A CNC clamping interchanging control method and device based on a double-station tray and a medium

Abstract

The application discloses a CNC clamping interchanging control method and device based on a double-position tray, and a medium, relates to the technical field of numerical control clamping control, and comprises the following steps: collecting clamping pressure and clamping displacement in the releasing process of a machining position tray, executing low-amplitude releasing, short-time re-pressing and re-releasing, forming a machining position releasing echo quantity; when a standby position tray is kept in safe clamping, executing homologous receiving exploration in the same pressure interval to form a standby position receiving echo quantity, and calculating a dual receiving deviation quantity; generating an echo dual interchanging control strategy based on the standby position receiving echo quantity and the dual receiving deviation quantity, making the machining position releasing hysteresis and the standby position receiving hysteresis mutually check; exchanging the trays according to the echo dual interchanging control strategy, determining the receiving access time of the exchanged-in tray according to the exchange driving current, and adjusting the clamping access mode. The application improves the tray seating stability and the clamping interchanging reliability.

Description

Technical Field

[0001] This invention relates to the field of CNC clamping control technology, and in particular to a CNC clamping interchange control method, equipment and medium based on a dual-station pallet. Background Technology

[0002] To improve continuous machining efficiency, CNC machining centers are typically equipped with a dual-station pallet clamping structure, allowing the machining station to perform cutting operations while the workpiece is simultaneously clamped at the material preparation station. Conventional clamping and interchange control methods generally rely on signals such as pallet positioning, clamping pressure, spindle stop, tool retraction, and guard door locking to control the clamping and interchange mechanisms to release, reposition, and reclamp the pallet in a predetermined sequence.

[0003] In high-cycle processing scenarios, conventional methods often separate the release state of the processing station from the acceptance state of the material preparation station, making it difficult to use the correlation information between the clamping hysteresis of the two stations to identify micro-chips on the support surface, hot-state tightness, or clamping eccentricity. At the same time, the timing of pallet clamping and connection usually depends on a fixed sequence, making it difficult to adaptively adjust to the acceptance differences during the exchange process. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a CNC clamping and interchange control method based on a dual-station pallet to solve the problems of lack of mutual verification between the release state of the processing station and the acceptance state of the material preparation station in the existing technology, and the difficulty in adaptively adjusting the clamping and connection method of the interchanged pallet according to the acceptance differences.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a CNC clamping interchange control method based on a dual-station pallet, comprising: acquiring the clamping pressure and clamping displacement of the machining station during the release process of the machining station pallet; controlling the machining station clamping mechanism to sequentially perform low-amplitude release, short-term repressurization, and re-release to generate a machining station release echo; and, under the condition that the material preparation station pallet is safely clamped, performing a homogeneous acceptance test using the same pressure range as the release process of the machining station pallet to generate a material preparation station acceptance echo, and adjusting the data according to the machining station pallet release process. The echo release volume and the echo reception volume at the material preparation station are used to calculate the dual reception deviation. Based on the echo reception volume at the material preparation station and the dual reception deviation, the release hysteresis at the processing station and the reception hysteresis at the material preparation station are cross-checked to generate an echo dual interchange control strategy. The tray interchange is executed according to the echo dual interchange control strategy, and the reception access timing of the replaced tray is determined according to the interchange drive current. The clamping access method of the replaced tray is adjusted based on the echo dual interchange control strategy. When the reception echo volume after replacement meets the allowable reception range, the next processing program is started.

[0007] As a preferred embodiment of the CNC clamping interchange control method based on a dual-station pallet described in this invention, the generation of the machining station release echo includes: after the current machining program ends, reading the spindle stop signal and the tool retraction completion signal; when both the spindle stop signal and the tool retraction completion signal are valid, maintaining the machining station pallet in a clamped state, and acquiring the machining station clamping pressure and machining station clamping displacement; controlling the machining station clamping mechanism to sequentially perform low-amplitude release, short-term repressurization, and re-release; based on the pressure during the low-amplitude release process... Displacement sampling points form a descending displacement sequence, and pressure displacement sampling points during short-term repressurization form a rising displacement sequence. Descending and rising displacements at the same pressure value are paired, and the difference between the paired displacements forms the processing station release echo. The low-amplitude release includes the processing station clamping pressure decreasing from the working clamping pressure to the intermediate release pressure. The short-term repressurization includes the processing station clamping pressure rising from the intermediate release pressure to the short-term repressurization pressure. The subsequent release includes the processing station clamping pressure decreasing from the short-term repressurization pressure to the replaceable disc release pressure.

[0008] As a preferred embodiment of the CNC clamping interchange control method based on dual-station pallets described in this invention, the step of forming the machining station release echo based on the displacement difference after pairing includes: taking the pressure range between the intermediate release pressure and the short-term repressurization pressure as the echo comparison range; resampling the pressure displacement sampling points in the low-amplitude release process and the short-term repressurization process according to a fixed pressure interval; calculating the displacement difference between the downward displacement and the upward displacement under the same pressure value one by one; and accumulating and normalizing the displacement difference in the echo comparison range based on the displacement difference, the reference springback displacement formed by the same specification pallet in the clean support surface and empty clamp state, and the minimum identifiable displacement to obtain the machining station release echo.

[0009] As a preferred embodiment of the CNC clamping and interchange control method based on a dual-station pallet described in this invention, the specific steps for performing the same-source acceptance test to form the acceptance echo of the material preparation station are as follows: reading the clamping pressure and clamping displacement of the material preparation station, and confirming that the pallet of the material preparation station is in a safe clamping state; controlling the clamping mechanism of the material preparation station to first decrease from the short-term re-pressure to the lower limit of the acceptance comparison pressure range, and then increase from the lower limit of the acceptance comparison pressure range back to the short-term re-pressure, while simultaneously recording the clamping pressure and clamping displacement of the material preparation station; forming a material preparation descent displacement sequence based on the pressure displacement sampling points obtained during the descent process, and forming a material preparation reversal displacement sequence based on the pressure displacement sampling points obtained during the reversal process; forming the acceptance echo of the material preparation station based on the displacement difference between the material preparation descent displacement and the material preparation reversal displacement under the same pressure value.

[0010] As a preferred embodiment of the CNC clamping and interchange control method based on a dual-station pallet described in this invention, the calculation of the dual acceptance deviation includes: pairing the descending displacement sequence and the rising displacement sequence according to the same pressure value, calculating the displacement difference between the descending displacement and the rising displacement under the same pressure value, arranging all displacement differences in the order of pressure from the intermediate release pressure to the short-term repressurization pressure, forming a processing station release echo curve; when the lower limit of the acceptance comparison pressure range is higher than the intermediate release pressure, extracting the curve segment corresponding to the acceptance comparison pressure range from the processing station release echo curve, and calculating the effective release echo of the processing station based on the curve segment; when the lower limit of the acceptance comparison pressure range is equal to the intermediate release pressure, taking the processing station release echo as the effective release echo of the processing station; and calculating the dual acceptance deviation based on the difference between the effective release echo of the processing station and the acceptance echo of the material preparation station.

[0011] As a preferred embodiment of the CNC clamping interchange control method based on a dual-station pallet described in this invention, the generated echo dual interchange control strategy includes: when the effective echo release amount of the machining station is not higher than the low echo boundary, the echo received amount of the material preparation station is not higher than the low echo boundary, and the absolute value of the dual acceptance deviation does not exceed the same-source deviation boundary, the echo dual interchange control strategy is determined as a conventional interchange strategy; when the effective echo release amount of the machining station is higher than the low echo boundary, the echo received amount of the material preparation station is higher than the low echo boundary, and the absolute value of the dual acceptance deviation does not exceed the same-source deviation boundary, the echo dual interchange control strategy is... The strategy is determined to be a homogeneous low-speed bonding strategy. When the dual acceptance deviation is positive and the absolute value of the dual acceptance deviation exceeds the material preparation high boundary, the echo dual interchange control strategy is determined to be a material preparation re-clamping verification strategy. When the dual acceptance deviation is negative and the absolute value of the dual acceptance deviation exceeds the processing high boundary, the echo dual interchange control strategy is determined to be a processing unloading waiting strategy. When the effective release echo of the processing station is higher than the low echo boundary, the acceptance echo of the material preparation station is higher than the low echo boundary, and the absolute value of the dual acceptance deviation exceeds the homogeneous deviation boundary, the echo dual interchange control strategy is determined to be a double-end echo reshaping strategy.

[0012] As a preferred embodiment of the CNC clamping and interchange control method based on dual-station pallets described in this invention, the step of determining the acceptance and access timing of the incoming pallet based on the exchange drive current includes: after the pallet interchange begins, collecting the exchange drive current after the exchange mechanism enters the uniform speed movement stage and forming a stable operating current; when the incoming pallet enters the final stage of the machining station, continuing to collect the exchange drive current and calculating the current increment of the current exchange drive current relative to the stable operating current; when the current increment is higher than the current contact boundary and remains continuously until the contact confirmation time, the moment when the current increment first exceeds the current contact boundary is determined as the acceptance and access timing of the incoming pallet.

[0013] As a preferred embodiment of the CNC clamping and interchange control method based on dual-station pallets described in this invention, the adjustment of the pallet clamping access method based on the echo-dual interchange control strategy includes: when the echo-dual interchange control strategy is a conventional interchange strategy, controlling the clamping mechanism of the machining station to rise to normal clamping pressure after accepting the access opportunity; when the echo-dual interchange control strategy is a homogeneous low-speed bonding strategy, performing low-pressure pre-bonding first after accepting the access opportunity, and then controlling the clamping mechanism of the machining station to rise to normal clamping pressure; when the echo-dual interchange control strategy is a material preparation re-clamping verification strategy before entering pallet interchange, controlling the clamping mechanism of the machining station to rise to normal clamping pressure first after accepting the access opportunity. The clamping mechanism performs low-pressure pre-clamping and increases to normal clamping pressure after the clamping displacement of the replacement pallet enters the clamping stability range. When the echo pair interchange control strategy is the processing unloading waiting strategy, a micro-dwelling time is delayed after the acceptance access time, and the clamping pressure of the processing station is increased from the pre-fitting pressure to the normal clamping pressure according to the segmented clamping method. After the replacement pallet completes normal clamping, the acceptance echo sampling after replacement is performed to form the acceptance echo quantity after replacement. The allowable acceptance range is formed based on the effective release echo quantity of the processing station, the acceptance echo quantity of the material preparation station, and the same source deviation boundary. When the acceptance echo quantity after replacement is within the allowable acceptance range, the next processing program is started.

[0014] In a second aspect, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the CNC clamping and interchange control method based on a dual-station pallet as described in the first aspect of the present invention.

[0015] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any step of the CNC clamping and interchange control method based on a dual-station pallet as described in the first aspect of the present invention.

[0016] The beneficial effects of this invention are as follows: by generating the echo release at the processing station, early identification of clamping hysteresis and support surface abnormalities after processing is achieved; by conducting the same-source acceptance test at the material preparation station and calculating the offset of the dual acceptance, mutual verification between the release state of the processing station and the acceptance state of the material preparation station is achieved; by implementing the echo dual interchange control strategy and the acceptance access timing control, the coordinated optimization of the pallet interchange process and the replacement clamping process is achieved, thereby improving the seating stability of the replacement pallet. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a CNC clamping and interchange control method based on a dual-station pallet.

[0019] Figure 2 This is a schematic diagram of the formation of dual-station echo.

[0020] Figure 3 This is a schematic diagram for determining the echo duality interchange control strategy.

[0021] Figure 4 This is a schematic diagram of pallet interchange and processing access control. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 This is one embodiment of the present invention, which provides a CNC clamping interchange control method based on a dual-station pallet, including the following steps: S1. During the release process of the processing station pallet, the clamping pressure and clamping displacement of the processing station are collected, and the clamping mechanism of the processing station is controlled to perform low-amplitude release, short-term repressurization and release in sequence to form the release echo of the processing station.

[0026] After the current machining program ends, the CNC controller reads the spindle stop signal and the tool retraction completion signal. When both the spindle stop signal and the tool retraction completion signal are valid, the CNC controller keeps the machining station pallet in a clamped state and reads the machining station clamping pressure and machining station clamping displacement.

[0027] The clamping pressure at the machining station is collected by a pressure sensor in the clamping oil circuit of the machining station, and the clamping displacement at the machining station is collected by a stroke sensor of the clamping cylinder. The CNC controller reads the clamping pressure and clamping displacement at the machining station synchronously according to a fixed sampling period, and binds the clamping pressure and clamping displacement at the machining station at each sampling moment as pressure displacement sampling points.

[0028] It should be noted that the fixed sampling period is determined by the CNC real-time control period and the response period of the clamping actuator, with a preferred value range of 20 milliseconds to 100 milliseconds.

[0029] Furthermore, the CNC controller controls the clamping mechanism of the machining station to sequentially perform low-amplitude release, short-term repressurization, and re-release.

[0030] Among them, low-amplitude release refers to the clamping pressure at the processing station decreasing from the working clamping pressure to the intermediate release pressure; short-term repressurization refers to the clamping pressure at the processing station rising from the intermediate release pressure to the short-term repressurization pressure; and further release refers to the clamping pressure at the processing station decreasing from the short-term repressurization pressure to the replaceable plate release pressure.

[0031] It should be noted that the intermediate release pressure is lower than the short-term repressurization pressure, the short-term repressurization pressure is lower than the working clamping pressure, and the replaceable plate release pressure is lower than the intermediate release pressure. The intermediate release pressure, short-term repressurization pressure, and replaceable plate release pressure are determined by the safe release test run data of the same specification pallet clamping mechanism. During the safe release test run, the clamping pressure is gradually reduced and the clamping displacement, pallet positioning and holding signal, and pallet unlocking signal are recorded. The clamping pressure at which the clamping displacement begins to show identifiable rebound and the pallet positioning and holding signal is still valid is determined as the intermediate release pressure. The clamping pressure at which the clamping displacement recovers to the stable range before release after repressurization is determined as the short-term repressurization pressure. The clamping pressure at which the pallet unlocking signal is valid and the clamping displacement no longer changes with the pressure reduction is determined as the replaceable plate release pressure. The intermediate release pressure is preferably 35% to 60% of the working clamping pressure, the short-term repressurization pressure is preferably 55% to 80% of the working clamping pressure, and the replaceable plate release pressure is preferably 5% to 20% of the working clamping pressure. The working clamping pressure is obtained by reading the clamping pressure set by the process corresponding to the current machining program.

[0032] During the low-amplitude release process, the CNC controller extracts the pressure displacement sampling points between the short-term repressurization pressure and the intermediate release pressure of the machining station clamping pressure, and resamples the pressure displacement sampling points according to a fixed pressure interval to form a descending displacement sequence.

[0033] During the short-term repressurization process, the CNC controller extracts the pressure displacement sampling points between the intermediate release pressure and the short-term repressurization pressure of the clamping pressure at the machining station, and resamples the pressure displacement sampling points according to the same fixed pressure interval to form a resurgence displacement sequence.

[0034] It should be noted that the fixed pressure interval is determined based on the pressure sensor resolution and the clamping pressure fluctuation range, preferably 2 to 5 times the minimum resolution of the pressure sensor.

[0035] Furthermore, the CNC controller pairs the descending displacement sequence and the rising displacement sequence according to the same pressure value, calculates the displacement difference between the descending displacement and the rising displacement under the same pressure value, and arranges all displacement differences in the order of pressure release from the middle pressure to the short-term repressurization pressure to form the release echo curve of the machining station.

[0036] Among them, the release echo curve of the processing station is used to characterize the clamping hysteresis response of the processing station pallet during the release process. The clamping hysteresis response can reflect the release delay caused by micro-chips on the support surface of the processing station pallet, excessive tightness in hot contact, or insufficient elastic recovery of the clamping mechanism.

[0037] Furthermore, the CNC controller uses the pressure range between the intermediate release pressure and the short-term repressurization pressure as the echo comparison range. It rearranges the pressure displacement sampling points obtained during the low-amplitude release process into a descending displacement sequence according to the pressure value, and rearranges the pressure displacement sampling points obtained during the short-term repressurization process into a rising displacement sequence according to the same pressure value.

[0038] Furthermore, the CNC controller reads the descending and ascending displacements under the same pressure value one by one, calculates the displacement difference corresponding to the same pressure value, and accumulates and normalizes all displacement differences along the pressure range to obtain the echo released from the machining station. The expression is: ; in, To release echoes at the processing station. To release pressure in the middle, For short-term repressurization pressure, For the clamping mechanism of the machining station, the clamping pressure is from Descending to The clamping displacement was obtained by resampling the pressure at equal intervals during the process. For the clamping mechanism of the machining station, the clamping pressure is from rebounded to The clamping displacement was obtained by resampling at the same pressure interval during the process. This refers to the baseline springback displacement of a pallet of the same specification under clean support surfaces and empty clamp conditions. For the minimum identifiable displacement, The clamping pressure is a variable.

[0039] It should be noted that the reference rebound displacement is determined by repeatedly performing low-amplitude release and short-term repressurization under clean support surface and qualified positioning conditions, recording the downward and upward displacements of the same pressure point within the range of intermediate release pressure to short-term repressurization pressure, averaging the displacement differences in each calibration to form a single rebound displacement, and averaging the abnormal single rebound displacements after eliminating them. By statistically analyzing the sensor noise level during the calibration process, the noise peak value is taken as the minimum identifiable displacement.

[0040] After the machining station release echo is calculated, the CNC controller writes the machining station release echo into the current pallet interchange control cycle and sends it to the subsequent same-source acceptance test process. The machining station release echo is used together with the material preparation station acceptance echo to calculate the dual acceptance deviation, and is used to subsequently determine the impact of machining station release hysteresis on pallet interchange actions.

[0041] S2. Under the condition that the pallet at the material preparation station is kept in a safe clamp, the same pressure range as the release process of the pallet at the processing station is used to perform the same source of acceptance test to form the acceptance echo of the material preparation station, and calculate the dual acceptance deviation based on the release echo of the processing station and the acceptance echo of the material preparation station.

[0042] Furthermore, the CNC controller reads the clamping pressure and clamping displacement of the material preparation station, and confirms that the pallet at the material preparation station is in a safe clamping state.

[0043] Among them, the safe clamping state means that the clamping pressure of the material preparation station is not lower than the workpiece holding pressure, and the clamping displacement of the material preparation station is within the clamping stability range.

[0044] It should be noted that the workpiece holding pressure is determined by gradually reducing the clamping pressure during the clamping trial run with a pallet of the same specification and simultaneously observing the displacement change of the workpiece relative to the pallet. The lowest clamping pressure corresponding to the point where the workpiece does not produce a identifiable displacement relative to the pallet is taken as the workpiece holding pressure, and the preferred value range is 2.0MPa to 4.0MPa. The clamping stability range is determined by continuously collecting the clamping displacement after the standard clamping is completed at the material preparation station, and determining the range between the maximum and minimum clamping displacement readings, and the preferred value range is 0.005mm to 0.020mm.

[0045] Furthermore, a trial run of material preparation station was conducted to accept materials from the same source within the pressure range.

[0046] In order to ensure that the workpiece is not released from the pallet at the material preparation station, and to ensure that the echo received at the material preparation station can be compared with the echo released at the processing station under the same pressure scale, the upper limit of the comparative pressure range is the short-term re-pressure, and the lower limit of the comparative pressure range is the higher pressure between the intermediate release pressure and the workpiece holding pressure.

[0047] In the trial of the same source of material preparation station, the clamping mechanism of the material preparation station is controlled to first drop from the short-term repressurization pressure to the lower limit of the bearing comparison pressure range, and then rise from the lower limit of the bearing comparison pressure range back to the short-term repressurization pressure, while the clamping pressure and clamping displacement of the material preparation station are recorded simultaneously.

[0048] The pressure displacement sampling points obtained during the clamping pressure drop process at the material preparation station are rearranged into a material preparation descent displacement sequence according to a fixed pressure interval, and the pressure displacement sampling points obtained during the clamping pressure rise process at the material preparation station are rearranged into a material preparation rise displacement sequence according to the same fixed pressure interval.

[0049] Read the material descent displacement and material rebound displacement under the same pressure value one by one, calculate the displacement difference corresponding to the same pressure value, and accumulate and normalize all displacement differences along the bearing comparison pressure range to form the bearing echo of the material preparation station.

[0050] Among them, the material preparation station's acceptance echo is used to characterize the degree of hysteresis of the pallet at the material preparation station without releasing the safety clamp. The degree of hysteresis can reflect the impact of pallet clamping eccentricity, minor foreign objects on the support surface, or uneven closure of the clamping mechanism on subsequent pallet interchange.

[0051] The expression for the echo volume received by the material preparation station is: ; in, The material preparation station is designed to handle echo levels. For short-term repressurization pressure, To accommodate the lower limit of the comparative pressure range, The clamping mechanism at the material preparation station operates under clamping pressure from... Descending to The clamping displacement was obtained by resampling the pressure at equal intervals during the process. The clamping mechanism at the material preparation station operates under clamping pressure from... rebounded to The clamping displacement was obtained by resampling at the same pressure interval during the process. This refers to the baseline bearing displacement formed by pallets of the same specification under qualified clamping conditions. For the minimum identifiable displacement, The clamping pressure is a variable.

[0052] It should be noted that the reference bearing displacement is obtained through qualified clamping calibration of the same specification pallet. During qualified clamping calibration, the standard workpiece is fixed on the pallet at the material preparation station, so that the pallet at the material preparation station is in qualified positioning and standard clamping state. The trial action of dropping from the short-term re-pressure to the lower limit of the bearing comparison pressure range and then rising back to the short-term re-pressure is repeatedly performed. The material preparation drop displacement and material preparation rise displacement corresponding to the same pressure point are recorded. The average value of the displacement difference in each calibration is taken to form the single bearing displacement. After removing the single bearing displacement that deviates significantly from the stable range of continuous calibration, the average value of the remaining single bearing displacement is taken to determine the reference bearing displacement.

[0053] When the lower limit of the pressure comparison range is higher than the intermediate release pressure, the CNC controller extracts the curve segment corresponding to the pressure comparison range from the release echo curve of the machining station and calculates the effective release echo amount of the machining station; when the lower limit of the pressure comparison range is equal to the intermediate release pressure, the effective release echo amount of the machining station is equal to the release echo amount of the machining station. The expression for the effective release echo amount of the machining station is: ; in, To effectively release the echo at the processing station. For short-term repressurization pressure, To accommodate the lower limit of the comparative pressure range, For the clamping mechanism of the machining station, the clamping pressure is from Descending to The clamping displacement was obtained by resampling the pressure at equal intervals during the process. For the clamping mechanism of the machining station, the clamping pressure is from rebounded to The clamping displacement was obtained by resampling at the same pressure interval during the process. This refers to the baseline springback displacement of a pallet of the same specification under clean support surfaces and empty clamp conditions. For the minimum identifiable displacement, The clamping pressure is a variable.

[0054] Furthermore, the CNC controller calculates the dual reception deviation based on the effective release echo at the machining station and the received echo at the material preparation station. The expression is as follows: ; in, This is the deviation of the dual acceptance. To effectively release the echo at the processing station. The material preparation station is designed to handle the echo.

[0055] S3. Based on the echo quantity and the deviation quantity of the material preparation station, the release hysteresis of the processing station and the acceptance hysteresis of the material preparation station are mutually verified to generate an echo-dual interchange control strategy.

[0056] Furthermore, when the effective echo release at the processing station is not higher than the low echo boundary, the echo received at the material preparation station is not higher than the low echo boundary, and the absolute value of the dual receiving deviation does not exceed the same source deviation boundary, the echo dual interchange control strategy is determined as the conventional interchange strategy.

[0057] The conventional interchange strategy indicates that both the release hysteresis at the processing station and the acceptance hysteresis at the material preparation station are in a low-echo state, and the pallet interchange action does not require additional unloading waiting or low-pressure pre-lamination.

[0058] It should be noted that low-pressure pre-bonding refers to maintaining a short-term low-load contact with the pre-bonding pressure after the replacement pallet enters the processing station, allowing the positioning surface and support surface of the replacement pallet to naturally settle, and then increasing to the normal clamping pressure. The pre-bonding pressure is determined by the clamping pressure during the low-pressure settling test of the same specification pallet when the support surface is in continuous contact and the positioning surface is not forcibly pressed in, and the preferred value range is 0.8MPa to 1.8MPa; the pre-bonding holding time is determined by the time required for the clamping displacement to enter the stable range, and the preferred value range is 0.3s to 1.2s.

[0059] When the effective release echo amount of the processing station is higher than the low echo boundary, the echo amount received by the material preparation station is higher than the low echo boundary, and the absolute value of the dual receiving deviation does not exceed the same source deviation boundary, the echo dual interchange control strategy is determined as the same source low speed bonding strategy.

[0060] Among them, the same source low-speed bonding strategy means that there are similar hysteresis responses in both stations. The source of hysteresis is closer to the same processing heat state, the same clamping oil circuit fluctuation or the same pallet support environment. When the pallets are exchanged in the future, the exchange speed is reduced and low-pressure pre-bonding is performed after the pallet is replaced and enters the processing station.

[0061] When the deviation of the dual acceptance is positive and the absolute value of the deviation exceeds the material preparation high boundary, the echo dual interchange control strategy is determined as the material preparation re-clamping verification strategy.

[0062] The material preparation re-clamping verification strategy indicates that the material preparation station has a relatively high hysteresis, and the risk source is closer to the workpiece clamping eccentricity, minor foreign objects on the support surface, or uneven clamping closure at the material preparation station. The clamping mechanism at the material preparation station should first be controlled to perform low-pressure loosening and then clamping, followed by a trial run to re-form the material preparation station's hysteresis and recalculate the paired hysteresis deviation. When the recalculated material preparation station hysteresis no longer exceeds the material preparation hysteresis boundary, pallet exchange is allowed. If the recalculated material preparation station hysteresis still exceeds the material preparation hysteresis boundary, pallet exchange is prohibited, and a material preparation station clamping verification instruction is generated.

[0063] When the dual acceptance deviation is negative and the absolute value of the dual acceptance deviation exceeds the machining deviation boundary, the echo dual interchange control strategy is determined as the machining unloading waiting strategy.

[0064] Among them, the processing unloading waiting strategy indicates that the release hysteresis of the processing station is relatively high, and the risk source is closer to the hot bonding after processing, the residual clamping elasticity of the support surface, or the micro-entrapment of chips. The clamping mechanism of the processing station should be controlled to maintain the release pressure of the replaceable plate and maintain short-term unloading waiting. After the short-term unloading waiting ends, the clamping displacement stability of the processing station should be read again. When the clamping displacement stability of the processing station meets the displacement stability boundary, the pallet interchange is allowed. When the clamping displacement stability of the processing station does not meet the displacement stability boundary, the clamping mechanism of the processing station should be controlled to perform short-term re-pressure release, and the effective release echo of the processing station should be re-formed. The echo dual interchange control strategy should be determined again.

[0065] When the effective echo release of the processing station is higher than the low echo boundary, the echo received by the material preparation station is higher than the low echo boundary, and the absolute value of the dual received deviation exceeds the same source deviation boundary, the echo dual interchange control strategy is determined as the dual-end echo reshaping strategy.

[0066] The dual-end echo renormalization strategy means that if the release hysteresis of the processing station and the receiving hysteresis of the material preparation station are both high and from different sources, the exchange mechanism will not be activated. First, a short-term repressurization release will be performed on the processing station, and a low-pressure easing and re-clamping will be performed on the material preparation station. Then, the release echo of the processing station and the receiving echo of the material preparation station will be recalculated.

[0067] It should be noted that the low echo boundary is obtained through the cleaning and acceptance calibration of pallets of the same specification. During the cleaning and acceptance calibration, the pallet of the same specification is placed on a clean support surface, in a qualified positioning and standard clamping state, and low-amplitude release and short-term repressurization are repeatedly performed. The echo amount corresponding to each calibration is calculated. After eliminating the echo amount that deviates from the continuous stable range, the upper stable boundary of the remaining echo amount is read and determined as the low echo boundary. The preferred value range for the low echo boundary is 0.05 to 0.20. If it is lower than 0.05, it is easy to misjudge the normal elastic return of the clamping mechanism as a non-low echo state. If it is higher than 0.20, it is easy to include the early hysteresis formed by micro-crushing on the support surface into the low echo state.

[0068] It should be noted that the same source deviation boundary is obtained through dual-station acceptance calibration of the same pallet. During dual-station acceptance calibration, the same pallet is placed sequentially at the processing station and the material preparation station. Echo sampling is performed using the same pressure range, the same pressure change sequence, and the same sampling period. The difference between the echoes of the two stations is calculated. After removing the differences that deviate from the continuous stable range, the upper stable boundary of the remaining difference is read and determined as the same source deviation boundary. The preferred value range for the same source deviation boundary is 0.03 to 0.15. If it is lower than 0.03, it is easy to misjudge the installation error of the sensors or the slight difference in the clamping oil circuit between the two stations as acceptance abnormality. If it is higher than 0.15, it is easy to weaken the ability to distinguish the clamping eccentricity of the material preparation station and the release hysteresis of the processing station.

[0069] It should be noted that the material preparation excess boundary is obtained by statistically analyzing the difference between the echo received at the material preparation station and the effective release echo at the processing station in historical qualified exchange segments. Historical qualified exchange segments refer to exchange records where the first piece processing dimensions, pallet positioning verification, and clamping verification are all qualified after pallet exchange. In historical qualified exchange segments, the difference between the echo received at the material preparation station and the effective release echo at the processing station is calculated, and the upper stable boundary of the difference is read and determined as the material preparation excess boundary. The preferred value range for the material preparation excess boundary is 0.08 to 0.25. If it is lower than 0.08, it is easy to cause frequent loosening and re-clamping at the material preparation station. If it is higher than 0.25, it is easy to let out micro-foreign objects on the support surface of the material preparation station or workpiece clamping eccentricity.

[0070] It should be noted that the processing excess boundary is obtained by statistically analyzing the difference between the effective release echo of the processing station and the echo received by the material preparation station in historical qualified exchange segments. In historical qualified exchange segments, the difference between the effective release echo of the processing station and the echo received by the material preparation station is calculated. The upper stable boundary of the difference is read and determined as the processing excess boundary. The preferred value range for the processing excess boundary is 0.08 to 0.25. If it is lower than 0.08, it is easy to judge the normal hot rebound of the processing station as needing to be unloaded and waited. If it is higher than 0.25, it is easy to overlook the insufficient release of residual stress on the support surface of the processing station.

[0071] It should be noted that the displacement stability boundary is obtained through the release calibration of the machining station. During the release calibration of the machining station, the clamping displacement of the machining station is continuously read under the release pressure of the replaceable plate. The difference between the maximum clamping displacement and the minimum clamping displacement within a fixed observation period is calculated to form the release displacement fluctuation. After removing the release displacement fluctuation that deviates from the continuous stable range, the upper stability boundary of the remaining release displacement fluctuation is read and determined as the displacement stability boundary. The preferred value range of the displacement stability boundary is 1 to 3 times the minimum identifiable displacement. If it is less than 1 times, the static noise of the displacement sensor is easily judged as unstable. If it is more than 3 times, the slow rebound after the release of the machining station tray is easily overlooked.

[0072] S4. Perform tray swapping according to the echo dual interchange control strategy, and determine the timing of receiving the swapped-in tray based on the swapping drive current. Adjust the clamping and receiving method of the swapped-in tray based on the echo dual interchange control strategy. When the amount of echo received after swapping meets the allowable receiving range, start the next processing program.

[0073] Read the echo-pair interchange control strategy, and send a tray interchange start command to the interchange mechanism when the spindle stop signal, tool retraction completion signal, guard door lock signal, and interchange mechanism origin signal are all in a valid state.

[0074] The switching mechanism executes the tray switching action according to the echo-pair switching control strategy, and synchronously collects the switching drive current during the tray switching process.

[0075] The switching drive current is obtained from the feedback data of the switching servo driver, and the sampling period is consistent with the servo control period of the switching mechanism.

[0076] After the tray exchange begins, the exchange drive current is read after the exchange mechanism enters the uniform speed movement stage to form a stable operating current.

[0077] Among them, the stable operating current refers to the average current of the exchange drive current during the continuous sampling period when the pallet has not yet entered the receiving contact area of ​​the processing station.

[0078] The continuous sampling duration is determined by the duration of the uniform movement phase of the switching mechanism, and the continuous segment with the smallest current fluctuation during the uniform movement phase is selected.

[0079] Furthermore, the switching drive current is read when the pallet enters the final stage of the processing station, and the current increment of the current switching drive current relative to the stable operating current is calculated.

[0080] When the current increment is higher than the current contact boundary and remains so until the contact confirmation time, the moment when the current increment first exceeds the current contact boundary is determined as the timing for receiving and connecting the replacement tray.

[0081] The timing of the connection is used to indicate that the pallet has moved from a free-moving state to a low-load contact state between the positioning surface and the support surface of the processing station.

[0082] It should be noted that the current contact boundary is determined through no-load movement calibration and qualified contact calibration of the same specification pallet. During no-load movement calibration, the switching mechanism is controlled to move at a constant speed in the state of no pallet receiving contact, and the maximum fluctuation amplitude of the switching drive current is recorded. During qualified contact calibration, the same specification pallet is controlled to enter the receiving contact area of ​​the processing station, and the minimum stable increment of the switching drive current relative to the stable operating current is recorded. The current contact boundary is taken as the midpoint between the maximum fluctuation amplitude and the minimum stable increment, and the value range is preferably 0.15A to 0.60A. The contact confirmation time is determined by the shortest stable time when the current increment is continuously maintained when the same specification pallet enters the processing station in good condition, and the value range is preferably 0.08s to 0.30s. The contact confirmation time is used to eliminate misjudgments caused by instantaneous jitter of the switching drive current.

[0083] Furthermore, the clamping access method of the replacement tray is adjusted according to the echo dual interchange control strategy.

[0084] When the echo-coupled interchange control strategy is the conventional interchange strategy, the clamping mechanism of the machining station is controlled to rise to the normal clamping pressure after the access timing.

[0085] When the echo-coupled interchange control strategy is the same source low-speed bonding strategy, after accepting the access opportunity, low-pressure pre-bonding is performed first, and then the clamping mechanism of the processing station is controlled to rise to the normal clamping pressure.

[0086] When the echo-coupled interchange control strategy is the material preparation and re-clamping verification strategy and then enters the pallet interchange, after accepting the access opportunity, the clamping mechanism of the processing station is first controlled to perform low-pressure pre-clamping, and the change in clamping displacement of the replaced pallet is read; when the change in clamping displacement of the replaced pallet enters the clamping stability range, the pressure is then increased to the normal clamping pressure.

[0087] When the echo-coupled interchange control strategy is the processing unloading waiting strategy, the micro-dwelling time is delayed after the access opportunity, and the clamping pressure of the processing station is increased from the pre-fitting pressure to the normal clamping pressure according to the segmented clamping method.

[0088] It should be noted that the micro-dwell time is determined by the difference between the effective echo release at the processing station and the echo received at the material preparation station, expressed as: ; ; in, For micro-dwell time, To compensate for the higher processing error, To process the high boundary, Based on the basic micro-dwell time, This is the upper limit of the micro-dwell time. To effectively release the echo at the processing station. The material preparation station is designed to handle the echo.

[0089] It should be noted that, The value is determined by the time required for the clamping displacement to first enter the stable range during the low-pressure seating test of the same specification pallet, and the preferred value range is 0.3s to 1.2s; The value is determined by subtracting the standard exchange time of the exchange mechanism and the preparation time for starting the next processing program from the current processing program cycle time margin, and the preferred value range is 1.0s to 3.0s.

[0090] Furthermore, after the tray is properly clamped, echo sampling is performed after the tray is replaced.

[0091] During the echo sampling after replacement, the clamping mechanism at the control station performs low-amplitude release and short-term repressurization between the short-term repressurization pressure and the lower limit of the comparison pressure range, and simultaneously records the clamping pressure and displacement of the replacement pallet; the pressure displacement sampling points during the low-amplitude release process are rearranged into a replacement descent displacement sequence, and the pressure displacement sampling points during the short-term repressurization process are rearranged into a replacement recovery displacement sequence, and the replacement descent displacement and replacement recovery displacement under the same pressure value are read to form the echo quantity after replacement, expressed as: ; in, To accommodate the echo after replacement. To accommodate the lower limit of the comparative pressure range, For short-term repressurization pressure, The clamping pressure within the processing station for changing the pallet is determined by... Descending to The clamping displacement was obtained by resampling the pressure at equal intervals during the process. The clamping pressure within the processing station for changing the pallet is determined by... rebounded to The clamping displacement was obtained by resampling at the same pressure interval during the process. As a reference for bearing displacement, To clamp the pressure variable, The minimum identifiable displacement.

[0092] Based on the effective echo release at the processing station, the echo received at the material preparation station, and the boundary of the same source deviation, the allowable receiving range is formed, and the expression is: ; ; in, To allow the lower limit of the range, To allow for the upper limit of the range, This represents the boundary of the same origin deviation. To effectively release the echo at the processing station. The material preparation station is designed to handle the echo.

[0093] When the received echo after replacement is not lower than the lower limit of the allowable receiving range and not higher than the upper limit of the allowable receiving range, the CNC controller generates machining access control data and starts the next machining program.

[0094] When the echo volume after replacement is lower than the lower limit of the allowable acceptance range, the CNC controller determines that the replacement pallet is not properly fitted within the processing station. It then controls the clamping mechanism at the processing station to perform low-speed refitting and clamping, and recalculates the echo volume after replacement. When the recalculated echo volume after replacement enters the allowable acceptance range, the CNC controller starts the next processing program. If the recalculated echo volume after replacement is still lower than the lower limit of the allowable acceptance range, the CNC controller maintains the processing prohibition state and generates a pallet fitting verification command.

[0095] When the echo volume after replacement exceeds the upper limit of the allowable acceptance range, the CNC controller determines that a new hysteresis amplification has occurred in the processing station. It controls the clamping mechanism of the processing station to perform low-pressure easing and re-clamping, and recalculates the echo volume after replacement. When the recalculated echo volume after replacement enters the allowable acceptance range, the CNC controller starts the next processing program. When the recalculated echo volume after replacement is still higher than the upper limit of the allowable acceptance range, the CNC controller maintains the processing prohibition state and generates a support surface cleaning and verification command.

[0096] This embodiment also provides a computer device applicable to the CNC clamping and interchange control method based on a dual-station pallet, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the CNC clamping and interchange control method based on a dual-station pallet as proposed in the above embodiment.

[0097] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0098] This embodiment also provides a storage medium storing a computer program. When executed by a processor, the program implements the CNC clamping and interchange control method based on a dual-station tray as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device 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.

[0099] In summary, this invention achieves early identification of clamping hysteresis and support surface anomalies after processing by generating the echo release amount at the processing station; it achieves mutual verification between the release state of the processing station and the acceptance state of the preparation station by conducting homogeneous acceptance tests at the material preparation station and calculating the offset of the acceptance; and it achieves coordinated optimization of the pallet exchange process and the insertion clamping process by using the echo offset interchange control strategy and the acceptance access timing control, thereby improving the seating stability of the inserted pallet.

[0100] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A CNC clamping and interchange control method based on a dual-station pallet, characterized in that, include: During the release process of the pallet at the processing station, the clamping pressure and displacement of the processing station are collected, and the clamping mechanism at the processing station is controlled to sequentially perform low-amplitude release, short-term repressurization, and release again to generate the release echo of the processing station. Under the condition that the pallet at the material preparation station is kept in a safe clamp, the same pressure range as the release process of the pallet at the processing station is used to perform the same source of acceptance test, forming the acceptance echo of the material preparation station, and calculating the dual acceptance deviation based on the release echo of the processing station and the acceptance echo of the material preparation station. Based on the echo quantity and the deviation quantity of the material preparation station, the release hysteresis of the processing station and the acceptance hysteresis of the material preparation station are mutually verified to generate an echo-dual interchange control strategy. The tray swapping is performed according to the echo dual interchange control strategy, and the timing of receiving the swapped-in tray is determined based on the swapping drive current. The clamping and connection method of the swapped-in tray is adjusted based on the echo dual interchange control strategy. When the amount of echo received after swapping meets the allowable receiving range, the next processing program is started.

2. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 1, characterized in that, The amount of echo released from the processing station includes: After the current machining program ends, read the spindle stop signal and the tool retraction completion signal; When both the spindle stop signal and the tool retraction completion signal are valid, the machining station pallet is kept in a clamped state, and the clamping pressure and clamping displacement of the machining station are collected. The clamping mechanism at the control processing station sequentially performs low-amplitude release, short-term repressurization, and re-release; A descending displacement sequence is formed based on the pressure displacement sampling points during the low-amplitude release process, and a rising displacement sequence is formed based on the pressure displacement sampling points during the short-term repressurization process. The descending displacement and the rising displacement under the same pressure value are paired, and the difference in displacement after pairing is used to form the echo amount released at the processing station. The low-amplitude release includes the process station clamping pressure decreasing from the working clamping pressure to the intermediate release pressure; The short-term repressurization includes the process where the clamping pressure at the processing station rises from the intermediate release pressure to the short-term repressurization pressure. The re-release includes the clamping pressure at the processing station decreasing from the short-term repressurization pressure to the replaceable plate release pressure.

3. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 2, characterized in that, The step of generating the echo release amount of the processing station based on the displacement difference after pairing includes: The pressure range between the intermediate release pressure and the short-term repressurization pressure is used as the echo comparison range; The pressure displacement sampling points during the low-amplitude release process and the short-term repressurization process were resampled according to a fixed pressure interval; Calculate the displacement difference between the descending displacement and the rising displacement under the same pressure value for each case. Based on the displacement difference, the reference rebound displacement formed by the same specification pallet on a clean support surface and in an empty fixture state, and the minimum identifiable displacement, the displacement difference within the echo comparison interval is accumulated and normalized to obtain the amount of echo released at the processing station.

4. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 1, characterized in that, The specific steps for performing the same-source acceptance test to form the acceptance echo of the material preparation station are as follows: Read the clamping pressure and clamping displacement of the material preparation station, and confirm that the pallet at the material preparation station is in a safe clamping state. The clamping mechanism at the material preparation station is controlled to first decrease from the short-term repressurization pressure to the lower limit of the comparative pressure range, and then increase from the lower limit of the comparative pressure range back to the short-term repressurization pressure, while simultaneously recording the clamping pressure and clamping displacement at the material preparation station. A material preparation descent displacement sequence is formed based on the pressure displacement sampling points obtained during the descent process, and a material preparation recovery displacement sequence is formed based on the pressure displacement sampling points obtained during the recovery process. The echo volume of the material preparation station is formed by the displacement difference between the material preparation descent displacement and the material preparation rise displacement under the same pressure value.

5. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 4, characterized in that, The calculation of the dual acceptance deviation includes: The descending displacement sequence and the rising displacement sequence are paired according to the same pressure value. The displacement difference between the descending displacement and the rising displacement under the same pressure value is calculated. All displacement differences are arranged in the order of pressure from the middle release pressure to the short-term repressurization pressure to form the release echo curve of the processing station. When the lower limit of the bearing pressure range is higher than the middle release pressure, the curve segment corresponding to the bearing pressure range is extracted from the release echo curve of the processing station, and the effective release echo amount of the processing station is calculated based on the curve segment. When the lower limit of the pressure range is equal to the middle release pressure, the release echo of the processing station is taken as the effective release echo of the processing station. The offset deviation is calculated based on the difference between the effective echo release at the processing station and the echo received at the material preparation station.

6. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 4, characterized in that, The generated echo dual interchange control strategy includes: When the effective release of echo at the processing station is not higher than the low echo boundary, the echo received at the material preparation station is not higher than the low echo boundary, and the absolute value of the dual receiving deviation does not exceed the same source deviation boundary, the echo dual interchange control strategy is determined as the conventional interchange strategy. When the effective release of echo at the processing station is higher than the low echo boundary, the echo received at the material preparation station is higher than the low echo boundary, and the absolute value of the dual receiving deviation does not exceed the same source deviation boundary, the echo dual interchange control strategy is determined as the same source low speed bonding strategy. When the deviation of the dual acceptance is positive and the absolute value of the deviation of the dual acceptance exceeds the material preparation high boundary, the echo dual interchange control strategy is determined as the material preparation re-clamping verification strategy. When the dual acceptance deviation is negative and the absolute value of the dual acceptance deviation exceeds the machining deviation boundary, the echo dual interchange control strategy is determined as the machining unloading waiting strategy. When the effective echo release of the processing station is higher than the low echo boundary, the echo received by the material preparation station is higher than the low echo boundary, and the absolute value of the dual received deviation exceeds the same source deviation boundary, the echo dual interchange control strategy is determined as the dual-end echo reshaping strategy.

7. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 1, characterized in that, The method of determining the timing of receiving and connecting the tray based on the switching drive current includes: After the tray exchange begins, the exchange drive current is collected after the exchange mechanism enters the uniform speed movement stage, and a stable operating current is formed. When the tray is switched in and enters the final stage of the processing station, the switching drive current is continuously collected, and the current increment of the current switching drive current relative to the stable operating current is calculated. When the current increment is higher than the current contact boundary and remains so until the contact confirmation time, the moment when the current increment first exceeds the current contact boundary is determined as the timing for receiving and connecting the replacement tray.

8. The CNC clamping and interchange control method based on a dual-station pallet as described in claim 6, characterized in that, The adjustment of the insertion tray clamping access method based on the echo dual interchange control strategy includes: When the echo dual interchange control strategy is the conventional interchange strategy, the clamping mechanism of the processing station is controlled to rise to the normal clamping pressure after the access timing. When the echo-coupled interchange control strategy is the same source low-speed bonding strategy, after accepting the access opportunity, low-pressure pre-bonding is performed first, and then the clamping mechanism of the processing station is controlled to rise to the normal clamping pressure. When the echo couple interchange control strategy is the material preparation and re-clamping verification strategy and then enters the pallet interchange, after the receiving and accessing time, the clamping mechanism of the processing station is first controlled to perform low-pressure pre-clamping, and after the clamping displacement of the replaced pallet enters the clamping stable range, the pressure is increased to the normal clamping pressure. When the echo-coupled interchange control strategy is the processing unloading waiting strategy, the micro-dwelling time is delayed after the access opportunity, and the clamping pressure of the processing station is increased from the pre-fitting pressure to the normal clamping pressure according to the segmented clamping method. After the tray is properly clamped, the echo sampling after replacement is performed to generate the echo quantity after replacement. The allowable receiving range is formed based on the effective release of echo at the processing station, the echo received at the material preparation station, and the boundary of the same source deviation. When the amount of echo received after replacement is within the allowable range, start the next processing procedure.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the CNC clamping and interchange control method based on a dual-station pallet as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the CNC clamping and interchange control method based on a dual-station pallet as described in any one of claims 1 to 8.

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