their position signals are obtained from encoder position feedback. Functional actions involve the opening and closing of various machine tool auxiliary components, such as tool magazine changes and the operation of water pumps. These are primarily achieved through I / O communication, and since there is signal interaction, feedback signals need to be obtained from sensors.

[0049] This method simultaneously activates two independent but coordinated motion control strategies. When a tool change command is triggered, the control system immediately activates the first set of motion axes (i.e., axes directly related to the tool change), such as the spindle and Z-axis, to execute precise tool changing actions. Simultaneously, the second set of motion axes (axes not directly related to the tool change), such as the X-axis, Y-axis, and A-axis, begin moving to the next machining position according to a preset machining path or command. This process leverages the multi-threading capabilities and precise motion control technology of modern CNC machine tools, allowing tool changing and axis positioning to overlap in time and space without interfering with each other.

[0050] By implementing this control method, CNC machine tools can significantly improve overall machining efficiency during tool changes. Previously, tool changing was a separate, time-consuming operation that would halt the entire machining process. Now, thanks to synchronous control technology, the machine tool can prepare for the next workstation on non-tool-changing axes while the tool is being changed, greatly shortening non-cutting time and improving production speed.

[0051] Step S206: During the process of the first set of motion axes performing the tool change action and the second set of motion axes moving to the specified position, the positions of the first set of motion axes and the second set of motion axes are monitored to obtain the relative positional relationship between the first set of motion axes and the second set of motion axes.

[0052] In this embodiment, during PLC processing, the tool changing control method is changed from the traditional M-code jump to G9001 machining program method to be handled entirely by the PLC, without the need for interaction between the PLC and NC. This breaks through the need to continuously execute operations and receive input / output points from the external tool changing mechanism during the tool changing process. In other words, the tool changing function control method is transformed into a linear motion control method. The feedback signal of linear motion is the position feedback of the encoder, and the feedback signal of the tool changing function is the successful tool interaction in the PLC.

[0053] This method continuously monitors the positions of the first set of motion axes (axes directly involved in tool changing) and the second set of motion axes (axes not associated with tool changing), enabling the control system to acquire their relative position information in real time. This monitoring process relies on integrated sensor technology and advanced data processing algorithms. Position data fed back from the encoder is continuously collected and compared with preset safety distance thresholds. If the relative position between the first and second sets of axes is detected to be approaching a predefined danger zone, the control system will immediately take measures, such as pausing or adjusting the movement of the second set of axes, to avoid potential collision risks.

[0054] By implementing this control method, CNC machine tools can maximize their machining efficiency while ensuring safety. By continuously monitoring the relative positions between the first set of motion axes (tool-changing axes) and the second set of motion axes (non-tool-changing axes), the system can promptly detect and prevent any potential interference, effectively avoiding accidental collisions and protecting the machine tool and cutting tools from damage. This measure greatly enhances the reliability of the machine tool, reduces the risk of equipment failure due to improper operation, and also reduces unnecessary downtime, making the production process smoother and more efficient.

[0055] Step S208: Before the tool change action is completed, the second set of motion axes is prohibited from entering the potential conflict area according to the relative position relationship. The potential conflict area is the area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

[0056] In this embodiment, in addition to assessing whether the machine tool model can use the control method of this patent, the importance of dividing the area also includes a crucial factor: safety.

[0057] This method continuously monitors the progress of the tool change action and the real-time position of the second set of motion axes, and dynamically identifies and defines potential conflict areas using preset safety boundaries and collision warning algorithms. When the control system detects that the second set of motion axes is approaching or about to enter these areas, it will intervene in a timely manner by pausing, adjusting the path, or slowing down the movement speed of the second set of axes to avoid any possible physical contact.

[0058] Implementing this control method significantly improves the operational safety of CNC machine tools, especially when using a spatially partitioned tool change positioning synchronization control method. By preventing the second set of motion axes from entering the potential conflict zone before the tool change is completed, internal collisions caused by misoperation or uncoordinated movements are effectively avoided, reducing equipment damage and maintenance costs. Furthermore, this strategy enhances operator confidence in the machine tool, as every movement of the machine tool is strictly controlled and managed, even in complex multi-tasking synchronous execution environments, preventing accidents.

[0059] As described above, in this embodiment, a first set of motion axes directly associated with the tool changing action in the CNC machine tool is determined, and a second set of motion axes not directly associated with the tool changing action is determined. At the start of the tool changing action, the first set of motion axes is controlled to perform the tool changing action, while the second set of motion axes is controlled to move to a specified position. During the process of the first set of motion axes performing the tool changing action and the second set of motion axes moving to the specified position, the positions of the first and second sets of motion axes are monitored to obtain their relative positional relationship. Before the tool changing action is completed, the second set of motion axes is prohibited from entering a potential conflict area based on their relative positional relationship. The collision zone is the area within the internal space of a CNC machine tool where the first and second sets of motion axes may collide. This design aims to plan the tool change action as a linear motion, treating it as the same type of motion as other axes, reducing waiting time, and achieving spatial division. It isolates axes related to tool change from those unrelated in space, ensuring that non-associated axes can be positioned synchronously during tool change. Under the premise of ensuring no interference and safety, it initiates synchronous operation of tool change and axis positioning, thereby improving machine tool processing efficiency. This allows non-associated axes to continue moving during tool change, with tool change and axis positioning occurring simultaneously, significantly shortening non-cutting time and improving the processing efficiency and production cycle time of CNC machine tools.

[0060] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art where the axes of a CNC machine tool stop moving during tool changing, resulting in a long non-cutting time and affecting production efficiency.

[0061] According to the above embodiments of the present invention, determining a first group of motion axes in a CNC machine tool that are directly related to the tool changing action, and determining a second group of motion axes in a CNC machine tool that are not directly related to the tool changing action, includes: determining the motion axes related to the tool magazine among two or more motion axes of the CNC machine tool as the first group of motion axes, and determining the motion axes unrelated to the tool magazine among two or more motion axes as the second group of motion axes.

[0062] In this embodiment, the internal space of the machine tool needs to be divided. In a traditional vertical machining center, the Z-axis carries the spindle and the tool magazine, meaning that the spindle and Z-axis are the associated parts of the tool changing action. The X-axis, Y-axis, and A-axis are motion axes located on the worktable and are not associated parts. In a traditional horizontal machining center, the Y-axis carries the spindle, and the tool changing mechanism is on the side. Corresponding to it are only the Y-axis and the spindle. The Z-axis, X-axis, and A-axis are not associated parts.

[0063] This method analyzes the machine tool's structural layout and functional requirements, defining axes directly involved in tool magazine operations and tool changing processes, such as the Z-axis or Y-axis carrying the spindle and tool magazine, as the first group of motion axes. Axes that do not directly participate in, are not affected by, or are minimally affected by tool changing actions, such as the X-axis, Y-axis (when the Y-axis is not part of the first group), and A-axis, are classified as the second group of motion axes. The principle behind this classification is that by understanding the role and positional relationship of each axis during tool changing, targeted control logic can be developed, allowing the second group of axes to perform other tasks, such as moving to the next machining position, while the first group of axes is changing tools, without having to completely stop and wait.

[0064] By implementing this control method, the machining process of CNC machine tools becomes smoother and more efficient. Instead of requiring all axes to be collectively "silent" during tool changes, as in traditional models, the second set of motion axes, not directly related to the tool change, continues working while the first set of axes is changing tools. This allows them to pre-position themselves to the next machining point, reducing idle waiting time, significantly shortening non-cutting cycles, and improving overall productivity. Simultaneously, this classification and control strategy enhances the machine tool's safety performance, as it ensures that the movement of critical axes during tool changes is not interfered with by other axes, reducing the potential risk of collisions.

[0065] According to the above embodiments of the present invention, before determining the first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and before determining the second set of motion axes in the CNC machine tool that are not directly related to the tool changing action, the tool changing and positioning synchronization control method of the CNC machine tool includes: acquiring the internal structure data of the CNC machine tool; generating the internal space of the CNC machine tool based on the internal structure data; acquiring the tool changing process information of the CNC machine tool; and dividing the internal space according to the internal structure data and the tool changing process information to obtain multiple regions including potential conflict areas.

[0066] In this embodiment, a detailed three-dimensional internal space model is constructed by collecting internal structural data of the machine tool, including the specific position and range of motion of each motion axis and the tool magazine structure.

[0067] This method combines information from the machine tool's tool changing process, such as the axis movements involved in tool changing and the relative positional changes between the tool magazine and the spindle, to precisely divide this internal space model. The purpose of this division is to clearly define the "potential conflict areas" that may cause physical conflicts between motion axes, as well as the "non-conflict areas" that are not directly related to the tool changing operation.

[0068] By implementing this control method, the safety and efficiency of CNC machine tools during tool change positioning synchronization control are significantly improved. It enables the machine tool to effectively prevent accidental collisions between motion axes without the need for additional physical protective devices, through reasonable area planning. This protects the machine tool from damage, reduces the risk of production interruptions, and saves costs. More importantly, it allows a second set of motion axes, unrelated to tool change, to continue moving to the next machining position during the tool change, reducing non-cutting time, thereby accelerating the machining pace and improving overall production efficiency.

[0069] According to the above embodiments of the present invention, the internal space is spatially divided according to internal structure data and tool changing process information to obtain multiple regions including potential conflict areas, including: identifying a first group of motion axes and a second group of motion axes with at least two motion axes in the CNC machine tool according to internal structure data and tool changing process information; dividing the internal space spatially according to the first motion range of the first group of motion axes and the second motion range of the second group of motion axes to obtain multiple regions, wherein the multiple regions include a safe area for the first group of motion axes and / or a free movement area for the second group of motion axes.

[0070] Optionally, the above-mentioned multiple regions may include either the safety region of the first set of motion axes or the free movement region of the second set of motion axes, or may include both the safety region of the first set of motion axes and the free movement region of the second set of motion axes.

[0071] In this embodiment, the area is divided according to the planned associated area. The Z-bearing carries the spindle and tool magazine, and its position is the key basis for evaluating whether the non-associated area can move. For example, the Z-axis zero point is used as the dividing point. When the Z-axis coordinate is >0, the XYA axis of the machine tool is not allowed to move. Only when the mechanical position of the Z-axis is ≤0 can the XYA axis move and the tool change be performed simultaneously.

[0072] This method is based on a deep understanding and analysis of the internal structure and tool changing process of CNC machine tools. First, through detailed data collection, it was determined which motion axes play a core role in the tool changing process; these axes constitute the first group of motion axes. Which axes can perform other tasks unrestricted during tool changing are classified as the second group of motion axes. Next, based on the actual range of motion of each group of axes, the internal space of the machine tool is comprehensively divided using internal structural data. This division process subdivides the machine tool space into several regions, each with a clear definition, specifically distinguishing the safe operating area for the first group of motion axes during tool changing, and the area where the second group of motion axes can move freely when not affected by tool changing actions.

[0073] By implementing this control method, the reliability and production efficiency of CNC machine tools under tool changing and positioning synchronization control are greatly enhanced. By pre-setting the safety zone for the first set of motion axes and the free movement zone for the second set of motion axes, the system can confidently schedule each axis to perform its task during tool changes without worrying about potential physical conflicts. This not only significantly reduces unnecessary waiting time due to safety considerations, speeds up the machining process, and improves production efficiency, but also provides a higher level of safety for the machine tool, reducing the risk of unexpected downtime and equipment damage caused by mechanical interference.

[0074] According to the above embodiments of the present invention, the internal space is spatially divided according to internal structure data and tool changing process information to obtain multiple regions including potential conflict areas, including: defining a safe area for the first set of motion axes and a free movement area for the second set of motion axes according to the machine tool type and internal structure data of the CNC machine tool; determining the overlapping area of ​​the safe area and the free movement area as a potential conflict area; and determining the safe area, the free movement area, and the potential conflict area as multiple regions.

[0075] In this embodiment, based on the specific type of machine tool (such as a vertical or horizontal machining center) and its internal structural layout, the "safety zone" and "free movement zone" of the first set of motion axes that directly participate in tool changing and the second set of motion axes that indirectly participate and can move freely are defined respectively.

[0076] This method, based on a deep understanding of machine tool geometry and motion characteristics, ensures that the first set of axes has sufficient space for safe movement during tool changes, while allowing the second set of axes to move autonomously without affecting tool changes. Subsequently, by comparing the safe zone of the first set of axes with the free movement zone of the second set, "overlapping areas" where they might meet are identified and marked as "potential conflict areas." Finally, a complete spatial partitioning scheme is formed by combining the safe zone, free movement zone, and potential conflict areas.

[0077] By implementing this control method, the safety and operational efficiency of CNC machine tools during tool changing and axis positioning synchronization are significantly improved. On one hand, by clearly defining the activity boundaries of different motion axes, especially in setting the "safe zone" and "free movement zone," the system can intelligently coordinate the operation of each axis, avoiding the risks of physical interference and collisions between axes common in traditional control methods, greatly enhancing the stability and service life of the machine tool. On the other hand, thanks to the precise identification and avoidance of "potential conflict zones," the second set of motion axes can still fully utilize the "free movement zone" for pre-positioning during tool changing, reducing waiting time and thus significantly shortening the non-cutting cycle and improving production efficiency.

[0078] According to the above embodiments of the present invention, determining the completion of a tool change action includes: acquiring motion commands corresponding to the tool change action of the first set of motion axes; determining the feedback position of the encoder corresponding to each step in the tool change action; generating a mapping relationship between motion commands and feedback positions; acquiring the real-time feedback position of the encoder; and determining the completion of the tool change action when the real-time feedback position matches the preset completion position based on the mapping relationship.

[0079] In this embodiment, during the tool change preparation phase, the spindle stops rotating and orients itself, and the Z-axis moves to the tool change origin. Specifically, the Z-axis is quickly moved to a preset safe position (safe tool change height: Z-axis height, or Z-axis origin). A system check is then performed to confirm the Z-axis is in position, while ensuring there is no potential collision risk between the tool change-related area (e.g., the area where the spindle and tool magazine are located) and the non-related area (e.g., the area where the X, Y, and A axes move). During the synchronous action phase, the tool change thread is treated as a single thread that can be executed in parallel with the axis movement thread. This includes spindle tool release, robotic arm tool exchange, robotic arm return to its original position, and spindle tool tightening. The axis movement thread allows non-related axes (X, Y, and A axes) to begin moving to the next machining position simultaneously with the tool change, such as the X-axis moving to 30°, the Y-axis moving to 30°, and the A-axis rotating to 0°.

[0080] Figure 3 This is a flowchart of the evaluation of tool changing and positioning synchronization control according to an embodiment of the present invention, such as... Figure 3 As shown, the space is first divided into regions. If there are no non-associated areas for tool changing, this method is not applicable. If non-associated areas exist, a safety assessment of simultaneous tool changing and positioning is required. Based on the value of the assessment index I, tool changing and positioning can be performed simultaneously when I ≤ 0, and not simultaneously when I > 0. This assessment process ensures that the synchronous control method for tool changing and positioning in this scheme can undergo accurate risk assessment and adaptability judgment based on the specific machine tool structure and workpiece layout before practical application. This assessment-based safety decision-making mechanism maximizes the machine tool's production efficiency while ensuring operational safety.

[0081] Figure 4 This is a flowchart illustrating how axis positioning and tool changing can be performed simultaneously according to an embodiment of the present invention, as shown below. Figure 4As shown, starting with the premise that "tool changing and positioning can be performed simultaneously," tool changing and axis positioning operations are carried out synchronously. The tool changing process sequentially completes spindle tool release, robotic arm movement, tool exchange, robotic arm return to its original position, and spindle tool tightening, signifying the completion of the tool change. The axis positioning process, through movement along the X, Y, and Z axes, also completes the tool changing-related positioning. Once both are complete, the synchronous action ends, and the next operation is executed. This process is not only a practical application example of the synchronous control method for tool changing and positioning but also a direct demonstration of optimizing CNC machine tool machining processes and improving production efficiency. Through this visual process demonstration, operators and system developers can more intuitively understand the execution sequence and logic of synchronous control, thereby promoting the widespread application and technological improvement of this method in industrial production.

[0082] This method is based on a one-to-one correspondence between motion commands and encoder feedback positions. First, the system records every specific command from the first set of motion axes (i.e., axes directly related to tool changing) during the tool changing action, such as spindle tool release and robotic arm movement. Then, it monitors the encoder feedback position information during the execution of these commands, creating a mapping database between commands and actual motion positions. Next, by acquiring the encoder feedback positions in real time, the system can determine whether the current motion state corresponds to the expected tool changing command, i.e., whether the preset "completion position" has been reached, based on the previously generated mapping relationship. When the feedback positions corresponding to all tool changing-related motion commands reach the preset completion criteria, the system determines that the tool changing action has been successfully completed. This indicates that the tool has been correctly installed and all motion axes have returned to their initial or specified safe state, thus allowing the safe initiation of the next machining program or axis positioning action.

[0083] By implementing this control method, the operational efficiency and safety of CNC machine tools have been significantly improved. In terms of efficiency, real-time monitoring of encoder feedback allows for immediate awareness of the progress of each tool change action, avoiding the delays caused by sensor triggering in traditional control methods. This makes the tool change process smoother, reduces unnecessary waiting time, shortens the non-cutting cycle, and improves the machine tool's production efficiency. In terms of safety, this method ensures accurate tool replacement by precisely monitoring the position of each step of the tool change action. This prevents machine tool malfunctions or safety accidents caused by incorrect tool installation or the motion axis not returning to a safe position, greatly improving the reliability of the machining process.

[0084] According to the above embodiments of the present invention, the synchronous control method for tool changing and positioning of CNC machine tools further includes: after determining that the tool changing action and the positioning action of the second set of motion axes have been completed, summarizing the feedback signals; and when it is determined from the feedback signals that both the tool changing action and the positioning action are effective, proceeding to the following process.

[0085] In this embodiment, a safety check is performed during synchronization. The system continuously monitors the progress of the tool change thread and the axis motion thread to ensure there is no physical interference between them. This is achieved through spatial partitioning and the delineation of potential conflict areas in the first stage. Once the tool change thread reports that the tool change is complete, and the axis motion thread confirms that all non-associated axes have been positioned at their designated locations, the system aggregates this information to ensure that both are complete before executing the next instruction, i.e., performing the cutting process. If any action fails to complete as expected during synchronization, the system will immediately alarm and stop the machine to prevent any potential damage. This demonstrates the high level of safety considerations in the synchronization control method.

[0086] In this method, when the tool change action and the positioning action of the non-tool change associated axis are performed synchronously, the system continuously tracks and records feedback information from the encoder. This information reflects the actual execution status of the tool change thread and the axis motion thread. Once both threads report completion, the system immediately summarizes all relevant feedback signals, including encoder position, axis motion status, and tool exchange status, for a comprehensive verification. By comparing the feedback signals with the expected signals, the system can confirm whether each action is completed accurately according to the preset target, that is, whether the position fed back by the encoder matches the preset completion position, and whether the tool is correctly installed and the positioning axis is in place.

[0087] By implementing this control method, the reliability and safety of CNC machine tools in tool changing and positioning synchronization control modes are significantly enhanced. First, by summarizing feedback signals for effectiveness verification, the system can instantly detect and correct any potential execution deviations or errors, avoiding machining quality problems caused by insufficient tool changing or axis positioning, while also reducing the risk of machine tool collisions or damage. Second, the introduction of this verification mechanism makes the implementation of the synchronization control method more robust, ensuring the continuity and accuracy of the machining process even in complex and changing production environments, thus improving the overall production efficiency of the machine tool. Finally, it also boosts operator confidence, as they know that every tool changing and positioning operation undergoes rigorous system verification, and any abnormalities are quickly detected and handled, thereby creating a safer and more controllable production environment.

[0088] As can be seen from the above, the technical solution provided by the above embodiments of the present invention plans the tool changing action as a linear motion, that is, tool changing is a type of axis motion, and plans it from a functional component to a moving component, reducing waiting time; it realizes spatial division, dividing the relevant and unrelated motion axes involved in tool changing into spatial division, realizing regionalized action; under the premise of ensuring safety, it can realize the synchronous operation of tool changing and axis positioning, thereby improving the machining efficiency of the machine tool.

[0089] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0091] Example 2

[0092] According to embodiments of the present invention, a tool changing and positioning synchronization control device for a CNC machine tool for implementing the above-described CNC machine tool tool changing and positioning synchronization control method is also provided. Figure 5 This is a schematic diagram of a tool changing and positioning synchronization control device for a CNC machine tool according to an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: a first determining unit 501, a control unit 503, a monitoring unit 505, and an inhibiting unit 507. The device will now be described in detail.

[0093] The first determining unit 501 is used to determine the first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and to determine the second set of motion axes in the CNC machine tool that are not directly related to the tool changing action.

[0094] The control unit 503 is used to control the first set of motion axes to perform the tool changing action when the tool changing action begins, and at the same time control the second set of motion axes to move to a specified position.

[0095] The monitoring unit 505 is used to monitor the positions of the first set of motion axes and the second set of motion axes during the tool changing action of the first set of motion axes and the movement of the second set of motion axes to a specified position, so as to obtain the relative positional relationship between the first set of motion axes and the second set of motion axes.

[0096] The prohibition unit 507 is used to prevent the second set of motion axes from entering the potential conflict area according to their relative position relationship before the tool change action is determined to be completed. The potential conflict area is the area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

[0097] It should be noted that the first determining unit 501, the control unit 503, the monitoring unit 505, and the prohibition unit 507 mentioned above correspond to steps S202 to S208 in the above embodiments. The four units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0098] As can be seen from the above, in the solution described in the above embodiments of the present invention, a first determining unit is used to determine a first group of motion axes in the CNC machine tool that are directly related to the tool changing action, and to determine a second group of motion axes in the CNC machine tool that are not directly related to the tool changing action; a control unit is used to control the first group of motion axes to perform the tool changing action when the tool changing action begins, and simultaneously control the second group of motion axes to move to a specified position; a monitoring unit is used to monitor the positions of the first group of motion axes and the second group of motion axes during the process of the first group of motion axes performing the tool changing action and the second group of motion axes moving to the specified position, so as to obtain the relative positional relationship between the first group of motion axes and the second group of motion axes; and a prohibition unit is used to prohibit the second group of motion axes from entering the potential conflict area according to the relative positional relationship before the tool changing action is determined to be completed, wherein the potential conflict area is the area in the internal space of the CNC machine tool where the first group of motion axes and the second group of motion axes may collide. The above scheme achieves the goal of planning the tool changing action as a linear motion, treating it as the same type of motion as other axes, reducing waiting time, realizing spatial division, and isolating axes related to tool changing from those unrelated in space. This ensures that non-associated axes can be positioned synchronously during tool changing. Under the premise of ensuring no interference and safety, the synchronous operation of tool changing and axis positioning is initiated, thereby improving the machining efficiency of the machine tool. In this way, non-associated axes can continue to move during tool changing, and tool changing and axis positioning are carried out simultaneously, which greatly shortens the non-cutting time and improves the machining efficiency and production cycle of CNC machine tools.

[0099] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art where the axes of a CNC machine tool stop moving during tool changing, resulting in a long non-cutting time and affecting production efficiency.

[0100] Optionally, the first determining unit includes: a first determining module, used to determine the motion axes related to the tool magazine among two or more motion axes of the CNC machine tool as the first group of motion axes, and to determine the motion axes unrelated to the tool magazine among multiple motion axes as the second group of motion axes.

[0101] Optionally, the tool changing and positioning synchronization control device for a CNC machine tool includes: a first acquisition unit, used to acquire internal structure data of the CNC machine tool before determining a first set of motion axes directly associated with the tool changing action and a second set of motion axes not directly associated with the tool changing action; a generation unit, used to generate the internal space of the CNC machine tool based on the internal structure data; a second acquisition unit, used to acquire tool changing process information of the CNC machine tool; and a space division unit, used to divide the internal space according to the internal structure data and the tool changing process information to obtain multiple regions including potential conflict areas.

[0102] Optionally, the space division unit includes: an identification module for identifying a first group of motion axes and a second group of motion axes with at least two motion axes in the CNC machine tool based on internal structure data and tool change process information; and a space division module for dividing the internal space into multiple regions based on a first motion range of the first group of motion axes and a second motion range of the second group of motion axes, wherein the multiple regions include a safety region for the first group of motion axes and / or a free movement region for the second group of motion axes.

[0103] Optionally, the space division unit includes: a definition module, used to define the safe area of ​​the first set of motion axes and the free movement area of ​​the second set of motion axes according to the machine tool type and internal structure data of the CNC machine tool; a second determination module, used to determine the overlapping area of ​​the safe area and the free movement area as the potential conflict area; and a third determination module, used to determine the safe area, the free movement area and the potential conflict area as multiple areas.

[0104] Optionally, the prohibition unit includes: a first acquisition module, used to acquire motion commands corresponding to the tool changing action of the first set of motion axes; a fourth determination module, used to determine the encoder feedback position corresponding to each step in the tool changing action; a generation module, used to generate a mapping relationship between motion commands and feedback positions; a second acquisition module, used to acquire the real-time feedback position of the encoder; and a fifth determination module, used to determine that the tool changing action is completed when the real-time feedback position is determined to match the preset completion position based on the mapping relationship.

[0105] Optionally, the tool changing and positioning synchronization control device of the CNC machine tool further includes: a summarizing unit, used to summarize the feedback signals after determining that the tool changing action and the positioning action of the second set of motion axes have been completed; and a second determining unit, used to enter the following process when it is determined from the feedback signals that both the tool changing action and the positioning action are effective.

[0106] According to one aspect of the present invention, a CNC machine tool is provided, wherein the CNC machine tool uses the tool changing and positioning synchronization control method of any of the above-described CNC machine tool.

[0107] According to one aspect of the present invention, a processor is provided, which is used to run a program, wherein the program executes the tool changing and positioning synchronization control method of any of the above-described methods for CNC machine tools.

[0108] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform a CNC machine tool tool changing and positioning synchronization control method according to any one of the above.

[0109] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the tool changing and positioning synchronization control method of a CNC machine tool as described above.

[0110] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0111] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining a first set of motion axes in the CNC machine tool that are directly associated with the tool changing action, and determining a second set of motion axes in the CNC machine tool that are not directly associated with the tool changing action; at the start of the tool changing action, controlling the first set of motion axes to perform the tool changing action, and simultaneously controlling the second set of motion axes to move to a specified position; during the process of the first set of motion axes performing the tool changing action and the second set of motion axes moving to the specified position, monitoring the positions of the first set of motion axes and the second set of motion axes to obtain the relative positional relationship between the first set of motion axes and the second set of motion axes; before determining that the tool changing action is completed, prohibiting the second set of motion axes from entering a potential conflict area according to the relative positional relationship, wherein the potential conflict area is the area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

[0112] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the motion axis related to the tool magazine among two or more motion axes of the CNC machine tool as the first group of motion axes, and determining the motion axis unrelated to the tool magazine among two or more motion axes as the second group of motion axes.

[0113] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: acquiring internal structure data of the CNC machine tool; generating internal space of the CNC machine tool based on the internal structure data; acquiring tool changing process information of the CNC machine tool; and dividing the internal space according to the internal structure data and tool changing process information to obtain multiple regions including potential conflict areas.

[0114] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: identifying a first group of motion axes and a second group of motion axes with at least two motion axes in the CNC machine tool based on internal structure data and tool change process information; dividing the internal space spatially according to the first motion range of the first group of motion axes and the second motion range of the second group of motion axes to obtain multiple regions, wherein the multiple regions include a safe region for the first group of motion axes and / or a free movement region for the second group of motion axes.

[0115] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: defining a safe area for a first set of motion axes and a free movement area for a second set of motion axes based on the machine tool type and internal structure data of the CNC machine tool; determining the overlapping area of ​​the safe area and the free movement area as a potential conflict area; and determining the safe area, the free movement area, and the potential conflict area as multiple areas.

[0116] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining motion commands corresponding to the tool changing actions of the first set of motion axes; determining the encoder feedback position corresponding to each step in the tool changing action; generating a mapping relationship between motion commands and feedback positions; obtaining the real-time feedback position of the encoder; and determining that the tool changing action is completed when the real-time feedback position matches the preset completion position based on the mapping relationship.

[0117] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after determining that the tool change action and the positioning action of the second set of motion axes have both been completed, summarizing the feedback signals; and when it is determined from the feedback signals that both the tool change action and the positioning action are effective, proceeding to the following process.

[0118] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0120] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0124] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for synchronous control of tool changing and positioning in a CNC machine tool, characterized in that, include: Identify the first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and identify the second set of motion axes in the CNC machine tool that are not directly related to the tool changing action; When the tool change action begins, the first set of motion axes is controlled to perform the tool change action, while the second set of motion axes is controlled to move to a specified position. During the process of the first set of motion axes performing the tool changing action and the second set of motion axes moving to a specified position, the positions of the first set of motion axes and the second set of motion axes are monitored to obtain the relative positional relationship between the first set of motion axes and the second set of motion axes. Before the tool change action is completed, the second set of motion axes is prohibited from entering the potential conflict area according to the relative position relationship. The potential conflict area is the area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

2. The method for synchronous control of tool changing and positioning of a CNC machine tool according to claim 1, characterized in that, Determine the first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and determine the second set of motion axes in the CNC machine tool that are not directly related to the tool changing action, including: The motion axes related to the tool magazine among two or more motion axes of the CNC machine tool are identified as the first group of motion axes, and the motion axes unrelated to the tool magazine among the two or more motion axes are identified as the second group of motion axes.

3. The method for synchronous control of tool changing and positioning of a CNC machine tool according to claim 1, characterized in that, Before determining the first set of motion axes in the CNC machine tool that are directly associated with the tool changing action, and before determining the second set of motion axes in the CNC machine tool that are not directly associated with the tool changing action, the tool changing and positioning synchronization control method of the CNC machine tool includes: Obtain the internal structure data of the CNC machine tool; The internal space of the CNC machine tool is generated based on the internal structure data; Obtain the tool changing process information of the CNC machine tool; The internal space is divided according to the internal structure data and the tool changing process information to obtain multiple regions including the potential conflict area.

4. The method for synchronous control of tool changing and positioning of a CNC machine tool according to claim 3, characterized in that, Based on the internal structure data and the tool changing process information, the internal space is spatially divided to obtain multiple regions including the potential conflict area, including: Identify the first set of motion axes and the second set of motion axes of at least two motion axes in the CNC machine tool based on the internal structure data and the tool changing process information; The internal space is spatially divided according to the first range of motion of the first set of motion axes and the second range of motion of the second set of motion axes to obtain the plurality of regions, wherein the plurality of regions include the safety region of the first set of motion axes and / or the free movement region of the second set of motion axes.

5. The method for synchronous control of tool changing and positioning of a CNC machine tool according to claim 3, characterized in that, Based on the internal structure data and the tool changing process information, the internal space is spatially divided to obtain multiple regions including the potential conflict area, including: The safe zone of the first set of motion axes and the free movement zone of the second set of motion axes are defined according to the machine tool type and the internal structure data of the CNC machine tool. The overlapping area between the safe zone and the free movement zone is identified as the potential conflict zone. The safe zone, the free movement zone, and the potential conflict zone are defined as the plurality of zones.

6. The method for synchronous control of tool changing and positioning of a CNC machine tool according to claim 1, characterized in that, Determining that the tool change action is complete includes: Obtain the motion command corresponding to the tool change action of the first set of motion axes; Determine the encoder feedback position corresponding to each step in the tool changing action; Generate a mapping relationship between the motion command and the feedback position; Obtain the real-time feedback position of the encoder; When the real-time feedback position matches the preset completion position based on the mapping relationship, the tool change action is determined to be completed.

7. The method for synchronous control of tool changing and positioning of a CNC machine tool according to any one of claims 1 to 6, characterized in that, The tool changing and positioning synchronization control method for the CNC machine tool also includes: After confirming that the tool changing action and the positioning action of the second set of motion axes have been completed, the feedback signals are summarized; Once it is determined from the feedback signal that both the tool changing action and the positioning action are effective, the following process begins.

8. A tool changing and positioning synchronization control device for a CNC machine tool, characterized in that, include: The first determining unit is used to determine a first set of motion axes in the CNC machine tool that are directly related to the tool changing action, and to determine a second set of motion axes in the CNC machine tool that are not directly related to the tool changing action. The control unit is configured to control the first set of motion axes to perform the tool changing action when the tool changing action begins, and simultaneously control the second set of motion axes to move to a specified position. The monitoring unit is used to monitor the positions of the first set of motion axes and the second set of motion axes during the execution of the tool changing action by the first set of motion axes and the movement of the second set of motion axes at a specified position, so as to obtain the relative positional relationship between the first set of motion axes and the second set of motion axes. The prohibition unit is used to prohibit the second set of motion axes from entering the potential conflict area according to the relative position relationship before the tool change action is determined to be completed, wherein the potential conflict area is the area in the internal space of the CNC machine tool where the first set of motion axes and the second set of motion axes may collide.

9. A CNC machine tool, characterized in that, The CNC machine tool uses the tool changing and positioning synchronization control method of any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, the tool changing and positioning synchronization control method of the CNC machine tool according to any one of claims 1 to 7 is performed.

Images