Tool change control method, control system and machine tool for machine tool

Abstract

The application provides a tool changing control method, a control system and a machine tool. The tool changing control method comprises the following steps: monitoring the machining state of the spindle; generating a tool changing instruction when the spindle completes machining of a current process or before the spindle completes machining of the current process; controlling the opening of a tool magazine door and the starting of tool changing of a tool changing arm according to the tool changing instruction; controlling the opening speed of the tool magazine door and / or the tool changing speed of the tool changing arm; when the opening degree of the tool magazine door reaches a preset opening degree and the tool changing arm moves to a tool changing position, controlling the tool changing arm to first change tools with the tool magazine and then change tools with the spindle; or, controlling the tool changing arm to simultaneously change tools with the tool magazine and the spindle; and controlling the spindle to machine a next process. The tool changing control method provided by the technical scheme of the application can reduce the waiting time of the tool changing arm and improve the tool changing efficiency.

Description

Technical Field

[0001] This invention relates to the field of processing equipment technology, and in particular to a tool changing control method, control system and machine tool for a machine tool. Background Technology

[0002] Traditional machine tools use PLC (Programmable Logic Controller) sequential control logic for tool changing. When a tool change is needed, the PLC first outputs a tool magazine door opening signal, driving the door to the fully open position. The system continuously monitors the tool magazine door's positioning signal. Only when the tool magazine door is fully open and a confirmation of positioning is received does the PLC issue a tool arm movement command, and the tool arm begins to feed towards the tool magazine to perform tool grabbing / releasing. The completion signal of the previous action is a prerequisite for starting the next action, resulting in a relatively long waiting time (see patent publication number CN210189158U).

[0003] Therefore, improving tool changing efficiency is an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a tool changing control method, a control system, and a machine tool, which can improve the tool changing efficiency of the tool magazine.

[0005] This invention provides a tool changing control method for a machine tool, the machine tool including a tool magazine, a spindle, and a tool changing arm, the tool magazine having an openable and closable tool magazine door and a tool changing position located within the tool magazine door, the tool changing arm being used for tool changing between the tool magazine and the spindle, and the tool changing control method including: S10: Monitor the machining status of the spindle, and generate a tool change command when the spindle completes the current process or before completing the current process; S30: According to the tool change command, control the tool magazine door to open and control the tool changer arm to start the tool change; S50: Control the opening speed of the tool magazine door and / or the speed at which the tool changing arm starts changing tools; S70: When the opening degree of the tool magazine door reaches the preset opening degree and the tool changing arm moves to the tool changing position, control the tool changing arm to change the tool with the tool magazine first, and then control the tool changing arm to change the tool with the spindle; or, control the tool changing arm to change the tool with the tool magazine and the spindle simultaneously. S90: Control the spindle to perform the next machining operation.

[0006] In some feasible implementations, step S50 includes: S51: When the opening time requirement of the tool magazine door is less than or equal to the tool changing arm start-up time requirement, the tool magazine door and the tool changing arm are controlled to move at a preset speed, the preset speed including at least an acceleration phase, a constant speed phase and a deceleration phase.

[0007] In some feasible implementations, step S50 includes: S52: When the opening time requirement of the tool magazine door is greater than the time requirement for the tool changing arm to start tool changing, control the tool magazine door to move at a preset speed, and control the tool changing arm to start tool changing at a preset speed at a predetermined time after the tool magazine door is opened.

[0008] In some feasible implementations, step S50 includes: S52: When the opening time requirement of the tool magazine door is greater than the time requirement of the tool changing arm to start tool changing, control the tool magazine door to move at a preset speed, and control the tool changing arm to reduce the tool changing speed based on the preset speed; or, when the opening time requirement of the tool magazine door is greater than the time requirement of the tool changing arm to start tool changing, control the tool changing arm to move at a preset speed, and control the tool magazine door to increase the opening speed based on the preset speed.

[0009] In some feasible implementations, step S50 further includes: S53: During the opening of the tool magazine door and the start of the tool changing arm, the remaining time of the tool magazine door opening and the remaining time of the tool changing arm starting the tool changing are monitored in real time. S54: Based on the remaining time the tool magazine door is open and the remaining time the tool changing arm is ready to start changing tools, control the tool changing arm to move at a preset speed or execute an avoidance command; or, Step S50 further includes: S55: At a predetermined time before the tool changer starts and the tool change ends, monitor the opening degree of the tool magazine door; S56: If the opening degree of the tool magazine door meets the tool changing conditions, control the tool changing arm to move at a preset speed; otherwise, control the tool changing arm to execute an avoidance command.

[0010] In some feasible implementations, the preset speed at which the tool magazine door opens is a function of the following: where, For the sword armor door The speed of time, The maximum speed is T, and the total time is T. The tool magazine door is in the startup acceleration phase. The knife magazine door is in a high-speed climbing phase. The weapon magazine door is in the later deceleration phase. The tool magazine door is in the final buffer phase;

[0011]

[0012]

[0013] .

[0014] In some feasible implementations, the preset speed of the tool changer arm is a function of the following: where, For changing the blade arm angular velocity at time t, Let T be the maximum angular velocity of rotation and T be the total time of movement. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The target angular velocity during the later deceleration phase. The tool changer arm is in the final buffer phase;

[0015]

[0016]

[0017]

[0018] or The preset speed of the tool changer arm is a function of the following: where, For changing the blade arm The speed of time, The maximum speed is T, and the total time is T. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The tool changer arm is in the final buffer phase;

[0019]

[0020]

[0021] .

[0022] In some feasible implementations, step S50 further includes: S57: After the tool changing arm executes the avoidance command, monitor the remaining time of the tool magazine door opening in real time; S58: When the remaining time for the tool magazine door to open is less than the remaining time for the tool changing arm to start tool changing, the speed-time function of the tool changing arm is re-determined based on the current speed of the tool changing arm and the remaining time for starting tool changing, and the tool changing arm is controlled to perform actions according to the re-determined speed-time function. S59: When the remaining time for the tool magazine door to open is greater than or equal to the remaining time for the tool changing arm to start tool changing, control the tool changing arm to continue executing the avoidance command; After step S70, the tool changing control method of the machine tool further includes: S80: After the tool changing arm finishes changing the tool, while controlling the tool magazine door to close, control the tool changing arm to reset from the tool changing position in the tool magazine to the initial position.

[0023] The present invention also provides a control system storing a computer program, the computer program including program instructions adapted for loading by a processor to execute the steps in the above-described machine tool tool changing control method.

[0024] A third aspect of the present invention provides a machine tool, including a base, a worktable and a column mounted on the base, a spindle mounted on the column, and the aforementioned control system, wherein the control system is electrically connected to the spindle, the tool magazine and the tool changer arm.

[0025] The aforementioned tool changing control method, control system, and machine tool, by monitoring the machining status of the spindle, generate a tool changing command when the spindle completes the current machining operation or before completing the current machining operation; according to the tool changing command, control the tool magazine door to open and control the tool changing arm to start tool changing; control the opening speed of the tool magazine door and / or the starting speed of the tool changing arm; when the opening degree of the tool magazine door reaches a preset opening degree and the tool changing arm moves to the tool changing position, control the tool changing arm to first change tools with the tool magazine, and then control the tool changing arm to change tools with the spindle; or, control the tool changing arm to simultaneously change tools with the tool magazine and the spindle; control the spindle to perform the next machining operation. By controlling the tool magazine door to open while simultaneously controlling the tool changing arm to start tool changing, the tool changing arm does not need to wait for the tool magazine door to fully open before moving, reducing the waiting time of the tool changing arm and improving tool changing efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any creative effort.

[0027] Figure 1 This is a flowchart of a tool changing control method provided in an embodiment of the present invention.

[0028] Figure 2 This is a flowchart of step S50 in a tool changing control method provided in an embodiment of the present invention.

[0029] Figure 3 An electrical schematic diagram of a control system provided according to an embodiment of the present invention.

[0030] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] To provide a clearer and more accurate understanding of the present invention, a detailed description will now be provided in conjunction with the accompanying drawings. The accompanying drawings illustrate examples of embodiments of the present invention, wherein the same reference numerals denote the same elements. It is to be understood that the scale shown in the accompanying drawings is not the actual scale of the present invention, and is for illustrative purposes only, and is not a drawing based on the original dimensions.

[0035] Traditional machine tools use PLC (Programmable Logic Controller) sequential control logic for tool changing. When a tool change is needed, the PLC first outputs a tool magazine door opening signal, driving the door to the fully open position. The system continuously monitors the tool magazine door's positioning signal, and only after the tool magazine door is fully open and a confirmation of positioning is received does the PLC issue a tool arm movement command, and the tool arm begins to feed towards the tool magazine to perform tool grabbing / releasing. The completion signal of the previous action is a prerequisite for starting the next action, resulting in a relatively long waiting time.

[0036] To solve the above technical problems, please refer to Figure 1 The first aspect of the present invention provides a tool changing control method for a machine tool, the machine tool including a tool magazine, a spindle and a tool changing arm, the tool magazine having an openable and closable tool magazine door and a tool changing position located inside the tool magazine door, the tool changing arm being used for tool changing between the tool magazine and the spindle, it is understood that the tool changing arm has two opposing tool holding positions, thereby allowing the tool changing arm to hold two tools through the two tool holding positions, the movement mode of the tool changing arm including but not limited to a combination of translation, rotation and lifting, the tool changing control method including steps S10-S90.

[0037] Step S10: Monitor the machining status of the spindle. When the spindle completes the machining of the current process or before completing the machining of the current process, generate a tool change command.

[0038] The machining state of the spindle can be determined based on the spindle's rotation state and / or displacement state. For example, after the spindle stops rotating for a preset time, it is determined that the spindle has completed the machining of the current process. As another example, after the spindle stops displacing for a preset time, it is determined that the spindle has completed the machining of the current process.

[0039] Tool change commands are a set of commands that are sent simultaneously or sequentially to the tool magazine, tool changer, and spindle to control tool changing between the tool changer, tool magazine, and spindle. For example, tool changing between the tool changer, tool magazine, and spindle includes: controlling the tool magazine to rotate the tool for the next operation to the tool change position; controlling the tool changer to unload the machined tool from the spindle; controlling the tool changer to retrieve the tool for the next operation from the tool magazine; controlling the tool changer to install the tool for the next operation onto the spindle in an empty tool state; controlling the tool changer to return the machined tool to the tool magazine; and controlling the tool changer to reset.

[0040] Step S30: According to the tool change command, control the tool magazine door to open and control the tool changer arm to start the tool change.

[0041] It's understandable that the tool magazine is equipped with a tool magazine guard to protect the tools inside from contamination by chips and cutting fluid, ensuring that the tools can be properly loaded onto the spindle. Additionally, for tool changing, the tool magazine has a tool changing slot and an openable tool magazine door. The tool changing slot is the tool changing position; when a tool moves to the tool changing position, it can be grabbed by the tool changing arm, achieving engagement between the tool changing arm and the tool in the magazine. Of course, the tool magazine can also move its empty tool position to the tool changing position to receive machined tools transferred by the tool changing arm.

[0042] The tool changer arm starts changing tools specifically as follows: from the initial position (origin) of the tool changer arm, it moves to the stage where the tool changer arm grabs the tool in the tool magazine for the next process in the tool change position.

[0043] When the spindle is in machining mode, the tool magazine door is closed. When the tool magazine and tool changer receive a tool change command, the tool magazine door opens and the tool changer starts changing tools at the same time. In this way, the tool changer does not need to wait for the tool magazine door to be fully open before it starts changing tools, thus saving the overall tool change time and improving the tool change efficiency.

[0044] Step S50: Control the opening speed of the tool magazine door and / or the speed at which the tool changing arm starts changing tools.

[0045] It is understandable that the tool change command includes the opening speed of the tool magazine door and the corresponding timetable, and the tool change command also includes the starting speed of the tool changer arm and the corresponding timetable. Under normal circumstances, the time taken for the tool magazine door to open according to the opening speed in the tool change command is the opening time requirement of the tool magazine door, and the time taken for the tool changer arm to start according to the starting speed in the tool change command is the starting time requirement of the tool changer arm.

[0046] The tool change instruction set includes sub-instruction sets corresponding to tool change times where the tool magazine door opening time requirement is greater than, less than, or equal to the tool changer arm initiation time requirement. Please refer to [link / reference]. Figure 1 and 2 Step S50 specifically includes: Step S51: When the opening time requirement of the tool magazine door is less than or equal to the tool changing arm start-up time requirement, control the tool magazine door and the tool changing arm to move at a preset speed, the preset speed includes at least an acceleration phase, a constant speed phase and a deceleration phase.

[0047] In step S51, theoretically, after the tool magazine door is fully opened, the tool changing arm either reaches the tool changing position just in time or has not yet reached the tool changing position. That is, the movement of the tool magazine door is completed before the movement of the tool changing arm. Under normal circumstances (that is, the drive components of the tool magazine door move normally, the drive signals of the drive components controlling the tool magazine door in the tool changing command are normal, the drive components of the tool changing arm move normally, and the drive signals of the drive components controlling the tool changing arm in the tool changing command are normal), the tool changing arm will not reach the plane where the tool magazine door is located before the tool magazine door is fully opened. The tool changing arm will not interfere with the tool magazine door, and there will be no accident of the tool changing arm hitting the tool magazine door.

[0048] The preset speed is set based on the fastest opening speed of the tool magazine door and the fastest movement speed of the tool changing arm. For example, in this embodiment, the preset speed of the tool magazine door opening is a function of the following: where, For the sword armor door The speed of time, The maximum speed is T, and the total time is T. The tool magazine door is in the startup acceleration phase. The knife magazine door is in a high-speed climbing phase. The weapon magazine door is in the later deceleration phase. The tool magazine door is in the final buffer phase;

[0049]

[0050]

[0051] .

[0052] in, The tool magazine door is in the startup acceleration phase, with a slowest speed of zero and a fastest speed close to but less than 0.4 times the maximum speed. The distance traveled accounted for 7.77% of the total distance traveled, and the acceleration was... It's understandable that the knife magazine door didn't reach 1x speed during the startup acceleration phase. This means that incremental acceleration and incremental speed are reserved, which improves the stability of the tool magazine door operation and leaves room for future increases in the operating speed of the tool magazine door.

[0053] The knife magazine door is in a high-speed climbing phase, with a minimum speed of 0.4 times. The fastest speed is close to The distance traveled accounted for 67.96% of the total distance traveled, with an acceleration of... .

[0054] The weapon magazine door is in the later deceleration phase, with a maximum speed of The slowest speed is close to but greater than 0.15 times. The distance traveled accounted for 22.33% of the total distance traveled, and the acceleration was... .

[0055] With the tool magazine door in the final buffer phase, the maximum speed is 0.15 times. The slowest speed is close to but greater than 0, accounting for 1.94% of the total travel, with an acceleration of... By setting a final buffer phase, the tool magazine door can move at the lowest speed during the last part of the closing process, thereby avoiding collisions between the tool magazine door and the tool magazine frame when closing at high speed.

[0056] In some other embodiments, the fastest speed during the startup acceleration phase is close to but less than 0.8 to 1 times. The minimum speed during the high-speed crawling phase is 0.8 to 1 times the speed of the ground. This allows for the fastest possible movement. Since the acceleration during the initial acceleration phase is essentially at its maximum, reaching the limit of acceleration, it is suitable for scenarios where the knife-shear door needs to be opened with the fastest possible movement.

[0057] In this embodiment, the tool changing arm includes at least a rotational motion. During the rotation phase, the preset speed of the tool changing arm is a function of the following: where, For changing the blade arm angular velocity at time t, Let T be the maximum angular velocity of rotation and T be the total time of movement. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The target angular velocity during the later deceleration phase. The tool changer arm is in the final buffer phase;

[0058]

[0059]

[0060] .

[0061] in, The tool changer is in the initial acceleration phase, with the slowest angular velocity at zero and the fastest angular velocity approaching but less than 1 time the maximum. The angle of rotation accounts for 13.99% of the total rotation angle, and the acceleration is... .

[0062] The tool changer arm is in a high-speed operating phase, with an angular velocity of 1. The angle of rotation accounts for 69.93% of the total rotation angle, and the acceleration is... .

[0063] During the tool change, the arm is in the deceleration phase at its maximum angular velocity of 1. The slowest angle is close to but greater than The angle of rotation accounts for 15.38% of the total rotation angle, and the acceleration is... (negative number).

[0064] The tool changer is in the final buffer phase, with the fastest angular velocity being... The slowest angular velocity is close to but greater than 0, and the angle it rotates accounts for 0.70% of the total rotation angle, with an acceleration of... By setting a final buffer phase, the tool changer arm can move at the lowest speed during the last leg of its operation, thus enabling it to stop in time.

[0065] In some other embodiments, the tool changing arm includes at least a displacement action, and during the displacement phase, the preset speed of the tool changing arm is a function of the following: where, For changing the blade arm The speed of time, The maximum speed is T, and the total time is T. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The tool changer arm is in the final buffer phase;

[0066]

[0067]

[0068] .

[0069] in, The tool changer is in the initial acceleration phase, with a slowest speed of zero and a fastest speed close to but less than 0.4 times the maximum speed. The distance traveled accounted for 7.77% of the total distance traveled, and the acceleration was... .

[0070] The cutter arm is in a high-speed climbing phase during the tool change, with a minimum speed of 0.4 times the maximum speed. The fastest speed is close to The distance traveled accounted for 67.96% of the total distance traveled, with an acceleration of... .

[0071] The tool changer is in the deceleration phase at its maximum speed. The slowest speed is close to but greater than 0.15 times. The distance traveled accounted for 22.33% of the total distance traveled, and the acceleration was... .

[0072] When the tool changer is in the final buffer phase, the fastest speed is 0.15 times. The slowest speed is close to but greater than 0, accounting for 1.94% of the total travel, with an acceleration of... By setting a final buffer phase, the tool changer arm can move at the lowest speed during the last leg of its operation, thus enabling it to stop in time.

[0073] Step S52: When the opening time requirement of the tool magazine door is greater than the time requirement for the tool changing arm to start tool changing, control the tool magazine door to move at a preset speed, and control the tool changing arm to start tool changing at a preset speed at a predetermined time after the tool magazine door is opened.

[0074] Because the tool magazine door takes a relatively long time to open, it can operate before the tool changing arm. The tool changing command can control the tool magazine door to close and the tool changing arm to start tool changing in sequence, thus ensuring that the tool changing arm is also in the tool changing position inside the tool magazine when the tool magazine door is fully open. This addresses the time difference between the opening time requirement of the tool magazine door and the starting time requirement of the tool changing arm.

[0075] It is understood that in some other embodiments, please refer to Figure 2 Step S52 can have other parallel options, which can be flexibly selected according to the actual scenario. For example, when the opening time requirement of the tool magazine door is greater than the tool changing arm's start-up tool changing time requirement, the tool magazine door is controlled to move at a preset speed, and the tool changing arm is controlled to reduce its start-up tool changing speed based on the preset speed. Since the opening time of the tool magazine door is relatively long, the tool magazine door and the tool changing arm can start simultaneously. However, the preset speed of the tool changing arm needs to be reduced. Specifically, the operating speed is reduced during at least one stage of the preset speed. For example, the acceleration is reduced during the acceleration stage of the preset speed, or the speed is reduced during the constant speed stage of the preset speed, or the deceleration is accelerated during the deceleration stage.

[0076] It is understood that in some third embodiments, please refer to Figure 2Step S52 can have other parallel options, which can be flexibly selected according to the actual scenario. For example, when the opening time requirement of the tool magazine door is greater than the tool changing arm start-up time requirement, the tool changing arm is controlled to move at a preset speed, and the opening speed of the tool magazine door is controlled to increase based on the preset speed. Since the opening time of the tool magazine door is relatively long, the preset speed of the tool magazine door can be increased. Specifically, the operating speed is increased in at least one stage of the preset speed. For example, the acceleration is increased in the acceleration stage of the preset speed, or the speed is increased in the constant speed stage of the preset speed, or the deceleration is slowed down in the deceleration stage.

[0077] It is understandable that step S52 integrates three tool change command subsets, and a pop-up interface allows the user to select them. The three tool change command subsets apply to the tool magazine door and the tool changer arm.

[0078] To confirm whether the tool magazine door and tool changer arm operate according to the three tool changer command subsets during actual movement, it is also necessary to monitor the movement of the tool magazine door and tool changer arm. See steps S53-S54 for details, or steps S55-S56 for details.

[0079] Step S53: During the opening of the tool magazine door and the start of the tool changing arm, monitor in real time the remaining time of the tool magazine door opening and the remaining time of the tool changing arm starting the tool changing.

[0080] It is understandable that the opening data of the tool magazine door can be collected from a distance sensor installed on the tool magazine door frame, or from an image sensor and image processing. The data for starting the tool changer arm is collected by an encoder or grating ruler installed on the automatic tool changer.

[0081] The remaining time for the tool magazine door to open can be obtained by subtracting the time already spent on opening the tool magazine door from the required opening time. The remaining time for the tool changer arm to start tool changing can be obtained by subtracting the time already spent on tool changing from the required tool changer arm to start tool changing.

[0082] Step S54: Based on the remaining time of the tool magazine door opening and the remaining time of the tool changing arm starting the tool changing, control the tool changing arm to move at a preset speed or execute an avoidance command; Step S54 includes steps S541-S542.

[0083] Step S541: When the remaining time for the tool magazine door to open is less than the remaining time for the tool changing arm to start tool changing, control the tool changing arm to move at a preset speed. Specifically, obtain the remaining time for the tool magazine door to open and the remaining time for the tool changing arm to start tool changing. Compare the remaining time for the tool magazine door to open and the remaining time for the tool changing arm to start tool changing using a comparator. When the result is less than zero, it is determined that the remaining time for the tool magazine door to open is less than the remaining time for the tool changing arm to start tool changing.

[0084] Step S542: When the remaining time for the tool magazine door to open is greater than or equal to the remaining time for the tool changer arm to start tool changing, control the tool changer arm to execute an avoidance command. A comparator compares the remaining time for the tool magazine door to open with the remaining time for the tool changer arm to start tool changing. If the result is greater than or equal to zero, it is determined that the remaining time for the tool magazine door to open is greater than or equal to the remaining time for the tool changer arm to start tool changing.

[0085] Step S55: At a predetermined time before the tool changer starts and the tool change ends, monitor the opening degree of the tool magazine door.

[0086] It is understood that in this embodiment, the predetermined time is determined based on the total time for the tool changer to start tool changing and the deceleration time taken to reduce the speed from the current time to zero. In other words, the tool changer can fully execute the later deceleration stage and the final buffer stage from the predetermined time. The predetermined time is earlier than the later deceleration stage in the preset speed.

[0087] In some other embodiments, the predetermined time can be any time before the tool changer starts and ends, as long as the tool changer can stop and avoid colliding with the tool magazine door.

[0088] Step S56: If the opening degree of the tool magazine door meets the tool changing conditions, control the tool changing arm to move at a preset speed; otherwise, control the tool changing arm to execute an avoidance command. Step S56 includes steps S561 and S562.

[0089] Step S561: If the opening degree of the tool magazine door meets the tool changing condition, control the tool changing arm to move at a preset speed. Specifically, obtain the opening degree of the tool magazine door and the width of the tool changing arm. Compare the opening degree of the tool magazine door with the width of the tool changing arm using a comparator. If the opening degree of the tool magazine door is greater than the width of the tool changing arm, it is determined that the opening degree of the tool magazine door meets the tool changing condition.

[0090] Step S562: If the opening degree of the tool magazine door does not meet the tool changing conditions, control the tool changing arm to execute an avoidance command. Specifically, if the opening degree of the tool magazine door is less than or equal to the width of the tool changing arm, it is determined that the opening degree of the tool magazine door does not meet the tool changing conditions. The avoidance command includes two modes: deceleration and braking. The braking scenario is when the tool changing arm is about to collide with the tool magazine door. The deceleration scenario is when there is still a distance between the tool changing arm and the tool magazine door, and the distance can be at least 0.1 to 0.3 times the total stroke of the tool magazine door. The deceleration can take the form of deceleration sliding, for example, the tool changing arm reduces to a safe speed and then maintains a safe speed. Alternatively, the deceleration scenario is continuous deceleration, which can be performed according to a function of the later deceleration stage and the final buffer stage of the preset speed of the tool changing arm.

[0091] It is understandable that the opening degree of the tool magazine door may increase or remain unchanged during the process of the tool changer executing the avoidance command. Therefore, it is necessary to continue to monitor the opening degree of the tool magazine door and execute the corresponding command, specifically including steps S57-S59.

[0092] Step S57: After the tool changing arm executes the avoidance command, the remaining time for the tool magazine door to open is monitored in real time. During the process of the tool changing arm executing the avoidance command, the time spent opening the tool magazine door is collected in real time through a timer, and the remaining time for the tool magazine door to open is determined based on the opening time requirement of the tool magazine door and the time spent.

[0093] Step S58: When the remaining time for the tool magazine door to open is less than the remaining time for the tool changing arm to start tool changing, the speed-time function of the tool changing arm is re-determined based on the current speed of the tool changing arm and the remaining time for starting tool changing, and the tool changing arm is controlled to perform actions according to the re-determined speed-time function.

[0094] Specifically, the avoidance time during which the tool changer arm is in the process of receiving an avoidance command can be considered as waiting time, which is not included in the remaining time for the tool changer arm to start tool changing. Alternatively, the time requirement for the tool changer arm to start tool changing can be actively extended, and the remaining time for the tool changer arm to start tool changing can be obtained by subtracting the time already consumed by the tool changer arm (the consumed time includes the time before the avoidance command is executed and the time during the avoidance command) from the extended time requirement for the tool changer arm to start tool changing.

[0095] The speed-time function of the tool changer arm is redefined based on its current speed and the remaining time before tool change begins, and the tool changer arm is controlled to operate according to this redefined speed-time function. Specifically, if the current speed of the tool changer arm is zero, the redefined speed-time function includes at least an acceleration phase, a constant speed phase, and a deceleration phase. If the remaining travel of the tool changer arm is sufficient, a final buffer phase may also be included. If the current speed of the tool changer arm is not zero, the redefined speed-time function includes at least a constant speed phase and a deceleration phase. If the remaining travel of the tool changer arm is sufficient, a final buffer phase may also be included.

[0096] Step S59: When the remaining time for the tool magazine door to open is greater than or equal to the remaining time for the tool changer arm to start tool changing, control the tool changer arm to continue executing the avoidance command. The remaining time for the tool magazine door to open may still be greater than or equal to the remaining time for the tool changer arm to start tool changing; in other words, the tool changer arm still needs to enter a waiting period or the time required to start tool changing again needs to be extended.

[0097] Step S70: When the tool magazine door opens to a preset degree and the tool changing arm moves to the tool changing position, control the tool changing arm to first change tools with the tool magazine, and then control the tool changing arm to change tools with the spindle; or, control the tool changing arm to simultaneously change tools with both the tool magazine and the spindle. It is understood that there is more than one way the tool changing arm can change tools. The tool changing arm can perform tool changing actions with the tool magazine and the spindle sequentially by translation. Alternatively, the tool changing arm can perform tool changing actions with both the tool magazine and the spindle simultaneously by rotation.

[0098] Step S80: After the tool changing arm completes the tool changing process, simultaneously closing the tool magazine door and resetting the tool changing arm from its tool changing position in the tool magazine to its initial position. The simultaneous closing of the tool magazine door and the resetting of the tool changing arm after the tool changing process accelerates the resetting speed and improves tool changing efficiency.

[0099] Step S90: Control the spindle to perform the next machining operation. After the spindle clamps the tool for the next operation, it continues to machine the workpiece.

[0100] The tool changing control method of the above-mentioned machine tool monitors the machining status of the spindle. When the spindle completes the current machining operation or before completing the current machining operation, a tool changing command is generated. According to the tool changing command, the tool magazine door is controlled to open, and the tool changing arm is controlled to start tool changing. The opening speed of the tool magazine door and / or the tool changing arm's tool changing speed are controlled. When the opening degree of the tool magazine door reaches a preset opening degree and the tool changing arm moves to the tool changing position, the tool changing arm is controlled to change tools with the tool magazine first, and then the tool changing arm is controlled to change tools with the spindle; or, the tool changing arm is controlled to change tools synchronously with both the tool magazine and the spindle. The spindle is controlled to perform the next machining operation. By controlling the tool magazine door to open and the tool changing arm to start tool changing simultaneously through the tool changing command, the tool changing arm does not need to wait for the tool magazine door to be fully open before it starts moving, reducing the waiting time of the tool changing arm and improving the tool changing efficiency.

[0101] A second aspect of the present invention provides a control system, please refer to... Figure 3 The control system stores a computer program, which includes program instructions adapted for loading by a processor to execute the steps in the aforementioned machine tool tool changing control method. The control system provided in this embodiment, by including the aforementioned machine tool tool changing control method, controls the tool magazine door to open simultaneously with the tool changing arm to initiate tool changing via the tool changing command. The tool changing arm does not need to wait for the tool magazine door to fully open before moving, reducing the waiting time of the tool changing arm and improving tool changing efficiency.

[0102] A third aspect of the present invention provides a machine tool, including a base, a worktable and a column mounted on the base, a spindle mounted on the column, and the aforementioned control system, wherein the control system is electrically connected to the spindle, the tool magazine, and the tool changing arm. The machine tool provided in this embodiment, by including the aforementioned machine tool control system, can simultaneously control the tool magazine door to open and the tool changing arm to start changing tools via a tool changing command. The tool changing arm does not need to wait for the tool magazine door to fully open before it begins to move, reducing the waiting time of the tool changing arm and improving tool changing efficiency.

[0103] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention is also intended to include these modifications and variations.

[0104] The above-listed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A tool changing control method for a machine tool, the machine tool comprising a tool magazine, a spindle, and a tool changing arm, the tool magazine having an openable and closable tool magazine door and a tool changing position located within the tool magazine door, the tool changing arm being used for tool changing between the tool magazine and the spindle, characterized in that, The tool changing control method includes: S10: Monitor the machining status of the spindle, and generate a tool change command when the spindle completes the current process or before completing the current process; S30: According to the tool change command, control the tool magazine door to open and control the tool changer arm to start the tool change; S50: Control the opening speed of the tool magazine door and / or the speed at which the tool changing arm starts changing tools; S70: When the opening degree of the tool magazine door reaches the preset opening degree and the tool changing arm moves to the tool changing position, control the tool changing arm to change the tool with the tool magazine first, and then control the tool changing arm to change the tool with the spindle; or, control the tool changing arm to change the tool with the tool magazine and the spindle simultaneously. S90: Control the spindle to perform the next machining operation.

2. The tool changing control method as described in claim 1, characterized in that, Step S50 includes: S51: When the opening time requirement of the tool magazine door is less than or equal to the tool changing arm start-up time requirement, the tool magazine door and the tool changing arm are controlled to move at a preset speed, the preset speed including at least an acceleration phase, a constant speed phase and a deceleration phase.

3. The tool changing control method as described in claim 1, characterized in that, Step S50 includes: S52: When the opening time requirement of the tool magazine door is greater than the time requirement for the tool changing arm to start tool changing, control the tool magazine door to move at a preset speed, and control the tool changing arm to start tool changing at a preset speed at a predetermined time after the tool magazine door is opened.

4. The tool changing control method as described in claim 1, characterized in that, Step S50 includes: S52: When the opening time requirement of the tool magazine door is greater than the tool changing arm's tool changing start time requirement, control the tool magazine door to move at a preset speed, and control the tool changing arm to reduce the tool changing start speed based on the preset speed; or, when the opening time requirement of the tool magazine door is greater than the tool changing arm's tool changing start time requirement, control the tool changing arm to move at a preset speed, and control the tool magazine door to increase the opening speed based on the preset speed.

5. The tool changing control method according to any one of claims 1-4, characterized in that, Step S50 further includes: S53: During the opening of the tool magazine door and the start of the tool changing arm, the remaining time of the tool magazine door opening and the remaining time of the tool changing arm starting the tool changing are monitored in real time. S54: Based on the remaining time the tool magazine door is open and the remaining time the tool changing arm is ready to start changing tools, control the tool changing arm to move at a preset speed or execute an avoidance command; or, Step S50 further includes: S55: At a predetermined time before the tool changer starts and the tool change ends, monitor the opening degree of the tool magazine door; S56: If the opening degree of the tool magazine door meets the tool changing conditions, control the tool changing arm to move at a preset speed; otherwise, control the tool changing arm to execute an avoidance command.

6. The tool changing control method according to any one of claims 2-4, characterized in that, The function relationship of the preset speed at which the tool magazine door opens is as follows: where, For the sword armor door The speed of time, The maximum speed is T, and the total time is T. The tool magazine door is in the startup acceleration phase. The knife magazine door is in a high-speed climbing phase. The weapon magazine door is in the later deceleration phase. The tool magazine door is in the final buffer phase; 。 7. The tool changing control method according to any one of claims 2-4, characterized in that, The preset speed of the tool changer arm is a function of the following: where, For changing the blade arm angular velocity at time t, Let T be the maximum angular velocity of rotation and T be the total time of movement. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The target angular velocity during the later deceleration phase. The tool changer arm is in the final buffer phase; or The preset speed of the tool changer arm is a function of the following: where, For changing the blade arm The speed of time, The maximum speed is T, and the total time is T. The tool changer arm is in the startup acceleration phase. The cutter arm is in a high-speed climbing phase during the tool change. The tool changer is in the deceleration phase at the end. The tool changer arm is in the final buffer phase; 。 8. The tool changing control method as described in claim 5, characterized in that, Step S50 further includes: S57: After the tool changing arm executes the avoidance command, monitor the remaining time of the tool magazine door opening in real time; S58: When the remaining time for the tool magazine door to open is less than the remaining time for the tool changing arm to start tool changing, the speed-time function of the tool changing arm is re-determined based on the current speed of the tool changing arm and the remaining time for starting tool changing, and the tool changing arm is controlled to perform actions according to the re-determined speed-time function. S59: When the remaining time for the tool magazine door to open is greater than or equal to the remaining time for the tool changing arm to start tool changing, control the tool changing arm to continue executing the avoidance command; After step S70, the tool changing control method of the machine tool further includes: S80: After the tool changing arm finishes changing the tool, while controlling the tool magazine door to close, control the tool changing arm to reset from the tool changing position in the tool magazine to the initial position.

9. A control system, characterized in that, The system stores a computer program, which includes program instructions adapted for loading by a processor to perform the steps in the tool changing control method for a machine tool as claimed in any one of claims 1 to 8.

10. A machine tool, comprising a base, a worktable and a column mounted on the base, and a spindle mounted on the column, characterized in that, It also includes the control system as described in claim 9, wherein the control system is electrically connected to the spindle, tool magazine and tool changer.

Images