Multi-axis drilling system, control method, and computer-readable storage medium

Abstract

The multi-axis drilling system of the embodiment of the application comprises a multi-axis drilling device, a position detection unit and a control unit; the multi-axis drilling device comprises a machine table and a plurality of mobile drilling devices; the plurality of mobile drilling devices are arranged on the machine table, the machine table is arranged on a processing table corresponding to the mobile drilling devices, and the heights of all the processing tables are consistent; each mobile drilling device comprises a mobile assembly and a tool assembly; the mobile assembly is installed on the machine table, and the tool assembly is installed on the moving end of the mobile assembly and moves under the driving of the mobile assembly. The application also provides a control method of the multi-axis drilling system and a computer readable storage medium.

Description

Technical Field

[0001] This application relates to the field of multi-axis machining, specifically to a multi-axis drilling system, control method, and computer-readable storage medium. Background Technology

[0002] In existing multi-axis drilling equipment, the rapid stroke of the Z-axis is uniformly set based on the longest of all drill bits. This results in an unnecessary excessively long idle stroke for drill bits with smaller diameters and shorter tips during each drilling cycle, limiting further reduction in cycle time. Summary of the Invention

[0003] This application provides a multi-axis drilling system, including a multi-axis drilling device, a position detection unit, and a control unit. The multi-axis drilling device includes a machine base and multiple moving drilling devices. The multiple moving drilling devices are mounted on the machine base, and the machine base is set on a processing table corresponding to each moving drilling device, with all processing tables having the same height. Each moving drilling device includes a moving component and a tool component. The moving component is mounted on the machine base, and the tool component is mounted on the moving end of the moving component and moves under the drive of the moving component. The position detection unit is used to detect the position of the tool component. The control unit is used for: During the operation of the multi-axis drilling equipment, the drill bit information of each tool assembly and the current position of the drill bit of each tool assembly detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly, and the drill bit information includes at least the axial height of the drill bit of the tool assembly; Based on the drill bit information in each tool assembly and the actual position of the drill bit in each tool assembly detected by the position detection unit, a safe avoidance displacement for a tool assembly is determined; wherein, the safe avoidance displacement of the tool assembly includes at least the safe height displacement of the corresponding tool assembly to safely avoid the workpiece being processed; The motion parameters of the moving component are adjusted in real time according to the safe avoidance displacement to control the tool assembly to move to the theoretical standby position.

[0004] In some embodiments, a safe avoidance displacement for a tool assembly is determined based on the drill bit information in each tool assembly and the actual drill bit position of each tool assembly detected by the position detection unit, including: Based on the drill bit information of each tool assembly, determine the safe height position of each tool assembly; The safe height displacement of each tool assembly is determined based on the actual position and safe height position of the drill bit in each tool assembly.

[0005] In some embodiments, the control unit is further configured to: when the tool assembly is in the theoretical standby position, determine the machining displacement of each tool assembly in real time based on the next target machining position, the theoretical standby position and drill information of each tool assembly, and adjust the motion parameters of the moving assembly in order to control the tool assembly to move to the theoretical standby position.

[0006] In some embodiments, the moving component includes at least a Z-axis drive device, the tool assembly is mounted on the Z-axis drive device, and the Z-axis drive device is used to drive the tool assembly to move in the Z-axis direction.

[0007] In some embodiments, the moving component includes an X-axis drive device mounted on the machine tool, a Z-axis drive device mounted on the X-axis drive device, and the X-axis drive device is used to drive the Z-axis drive device and the tool assembly to move in the X direction.

[0008] In some embodiments, the tool assembly includes a first mounting plate, a rotary motor, a drill bit, a second mounting plate, a guide rail, and a slider. The first mounting plate is mounted on a Z-axis drive device, the guide rail is mounted on the first mounting plate, the slider and the rotary motor are respectively mounted on the second mounting plate, the slider is fitted onto the guide rail, the drill bit is mounted on the rotary motor, the rotary motor drives the drill bit to rotate, the Z-axis drive device is mounted on the first mounting plate, and the output end of the Z-axis drive device is connected to the second mounting plate.

[0009] In some embodiments, a plurality of mobile drilling devices are arranged sequentially at intervals along the Y direction.

[0010] In some embodiments, each of the mobile drilling devices is provided with at least one position detection unit and control unit.

[0011] This application also provides a control method for a multi-axis drilling system, applied to a control unit in the multi-axis drilling system, the control method comprising: During the operation of the multi-axis drilling equipment, the drill bit information of each tool assembly and the current position of the drill bit of each tool assembly detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly, and the drill bit information includes at least the axial height of the drill bit of the tool assembly; Based on the drill bit information in each tool assembly and the actual position of the drill bit in each tool assembly detected by the position detection unit, a safe avoidance displacement for a tool assembly is determined; wherein, the safe avoidance displacement of the tool assembly includes at least the safe height displacement of the corresponding tool assembly to safely avoid the workpiece being processed; The motion parameters of the moving component are adjusted in real time based on the safety avoidance displacement to control the tool assembly to move to the theoretical standby position. This application also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program is executed by a processor to perform the steps of a control method.

[0012] Compared with the prior art, the multi-axis drilling system of this application determines different safety avoidance displacements by using drill bits with different axial heights and their current positions. This allows the drill bit to retract from the machining position to a customized standby position that only meets the safety avoidance requirement, rather than retracting to a uniform maximum safety plane. By setting a minimum fast stroke for each drill bit, the invalid idle stroke of short drill bits is eliminated at the software level, significantly reducing the overall Z-axis movement time of multi-hole machining. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of the multi-axis drilling system provided in the embodiments of this application.

[0015] Figure 2 This is a schematic diagram of the structure of the multi-axis drilling equipment provided in the embodiments of this application.

[0016] Figure 3 This is a schematic diagram of the tool assembly provided in an embodiment of this application.

[0017] Figure 4 A flowchart of a control method for a multi-axis drilling system provided in an embodiment of this application.

[0018] Figure 5 A flowchart of a control method for a multi-axis drilling system provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] Please see Figure 1-2 The multi-axis drilling system of this application embodiment includes a multi-axis drilling equipment 100, a position detection unit, and a control unit. The multi-axis drilling equipment 100 includes a machine base 10 and multiple movable drilling devices 20. The multiple movable drilling devices 20 are disposed on the machine base 10, and the machine base 10 is disposed on a processing table corresponding to each movable drilling device 20, and all processing tables have the same height. Each movable drilling device 20 includes a moving component 21 and a tool component 22. The moving component 21 is mounted on the machine base 10, and the tool component 22 is mounted on the moving end of the moving component 21 and moves under the drive of the moving component 21. The position detection unit is used to detect the position of the tool component 22. The control unit is used for: During the operation of the multi-axis drilling equipment 100, the drill bit information in each tool assembly 22 and the current position of the drill bit in each tool assembly 22 detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly 22, and the drill bit information includes at least the axial height of the drill bit 223 of the tool assembly 22. Based on the drill bit information in each tool assembly 22 and the actual position of the drill bit in each tool assembly 22 detected by the position detection unit, a safe avoidance displacement of a tool assembly 22 is determined; wherein, the safe avoidance displacement of the tool assembly 22 includes at least the safe height displacement of the corresponding tool assembly 22 to safely avoid the workpiece being processed; The motion parameters of the moving component 21 are adjusted in real time according to the safe avoidance displacement to control the tool assembly 22 to move to the theoretical standby position.

[0022] In some embodiments, a safe avoidance displacement of a tool assembly 22 is determined based on the drill bit information in each tool assembly 22 and the actual drill bit position of each tool assembly 22 detected by the position detection unit, including: Based on the drill bit information of each tool assembly 22, determine the safe height position of each tool assembly 22; The safe height displacement of each tool assembly 22 is determined based on the actual position and safe height position of the drill bit in each tool assembly 22.

[0023] In traditional control methods, all tool assemblies 22 retract to a common safety plane. After completing its drilling step, the drill bit 223 with a smaller axial height must wait for a long idle stroke to finish before starting the next step. This ineffective waiting time cannot be eliminated by overlapping among the various tool assemblies 22. This application shortens the idle stroke time of each tool assembly 22 by dynamically determining the minimum safe avoidance displacement for each tool assembly 22, thereby compressing the cumulative auxiliary time of the entire equipment during multiple processing cycles. When batch processing workpieces with a large number of holes and using drill bits 223 with different axial heights, this time compression effect is amplified exponentially, significantly improving the overall processing cycle time and resulting in a qualitative improvement in production efficiency. In some embodiments, the control unit is further configured to: when the tool assembly 22 is in the theoretical standby position, determine the machining displacement of each tool assembly 22 in real time based on the next target machining position, the theoretical standby position and the drill bit 223 information of each tool assembly 22, and adjust the motion parameters of the moving component 21 in real time to control the tool assembly 22 to move to the theoretical standby position.

[0024] like Figure 1-3 As shown, in some embodiments, the moving component 21 includes at least a Z-axis drive device 211, and the tool assembly 22 is mounted on the Z-axis drive device 211. The Z-axis drive device 211 is used to drive the tool assembly 22 to move in the Z-axis direction.

[0025] like Figure 1-3 As shown, in some embodiments, the moving component 21 includes an X-axis drive device 212 mounted on the machine tool 10, and a Z-axis drive device 211 mounted on the X-axis drive device 212. The X-axis drive device 212 is used to drive the Z-axis drive device 211 and the tool assembly 22 to move in the X direction.

[0026] like Figure 1-3 As shown, in some embodiments, the tool assembly 22 includes a first mounting plate 221, a rotary motor 222, a drill bit 223, a second mounting plate 224, a guide rail 225, and a slider 226. The first mounting plate 221 is mounted on the Z-axis drive device 211, the guide rail 225 is mounted on the first mounting plate 221, the slider 226 and the rotary motor 222 are respectively mounted on the second mounting plate 224, the slider 226 is fitted onto the guide rail 225, the drill bit 223 is mounted on the rotary motor 222, the rotary motor 222 drives the drill bit 223 to rotate, the Z-axis drive device 211 is mounted on the first mounting plate 221, and the output end 211a of the Z-axis drive device 211 is connected to the second mounting plate 224.

[0027] like Figure 1-3 As shown, in some embodiments, multiple movable drilling devices 20 are arranged sequentially at intervals along the Y direction.

[0028] like Figure 1-3 As shown, in some embodiments, each mobile drilling device 20 is provided with at least one position detection unit and one control unit to enable accurate and rapid detection and controllability.

[0029] This application uses a position detection unit to perceive the current position of each tool assembly 22 in real time. The control unit makes online decisions based on the drill bit 223 information and the actual position, automatically determining the safe avoidance displacement and adjusting the motion parameters of the moving assembly 21 in real time. This closed-loop control process replaces the traditional method of relying on manual setting of the safety plane, enabling the multi-axis drilling system to have the ability to autonomously perceive the tool status and spatial position, as well as the ability to autonomously plan the motion path. This is a substantial advancement in the evolution of CNC drilling equipment towards intelligent manufacturing, laying the architectural and data foundation for the subsequent introduction of more advanced algorithms such as machine learning and adaptive control.

[0030] like Figure 4 As shown in the embodiment of this application, a control method for a multi-axis drilling system is applied to a control unit in the multi-axis drilling system, comprising: During the operation of the multi-axis drilling equipment 100, the information of the drill bit 223 in each tool assembly 22 and the current position of the drill bit 223 in each tool assembly 22 detected by the position detection unit are obtained; wherein, the current position of the drill bit 223 includes at least the height position of the drill bit 223 in the corresponding tool assembly 22, and the information of the drill bit 223 includes at least the axial height of the drill bit 223 in the tool assembly 22. Based on the information of the drill bit 223 in each tool assembly 22 and the actual position of the drill bit 223 in each tool assembly 22 detected by the position detection unit, a safe avoidance displacement of a tool assembly 22 is determined; wherein, the safe avoidance displacement of the tool assembly 22 includes at least the safe height displacement of the corresponding tool assembly 22 to safely avoid the workpiece being processed; The motion parameters of the moving component 21 are adjusted in real time according to the safe avoidance displacement to control the tool assembly 22 to move to the theoretical standby position.

[0031] In actual machining, the axial heights of the drill bits 223 mounted on different tool assemblies 22 vary. If all tool assemblies 22 retract to a uniform maximum safe plane, the drill bits 223 with smaller axial heights will inevitably generate lengthy, ineffective idle strokes. This application determines the safe height position of each drill bit 223 using drill bit information and, combined with its real-time detected current position, independently calculates the safe avoidance displacement for each tool assembly 22. This displacement strictly corresponds to the minimum required stroke of the drill bit 223 from its current position to the safe height position, without any redundancy, ensuring that the avoidance movement of each tool assembly 22 is optimally planned.

[0032] In some embodiments, a control method for a multi-axis drilling system according to this application is applied to a control unit in the multi-axis drilling system, and includes: During the operation of the multi-axis drilling equipment 100, the drill bit information in each tool assembly 22 and the current position of the drill bit 223 of each tool assembly 22 detected by the position detection unit are obtained; wherein, the current position of the drill bit 223 includes at least the height position of the drill bit 223 of the corresponding tool assembly 22, and the drill bit 223 information includes at least the axial height of the drill bit 223 of the tool assembly 22. Based on the information of the drill bit 223 in each tool assembly 22 and the actual position of the drill bit 223 in each tool assembly 22 detected by the position detection unit, a safe avoidance displacement of a tool assembly 22 is determined; wherein, the safe avoidance displacement of the tool assembly 22 includes at least the safe height displacement of the corresponding tool assembly 22 to safely avoid the workpiece being processed; The motion parameters of the moving component 21 are adjusted in real time according to the safe avoidance displacement to control the tool assembly 22 to move to the theoretical standby position; When the tool assembly 22 is in the theoretical standby position, the motion parameters of the moving component 21 are adjusted in real time based on the next target machining position, the theoretical standby position and the information of the drill bit 223 of each tool assembly 22 to control the tool assembly 22 to move to the theoretical standby position.

[0033] The control unit of this application not only determines the safe avoidance displacement after the tool assembly 22 completes machining, but also determines the machining displacement of the tool assembly 22 when it is in the theoretical standby position, based on the next target machining position, the theoretical standby position, and the information of the drill bit 223. This means that the motion control of the tool assembly 22 does not separate safe avoidance and machining feed into two independent motion segments, but rather uses the safe avoidance displacement as a prerequisite constraint for machining displacement planning. The calculation of the two displacements shares the same set of drill bit 223 information and position detection data, ensuring that the motion parameters are coordinated and consistent throughout the entire process from the machining position to the theoretical standby position and then to the next target machining position, avoiding positioning deviations caused by asynchronous data sources.

[0034] like Figure 5 As shown in the embodiment of this application, a control method for a multi-axis drilling system is applied to a control unit in the multi-axis drilling system, comprising: During the operation of the multi-axis drilling equipment 100, the drill bit information in each tool assembly 22 and the current position of the drill bit in each tool assembly 22 detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly 22, and the drill bit information includes at least the axial height of the drill bit in the tool assembly 22; Based on the drill bit information of each tool assembly 22, determine the safe height position of each tool assembly 22; Based on the actual position and safe height position of the drill bit in each tool assembly 22, the safe height displacement of each tool assembly 22 is determined; wherein, the safe avoidance displacement of the tool assembly 22 includes at least the safe height displacement of the corresponding tool assembly 22 for safely avoiding the workpiece being processed; Based on the drill bit information of each tool assembly 22, determine the safe height position of each tool assembly 22; The safe height displacement of each tool assembly 22 is determined based on the actual position and safe height position of the drill bit in each tool assembly 22. The motion parameters of the moving component 21 are adjusted in real time according to the safe height displacement to control the tool assembly to move to the theoretical standby position; When the tool assembly 22 is in the theoretical standby position, the motion parameters of the moving component 21 are adjusted in real time based on the next target machining position, the theoretical standby position and the information of the drill bit 223 of each tool assembly 22 to control the tool assembly 22 to move to the theoretical standby position.

[0035] This application also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program is executed by a processor to perform the steps of a control method.

[0036] In flexible machining scenarios involving a variety of workpieces with different specifications, the tool assembly 22 needs to frequently replace drill bits 223 with different axial heights to adapt to different hole diameters and depths. In existing solutions, the safety plane needs to be manually recalibrated after replacing the drill bit 223, which is cumbersome and prone to human error. The control unit of this application, by acquiring drill bit information, can automatically identify the axial height of the currently installed drill bit 223 and correlate it with the actual position of the drill bit 223 obtained by the position detection unit, instantly updating the safety height position and safety avoidance displacement of the tool assembly 22. This mechanism eliminates the need for manual intervention, fundamentally improving the equipment's adaptability to tool changes and multi-product machining, allowing the first piece processed after a tool change to enter an optimized state immediately, reducing scrap generated during machine setup and trial cutting.

[0037] In summary, the multi-axis drilling system and its control method of this application, from the software control logic level, achieves the minimization of idle travel time under safety constraints by accurately utilizing the differentiated attributes of the cutting tools. Without increasing any hardware costs, it significantly improves the production efficiency, flexibility, and intelligence level of multi-axis drilling equipment, and has high engineering application value.

[0038] The above-disclosed examples are merely preferred embodiments of this application, intended to facilitate understanding and implementation by those skilled in the art. However, they cannot be used to limit the scope of this application. Therefore, equivalent variations made within the scope of this application are still within the scope of this application.

Claims

1. A multi-spindle drilling system, characterized by, The system includes a multi-axis drilling machine, a position detection unit, and a control unit. The multi-axis drilling machine includes a machine base and multiple movable drilling devices. The multiple movable drilling devices are mounted on the machine base, and the machine base is set on a processing table corresponding to each movable drilling device, with all processing tables having the same height. Each movable drilling device includes a moving component and a cutting tool assembly. The moving component is mounted on the machine base, and the cutting tool assembly is mounted on the moving end of the moving component and moves under the drive of the moving component. The position detection unit is used to detect the position of the cutting tool assembly; The control unit is used for: During the operation of the multi-axis drilling equipment, the drill bit information of each tool assembly and the current position of the drill bit of each tool assembly detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly, and the drill bit information includes at least the axial height of the drill bit of the tool assembly. Based on the drill bit information in each of the tool assemblies and the actual position of the drill bit in each of the tool assemblies detected by the position detection unit, a safe avoidance displacement for each of the tool assemblies is determined; wherein, the safe avoidance displacement of the tool assembly includes at least the safe height displacement corresponding to the safe avoidance of the workpiece by the tool assembly. The motion parameters of the moving component are adjusted in real time according to the safe avoidance displacement to control the tool assembly to move to the theoretical standby position.

2. The multi-spindle drilling system of claim 1, wherein, Determining the safe avoidance displacement for each of the tooling assemblies includes: Based on the drill bit information of each of the tool assemblies, determine the safe height position of each of the tool assemblies; The safe height displacement of each tool assembly is determined based on the actual drill bit position and safe height position of each tool assembly.

3. The multi-spindle drilling system of claim 2, wherein, The control unit is also used for: When the tool assembly is in the theoretical standby position, the motion parameters of the moving component are adjusted in real time based on the next target machining position, the theoretical standby position and the drill information of each tool assembly to control the tool assembly to move to the theoretical standby position.

4. The multi-axis drilling system as described in claim 1, characterized in that, The moving component includes at least a Z-axis drive device, the tool assembly is mounted on the Z-axis drive device, and the Z-axis drive device is used to drive the tool assembly to move in the Z-axis direction.

5. The multi-axis drilling system as described in claim 4, characterized in that, The moving component includes an X-axis drive device mounted on the machine tool, and a Z-axis drive device mounted on the X-axis drive device. The X-axis drive device is used to drive the Z-axis drive device and the tool assembly to move in the X direction.

6. The multi-axis drilling system according to claim 5, characterized in that, The tool assembly includes a first mounting plate, a rotary motor, a drill bit, a second mounting plate, a guide rail, and a slider. The first mounting plate is mounted on the Z-axis drive device, the guide rail is mounted on the first mounting plate, the slider and the rotary motor are respectively mounted on the second mounting plate, the slider is fitted onto the guide rail, the drill bit is mounted on the rotary motor, the rotary motor drives the drill bit to rotate, the Z-axis drive device is mounted on the first mounting plate, and the output end of the Z-axis drive device is connected to the second mounting plate.

7. The multi-axis drilling system according to claim 4, characterized in that, The multiple mobile drilling devices are arranged sequentially at intervals along the Y-direction.

8. The multi-axis drilling system as described in claim 1, characterized in that, Each of the aforementioned mobile drilling devices shall be provided with at least one of the aforementioned position detection units and control units.

9. A control method for a multi-axis drilling system, characterized in that, The control unit applied to the multi-axis drilling system according to any one of claims 1-8, the control method comprising: During the operation of the multi-axis drilling equipment, the drill bit information of each tool assembly and the current position of the drill bit of each tool assembly detected by the position detection unit are obtained; wherein, the current position of the drill bit includes at least the height position of the corresponding tool assembly, and the drill bit information includes at least the axial height of the drill bit of the tool assembly. Based on the drill bit information in each of the tool assemblies and the actual position of the drill bit in each of the tool assemblies detected by the position detection unit, a safe avoidance displacement for each tool assembly is determined; wherein, the safe avoidance displacement of the tool assembly includes at least the safe height displacement corresponding to the safe avoidance of the workpiece by the tool assembly. The motion parameters of the moving component are adjusted in real time according to the safe avoidance displacement to control the tool assembly to move to the theoretical standby position.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, characterized in that the computer program, when executed by a processor, performs the steps of the control method of claim 9.

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