A tool changing management method of an agv tool holder linkage mechanical hand, a terminal and a storage medium

Abstract

The application belongs to the technical field of machine tool management, and particularly relates to a machine tool tool changing management method of an AGV tool holder linkage manipulator, a terminal and a storage medium, which comprises the following steps: a numerical control system receives an order task issued by a workshop MES system, generates a tool distribution instruction according to the machining requirement of the numerical control machine tool in the order task, and synchronously sends the tool distribution instruction to a tool warehouse-in and warehouse-out management module in an AGV transport trolley and a target numerical control machine tool side manipulator; during the current machining process operation of the numerical control machine tool, the numerical control system determines the required preliminary tool type for the next tool changing according to a subsequent machining plan, controls the manipulator to grab the preliminary tool from the corresponding position of a tool magazine in advance, moves to a standby position beside a machine tool spindle and waits; the problems of easy error in manual distribution, untimely transportation and information entry deviation are solved, the digital tracing of the whole life cycle of the tool is realized, and the standardization and accuracy of the workshop management are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of machine tool management technology, specifically relating to a machine tool tool changing management method, terminal, and storage medium for an AGV tool post linkage robot. Background Technology

[0002] In modern CNC machine tool manufacturing workshops, cutting tools are a core machining element, and their management level directly affects machining accuracy and production efficiency. Currently, most workshops still use a manual tool allocation and transport method to CNC machine tools, combined with manual operation of robotic arms for tool loading and changing. This method has significant drawbacks: On the one hand, manual tool allocation is easily affected by the complexity of orders and the operator's proficiency, which can easily lead to problems such as incorrect tool allocation and untimely delivery. Especially when facing large-volume, multi-type tool orders, the scheduling efficiency is low and cannot adapt to the flexible production rhythm. On the other hand, in the traditional tool changing mode, the robot arm needs to temporarily grab tools from the tool magazine during the processing interval, which results in long tool changing waiting time and significantly reduces the effective processing time of the machine tool and the overall utilization rate of the equipment. Summary of the Invention

[0003] To address the aforementioned shortcomings of existing technologies, this invention provides a machine tool tool changing management method, terminal, and storage medium for an AGV tool post linkage robot.

[0004] In a first aspect, the present invention provides a machine tool tool changing management method for an AGV tool post linkage robot, comprising: S1. The CNC system receives the order tasks issued by the workshop MES system, generates tool allocation instructions according to the processing requirements of the CNC machine tool in the order task, and sends the tool allocation instructions to the tool entry and exit management module in the AGV transport vehicle and the robot arm next to the target CNC machine tool. S2. The AGV transport trolley carries the corresponding tool from the central tool room according to the tool allocation instruction and travels to the target CNC machine tool. S3. The robotic arm grabs the tools from the AGV transport vehicle according to the warehousing command in the tool allocation instruction. After being identified by the RFID reader, the tool is stored in the corresponding empty position of the tool magazine next to the target CNC machine tool according to the tool type, thus completing the tool warehousing. S4. During the current machining process of the CNC machine tool, the CNC system determines the type of spare tool required for the next tool change according to the subsequent machining plan, and controls the robot arm to grab the spare tool from the corresponding position in the tool magazine in advance and move it to the standby position next to the machine tool spindle to wait. S5. After the current machining process is completed, the robot removes the old tool to be replaced from the machine tool spindle and puts it back into the original position or idle position of the tool magazine, and installs the spare tool in the standby position onto the machine tool spindle to complete the automatic tool change operation. S6. The robotic arm picks up the old tool to be replaced from the current machine tool spindle from the tool magazine according to the outbound command issued by the CNC system. After secondary confirmation by the RFID reader, it is placed on the AGV transport vehicle. The AGV transport vehicle transports the old tool to be replaced to the designated recycling area in the central tool room or other workstations where the machine tool needs it, thus completing the automated outbound of the old tool.

[0005] In a second aspect, the present invention provides a terminal, comprising: Processor, memory, among which, This memory is used to store computer programs. The processor is used to retrieve and run the computer program from memory, causing the terminal to perform the terminal method described above.

[0006] Thirdly, the present invention provides a computer storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described in the above aspects.

[0007] The beneficial effects of this invention are as follows: By using the CNC system as the core hub, the data links between the workshop MES system, AGV transport vehicles, robotic arms, and RFID identification modules have been established. From order task parsing, automatic tool allocation, automatic AGV transportation, and automatic barcode scanning and warehousing by robotic arms, to tool change preparation, automatic tool change, and automatic warehousing and recycling of old tools, the entire process requires no manual intervention. This solves problems such as errors in manual allocation, untimely delivery, and data entry inaccuracies, and achieves digital traceability of the entire tool lifecycle, significantly improving the standardization and accuracy of workshop management.

[0008] Unlike traditional tool-changing methods where the robotic arm needs to temporarily grab the tool, resulting in a long waiting time, this invention, in step S4, utilizes the operating gap of the current machining process on the CNC machine tool. The CNC system controls the robotic arm to grab a pre-prepared tool and move it to the standby position in advance according to the subsequent machining plan. When the current process is completed in step S5, the robotic arm can directly perform the tool changing operation, eliminating the tool changing waiting time and significantly improving the effective machining time and overall equipment utilization rate of the CNC machine tool.

[0009] This method utilizes RFID readers in steps S3 and S6 for inbound identification and outbound secondary confirmation. Combined with a classification and zoning storage strategy based on tool type (ordinary, extra-long, and extra-heavy), it achieves precise tool positioning and error prevention, solving the problems of chaotic storage of different types of tools and low grasping efficiency.

[0010] This method clarifies the outbound flow of old tools (central tool room recycling area or cross-machine tool scheduling) through step S6, and realizes automated transfer through AGV transport vehicles, reducing the safety risks of manual handling of heavy and sharp tools. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart illustrating a method according to an embodiment of the present invention.

[0013] Figure 2 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention. Detailed Implementation

[0014] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0016] Figure 1 This is a schematic flowchart illustrating a machine tool tool changing management method using an AGV tool post linkage robot provided by the present invention. The order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0017] like Figure 1 As shown, the method includes: S1. The CNC system (including Siemens CNC system) receives the order tasks issued by the workshop MES (Manufacturing Execution System), generates tool allocation instructions according to the machining requirements of the CNC machine tool in the order task, and sends the tool allocation instructions to the tool inbound and outbound management module in the AGV transport vehicle and the robot arm next to the target CNC machine tool. S2. AGV (Automated Guided Vehicle) transport trolleys carry the corresponding tools from the central tool room according to the tool distribution instructions and drive to the target CNC machine tool; S3. The robotic arm grabs the tools from the AGV transport vehicle according to the warehousing command in the tool allocation instruction. After being identified by the RFID reader, the tool is stored in the corresponding empty position of the tool magazine next to the target CNC machine tool according to the tool type, thus completing the tool warehousing. S4. During the current machining process of the CNC machine tool, the CNC system determines the type of spare tool required for the next tool change according to the subsequent machining plan, and controls the robot arm to grab the spare tool from the corresponding position in the tool magazine in advance and move it to the standby position next to the machine tool spindle to wait. S5. After the current machining process is completed, the robot removes the old tool to be replaced from the machine tool spindle and puts it back into the original position or idle position of the tool magazine, and installs the spare tool in the standby position onto the machine tool spindle to complete the automatic tool change operation. S6. The robotic arm picks up the old tool to be replaced from the current machine tool spindle from the tool magazine according to the outbound command issued by the CNC system. After secondary confirmation by the RFID reader, it is placed on the AGV transport vehicle. The AGV transport vehicle transports the old tool to be replaced to the designated recycling area in the central tool room or other workstations where the machine tool needs it, thus completing the automated outbound of the old tool.

[0018] To facilitate understanding of the present invention, the following description further illustrates the machine tool changing management method of the AGV tool holder linkage robot provided by the present invention, based on the principle of the machine tool changing management method of the AGV tool holder linkage robot and the process of managing machine tool changing based on the AGV tool holder linkage robot in the embodiments.

[0019] The AGV transport vehicle of the present invention includes an on-board control unit, an AGV tool holder, a drive system, a sensor system, a communication module, and a power system. The connection relationships between the components are as follows: The vehicle-mounted control unit is the core control component of the AGV transport vehicle. The vehicle-mounted control unit includes a central processing unit, a memory, and an interface circuit. The central processing unit is electrically connected to the memory and the interface circuit through an internal data bus. The memory is used to store tool distribution instructions, AGV transport path data, and AGV transport vehicle operation logs. The interface circuit is used to realize signal interaction between the vehicle-mounted control unit and external components. The communication module includes an industrial Ethernet communication interface and a wireless communication unit. The industrial Ethernet communication interface is electrically connected to the interface circuit through an industrial Ethernet cable. The industrial Ethernet communication interface establishes a wired data communication link with the CNC system through the workshop industrial Ethernet switch. The wireless communication unit establishes a wireless data communication link with the wireless access point of the CNC system through a wireless radio frequency signal. The wired data communication link is used to transmit tool distribution instructions and AGV transport path data. The wireless data communication link is used to report the current position coordinates and operating status of the AGV transport vehicle in real time. The drive system includes a walking drive motor, a steering drive motor, and a navigation module. The walking drive motor and the steering drive motor are electrically connected to the interface circuit through a motor drive circuit. The navigation module includes a magnetic navigation sensor and a laser navigation sensor. The magnetic navigation sensor is electrically connected to the interface circuit through a first signal line, and the laser navigation sensor is electrically connected to the interface circuit through a second signal line. The magnetic navigation sensor is used to detect the magnetic field signal of the magnetic strips laid on the ground of the AGV path in the workshop. The laser navigation sensor is used to scan the reflectors on both sides of the AGV path in the workshop to obtain the real-time position information of the AGV transport vehicle. The navigation module transmits the detected navigation signal to the vehicle control unit. The vehicle control unit generates drive control commands based on the navigation signal and the AGV transport path data. The drive control commands are transmitted to the motor drive circuit through the interface circuit. The motor drive circuit controls the speed of the walking drive motor and the steering angle of the steering drive motor according to the drive control commands to drive the AGV transport vehicle to travel along the AGV path in the workshop. The sensor system includes obstacle detection sensors, position detection sensors, and speed detection sensors. The obstacle detection sensors are either ultrasonic sensors or lidar. They are electrically connected to the interface circuit via a third signal line and are used to detect the distance to obstacles in front of the AGV transport vehicle. When the obstacle is far At that time, the obstacle detection sensor sends an obstacle alarm signal to the vehicle control unit, in which... To set a preset safe braking distance threshold, the onboard control unit generates an emergency braking command upon receiving an obstacle alarm signal. This command is transmitted to the motor drive circuit via an interface circuit, which then stops the walking drive motor. The position detection sensor, either an encoder or a GPS positioning module, is electrically connected to the interface circuit via a fourth signal line. This sensor is used to detect the current position coordinates of the AGV transport vehicle in real time. The system transmits its current position coordinates to the CNC system in real time via a wireless communication unit. The speed sensor is a speed encoder, electrically connected to the interface circuit via the fifth signal line. The speed sensor is used to detect the real-time speed of the AGV transport vehicle. and driving speed Feedback is sent to the vehicle control unit, which then adjusts the speed accordingly. With the preset target driving speed deviation Closed-loop speed regulation is performed, generating speed regulation commands. These commands are transmitted to the motor drive circuit via an interface circuit. The motor drive circuit then adjusts the speed of the travel drive motor according to the speed regulation commands, thereby increasing the travel speed. Approaching the target speed ; The AGV tool holder is fixedly installed on the top of the AGV transport vehicle. The AGV tool holder includes a tool holder base, tool placement positions, and a clamping device. The tool holder base is fixed to the top of the AGV transport vehicle by bolts. The tool placement positions are located on the tool holder base, and the number of tool placement positions is G, where G≥1. Each tool placement position includes a V-shaped positioning groove and a supporting plane. The V-shaped positioning groove is used for radial positioning of the cylindrical tool holder, and the supporting plane is used for axial support of the tool holder end face. The clamping device includes a pneumatic clamping cylinder and a clamping plate. The pneumatic clamping cylinder is fixedly installed on the tool holder base, and the piston rod of the pneumatic clamping cylinder... Fixedly connected to the clamping plate, the pneumatic clamping cylinder is connected to the on-board air source of the AGV transport vehicle via a pneumatic pipeline. The on-board air source is electrically connected to the interface circuit via a solenoid valve. The on-board control unit controls the on / off state of the solenoid valve via the interface circuit. When the solenoid valve is energized, the on-board air source supplies air to the pneumatic clamping cylinder via the pneumatic pipeline. The piston rod of the pneumatic clamping cylinder extends and drives the clamping plate to press the tool holder placed in the tool placement position, thereby fixing the tool. Each tool placement position is equipped with a clamping force sensor, which is electrically connected to the interface circuit via a sixth signal line. The clamping force sensor is used to detect the actual clamping force of the clamping device on the tool. Actual clamping force satisfy ,in The preset minimum clamping force threshold is used when the actual clamping force... When the clamping force sensor sends an insufficient clamping force alarm signal to the vehicle control unit, the vehicle control unit controls the solenoid valve to re-energize, driving the pneumatic clamping cylinder to clamp again until the actual clamping force is reached. ; The power system includes a power battery, a battery management system, and a power distribution unit. The power battery is a lithium battery pack. The power battery is electrically connected to the battery management system via a first power supply line, and the battery management system is electrically connected to the power distribution unit via a second power supply line. The battery management system is used to monitor the remaining state of charge (SOC) and output voltage of the power battery. and output current When the remaining power At this time, the battery management system sends a low battery alarm signal to the vehicle control unit, in which As set at the preset minimum battery threshold, the vehicle control unit generates a return-to-base charging command after receiving a low battery alarm signal, controlling the AGV transport vehicle to travel to the charging station for automatic charging. The power distribution unit is electrically connected to the vehicle control unit through the third power supply line, the power distribution unit is electrically connected to the drive system through the fourth power supply line, the power distribution unit is electrically connected to the sensor system through the fifth power supply line, and the power distribution unit is electrically connected to the communication module through the sixth power supply line. The power distribution unit is used to distribute the electrical energy output by the power battery to each electrical component and provide a stable power supply voltage to each electrical component.

[0020] First, step S1 includes: S11. The CNC system establishes a data connection with the workshop MES system through an industrial Ethernet communication interface. The workshop MES system then sets up the order tasks. The data is sent to the CNC system, among which This represents the i-th order task, where n is the total number of order tasks, and each order task... Includes workpiece model Processing quantity Processing route and delivery period ; S12, The CNC system processes each received order task. Analysis is performed based on the processing technology route. Determine the set of tooling requirements needed for this order task. ,in This represents the tooling requirement for the j-th type in the i-th order task. For the tool model, For the number of cutting tools, Here, k represents the tool specification parameters, k represents the number of tool types, and k represents the tool requirement set. The determination satisfies the processing constraints. ,in Let be the single-piece cutting time of the j-th type of tool; S13. The CNC system aggregates tool requirements based on the target CNC machine tool's machining capabilities and current tool inventory status. Assign the tool to the corresponding target CNC machine tool and generate tool assignment instructions. ,in The transport instructions sent to the AGV transport vehicle contain a set of tool models. Set of tool quantities Target CNC machine tool number and target docking location coordinates , The preparation instruction for receiving tools, which is sent to the tool receiving and storage management module in the robot arm next to the target CNC machine tool, includes a set of tool models. Set of tool quantities Estimated arrival time and the type of target storage area for the tool magazine ; S14, The CNC system sends the tool distribution command. The commands are synchronously transmitted via industrial fieldbus to the onboard control unit of the AGV transport vehicle and the tool entry / exit management module in the robotic arm next to the target CNC machine tool, and the timestamp of the command transmission is recorded. To establish a task tracking link.

[0021] Secondly, step S2 includes: S21. After receiving the tool allocation command, the on-board control unit of the AGV transport vehicle parses the tool allocation command and extracts the tool model set. Set of tool quantities Target CNC machine tool number and target docking location coordinates Where p is the number of different types of cutting tools required for this delivery mission. Let q be the model number of the cutting tool. Let q be the quantity of the q-th type of cutting tool transported. S22, the AGV transport vehicle stops according to the target docking position coordinates. Position coordinates of the central tool chamber The shortest path algorithm is used to plan the AGV transportation route. AGV transport route satisfy ,in Let R be the planar coordinates of the r-th path node in the AGV transport path, and R be the total number of path nodes. The AGV transport vehicle follows the AGV path in the workshop according to the AGV transport path. Drive to the central tool room and assemble according to the tool type. and the set of tool quantities Retrieve the corresponding tool from the corresponding storage compartment in the central tool chamber; S23. The AGV transport trolley fixes the gripped tools one by one to the tool placement position on the AGV tool holder of the AGV transport trolley. , Where G is the total number of positions for the AGV tool holder, and each tool placement position Equipped with a clamping force sensor to detect the tool's fixed state. Tool fixed state satisfy ,in The preset minimum clamping force threshold is used when all tools are in a fixed state. Once all the fixed requirements are met, the AGV transport vehicle proceeds along the AGV transport path. Coordinates of the target stopping position next to the target CNC machine tool from the central tool chamber ; S24. The AGV transport vehicle reports its current position coordinates to the CNC system in real time during operation. and operating status Where t is the travel time variable, and the coordinates of the AGV transport vehicle when it reaches the target stopping position. Next, position alignment verification is performed, and the position alignment verification meets the requirements. ,in These are the planar coordinates of the actual stopping position of the AGV transport vehicle. After the position alignment verification is passed, the AGV transport vehicle sends an arrival confirmation signal to the CNC system, based on the preset AGV docking position deviation threshold. It also sends a tool waiting-to-be-stored notification signal to the tool storage management module in the robot arm next to the target CNC machine tool. This triggers the robotic arm to perform subsequent tool storage operations.

[0022] In addition, step S3 includes: S31. After receiving the warehousing command from the tool allocation instruction, the tool warehousing start signal is sent to the robot arm within the robot arm next to the target CNC machine tool. Based on this signal, the robot arm moves to the AGV tool holder of the AGV transport trolley and scans the tool placement position on the AGV tool holder using a vision sensor. The system detects whether there are tools waiting to be put into storage on the AGV tool holder, and the detection result is expressed as a Boolean variable. express: ; Among them, when At that time, the robotic arm grabs the tool to be put into storage on the AGV tool holder according to the positioning information of the vision sensor and moves the tool to be put into storage to the RFID reader next to the target CNC machine tool; S32. The RFID reader performs non-contact scanning and reading of the tool chip of the tool to be put into storage, and obtains the tool data set stored in the tool chip. ,in For the tool model, For tool specifications, Made of knife material, This represents the initial tool life value. S33, RFID reader / writer collects tool data The data is transmitted to the CNC system, which then uses the tool data set... Create the tool file for the tool to be added to the warehouse in the tool management module. ,in Number the cutting tools. For current lifespan, For the time of entry into the warehouse, For storage location, For tool type, Indicates a standard knife type. Indicates an extra-long knife type. Indicates the type of super-heavy tool; S34, The CNC system is based on the tool type. Retrieve free storage slots in the corresponding storage area of ​​the tool magazine next to the target CNC machine tool. The tool magazine is divided into three independent storage areas: a general tool area and a tool storage area. Extra-long knife area Super heavy knife area Each storage area has several storage bits, and the status of the storage bits is represented by Boolean variables. express: ; S35, CNC system retrieval satisfies Corresponding area and storage bit set And select the optimal storage location from them. Optimal storage location The selection criterion is to minimize the movement distance of the robot arm, satisfying... ,in Let be the spatial coordinates of the s-th storage bit. The spatial coordinates of the RFID reader / writer; S36, The CNC system will store the optimal location. The feedback is sent to the robotic arm, which then moves the cutting tool to be stored from the RFID reader and places it in the optimal storage location. Once the tool is stored in the warehouse, the CNC system updates the storage status of the corresponding storage location. And the optimal storage location Record to tool file Storage location field In this process, a mapping relationship between the tool and the tool magazine position is established.

[0023] Next, step S4 includes: S41. The CNC system monitors the current machining process status of the CNC machine tool in real time. Current processing status Includes the current process number Current tool model Remaining processing time for each process and percentage of process completion ,in , This represents the processing time. This represents the total processing time for the current operation, while the CNC system simultaneously reads the set of subsequent processing plans. ,in This represents the f-th subsequent processing plan, and each subsequent processing plan... Includes the next process number The type of cutting tools required for the next process and the start time of the next process ; S42, The CNC system adjusts the current machining process status. With subsequent processing plans Perform a matching analysis when the remaining processing time of the process is... satisfy The pre-switch judgment is triggered at a certain time, where For the preset pre-change time threshold, the CNC system queries the tool management module for the tool model required for the next operation. Corresponding tool storage location And generate a pre-tool change command. ,in The coordinates of the pre-tool standby position are provided. To prepare for the tool change execution time window; S43, The CNC system will issue a pre-tool change command. The command is sent to the tool storage and management module inside the robot arm next to the target CNC machine tool. The tool storage and management module then parses the pre-tool change command. The robotic arm is then moved to the tool storage location in the tool magazine. The robotic arm determines the location of the tools based on their storage position. Retrieve the required tool model for the next process from the tool magazine. The corresponding pre-tool is then moved to the pre-tool standby position coordinates next to the machine tool spindle. ; S44. Before placing the pre-cutting tool, the robotic arm sets the coordinates of the pre-cutting tool's standby position. Interference verification was performed, and the interference verification satisfied the coordinates of the pre-tool standby position. With the current tool cutting area of ​​the machine tool spindle Spatial distance between satisfy ,in Assuming a preset minimum safe distance threshold, once the interference check passes, the robotic arm places the pre-tool at the pre-tool standby position coordinates. The system then sends a preparatory completion signal back to the CNC system. The CNC system records the current state of the prepared tool as a standby state. And update the standby position information of the prepared tool to the tool file. In the process, the CNC system continuously monitors the status of the current machining process. When the percentage of process completion is detected At that time, a tool change execution signal is sent to the robotic arm. This triggers the robotic arm to perform subsequent automatic tool changing operations.

[0024] Then, step S5 includes: S51, The CNC system has detected the current machining process status of the CNC machine tool. Percentage of process completion in the process And the spindle speed of the CNC machine tool At this time, confirm that the current processing step has been completed; S52, The CNC system sends a tool change execution signal to the tool storage and management module in the robot arm next to the target CNC machine tool. The tool in / out management module receives the tool change execution signal. Then, the control robot arm executes the tool changing sequence in sequence. The tool changing sequence includes removing the old tool to be replaced from the machine tool spindle, putting the old tool back into the tool magazine, grabbing the spare tool from the standby position, and installing the spare tool onto the machine tool spindle. S53. The robot arm moves to the machine tool spindle, and the spindle tool clamping force is detected to confirm that the old tool to be replaced is in a detachable state. ,in The current clamping force of the machine tool spindle for replacing the old tool. After confirming the preset spindle tool clamping force threshold, the robot arm performs the spindle tool unlocking action and picks up the old tool to be replaced, removing it from the machine tool spindle. Based on the storage strategy fed back by the CNC system, the robot arm selects the tool magazine return location for the old tool to be replaced. The storage strategy satisfies: ; in This indicates the original storage location of the old cutting tools to be replaced in the tool magazine; This refers to the storage bit state at the original storage location. Indicates free time. This indicates that the space has been occupied. This refers to the optimal idle position within the tool magazine within the area corresponding to the type of old tool to be replaced. ; Using the spatial coordinates of the machine tool spindle, the robot places the old tool to be replaced in the tool magazine return position. Then update the status of the corresponding storage bit; S54. After the robotic arm puts the old tool to be replaced back into the tool magazine, it moves to the ready-to-use tool standby position coordinates. The robot arm picks up the prepared tool and moves it to the machine tool spindle. The robot then verifies the alignment accuracy between the tool holder of the prepared tool and the taper hole of the machine tool spindle through tool installation and positioning checks. ; in The coordinates of the center of the tool holder end face are given; The coordinates of the center of the machine tool spindle taper hole; After the preset tool installation alignment deviation threshold is met and the alignment accuracy is verified, the robot arm performs the spindle tool clamping action, installs the prepared tool onto the machine tool spindle, and sends a tool change completion signal back to the CNC system. The CNC system updates the current status of the prepared tools in the tool management module to "in use". Mark the current state of the old tool to be replaced as the state to be recycled. Record this tool change operation log. ,in For the tool change completion timestamp, The model number of the old cutting tool to be replaced. This is to prepare the tool model for automatic tool changing.

[0025] Finally, step S6 includes: S61. The CNC system detects that the current status of the old tool to be replaced in the tool management module is "to be recycled". The old tools to be replaced are already stored in the tool magazine return location. Then, a tool return and release instruction is generated. ,in This refers to the tool number of the old tool to be replaced. The tool model number is the old tool to be replaced. This indicates the current storage location of the old tool to be replaced in the tool magazine. Number the target placement position on the AGV tool holder of the AGV transport vehicle. For the type of delivery destination, This indicates the designated recycling area within the central tool chamber. For the remaining workstations that require machine tools, the CNC system will issue a tool retrieval and release command. The tool entry and exit management module is sent to the robotic arm next to the target CNC machine tool. S62. Tool In / Out Management Module: Parses Tool Retrieval and Retrieval Instructions Then, control the robotic arm to move to the tool magazine return position in the tool magazine. At the location where the robotic arm picks up the old tool to be replaced from the tool magazine and moves it to the RFID reader next to the target CNC machine tool, the RFID reader performs a secondary scan to read the tool chip of the old tool to obtain the secondary scan tool data set. ,in This refers to the model of the secondary scanning tool; Specifications for secondary scanning tools; Material for secondary scanning tools; This is the current lifespan value of the secondary scanning tool; S63, the RFID reader will scan the tool data set twice. Tool retrieval and release instructions The specified tool model Perform comparison and verification, and use Boolean transformation for the verification results. express: ; when Confirm the information of the old tools to be replaced and the tool recycling and release instructions in a timely manner. In accordance with the CNC system, the tool management module will store the tool files of the old tools to be replaced. Marked as outbound status And update the corresponding storage bit status to free; S64. The robotic arm places the verified old cutting tool to be replaced onto the target placement position number on the AGV tool holder of the AGV transport vehicle. At this location, the AGV transport vehicle receives the instruction to retrieve and release the cutting tools. Delivery destination types Then, based on the type of delivery destination Planning AGV recycling paths AGV recycling path satisfy: ; in Let q be the planar coordinates of the q-th path node in the AGV recycling path; Q is the total number of path nodes. S65, the AGV transport trolley follows the AGV path in the workshop and the AGV recovery path. Transporting old knives to be replaced to the designated delivery destination. Corresponding finish line position When the destination type of the shipment End point Specify the coordinates of the recycling area within the central tool chamber, depending on the destination type. End point The coordinates of the remaining machine tool workstations are provided, and the AGV transport vehicle reaches the destination position. Then send out a warehouse completion signal. The CNC system receives the outbound completion signal. Then delete the tool file of the old tool to be replaced in the tool management module. This enables automated warehousing of used cutting tools.

[0026] In addition, the method also includes: performing offline inspection of the tool using a tool inspection module, and updating the tool file based on the inspection results. Lifespan records.

[0027] Specifically, when an operator observes abnormal vibration, unusual cutting noise, or a decline in the surface quality of a machined tool after machining via the CNC system's human-machine interface, it indicates that the tool may be worn or damaged. In this case, a tool inspection command needs to be issued through the CNC system interface. This tool inspection command includes the tool number to be inspected. and inspection type ,in This indicates a regular, routine inspection. This indicates that an abnormality triggers a check.

[0028] After receiving the tool inspection command, the CNC system sends a tool inspection start signal to the tool storage and management module in the robot arm next to the target CNC machine tool. The tool in / out management module controls the robotic arm to move to the current storage location of the tool to be inspected in the tool magazine. The robotic arm grabs the tool numbered from the tool magazine. The tool to be inspected is selected and moved to the tool inspection window of the tool inspection module. Precise placement is ensured. The tool inspection window is equipped with a high-magnification optical microscope and a ring LED illumination source to ensure that operators can clearly observe the microscopic morphology of the tool's cutting edge.

[0029] The operator performs an offline visual inspection of the tool placed in the tool inspection window using the eyepiece or an external monitor. The inspection includes checking the cutting edge wear, tool tip chipping, coating peeling, and overall geometric deformation of the tool. Based on the visual observations, the operator enters the inspection data into the tool inspection module of the CNC system interface. This data includes observed tool wear values. Tool damage level and estimated remaining tool life .

[0030] Tool wear observation value This is a dimensionless parameter with a value range of [0,1]. This indicates that the cutting edge is intact and unworn. This indicates that the cutting edge has completely worn down and failed. The operator determines this based on the width of the cutting edge wear observed under an optical microscope. relative to the original cutting edge width of the tool The ratio is used to estimate the tool wear observation value, satisfying the requirement. ,when When direct measurement is not possible, operators make visual grading judgments based on experience and by referring to standard wear charts.

[0031] Tool damage level Based on the observed blade tip chipping size and the proportion of coating peeling area Based on comprehensive assessment, the following conditions are met. ,in The level of chipped blade tip. The specific grading standard for coating peeling is as follows: ; in, This indicates that the tool is in good condition and can continue to be used. This indicates that the tool shows slight wear and requires closer monitoring. The tool is moderately worn; re-sharpening is recommended. This indicates that the cutting tool is severely worn and needs to be replaced as soon as possible. This indicates that the cutting tool has failed and must be scrapped.

[0032] Based on the above inspection data, the operator uses the tool life update function on the CNC system interface. The CNC system then updates the tool life based on the observed tool wear values. Automatically calculate the updated remaining tool life The calculation formula is: ; in, To check the remaining tool life percentage, The wear effect coefficient is... The wear influence coefficient According to the material of the knife Confirmed, for cemented carbide cutting tools For high-speed steel cutting tools For ceramic knives .

[0033] At the same time, the CNC system adjusts the tool damage level accordingly. Update tool status flags : ; The CNC system will update the remaining tool life. Tool damage level Tool status marking and the time of this inspection The tool file for this tool will be updated synchronously in the tool management module. Complete the tool life record update. Updated tool file. Includes the following field: Tool Number Tool model Cutting tool specifications Knife material Initial lifespan Current lifespan Wear level Tool status Final inspection time Check the history collection ,in This is the record for the m-th inspection.

[0034] After the life record is updated, the operator issues a tool return command on the CNC system interface. The CNC system sends a return control signal to the robot arm, and the robot arm moves from the tool inspection window position. Grab the tool and accurately place it back into its original storage location in the tool magazine. After the CNC system confirms that the tool has been returned to its position, it updates the status of the corresponding storage location in the tool magazine to "occupied". It then displays a message to the operator stating "Tool inspection complete, returned to position," thus completing the entire offline inspection process.

[0035] Figure 2 This is a schematic diagram of the structure of a terminal 300 provided in an embodiment of the present invention. The terminal 300 can be used to execute the machine tool changing management method of the AGV tool holder linkage robot provided in the embodiment of the present invention.

[0036] The terminal 300 may include a processor 310, a memory 320, and a communication module 330. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figure does not constitute a limitation of the present invention. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0037] The memory 320 can be used to store the execution instructions of the processor 310. The memory 320 can be implemented by any type of volatile or non-volatile memory terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 320 are executed by the processor 310, the terminal 300 is able to perform some or all of the steps in the above method embodiments.

[0038] The processor 310 serves as the control center of the storage terminal, connecting various parts of the electronic terminal via various interfaces and lines. It executes software programs and / or modules stored in the memory 320, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 310 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0039] The communication module 330 is used to establish a communication channel, enabling the storage terminal to communicate with other terminals. It receives user data sent by other terminals or sends user data to other terminals.

[0040] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps provided in the embodiments of the present invention. The storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0041] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or other media capable of storing program code. It includes several instructions to cause a computer terminal (which may be a personal computer, server, or a second terminal, network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0042] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be covered within the protection scope of the present invention.

Claims

1. A method for managing machine tool tool changes using an AGV tool post linkage robot, characterized in that, include: S1. The CNC system receives the order tasks issued by the workshop MES system, generates tool allocation instructions according to the processing requirements of the CNC machine tool in the order task, and sends the tool allocation instructions to the tool entry and exit management module in the AGV transport vehicle and the robot arm next to the target CNC machine tool. S2. The AGV transport trolley carries the corresponding tool from the central tool room according to the tool allocation instruction and travels to the target CNC machine tool. S3. The robotic arm grabs the tools from the AGV transport vehicle according to the warehousing command in the tool allocation instruction. After being identified by the RFID reader, the tool is stored in the corresponding empty position of the tool magazine next to the target CNC machine tool according to the tool type, thus completing the tool warehousing. S4. During the current machining process of the CNC machine tool, the CNC system determines the type of spare tool required for the next tool change according to the subsequent machining plan, and controls the robot arm to grab the spare tool from the corresponding position in the tool magazine in advance and move it to the standby position next to the machine tool spindle to wait. S5. After the current machining process is completed, the robot removes the old tool to be replaced from the machine tool spindle and puts it back into the original position or idle position of the tool magazine, and installs the spare tool in the standby position onto the machine tool spindle to complete the automatic tool change operation. S6. The robotic arm grabs the old tool to be replaced from the current machine tool spindle from the tool magazine according to the outbound command issued by the CNC system. After secondary confirmation by the RFID reader, it is placed in the AGV transport vehicle. The AGV transport vehicle transports the old tool to be replaced to the designated recycling area in the central tool room or other workstations that require it, thus completing the automated outbound of the old tool. Step S1 includes: S11. The CNC system establishes a data connection with the workshop MES system through an industrial Ethernet communication interface. The workshop MES system then sets up the order tasks. The data is sent to the CNC system, among which This represents the i-th order task, where n is the total number of order tasks; each order task Includes workpiece type, quantity to be processed, processing route and delivery deadline. ; S12, The CNC system processes each received order task. The process involves analysis to determine the set of tooling requirements needed for the order based on the machining process route. ,in This represents the tooling requirement for the j-th type in the i-th order task. For the tool model, For the number of cutting tools, Here, k represents the tool specification parameters, k represents the number of tool types, and k represents the tool requirement set. The determination satisfies the processing constraints. ,in Let be the single-piece cutting time of the j-th type of tool; S13. The CNC system aggregates tool requirements based on the target CNC machine tool's machining capabilities and current tool inventory status. Assign the tool to the corresponding target CNC machine tool and generate tool assignment instructions. ,in The transport instructions sent to the AGV transport vehicle include the set of tool models, the set of tool quantities, the target CNC machine tool number, and the target docking position coordinates; This is an inbound preparation instruction sent to the tool inbound / outbound management module in the robot arm next to the target CNC machine tool. It includes the tool model set, tool quantity set, estimated arrival time, and target storage area type of the tool magazine. ; S14, The CNC system sends the tool assignment command. The commands are synchronously transmitted via industrial fieldbus to the onboard control unit of the AGV transport vehicle and the tool entry / exit management module in the robotic arm next to the target CNC machine tool, and the timestamp of the command transmission is recorded. To establish a task tracking link; Step S4 includes: S41. The CNC system monitors the current machining process status of the CNC machine tool in real time. The current machining process status includes the current process number, the current tool type, the remaining machining time of the process, and the percentage of the process completion progress. At the same time, the CNC system reads the set of subsequent machining plans. S42. The CNC system performs a matching analysis based on the current machining process status and the set of subsequent machining plans. When the remaining machining time for the process... satisfy The pre-switch judgment is triggered at the time, where For the preset pre-tool change time threshold, the CNC system queries the tool management module to find the storage location of the tool corresponding to the tool model required for the next process, and generates a pre-tool change command; S43. The CNC system sends the pre-tool change command to the tool storage management module in the robot next to the target CNC machine tool. After parsing the pre-tool change command, the tool storage management module controls the robot to move to the tool storage position in the tool magazine. The robot grabs the pre-tool corresponding to the tool model required for the next process from the tool magazine according to the tool storage position, and moves the pre-tool to the pre-tool standby position coordinate next to the machine tool spindle. S44. Before placing the pre-tool, the robot performs an interference check on the standby position coordinates of the pre-tool; after the interference check passes, the robot places the pre-tool at the standby position coordinates and sends a pre-tool completion signal back to the CNC system. The CNC system records the current state of the pre-tool as standby and updates the standby position information of the pre-tool to the tool file. In the process, the CNC system continuously monitors the status of the current machining process. When it detects that the process completion percentage is 100%, it sends a tool change execution signal to the robot arm. This triggers the robotic arm to perform subsequent automatic tool changing operations.

2. The machine tool tool changing management method of the AGV tool post linkage robot according to claim 1, characterized in that, Step S2 includes: S21. After receiving the tool allocation instruction, the on-board control unit of the AGV transport vehicle parses the tool allocation instruction and extracts the tool model set, tool quantity set, target CNC machine tool number, and target docking position coordinates. S22. The AGV transport vehicle plans its transport path using the shortest path algorithm based on the coordinates of the target stopping position and the position coordinates of the central tool chamber. The AGV transport vehicle follows the AGV path in the workshop according to the AGV transport route. Upon reaching the central tool room, the corresponding tool is retrieved from the corresponding storage compartment in the central tool room based on the tool type set and tool quantity set. S23. The AGV transport trolley secures the gripped tools one by one to the tool placement positions on the AGV tool holder of the AGV transport trolley. Each tool placement position is equipped with a clamping force sensor to detect the tool's fixing status. Tool fixed state satisfy ,in The preset minimum clamping force threshold is used when all tools are in a fixed state. Once all the fixed requirements are met, the AGV transport vehicle proceeds along the AGV transport path. The coordinates of the target stopping position next to the target CNC machine tool, from the central tool chamber; S24. During operation, the AGV transport vehicle reports its current position coordinates and running status to the CNC system in real time. After reaching the target parking position coordinates, the AGV transport vehicle performs a position alignment check. Once the position alignment check is successful, the AGV transport vehicle sends an arrival confirmation signal to the CNC system. It also sends a tool waiting-to-be-stored notification signal to the tool storage management module in the robot arm next to the target CNC machine tool. This triggers the robotic arm to perform subsequent tool storage operations.

3. The machine tool tool changing management method of the AGV tool post linkage robot according to claim 2, characterized in that, Step S3 includes: S31. After receiving the warehousing command from the tool allocation instruction, the tool warehousing management module inside the robot arm next to the target CNC machine tool sends a tool warehousing start signal to the robot arm. Based on the tool warehousing start signal, the robot arm moves to above the AGV tool holder of the AGV transport trolley and scans the tool placement position on the AGV tool holder using a vision sensor to detect whether there is a tool to be warehousing on the AGV tool holder. The detection result is expressed as a Boolean variable. express: ； Among them, when At that time, the robotic arm grabs the tool to be put into storage on the AGV tool holder according to the positioning information of the vision sensor and moves the tool to be put into storage to the RFID reader next to the target CNC machine tool; S32. The RFID reader performs non-contact scanning and reading of the tool chip of the tool to be put into storage, and obtains the tool data set stored in the tool chip. ,in For the tool model, For tool specifications, Made of knife material, This represents the initial tool life value. S33, RFID reader / writer collects tool data The data is transmitted to the CNC system, which then uses the tool data set... Create the tool file for the tool to be added to the warehouse in the tool management module. ,in Number the cutting tool. For current lifespan, For the time of entry into the warehouse, For storage location, For tool type, Indicates a standard knife type. Indicates an extra-long knife type. Indicates the type of super-heavy tool; S34, The CNC system is based on the tool type. Retrieve free storage slots in the corresponding storage area of ​​the tool magazine next to the target CNC machine tool. The tool magazine is divided into three independent storage areas: a general tool area and a tool storage area. Extra-long knife area Super heavy knife area Each storage area has several storage bits, and the status of the storage bits is represented by Boolean variables. express: ； S35, CNC system retrieval satisfies Corresponding area and storage bit set And select the optimal storage location from them. Optimal storage location The selection criterion is to minimize the movement distance of the robotic arm; S36, The CNC system will store the optimal location. The feedback is sent to the robotic arm, which then moves the cutting tool to be stored from the RFID reader and places it in the optimal storage location. Once the tool is stored in the warehouse, the CNC system updates the storage status of the corresponding storage location. And store in the optimal location Record to tool file Storage location field In this process, a mapping relationship between the tool and the tool magazine position is established.

4. The machine tool tool changing management method of the AGV tool post linkage robot according to claim 3, characterized in that, Step S5 includes: S51. The CNC system detects that the current machining process progress percentage of the CNC machine tool is 100% and the spindle speed of the CNC machine tool is increasing. At this time, confirm that the current processing step has been completed; S52, The CNC system sends a tool change execution signal to the tool storage and management module in the robot arm next to the target CNC machine tool. The tool in / out management module receives the tool change execution signal. Then, the control robot arm executes the tool changing sequence in sequence. The tool changing sequence includes removing the old tool to be replaced from the machine tool spindle, putting the old tool back into the tool magazine, grabbing the spare tool from the standby position, and installing the spare tool onto the machine tool spindle. S53. The robot moves to the machine tool spindle and confirms that the old tool to be replaced is in a detachable state by detecting the clamping force of the spindle tool. After confirmation, the robot performs the spindle tool unlocking action and grabs the old tool to be replaced. The old tool to be replaced is removed from the machine tool spindle. The robot selects the tool magazine return position of the old tool to be replaced according to the storage strategy fed back by the CNC system. After the robot places the old tool to be replaced in the tool magazine return position, it updates the corresponding storage position status. S54. After the robot arm returns the old tool to be replaced to the tool magazine, it moves to the standby position coordinates of the prepared tool, picks up the prepared tool, and moves the prepared tool to the machine tool spindle. The robot arm performs the spindle tool clamping action, installs the prepared tool onto the machine tool spindle, and sends a tool change completion signal to the CNC system. The CNC system updates the current status of the prepared tools in the tool management module to "in use", marks the current status of the old tools to be replaced as "to be recycled", and records the tool replacement operation log.

5. The machine tool tool changing management method of the AGV tool post linkage robot according to claim 4, characterized in that, Step S6 includes: S61. After the CNC system detects that the current status of the old tool to be replaced in the tool management module is the state of waiting to be recycled and that the old tool to be replaced has been stored in the tool magazine return position, it generates a tool recycling and out-of-management instruction. The CNC system sends the tool recycling and out-of-management instruction to the tool entry and exit management module in the robot next to the target CNC machine tool. S62. After parsing the tool recycling and outbound command, the tool inbound and outbound management module controls the robot arm to move to the tool magazine return position in the tool magazine. The robot arm grabs the old tool to be replaced from the tool magazine and moves it to the RFID reader next to the target CNC machine tool. The RFID reader performs a second scan to read the tool chip of the old tool to be replaced and obtains the second scan tool data set. S63. The RFID reader compares and verifies the secondary scan tool data set with the tool model specified in the tool recycling and warehousing instruction. When the secondary scan tool model matches the tool model specified in the tool recycling and warehousing instruction, it confirms that the information of the old tool to be replaced is consistent with the tool recycling and warehousing instruction. The CNC system then adds the tool file of the old tool to be replaced to the tool management module. Mark the storage location as out of stock and update the corresponding storage location status to free. S64. The robotic arm places the verified old tool to be replaced at the target placement position number on the AGV tool holder of the AGV transport vehicle. After receiving the destination type in the tool recycling and outbound instruction, the AGV transport vehicle plans the AGV recycling path according to the destination type. ; S65, the AGV transport trolley follows the AGV path in the workshop and the AGV recovery path. The old cutting tools to be replaced are transported to the destination location corresponding to the delivery destination type. After the AGV transport vehicle arrives at the destination location, it sends a departure completion signal. The CNC system receives the outbound completion signal. Then delete the tool file of the old tool to be replaced in the tool management module. This enables automated warehousing of used cutting tools.

6. The machine tool tool changing management method of the AGV tool post linkage robot according to claim 5, characterized in that, Also includes: The tool inspection module performs offline tool inspections and updates the tool file based on the inspection results. Lifespan records.

7. A terminal, characterized in that, include: processor; Memory used to store the processor's execution instructions; The processor is configured to perform the method of any one of claims 1-6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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