Tool magazine door opening and closing control method and system of machine tool and machine tool thereof

Abstract

The application relates to a tool magazine door opening and closing control method and system of a machine tool and a machine tool thereof, the machine tool comprising a tool magazine, the tool magazine storing a plurality of tools, the tool magazine having a tool changing opening and a tool magazine door capable of being opened and closed to open the tool changing opening, and the tool magazine door opening and closing control method comprises the following steps: receiving a tool changing instruction in real time; based on the tool changing instruction, controlling a target tool on the tool magazine to move to the tool changing opening; identifying the size or label of the target tool; and according to the size or label of the target tool, controlling the opening degree of the tool magazine door, wherein the opening degree of the tool magazine door at least has a first opening degree and a second opening degree, and the first opening degree is larger than the second opening degree. The application controls the opening degree of the tool magazine door by identifying the size or label of the tool, so that the tool magazine door is opened according to the size or label of the tool, thereby saving the opening and closing time of the tool magazine door.

Description

Technical Field

[0001] This invention relates to the field of machine tool magazine doors, and more specifically, to a method, system, and machine tool for controlling the opening and closing of a machine tool magazine door. Background Technology

[0002] In existing technologies, machine tool tool magazines typically store several or dozens of tools. The tool is changed when the desired tool is needed. Before each tool change, the tool magazine door must be opened to facilitate tool exchange between the magazine and the spindle. Since the magazine stores tools of different sizes, the door must be fully opened each time, regardless of the tool being changed. This forces the door to travel to its maximum stroke and increases tool change time. This method of requiring the door to be fully open results in low tool change efficiency. Therefore, improving tool change efficiency is a problem that needs further investigation by those skilled in the art. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a method, system, and machine tool for controlling the opening and closing of a tool magazine door.

[0004] The objective of this invention is achieved through the following technical solution: The first aspect of the present invention provides a method for controlling the opening and closing of a tool magazine door of a machine tool. The machine tool includes a tool magazine storing a plurality of tools. The tool magazine has a tool changing port and a tool magazine door that can be opened and closed to open the tool changing port. The method for controlling the opening and closing of the tool magazine door includes the following steps: Receive tool change commands in real time; Based on the tool change command, control the target tool on the tool magazine to move to the tool change port; Identify the size or designation of the target tool; The opening degree of the tool magazine door is controlled according to the size or designation of the target tool. The opening degree of the tool magazine door has at least a first opening degree and a second opening degree, wherein the first opening degree is greater than the second opening degree.

[0005] Furthermore, the tools in the tool magazine are classified into large tool numbers and small tool numbers according to their diameter, with the diameter of the tool corresponding to the large tool number being larger than that of the tool corresponding to the small tool number; When the target tool has a large tool designation, the tool magazine door is opened to the first opening degree; when the target tool has a small tool designation, the tool magazine door is opened to the second opening degree.

[0006] Furthermore, the dimensions of the target tool are identified, and based on these dimensions, the theoretical opening degree required for the tool magazine door to open is calculated. The opening of the tool magazine door is then controlled according to this theoretical opening degree.

[0007] Furthermore, after controlling the opening of the tool magazine door according to the size or designation of the target tool, the following is also included: Control the tool magazine door to move in the closing direction until the tool magazine door reaches the closed position; Before reaching the closing position, monitor the closing resistance of the tool magazine door in real time; When the closing resistance of the tool magazine door is detected to be greater than the preset warning resistance, a first return command is generated. Based on the first return command, control the tool magazine door to stop moving or return to a preset distance or return to the most recent opening position or a preset opening position.

[0008] Furthermore, after controlling the tool magazine door to retract to the most recently opened position or a preset opening position, the following is also included: The weapon magazine door remains in the open position for a preset time; After a preset time, control the tool magazine door to move again in the closing direction; Before reaching the closing position, monitor the closing resistance of the tool magazine door in real time; A second retreat command is generated when the door closing resistance is detected to be greater than the warning resistance. Based on the second return command, control the tool magazine door to return to the most recently opened position / preset opening position and issue an alarm, or control the tool magazine door to stop moving and issue an alarm.

[0009] Furthermore, real-time monitoring of the closing resistance experienced by the tool magazine door specifically includes: The tool magazine door is driven by a servo motor. The load torque of the servo motor is monitored in real time to determine the closing resistance of the tool magazine door; or, The tool magazine door is equipped with a pressure sensor at the opening and closing end. Before the tool magazine door reaches the closed position, the closing resistance of the tool magazine door is calculated based on the pressure monitored by the pressure sensor.

[0010] Furthermore, the machine tool also includes a spindle and a tool changing mechanism; and includes, before controlling the tool magazine door to move in the closing direction until the tool magazine door reaches the closed position: Generate position feedback signals, including feedback that the tool magazine door has been opened to the corresponding opening degree, feedback that the target tool has reached the tool change port of the tool magazine, and feedback that the spindle has reached the spindle tool change position. Based on the position feedback signal, the tool changing mechanism is controlled to perform tool changing actions between the spindle and the tool magazine; Real-time monitoring to ensure tool changes between the tool magazine and spindle are complete; If the tool change is detected as complete, a tool change completion command is generated; Based on the tool change completion command, control the tool magazine door to move at the first speed along the closing direction to the third opening position; When the tool magazine door moves to the third opening position, the tool magazine door is controlled to move in the closing direction at a second speed until the tool magazine door reaches the closed position; wherein, the first speed is a speed with positive acceleration or a constant speed, and the second speed is a speed with negative acceleration.

[0011] Furthermore, controlling the opening degree of the tool magazine door according to the size or designation of the target tool specifically includes: The tool magazine door is controlled to move sequentially in a manner of acceleration, constant speed, and deceleration; among which, During the movement of the tool magazine door in the manner of acceleration, constant speed, and deceleration, each movement stage is set with a corresponding movement time until the movement speed of the tool magazine door reaches zero; the displacement of each movement stage in the acceleration, constant speed, and deceleration movement decreases sequentially.

[0012] A second aspect of the present invention provides a tool magazine door opening and closing control system for a machine tool. The machine tool includes a control system, a drive device, and a tool magazine. The tool magazine has an openable and closable tool magazine door. The control system controls the drive device to drive the tool magazine door to open and close. The tool magazine stores a plurality of tools. The control system is used to execute a program to implement the tool magazine door opening and closing control method described above.

[0013] A third aspect of the present invention provides a machine tool including the tool magazine door opening and closing control system of the machine tool described above.

[0014] The beneficial effects of this invention are as follows: It receives tool change commands in real time to retrieve tools, identifies the size or designation of the target tool, and controls the opening degree of the tool magazine door based on the size or designation of the target tool; wherein the opening degree of the tool magazine door has at least a first opening degree and a second opening degree, with the first opening degree being greater than the second opening degree. This application controls the degree of opening of the tool magazine door by identifying the size or designation of the tool, allowing the tool magazine door to open according to the size or designation of the tool, thereby saving tool magazine door opening and closing time; for example, large-diameter tools require a larger opening degree, while small-diameter tools require a smaller opening degree. By adapting the opening degree of the tool magazine door to the diameter of the tool, the problem of requiring the tool magazine door to be fully opened for each tool change is avoided, saving tool magazine door opening and closing time and improving tool changing efficiency. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart of the tool magazine door opening and closing control method of the machine tool of the present invention; Figure 2 This is a schematic diagram showing the position of the tool magazine door after it is fully opened according to the present invention; Figure 3 This is a schematic diagram of the closing and moving process of the tool magazine door in this invention; Figure 4 This is a schematic diagram showing the speed and time of the movement of the blade magazine door in this invention. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0017] refer to Figure 1 and Figure 2 The first aspect of the present invention provides a method for controlling the opening and closing of a tool magazine door of a machine tool. The machine tool includes a tool magazine storing a plurality of tools. The tool magazine has a tool changing port and a tool magazine door that can be opened and closed to open the tool changing port. The method for controlling the opening and closing of the tool magazine door includes the following steps: S100: Receives tool change commands in real time.

[0018] During machine tool processing, the machine tool control system keeps listening for tool change commands. When the machine tool processing program reaches the tool change node, a tool change command is generated immediately. At the same time, the control system can also receive manually triggered tool change commands in real time, ensuring normal response in both automatic and manual modes.

[0019] S200: Based on the tool change command, control the target tool on the tool magazine to move to the tool change port.

[0020] When the control system receives a tool change command, it controls the tool magazine to perform a tool adjustment step, rotating the tool magazine's turntable to move the target tool corresponding to the command to the tool change position, thus completing tool positioning. In this method, the tool adjustment process is positioned and controlled by a pre-set program within the control system. The tool magazine turntable rotates at a preset speed, and deceleration positioning is performed when the target tool approaches the tool change position.

[0021] S300: Identify the size or designation of the target tool.

[0022] After the target tool is positioned, the machine tool control system initiates tool size or label recognition. This embodiment employs a dual recognition mechanism of tool label recognition and tool size recognition to ensure recognition accuracy and stability. The tool label is a preset classification code for the machine tool; each tool has a corresponding numerical or alphanumeric label, stored in the control system's tool parameter database. When a tool with a certain label is retrieved, the tool magazine door is moved to the opening position corresponding to that type of target tool.

[0023] The tool dimensions are collected by an infrared dimension detection sensor built into the tool magazine to obtain and identify the size parameters or tool number parameters of the target tool at the current tool change position. Based on these size parameters, the tool magazine door is opened to the corresponding opening position. This embodiment adopts a dual recognition scheme: it can complete parameter matching by retrieving the tool number information pre-stored in the tool database, or it can identify tool parameters by detecting the tool's outer diameter and contour dimensions in real time through sensors, thereby reducing the error in door opening matching caused by parameter recognition deviation.

[0024] Furthermore, for tool size identification, the size of each tool can be measured when it is installed on the tool magazine. The measured size data is then input into the database of the control system to form a data table that corresponds one-to-one between tool number and tool size. For example, tool number 5 corresponds to a tool diameter of 15mm. When tool number 5 is retrieved, it can be known that the target tool diameter is 15mm. The control system then controls the tool magazine door to move to the opening position corresponding to the tool with a diameter of 15mm.

[0025] S400: Control the opening degree of the tool magazine door according to the size or designation of the target tool, wherein the opening degree of the tool magazine door has at least a first opening degree and a second opening degree, wherein the first opening degree is greater than the second opening degree.

[0026] In this embodiment, the control system is pre-set with at least two levels of tool magazine door opening, including a first opening and a second opening. The opening stroke of the first opening is greater than that of the second opening. The two opening levels of the tool magazine door can adapt to the tool changing needs of different tool sizes. Specifically, the first opening is for large-sized tools, with a larger opening stroke, which can meet the needs of large-diameter, large-profile tools turning out of the tool magazine door; the second opening is for small-sized tools, with a smaller opening stroke, only retaining the minimum door opening space required for changing small tools.

[0027] After identifying the target tool's designation or size parameters, the control system automatically matches the corresponding preset opening level. If the target tool is a large-sized tool, the first opening level is executed; if the target tool is a small-sized tool, the second opening level is executed, ensuring that the tool magazine door only opens to the necessary degree for the current tool change operation, without needing to fully open to its maximum stroke each time. Furthermore, in some embodiments, three opening levels can be set; for example, the first opening level corresponds to tools with a large designation or size, the second opening level corresponds to tools with a medium designation or size, and the third opening level corresponds to tools with a small designation or size.

[0028] Compared to the traditional control method of opening the tool magazine door to its maximum opening throughout the entire process, this embodiment effectively reduces the invalid travel of the tool magazine door during tool changing by using adaptive control of the opening in stages, thereby reducing the operating energy consumption of the drive device that drives the tool magazine door, shortening the time for a single tool change, and improving the overall machining efficiency of the machine tool.

[0029] In a preferred embodiment, several tools in the tool magazine are classified into large tool number and small tool number according to their diameter, with the diameter of the tool corresponding to the large tool number being larger than that of the tool corresponding to the small tool number; When the target tool has a large tool designation, the tool magazine door is opened to the first opening degree; when the target tool has a small tool designation, the tool magazine door is opened to the second opening degree.

[0030] Specifically, this embodiment pre-classifies and labels all tools inside the tool magazine to achieve rapid matching and precise control of the tool opening, thereby improving the tool change response speed. In the tool database of the machine tool control system, all tools stored in the tool magazine are classified and defined, with tool diameter as the core classification criterion. A diameter threshold is set as the classification benchmark. The specific threshold can be customized according to the machine tool tool magazine specifications and commonly used tool sizes. In this embodiment, a diameter classification threshold of 20mm is preferably set, dividing all tools into two categories: large-diameter tools and small-diameter tools.

[0031] Tools with a diameter greater than 20mm are classified as large tools and identified by a large tool designation number. The designation number begins with the capital letter A, followed by the tool's serial number, such as A01, A02, A03, etc. Small-diameter tools with a diameter of 20mm or less are classified as small tools and identified by a small tool designation number. The designation number begins with the capital letter B, followed by the tool's serial number, such as B01, B02, B03, etc. All tool designations, diameters, tool types, and applicable machining conditions are stored in the control system's built-in database. This data can be manually modified, added, and deleted to adapt to actual usage scenarios requiring tool replacement and replenishment.

[0032] When a machine tool performs a tool change operation, the control system receives the tool change command and first reads the target tool number carried in the command. It quickly determines the tool type by the first character of the number, eliminating the need for real-time acquisition and detection of tool dimensions, and can quickly match the corresponding tool magazine door opening. For example, when the target tool number is identified as a large tool starting with "A", the control system retrieves a preset first opening parameter and drives the tool magazine door to open to the first opening position, meeting the tool change space requirements for large-diameter tools and avoiding collisions and interference between the tool and the tool magazine door due to insufficient opening. When the target tool number is identified as a small tool starting with "B", the control system retrieves a preset second opening parameter and drives the tool magazine door to open to the second opening, completing the small tool change operation with the minimum effective opening. Figure 2 .

[0033] In a preferred embodiment, the size of the target tool is identified, and the theoretical opening degree required for the tool magazine door to open is calculated based on the size of the target tool. The opening of the tool magazine door is then controlled according to the theoretical opening degree.

[0034] Specifically, the theoretical opening degree of the tool magazine door is calculated in real time based on the actual size of the target tool, enabling adaptive adjustment of the opening degree to accommodate tool changing scenarios involving non-standard sized tools and specially shaped tools. In this embodiment, unlike the fixed-position opening degree setting method, a real-time detection or calculation method is used to make the opening degree of the tool magazine door more accurately match the size of the target tool, further reducing ineffective opening strokes.

[0035] Infrared dimensional sensors or laser rangefinders are arranged on both sides of the tool changer opening. These two sets of sensors work together to collect dimensional parameters such as the maximum outer diameter and tool profile width of the target tool from all directions, obtaining profile dimensional data for non-standard and irregularly shaped tools. The sensors synchronously transmit the real-time dimensional data to the machine tool control system's calculation module. This module has a pre-set opening calculation formula. This formula, combined with parameters such as the maximum tool profile size, tool change safety clearance, and tool magazine door structural clearance, comprehensively calculates the theoretical opening of the tool magazine door required for this tool change. After calculation, a corresponding opening displacement command for the target tool is generated. The control system then controls the drive device to open the tool magazine door to the calculated theoretical opening position based on this command, achieving an adaptive opening more suited to the target tool size.

[0036] For example, when the target tool is a standard tool with a diameter of 10mm, the sensor detects the size in real time and calculates the theoretical opening. The tool magazine door only needs to be opened to meet the tool changing requirements. When the target tool is a tool with a diameter of 35mm, the control system automatically recalculates and matches a larger theoretical opening to accommodate the tool changing space of the larger tool. When the target tool is a medium-sized tool, the control system controls the tool magazine door to match a corresponding medium opening. Compared with the fixed two-level opening control method, this embodiment can adapt to tool changing operations of all sizes and types of tools, without gear limitations, and minimizes the ineffective opening and closing stroke of the tool magazine door. It is suitable for machining scenarios where multiple specifications and non-standard tools are frequently switched.

[0037] In a preferred embodiment, step S400 is followed by: S500: Controls the tool magazine door to move in the closing direction until the tool magazine door reaches the closed position; S600: Monitors the closing resistance of the tool magazine door in real time before reaching the closing position; S700: When the closing resistance of the tool magazine door is detected to be greater than the preset warning resistance, a first return command is generated; S800: Based on the first return command, control the tool magazine door to stop moving or return to a preset distance or return to the most recent door opening position or a preset door opening position.

[0038] Specifically, after the tool magazine door opens according to the target tool size or number and the machine tool successfully completes the tool change, the control system starts the closing procedure, driving the tool magazine door to move in the closing direction until it completely reaches the preset closing position, thus completing the sealing and protection of the tool change port.

[0039] During the closing movement of the tool magazine door, the control system monitors the closing resistance experienced by the door in real time throughout the travel range before it reaches the final closing position. In this embodiment, the control system has a preset warning resistance threshold, which is the maximum allowable resistance value of the tool magazine door under normal closing conditions. This threshold can be set according to parameters such as the weight of the tool magazine door, the friction of the transmission structure, and the operating speed. Under normal closing conditions without jamming or interference, the actual closing resistance of the tool magazine door is always lower than the warning resistance threshold.

[0040] When abnormal conditions are encountered during the tool magazine door closing process, such as debris accumulation on the tool changing edge, jamming of the tool magazine door slide rail, obstruction of the transmission structure by foreign objects, or obstruction of the tool magazine door entrance, the closing operation of the tool magazine door will encounter additional resistance, and the real-time monitored closing resistance value will increase. When the closing resistance detected by the control system exceeds the preset warning resistance, it immediately determines that the current closing condition is abnormal, automatically generates a first reversal command, and the command response priority is higher than the normal closing command, which can immediately stop the current closing action.

[0041] Based on the first return command, the control system can execute abnormal closing protection actions according to three preset avoidance methods. These three methods can be freely configured according to the machine tool's operating conditions: The first is immediate stop, immediately locking or shutting down the drive device that drives the tool magazine door, stopping the door in an abnormal position to prevent structural damage caused by forced closing; the second is fixed-point return at a preset distance, controlling the tool magazine door to move backward a safe distance of 3-5mm to eliminate instantaneous compressive stress; the third is return to the protection position, where the control system controls the tool magazine door to directly return to the most recent opening position corresponding to this tool change, or the system-preset safe opening position. This embodiment, through real-time resistance monitoring and abnormal return protection, can effectively avoid problems such as door panel deformation, slide rail wear, motor overload burnout, and tool crushing damage caused by forced closing of the tool magazine door; when an operator blocks the tool magazine door, it can also prevent the operator from being pinched.

[0042] In a preferred embodiment, step S800 is followed by: S900: Preset time for the tool magazine door to remain in the open position; S1000: After a preset dwell time, control the tool magazine door to move again in the closing direction; S1100: Monitors the closing resistance of the tool magazine door in real time before reaching the closing position; S1200: When the door closing resistance is detected to be greater than the warning resistance, a second retreat command is generated; S1300: Based on the second return command, control the tool magazine door to return to the most recently opened position / preset opening position and issue an alarm, or control the tool magazine door to stop moving and issue an alarm.

[0043] Specifically, when the tool magazine door responds to the first retraction command and returns to the most recent opening position or the preset safe opening position, the control system will not directly determine a fault and stop the machine. Instead, it will initiate a delayed retry mechanism. After the tool magazine door returns to the aforementioned opening position or safe position, it will remain stationary for a preset time, preferably 1-3 seconds in this embodiment. After the timeout period, the control system will automatically control the tool magazine door to move again in the closing direction and perform the closing action again. Throughout the second closing process, the system will continue to monitor the closing resistance of the tool magazine door in real time.

[0044] If the closing resistance remains below the warning resistance threshold during the second closing process, it indicates that the first resistance anomaly was a minor, intermittent fault such as momentary obstruction or temporary structural misalignment. The tool magazine door can then close smoothly, and the equipment can enter standby processing mode without manual intervention, thus reducing the probability of false alarms and accidental shutdowns. If the system detects that the closing resistance exceeds the preset warning resistance again during the second closing process, it determines that a fault exists and is not a momentary obstruction, and immediately generates a second reversal command.

[0045] The second return command in this embodiment corresponds to two processing methods, which can be customized according to the equipment operating mode: The first method is return-to-position + audible and visual alarm, which controls the tool magazine door to return to the safe open position and remain stationary and locked, while triggering the machine tool's audible and visual alarm device to alert the operator; the second method is immediate stop + audible and visual alarm, which directly terminates the closing action, locks the tool magazine door's operating state, and simultaneously issues an alarm. Through multi-level fault tolerance and graded fault handling, this embodiment can distinguish between minor, occasional faults and serious structural faults, effectively solving the problems of frequent shutdowns or missed fault detection caused by the single protection method of traditional equipment, and significantly improving the intelligence level and operational safety of the tool machine tool.

[0046] In a preferred embodiment, the tool magazine door is driven by a servo motor, and the closing resistance of the tool magazine door is obtained in real time by monitoring the load torque of the servo motor.

[0047] Specifically, the servo motor load torque monitoring method enables sensorless resistance monitoring for the tool magazine door's servo drive system. The opening and closing of the tool magazine door is driven by a servo motor, which has a built-in torque detection module that can collect the output load torque during the servo motor's operation in real time. The control system has a preset torque-resistance conversion model, which can accurately calculate the current closing resistance of the tool magazine door based on the real-time collected servo motor load torque values. This monitoring method requires no additional detection accessories and can be implemented using the existing drive system of the equipment. It features low cost, fast response, no mechanical wear, and compatibility with conventional precision machine tools.

[0048] In another embodiment, a pressure sensor is provided at the opening and closing end of the tool magazine door. Before the tool magazine door reaches the closed position, the closing resistance of the tool magazine door is calculated based on the pressure monitored by the pressure sensor.

[0049] Specifically, in this embodiment, one or more pressure sensors are evenly arranged at the opening and closing ends and the closing contact surface of the tool magazine door. The pressure sensors are embedded in the surface and do not affect the normal opening and closing of the tool magazine door. When the tool magazine door is near the closing position and is subjected to pressure from the contact surface or an obstacle, the pressure sensors can collect pressure data in real time and transmit the analog signal synchronously to the control system. The control system calculates the overall closing resistance value of the tool magazine door using a single pressure value or a weighted average of multiple pressure data points. Calculating using multiple pressure data points provides higher monitoring accuracy.

[0050] In practical work, the closing resistance of the tool magazine door can be obtained by monitoring the servo motor or pressure sensor. The two monitoring methods can be used alone or in combination to adapt to machine tool equipment with different accuracy levels and configurations, and have strong compatibility.

[0051] In a preferred embodiment, the machine tool further includes a spindle and a tool changing mechanism; the tool magazine door is moved in the closing direction, as referenced. Figure 3 The steps preceding step S500 also include: Step 1: Generate position feedback signals. The position feedback signals include feedback that the tool magazine door has been opened to the corresponding opening degree, feedback that the target tool has reached the tool changer in the tool magazine, and feedback that the spindle has reached the spindle tool changer position. Step 2: Based on the position feedback signal, control the tool changer to perform tool changing actions between the spindle and the tool magazine; Step 3: Monitor in real time whether the tool change between the tool magazine and the spindle is complete; Step 4: If the tool change is detected as complete, generate a tool change complete command; Step 5: Based on the tool change completion command, control the tool magazine door to move along the closing direction at the first speed to the third opening position; Step Six: When the tool magazine door moves to the third opening position, control the tool magazine door to move in the closing direction at the second speed until the tool magazine door reaches the closed position; wherein, the first speed is a speed with positive acceleration or a constant speed, and the second speed is a speed with negative acceleration.

[0052] Specifically, the machine tool equipment in this embodiment is equipped with a spindle assembly and a tool changing mechanism, which can realize fully automatic unmanned tool changing operation between the tool magazine and the spindle. The control system realizes tool changing and door closing speed control through multi-signal linkage feedback.

[0053] After the tool magazine door opens to the opening degree corresponding to the target tool (such as the first or second opening degree corresponding to the target tool), the target tool arrives at the tool changer, and the machine tool spindle moves to the preset spindle tool change position, the monitors at each corresponding monitoring position will generate three sets of position feedback signals: a feedback signal indicating that the tool magazine door is in position, a feedback signal indicating that the target tool has arrived at the tool changer, and a feedback signal indicating that the spindle has arrived at the spindle tool change position. After all three sets of signals are transmitted synchronously to the control system, the control system determines that the tool change preparation work is complete and can trigger the automatic tool changer to operate. The control system then controls the tool changer to perform the tool change action on the spindle and the tool magazine.

[0054] Throughout the entire tool changing process, the control system monitors the tool changing status in real time. It uses data from the position encoder and tool clamping sensor of the tool changing mechanism to determine whether the tool changing operation is complete. Once the system detects that the spindle tool is properly clamped, the tool magazine has been reset, and the tool changing mechanism has returned to the standby position, it immediately generates a tool changing completion command, marking the completion of the tool changing operation.

[0055] After receiving the tool change completion command, the control system initiates a tiered door closing control. First, it drives the tool magazine door to move in the closing direction at a first speed until it reaches a preset third opening position. The first speed is set to a constant speed or positive acceleration, a relatively high speed that allows for rapid completion of most of the closing stroke, effectively shortening the overall operation time. The third opening is a preset buffer switching opening, a reserved buffer position before the tool magazine door closes, which can be customized according to the tool magazine door's travel distance.

[0056] Once the tool magazine door moves to the buffer position of the third opening degree, the control system immediately switches the operating speed, controlling the tool magazine door to slowly close at a second speed until it is fully closed. The second speed is a deceleration operation with negative acceleration, and the speed gradually decreases until the door comes to a stop. By using a staged closing mode that starts fast and then slows down, the problem of excessively long closing time at low speed throughout the entire process is solved, while avoiding problems such as closing impact, door panel vibration, and structural wear caused by high-speed closing throughout the entire process. This achieves a dual optimization of efficiency and stability.

[0057] In a preferred embodiment, reference Figure 4 Step S400 specifically includes: S401: Controls the tool magazine door to move sequentially in an accelerating, constant speed, and decelerating manner; wherein... S402: During the process of the tool magazine door moving in an accelerated, constant speed, and decelerated manner, each movement stage is set with a corresponding movement time until the movement speed of the tool magazine door reaches zero; the displacement of each movement stage in the accelerated movement, constant speed movement and decelerated movement decreases sequentially.

[0058] Specifically, the entire process of the tool magazine door opening from its initial closed position to its target opening position is completed in three stages: acceleration, constant speed, and deceleration, until the tool magazine door smoothly decelerates to zero speed and stops at the target opening position (the opening position corresponding to the target tool). The control system presets independent running times for each of the three movement stages.

[0059] This embodiment employs different proportions for the displacement at each stage, with the displacement decreasing sequentially in the acceleration, constant speed, and deceleration stages. For different target opening degrees, the system can adaptively adjust the specific values ​​and running times of the three-stage displacement: when the second opening degree (small opening) is opened, the overall stroke is shorter, and the displacement at each stage is reduced synchronously to maintain smooth short-distance movement; when the first opening degree (large opening) is opened, the overall stroke is longer, and the displacement and running time at each stage are appropriately increased to improve operating efficiency while ensuring stability. This segmented variable speed displacement control method in this embodiment achieves smooth start-stop and shock-free operation during the tool magazine door opening and closing process, reducing equipment operating noise and mechanical wear, and making the tool magazine door opening and closing action smoother and more stable.

[0060] A second aspect of the present invention provides a tool magazine door opening and closing control system for a machine tool. The machine tool includes a control system, a drive device, and a tool magazine. The tool magazine has an openable and closable tool magazine door. The control system controls the drive device to drive the tool magazine door to open and close. The tool magazine stores a plurality of tools. The control system is used to execute a program to implement any of the above-described tool magazine door opening and closing control methods.

[0061] A third aspect of the present invention provides a machine tool including the aforementioned tool magazine door opening and closing control system. By applying the tool magazine door opening and closing control system to the entire machine, the tool magazine door can adaptively match the optimal opening degree according to the target tool size and designation for each tool change, thereby reducing the ineffective travel of the tool magazine door, shortening the single tool change time, and improving the overall machining efficiency of the machine tool.

[0062] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the opening and closing of a tool magazine door in a machine tool, the machine tool including a tool magazine, the tool magazine storing a plurality of tools, the tool magazine having a tool changing port and a tool magazine door that can be opened and closed to open the tool changing port, characterized in that, The method for controlling the opening and closing of the tool magazine door includes the following steps: Receive tool change commands in real time; Based on the tool change command, control the target tool on the tool magazine to move to the tool change port; Identify the size or designation of the target cutting tool; The opening degree of the tool magazine door is controlled according to the size or number of the target tool, wherein the opening degree of the tool magazine door has at least a first opening degree and a second opening degree, wherein the first opening degree is greater than the second opening degree.

2. The method for controlling the opening and closing of the tool magazine door of a machine tool according to claim 1, characterized in that, The tools in the tool magazine are classified into large tool numbers and small tool numbers according to their diameter, wherein the diameter of the tool corresponding to the large tool number is larger than the diameter of the tool corresponding to the small tool number. When the target tool has a large tool designation, the tool magazine door is controlled to open at the first opening degree; when the target tool has a small tool designation, the tool magazine door is controlled to open at the second opening degree.

3. The method for controlling the opening and closing of the tool magazine door of a machine tool according to claim 1, characterized in that, Identify the size of the target tool, calculate the theoretical opening degree required for the tool magazine door based on the size of the target tool, and control the opening of the tool magazine door according to the theoretical opening degree.

4. The method for controlling the opening and closing of the tool magazine door of a machine tool according to any one of claims 1-3, characterized in that, After controlling the opening of the tool magazine door according to the size or designation of the target tool, the process further includes: Control the tool magazine door to move in the closing direction until the tool magazine door reaches the closed position; Before reaching the closing position, the closing resistance of the tool magazine door is monitored in real time; When the closing resistance of the tool magazine door is detected to be greater than the preset warning resistance, a first return command is generated. Based on the first return command, the tool magazine door is controlled to stop moving or return a preset distance or return to the most recent opening position or a preset opening position.

5. The method for controlling the opening and closing of the tool magazine door of a machine tool according to claim 4, characterized in that, After controlling the tool magazine door to retract to the most recently opened position or a preset opening position, the method further includes: The weapon magazine door remains in the open position for a preset time; After a preset time, the tool magazine door is controlled to move again in the closing direction; Before reaching the closing position, the closing resistance of the tool magazine door is monitored in real time; When the door closing resistance is detected to be greater than the warning resistance, a second retreat command is generated. Based on the second retraction command, control the tool magazine door to retract to the most recently opened position / preset opening position and issue an alarm, or control the tool magazine door to stop moving and issue an alarm.

6. The method for controlling the opening and closing of the tool magazine door of a machine tool according to claim 5, characterized in that, The real-time monitoring of the closing resistance experienced by the tool magazine door specifically includes: The tool magazine door is driven by the servo motor, and the closing resistance of the tool magazine door is obtained in real time by monitoring the load torque of the servo motor; or, The opening and closing end of the tool magazine door is equipped with a pressure sensor. Before the tool magazine door reaches the closed position, the closing resistance of the tool magazine door is calculated based on the pressure monitored by the pressure sensor.

7. The method for controlling the opening and closing of the tool magazine door of a machine tool according to claim 5, characterized in that, The machine tool also includes a spindle and a tool changing mechanism; and before controlling the tool magazine door to move in the closing direction until the tool magazine door reaches the closed position, it also includes: A position feedback signal is generated, which includes feedback that the tool magazine door has been opened to the corresponding opening degree, feedback that the target tool has reached the tool change port of the tool magazine, and feedback that the spindle has reached the spindle tool change position. Based on the position feedback signal, the tool changing mechanism is controlled to perform a tool changing action between the spindle and the tool magazine; Real-time monitoring of whether the tool change between the tool magazine and the spindle is completed; If the tool change is detected as complete, a tool change complete command is generated; Based on the tool change completion command, the tool magazine door is controlled to move at a first speed along the closing direction to the third opening position; When the tool magazine door moves to the third opening position, the tool magazine door is controlled to move in the closing direction at a second speed until the tool magazine door reaches the closed position; wherein, the first speed is a speed with positive acceleration or a constant speed, and the second speed is a speed with negative acceleration.

8. The method for controlling the opening and closing of the tool magazine door of a machine tool according to any one of claims 1-3, characterized in that, Controlling the opening degree of the tool magazine door according to the size or designation of the target tool specifically includes: The tool magazine door is controlled to move sequentially in a manner of acceleration, constant speed, and deceleration; wherein, During the process of the tool magazine door moving in an accelerated, constant speed, and decelerated manner, each movement stage is set with a corresponding movement time until the movement speed of the tool magazine door reaches zero; the displacement of each movement stage in the accelerated movement, constant speed movement, and decelerated movement decreases sequentially.

9. A tool magazine door opening and closing control system for a machine tool, the machine tool comprising a control system, a drive unit, and a tool magazine, the tool magazine having an openable and closable tool magazine door, the control system controlling the drive unit to open and close the tool magazine door, the tool magazine storing a plurality of cutting tools, characterized in that, The control system is used to execute a program to implement the tool magazine door opening and closing control method according to any one of claims 1-8.

10. A machine tool, characterized in that, The tool magazine door opening and closing control system of the machine tool as described in claim 9.

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