Control method and system based on a drilling machine feed control circuit

Abstract

The present invention relates to the technical field of workpiece drilling control. Disclosed are a control method and system based on a drilling machine feed control circuit. The control method based on a drilling machine feed control circuit comprises the following steps: first feed control; second feed control; and retraction control. In the present invention, whether a first feed operation is completed is determined on the basis of a first feed state monitored in real time; if the first feed operation is completed, whether a second feed operation is completed is determined on the basis of a second feed state monitored in real time; and if the second feed operation is completed, whether a retraction operation is completed is determined on the basis of a retraction state monitored in real time, achieving the effect of improving the accuracy of automatic adjustment of a feed speed and a retraction speed of a stepper motor, and thus solving the problem in the prior art of low accuracy of automatic adjustment of a feed speed and a tool retraction speed of a feed stepper motor in a fully automatic drilling machine.

Description

Control Method and System Based on Drilling Machine Feed Control Circuit Technical Field

[0001] This invention relates to the field of workpiece drilling control technology, and in particular to a control method and system based on a drilling machine feed control circuit. Background Technology

[0002] With the continuous advancement of industrial manufacturing technology, drilling has become increasingly important in the machinery manufacturing industry. As a key piece of equipment in drilling, the performance and control precision of the drilling machine directly affect processing quality and production efficiency. Traditional magnetic drilling machines have a fixed feed speed and rely solely on a motor drive principle. When the drill bit becomes dull, the increased motor load current leads to frequent overload shutdowns, damaging the feed motor and main motor, and even causing the drill bit to wear out and seize. This significantly increases overall costs and affects project delivery schedules. In light of these issues, a fully automatic magnetic drilling machine has emerged. This controlled magnetic drilling machine can automatically feed, retract, and stop, with a uniform feed speed. When the drill bit becomes dull or the workpiece material is hard, the increased motor load current automatically adjusts the feed speed, effectively protecting the feed motor and main motor, allowing the machine to operate at its maximum efficiency.

[0003] In existing technologies, PLC (Programmable Logic Controller) is used as the control core to achieve precise control of drill bit feed speed, direction, and stopping actions through programming. In addition, advanced technologies such as sensors and touch screens are combined to realize intelligent control and remote monitoring of drilling machines.

[0004] For example, the patent announcement CN214751496U discloses an automatic control system for a drilling machine, which includes: setting a first detection device and a first execution device; when the drilling machine is detected to be drilling a workpiece, the system opens the hole in the workpiece at a lower speed; and during the drilling process, the system performs real-time detection on the drilling machine and the workpiece, and if the drilling machine is detected to have a malfunction or the workpiece is damaged, the system can stop the drilling machine in time and issue an alarm.

[0005] For example, the invention patent announcement CN109669378B discloses a dynamic threshold detection circuit, method, and concentrator, which includes: receiving a load return signal fed back from a communication output interface circuit, converting it, and outputting a first current signal to a comparison circuit; tracking the load return signal and identifying the corresponding load current, and when a load current fluctuation is detected, matching it to a preset variable threshold for the load current fluctuation to output a second current signal to the comparison circuit; comparing the first current signal with the second current signal, detecting the load return data corresponding to the load return signal based on the comparison result, and feeding it back to the controller; and adjusting the communication voltage generated by the communication voltage generation circuit driven by the driving circuit according to the load return data received by the controller to control the load connected to the communication output interface circuit to operate normally.

[0006] However, in the process of implementing the inventive technical solution in the embodiments of this application, it was found that the above-mentioned technology has at least the following problems: Technical issues: In existing technologies, the magnetic attraction of a disk may weaken due to slight demagnetization, but it may not be completely lost. The detection circuit may not be able to accurately identify this situation, thus starting the motor when the disk's attraction is unstable, which increases the operational risk. Secondly, although existing control methods take into account the low-speed drilling at the beginning of the drilling process to avoid drill bit problems, they lack intelligent adjustment based on factors such as workpiece material and thickness. This may lead to low drilling efficiency or an increased risk of drill bit damage, resulting in frequent overload shutdowns of the drilling machine. There is also the problem of low accuracy in the automatic adjustment of the feed and retraction speeds of the feed stepper motor in fully automatic drilling machines. Summary of the Invention

[0007] This application provides a control method and system based on the feed control circuit of a drilling machine, which solves the problem of low accuracy in the automatic adjustment of the feed speed and retraction speed of the feed stepper motor in the prior art of fully automatic drilling machines, and realizes more accurate automatic adjustment of the feed speed and retraction speed of the stepper motor.

[0008] This application provides a control method based on a drilling machine feed control circuit, including the following steps: Step 1, real-time monitoring of the first feed state of the drilling machine during the first feed process to determine whether the first feed operation is completed; Step 2, if the first feed operation is completed, real-time monitoring of the second feed state of the drilling machine during the second feed process to determine whether the second feed operation is completed; Step 3, if the second feed operation is completed, real-time monitoring of the retraction state of the drilling machine during the retraction process to determine whether the retraction operation is completed.

[0009] Furthermore, the specific process for real-time monitoring of the first feed state of the drilling machine during the first feed process is as follows: Z1, acquire the spindle gear temperature of the stepper motor at a specified first feed moment. When the spindle gear temperature is greater than the allowable spindle gear temperature in the database, the overheat protection circuit is triggered. The overheat protection circuit has the function of automatically reducing the starting current of the stepper motor; otherwise, execute Z2; Z2, acquire the operating current of the stepper motor at a specified first feed moment. When the operating current is greater than the allowable operating current in the database, the overload protection circuit is triggered. The overload protection circuit has the function of automatically reducing the load current of the stepper motor; otherwise, execute Z3; Z3, analyze the acquired first feed state data to obtain the control circuit protection coefficient. The first feed state data includes the first disk adsorption force, the first load current, the stepper motor load, the spindle gear temperature, and the operating current. The control circuit protection coefficient represents the quantitative data of the degree of influence of the first feed state data on the compliance of the first feed process.

[0010] Furthermore, the specific process for analyzing the acquired first feed state data to obtain the control circuit protection coefficient is as follows: First disk adsorption force coefficient is obtained, which reflects the relationship between the first disk adsorption force and drilling stability during the first feed process of the drilling machine; when the spindle gear temperature is not greater than the allowable spindle gear temperature in the database and the operating current is not greater than the allowable operating current in the database, the operating current of the stepper motor in the drilling machine at the specified first feed moment is obtained, and it is determined whether the obtained operating current is not less than the reference operating current in the database. If so, the operating current coefficient is obtained; otherwise, the change in the stepper motor's operating current during the first feed process continues to be monitored; the difference between the first load current and the allowable load current of the main motor is corrected by the first load current weighting factor to obtain the first load current coefficient; the stepper motor load coefficient is obtained, and the control circuit protection coefficient is obtained by weighting the first disk adsorption force coefficient and the operating current coefficient; the stepper motor load coefficient is used to quantify the influence of the stepper motor load on the compliance of the first feed process.

[0011] Furthermore, the specific process for real-time monitoring of the second feed state of the drilling machine during the second feed process is as follows: X1, acquire the second load current of the main motor at the specified second feed moment, and simultaneously determine whether the second load current is not less than the allowable load current of the main motor. If so, automatically adjust the feed speed based on the acquired second load current deviation and then execute X2; otherwise, directly execute X2; X2, acquire the second feed state data, and correct the difference between the second load current and the allowable load current of the main motor using the second load current weighting factor to obtain the second load current coefficient; X3, transfer the acquired second load current... The feed process compliance index is obtained by correcting the flow coefficient, coolant flow coefficient, and drilling torque coefficient; the second feed state data includes the second disk adhesion force, second load current, coolant flow rate, and drilling torque; the coolant flow coefficient represents the result of the coolant flow weight factor correcting the difference between the coolant flow rate and the reference coolant flow rate; the drilling torque coefficient represents the result of the drilling torque weight factor correcting the difference between the drilling torque and the reference drilling torque; the feed process compliance index represents the quantified data of the influence of the second feed state data on the compliance of the second feed process.

[0012] Furthermore, the specific process for real-time monitoring of the drilling machine's retraction status during the retraction process is as follows: R1, real-time monitoring of the stepper motor's steering adjustment status before retraction to obtain the steering adjustment response time. If the steering adjustment response time is within the allowable range of the steering adjustment response time in the database, R2 is executed directly; otherwise, a preset personnel is prompted to check and optimize the stepper motor's driver program before executing R2; R2, real-time monitoring of the main motor's fifth load current at a specified retraction moment. If the fifth load current is not greater than the main motor's allowable load current, R3 is executed directly; otherwise, an automatic drill bit switching command is sent, and the drilling machine's retraction speed is automatically adjusted based on the obtained fifth load current deviation before executing R3; R3, obtaining and analyzing the retraction status data to obtain the retraction process compliance index. The retraction status data includes the steering adjustment response time, the fifth load current, the automatic drill bit switching command response time, and the third disk adsorption force.

[0013] Furthermore, the compliance index of the tool retraction process is obtained through the following method: The third disk adhesion force coefficient and the fifth load current coefficient are obtained and subjected to correlation averaging to obtain the first compliance index of the tool retraction process. The third disk adhesion force coefficient reflects the relationship between the adhesion force of the third disk and the drilling stability during the tool retraction process. The fifth load current coefficient quantifies the change in the fifth load current of the main motor during the tool retraction process. The first compliance index of the tool retraction process represents the quantified data of the combined influence of the third disk adhesion force coefficient and the fifth load current coefficient on the compliance degree of the tool retraction process. After de-unitization processing, the index is obtained... The first and second retraction process compliance indices are obtained by performing correlation processing on the steering adjustment response time and the automatic drill bit switching command response time. The second retraction process compliance index represents the quantitative data of the degree of influence of the steering adjustment response time and the automatic drill bit switching command response time on the compliance of the retraction process. The obtained first and second retraction process compliance indices are respectively modified and coupled to obtain the retraction process compliance index. The retraction process compliance index represents the quantitative data of the degree of influence of the steering adjustment response time, the fifth load current, the automatic drill bit switching command response time, and the third disk adsorption force on the compliance of the retraction process.

[0014] This application provides a control system based on a drilling machine feed control circuit, including: a first feed control module, a second feed control module, and a retraction control module; wherein, the first feed control module is used to monitor the first feed state of the drilling machine in real time during the first feed process and determine whether the first feed operation is completed; the second feed control module is used to monitor the second feed state of the drilling machine in real time during the second feed process if the first feed operation is completed and determine whether the second feed operation is completed; the retraction control module is used to monitor the retraction state of the drilling machine in real time during the retraction process if the second feed operation is completed and determine whether the retraction operation is completed.

[0015] One or more technical solutions provided in this application embodiment have at least the following technical effects or advantages: 1. The first feed operation is determined by real-time monitoring of the first feed state. If the first feed operation is completed, the second feed operation is determined based on real-time monitoring of the second feed state. If the second feed operation is completed, the retraction operation is determined based on real-time monitoring of the retraction state. This ensures the continuity and accuracy of the drilling operation of the drilling machine, realizes precise control of the drilling process of the fully automatic drilling machine, and further realizes more accurate automatic adjustment of the feed speed and retraction speed of the stepper motor. This effectively solves the problem of low accuracy of automatic adjustment of the feed speed and retraction speed of the feed stepper motor in the prior art of fully automatic drilling machines.

[0016] 2. By acquiring the spindle gear temperature and operating current of the stepper motor at the specified first feed moment, and when the spindle gear temperature is not greater than the allowable spindle gear temperature in the database and the operating current is not greater than the allowable operating current in the database, the acquired first feed state data is analyzed to obtain the control circuit protection coefficient. This improves the accuracy of the control circuit protection coefficient acquisition, thereby achieving stable and efficient first feed operation of the fully automatic drilling machine.

[0017] 3. By acquiring the second load current of the main motor at the specified second feed moment, and simultaneously determining whether the second load current is not less than the allowable load current of the main motor, if so, the feed speed is automatically adjusted based on the acquired second load current deviation to acquire the second feed state data. The feed process compliance index is obtained based on the analysis results of the second feed state data, thereby improving the accuracy of the feed process compliance index acquisition, and thus achieving a dual improvement in the processing quality and efficiency of the fully automatic drilling machine.

[0018] 4. By monitoring changes in load current in real time and dynamically adjusting coolant flow and stepper motor speed, real-time feedback and precise control of the feed process are achieved. Compared with the fixed parameter settings in existing technologies, this dynamic adjustment method is more adaptable to different processing conditions and load changes, thereby improving the accuracy and efficiency of automated feed parameter adjustment, which in turn improves the drilling efficiency of the drilling machine and reduces the skill requirements for operators, making the operation of the fully automatic drilling machine simpler and more reliable. Attached Figure Description

[0019] Figure 1 is a flowchart of the control method based on the drilling machine feed control circuit provided in the embodiment of this application; Figure 2 is a schematic diagram of the drilling machine feed control circuit provided in the embodiment of this application; Figure 3 is a structural schematic diagram of the fully automatic drilling machine provided in the embodiment of this application; Figure 4 is a cross-sectional view of the lifting shaft position of the fully automatic drilling machine provided in the embodiment of this application; Figure 5 is a cross-sectional view of the clutch component provided in the embodiment of this application; Figure 6 is a structural diagram of the rack provided in the embodiment of this application; In the figures: 1, stepper motor; 2, lifting gear; 3, lifting shaft; 4, stepper motor rotor; 5, lifting handle; 6, automatic shifter; 7, steel ball; 8, rotating shaft; 9, spring; 10, lifting gear groove; 11, lifting shaft groove; 12, boss; 13, gear; 14, rack; 15, drill bit assembly; Figure 7 is a structural schematic diagram of the control system based on the drilling machine feed control circuit provided in the embodiment of this application. Detailed Implementation

[0020] This application provides a control method and system based on the feed control circuit of a drilling machine, which solves the problem of low accuracy in the automatic adjustment of the feed speed and retraction speed of the feed stepper motor in the prior art of fully automatic drilling machines. By real-time monitoring of the first feed state during the first feed process to obtain first feed state data, and analyzing the obtained first feed state data to determine whether the first feed operation is completed, if the first feed operation is completed, the method further monitors the second feed state during the second feed process to obtain second feed state data, and analyzes the obtained second feed state data to determine whether the second feed operation is completed. If the second feed operation is completed, the method further monitors the retraction state during the retraction process to obtain retraction state data, and finally analyzes the obtained retraction state data to determine whether the retraction operation is completed. This achieves more accurate automatic adjustment of the feed speed and retraction speed of the stepper motor.

[0021] The technical solution in this application embodiment addresses the problem of low accuracy in the automatic adjustment of the feed and retraction speeds of the stepper motor in the aforementioned fully automatic drilling machine. The overall approach is as follows: The first feed state is monitored in real-time to determine whether the first feed operation is complete. If the first feed operation is complete, the second feed state is monitored in real-time to determine whether the second feed operation is complete. If the second feed operation is complete, the retraction state is monitored in real-time to determine whether the retraction operation is complete. This achieves the effect of improving the accuracy of the automatic adjustment of the stepper motor's feed and retraction speeds.

[0022] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] Figure 1 shows a flowchart of a control method based on a drilling machine feed control circuit provided in this application embodiment. The control method based on a drilling machine feed control circuit provided in this application embodiment includes the following steps: Step 1, real-time monitoring of the first feed state of the drilling machine during the first feed process to determine whether the first feed operation is completed; Step 2, if the first feed operation is completed, real-time monitoring of the second feed state of the drilling machine during the second feed process to determine whether the second feed operation is completed; Step 3, if the second feed operation is completed, real-time monitoring of the retraction state of the drilling machine during the retraction process to determine whether the retraction operation is completed.

[0024] It should be further explained that the first feed process refers to the initial feed stage of the drilling operation, that is, the process from when the drill bit starts to contact the workpiece surface and reaches the predetermined initial drilling depth; the second feed process refers to the drilling operation process corresponding to the change of the load current of the main motor, that is, the drilling operation process corresponding to the change of the hardness and thickness of the workpiece; the retraction process refers to the process of the drill bit withdrawing from the workpiece after the feed process is completed.

[0025] Figure 2 shows a schematic diagram of the drilling machine feed control circuit provided in the embodiment of this application. The drilling machine feed control circuit precisely controls the operation of the stepper motor through the stepper motor control chip U1. In Figure 2: stepper motor control chip U1, stepper motor terminal J1, chip U1 output interface pins 4 / 5: AOUT1, pins 6 / 7: AOUT2, pins 8 / 9: BOUT1, pins 10 / 11: BOUT2, detection signal input pin 23: STEP.

[0026] Figure 3 shows a schematic diagram of the structure of the fully automatic drilling machine provided in this embodiment, including: a stepper motor 1, a lifting gear 2, a lifting shaft 3, a stepper motor rotor 4, and a lifting handle 5; Figure 4 shows a cross-sectional view of the lifting shaft position of the fully automatic drilling machine provided in this embodiment, including: a stepper motor 1, a lifting gear 2, a lifting shaft 3, a lifting handle 5, an automatic stop 6, and a steel ball 7; Figure 5 shows a cross-sectional view of the clutch component provided in this embodiment, including: a lifting gear 2, a lifting handle 5, an automatic stop 6, a steel ball 7, a lifting gear groove 10, and a lifting shaft groove 11; Figure 6 shows a structural diagram of the rack provided in this embodiment, including: a gear 13, a rack 14, and a drill bit assembly 15.

[0027] Stepper motor 1 serves as the power source, providing power for the lifting and drilling actions of the entire drilling machine. Through the energization and de-energization of its internal electromagnetic coil, the stepper motor rotor 4 rotates at a specific step angle. Under the action of electromagnetic force, the stepper motor rotor 4 rotates, transmitting the output power from the stepper motor rotor 4 to the lifting gear 2 via the teeth on the rotor. The lifting gear 2 is connected to the lifting shaft 3 via a clutch component. Different states of the clutch component can change the connection relationship between the lifting shaft 3 and the lifting gear 2. The clutch component includes an automatic stop 6 within the internal cavity of the lifting shaft 3, a spring 9, a steel ball 7, a lifting gear groove 10, a lifting shaft groove 11, and a boss 12 mounted on the surface of the automatic stop 6. Rotating the lifting handle 5 along the rotating shaft 8 engages the groove near the rotating shaft 8 with the edge of the automatic stop 6 (normally, in the initial state, the groove and the edge of the automatic stop 6 are always engaged). Rotating the lifting handle 5 along the rotating shaft 8 drives the automatic stop 6 to engage with the lifting shaft 3. During the movement of the internal cavity, the boss 12 squeezes the steel ball 7, causing part of the steel ball 7 to pass through the lifting shaft groove 11 and enter the lifting gear groove 10. At this time, the lifting shaft 3 and the lifting gear 2 form a rotatable whole. The stepper motor 1 can then drive the lifting gear 2 and the lifting shaft 3 to rotate. The lifting shaft 3 drives the gear 13 on its surface to rotate, which in turn drives the rack 14 to move up and down. The rack 14 drives the drill assembly 15 to move up and down through the connecting component (not shown in the figure). This is the automatic drilling mode. Alternatively, rotating the lifting handle 5 causes the steel ball 7 to leave the tooth groove 10. At this time, the lifting shaft 3 and the lifting gear 2 separate. The rotation of the lifting gear 2 cannot drive the lifting shaft 3 to rotate. At this time, the lifting handle 5 can be rotated around the lifting shaft 3. The lifting handle 5 drives the lifting shaft 3 to rotate, which in turn drives the gear 13 on its surface to rotate, which in turn drives the rack 14 to move up and down. The rack 14 drives the drill assembly 15 to move up and down through the connecting component (not shown in the figure). This is the manual drilling mode.

[0028] The working principle of the fully automatic drilling machine feed protection control circuit provided in this application embodiment is as follows: First, place the drilling machine on a flat workpiece, turn on the disk switch to firmly attach it to the workpiece, turn on the motor switch to start running, and move the feed handle outward at a certain angle to achieve automatic feed mode. The feed stepper motor drives the guide plate rack to move up and down to feed the drill bit through the transmission gear kit. When the workpiece is hard or the drill bit is not sharp, the load current increases. When the load current is detected to increase to 8A, the input terminal 23 (STEP) of the fully automatic drilling machine feed protection control circuit will send a detection signal to the stepper motor control chip U1. Through the stepper motor terminal J1, the output terminals of chip U1 (pins 4 / 5: AOUT1, pins 6 / 7: AOUT2, pins 8 / 9: BOUT2, pins 10 / 11: BOUT1) transmit the signal to the stepper motor, adjusting and controlling the feed speed of the stepper motor to 60% of the normal feed speed, thereby protecting the drilling machine from overload protection shutdown and protecting the drill bit to extend its service life.

[0029] Compared with the prior art, the fully automatic drilling machine feed speed protection control circuit provided in this application has a high degree of automation. It can automatically detect the load current and control the drilling feed speed. That is, when the drill bit is not sharp or the workpiece material is hard, the motor load current increases and the feed speed is automatically adjusted to achieve the best working state, greatly improving work efficiency and reducing labor and material costs. In this way, the accuracy and efficiency of feed control and retraction control are improved, effectively solving the problem of low accuracy of automatic adjustment of feed speed and retraction speed of feed stepper motor in existing fully automatic drilling machines.

[0030] Furthermore, the specific process for real-time monitoring of the first feed state of the drilling machine during the first feed process is as follows: Z1, obtain the spindle gear temperature of the stepper motor at the specified first feed moment. When the spindle gear temperature is greater than the allowable spindle gear temperature in the database, the overheat protection circuit is triggered. The overheat protection circuit has the function of automatically reducing the starting current of the stepper motor; otherwise, execute Z2. Z2, obtain the operating current of the stepper motor at the specified first feed moment. When the operating current is greater than the allowable operating current in the database, the overload protection circuit is triggered. The overload protection circuit has the function of automatically reducing the load current of the stepper motor; otherwise, execute Z3. Z3, analyze the obtained first feed state data to obtain the control circuit protection coefficient. The first feed state data includes the first disk adsorption force, the first load current, the stepper motor load, the spindle gear temperature, and the operating current. The control circuit protection coefficient represents the quantitative data of the degree of influence of the first feed state data on the compliance of the first feed process.

[0031] In this embodiment, when the operating current of the stepper motor at the specified first feed moment is not less than the reference operating current in the database, the output torque of the stepper motor increases, which may lead to increased friction and wear between the stepper motor gears. This friction and wear will generate additional heat, thereby further increasing the temperature of the stepper motor spindle gear. That is, the increase in the operating current of the stepper motor in the drilling machine at the current specified first feed moment will lead to an increase in the spindle gear temperature at the corresponding specified first feed moment. Therefore, the calculation conditions for the protection coefficient of the control circuit are met only when the operating current of the stepper motor at the specified first feed moment is between the reference operating current and the allowable operating current and the spindle gear temperature is not greater than the allowable spindle gear temperature in the database; otherwise, no calculation will be performed.

[0032] This example demonstrates how incorporating overheat and overload protection circuits during the first feed of the drilling machine can effectively prevent damage due to overheating or overload, thereby improving the machining accuracy, stability, and safety of the drilling machine.

[0033] Furthermore, the specific process for analyzing the acquired first feed state data to obtain the control circuit protection coefficient is as follows: First disk adhesion force coefficient is obtained, which reflects the relationship between the first disk adhesion force and drilling stability during the first feed process of the drilling machine; when the spindle gear temperature is not greater than the allowable spindle gear temperature in the database and the operating current is not greater than the allowable operating current in the database, the operating current of the stepper motor in the drilling machine at the specified first feed moment is obtained, and it is determined whether the obtained operating current is not less than the reference operating current in the database. If so, the operating current coefficient is obtained; otherwise, the change in the stepper motor's operating current during the first feed process continues to be monitored; the difference between the first load current and the allowable load current of the main motor is corrected using a first load current weighting factor to obtain the first load current coefficient; the stepper motor load coefficient is obtained, and the control circuit protection coefficient is obtained by weighting the first disk adhesion force coefficient and the operating current coefficient; the stepper motor load coefficient is used to quantify the influence of the stepper motor load on the compliance of the first feed process.

[0034] The specific limiting expression for the control circuit protection coefficient is as follows: In the formula, 'a' is the number of the first feed time, a = 1, 2, ..., A, and A is the total number of the first feed times. KB a C1 represents the control circuit protection coefficient of the drilling machine at the a-th specified first feed moment. a C0 represents the first disk adhesion force of the disk base in the drilling machine at the specified first feed moment (a), and F represents the reference disk adhesion force. aThis represents the stepper motor load in the drilling machine at the specified first feed moment (a), where F0 represents the reference stepper motor load, γ1 represents the first load current weighting factor, and L1... a L0 represents the first load current of the main motor in the drilling machine at the specified first feed moment (a), γ2 represents the operating current weighting factor, and U1 represents the first load current of the main motor. a This represents the operating current of the stepper motor in the drilling machine at the specified first feed moment (U0), where U0 represents the allowable operating current, U10 represents the reference operating current, and W... a W0 represents the spindle gear temperature of the stepper motor in the drilling machine at the specified first feed moment (a), and W0 represents the allowable spindle gear temperature.

[0035] In this embodiment, the first disk adhesion coefficient represents the ratio of the reference disk adhesion force in the database to the first disk adhesion force of the disk base in the drilling machine at a specified first feed moment, i.e. The operating current coefficient represents the ratio of the operating current of the stepper motor in the drilling machine at a specified first feed moment to the reference operating current, i.e. The first load current coefficient represents the ratio of the first load current of the main motor in the drilling machine at a specified first feed moment to the allowable load current of the main motor (usually set to 8A), that is... The stepper motor load factor represents the ratio of the stepper motor load in the drilling machine at a specified first feed moment to the reference stepper motor load, i.e.

[0036] The disk adsorption force (including the first disk adsorption force, the second disk adsorption force, and the third disk adsorption force) in this application is usually measured by a pressure sensor and is in the same unit as the reference disk adsorption force, namely Newtons (N); the operating current of the stepper motor and the load current of the main motor (including the first load current, the second load current, the third load current, the fourth load current, and the fifth load current) are usually measured by a current sensor and are in the same unit as the allowable load current of the main motor, namely Amperes (A); the stepper motor load is usually measured by a stepper motor load sensor; and the spindle gear temperature is usually measured by a temperature sensor.

[0037] The reference disk adhesion force is represented by the summation and averaging of the historical first disk adhesion forces of the disk base in the drilling machine in the historical drilling process in the database. The reference stepper motor load is represented by the summation and averaging of the historical stepper motor loads of the stepper motor in the drilling machine in the historical first feed moment in the database. The allowable spindle gear temperature represents the maximum historical spindle gear temperature of the stepper motor in the drilling machine at the historical first feed moment.

[0038] The database stores preset weighting factors closely related to the protection coefficient of the control circuit. These weighting factors establish a predefined mapping relationship with the corresponding first load current and operating current. It is worth noting that this mapping is not arbitrarily set; it can be a one-to-one correspondence or a many-to-one relationship. For example, in practical applications, when it is necessary to conduct a safety assessment of the control circuit of a fully automatic drilling machine, the real-time first load current and operating current can be directly input into this preset mapping relationship to accurately obtain the first load current weighting factor and operating current weighting factor that match the protection coefficient of the control circuit.

[0039] Importantly, to ensure consistency and comparability of the evaluation, the values ​​of the first load current weighting factor and the operating current weighting factor in this example are limited to between 0 and 1, and their sum is 1.

[0040] The aforementioned database is a database established before the design of the control method for the drilling machine's feed control circuit to store various setting data. The database includes, but is not limited to, preset control circuit protection coefficients, preset feed process compliance indices, preset retraction process compliance indices, and specified first feed time and specified second feed time. Various values ​​are directly set by technical personnel. The preset control circuit protection coefficients can be set based on the actual application scenario of the fully automatic drilling machine's control circuit. For example, the preset control circuit protection coefficients can be represented by the sum and average of the historical control circuit protection coefficients of the drilling machine at the historical first feed time in the database. In addition, various values ​​in the database can be set and fine-tuned by technical personnel according to actual debugging.

[0041] It should be understood that the units of operating current, allowable operating current, and reference operating current are all the same, namely amperes (A); the units of spindle gear temperature and allowable spindle gear temperature are the same, namely degrees Celsius (°C); the protection coefficient of the control circuit decreases as the first disk's adsorption force increases, and increases as the stepper motor load, the first load current, and the operating current increase.

[0042] In particular, an increase in the load on a stepper motor usually leads to greater torque and stress on the spindle gear, which may in turn cause the gear temperature to rise. This is because an increase in load means that the motor needs to output more power to overcome resistance, and this extra power will eventually be converted into heat, causing the gear temperature to rise. Therefore, it can be inferred that there is a positive correlation between the stepper motor load and the spindle gear temperature, that is, the greater the load, the higher the gear temperature.

[0043] In a stepper motor, the magnitude of the load current directly reflects the load condition of the motor. An increase in the load current will also lead to the motor outputting more power, which in turn will cause the gear temperature to rise. Therefore, there is a positive correlation between the first load current and the spindle gear temperature, that is, the larger the load current, the higher the gear temperature.

[0044] The above analysis shows that there is a mutual influence between the spindle gear temperature, the stepper motor load, and the first load current. These relationships not only directly affect the working state and lifespan of the spindle gear, but also influence the adjustment of the feed and retraction speeds of the feed stepper motor. This not only helps to improve the working efficiency and stability of the fully automatic drilling machine, but also helps to achieve more accurate automated adjustment of the feed and retraction speeds of the stepper motor.

[0045] Furthermore, the specific process for determining whether the first feed operation has been completed is as follows: determine whether the obtained control circuit protection coefficient is greater than the preset control circuit protection coefficient in the database; if the obtained control circuit protection coefficient is greater than the preset control circuit protection coefficient in the database, then send an automatic power cut-off command and prompt the preset personnel to perform maintenance; if the obtained control circuit protection coefficient is not greater than the preset control circuit protection coefficient in the database, then complete the first feed operation and send a second feed operation command.

[0046] In this embodiment, by comparing the numerical relationship between the obtained control circuit protection coefficient and the preset control circuit protection coefficient in the database, the power can be cut off in time when the control circuit of the fully automatic drilling machine malfunctions. Through automated judgment and prompting functions, unnecessary waiting time is reduced, the processing efficiency and safety of the drilling machine on the workpiece are improved, and thus intelligent control of the feed operation of the fully automatic drilling machine is realized.

[0047] Furthermore, the specific process for real-time monitoring of the second feed state of the drilling machine during the second feed process is as follows: X1, acquire the second load current of the main motor at the specified second feed moment, and simultaneously determine whether the second load current is not less than the allowable load current of the main motor. If so, automatically adjust the feed speed based on the acquired second load current deviation and then execute X2. The condition for executing X2 is that the second load current monitored after automatic adjustment is less than the allowable load current of the main motor in the database; otherwise, directly execute X2. X2, acquire the second feed state data, and correct the difference between the second load current and the allowable load current of the main motor using the second load current weighting factor to obtain the second load current coefficient, i.e. The obtained second load current coefficient, coolant flow rate coefficient, and drilling torque coefficient are corrected to obtain the feed process compliance index; the second feed state data includes the second disk adhesion force, second load current, coolant flow rate, and drilling torque; the coolant flow rate coefficient represents the result of the coolant flow rate weighting factor correcting for the degree of difference between the coolant flow rate and the reference coolant flow rate, i.e. The drilling torque coefficient represents the result of the drilling torque weighting factor correcting for the difference between the drilling torque and the reference drilling torque. The infeed process compliance index represents a quantitative measure of the combined influence of the second infeed state data on the compliance of the second infeed process.

[0048] The specific constraint expression for the feed process conforming to the exponent is as follows: In the formula, b is the number of the second infeed time, b = 1, 2, ..., B, and B is the total number of the second infeed times. b This indicates that the drilling process at the b-th specified second feed moment conforms to the exponent, C2. b The second disk attraction force of the disk base in the drilling machine at the b-th specified second feed moment, C0 represents the reference disk attraction force, δ1 represents the second load current weighting factor, and L2 represents the second disk attraction force. b L0 represents the second load current of the main motor in the drilling machine at the b-th specified second feed moment, δ2 represents the coolant flow rate weighting factor, and Q represents the second load current of the main motor. b This represents the coolant flow rate of the drilling machine at the b-th specified second feed moment, Q0 represents the reference coolant flow rate, δ3 represents the drilling torque weighting factor, and N... b N0 represents the drilling torque of the drilling machine at the b-th specified second feed moment, and N0 represents the reference drilling torque.

[0049] The second disk adhesion coefficient represents the ratio of the adhesion force of the reference disk in the database to the adhesion force of the second disk in the disk base of the drilling machine at a specified second feed moment, i.e. This is used to reflect the relationship between the second disk adsorption force and drilling stability during the second feed process of the drilling machine; the feed process compliance index represents the result of coupled analysis of the second disk adsorption force coefficient, the second load current coefficient, the coolant flow coefficient, and the drilling torque coefficient.

[0050] It should be noted that if the drilling torque in the exponential constraint expression during the feed process is greater than the reference drilling torque in the database, the drilling torque at the corresponding specified second feed moment may cause the drill bit to be subjected to increased stress, increasing the risk of drill bit wear and breakage. At the same time, it may also cause an increase in the load on the stepper motor, thereby affecting its operating performance and lifespan.

[0051] Coolant is usually stored in the coolant tank of the drilling machine. The coolant is sprayed directly onto the drill bit and workpiece surface through nozzles or spray heads. It is used to spray coolant onto the drill bit of the drilling machine to cool and lubricate it, thereby reducing the temperature and wear rate of the drill bit. External cooling nozzles or spray heads are usually installed on the bed or spindle box of the drilling machine.

[0052] In this embodiment, the coolant flow rate and the reference coolant flow rate are measured in the same unit, liters per minute (L / min), and the drilling torque and the reference drilling torque are measured in the same unit, Newton-meter (N·m). The coolant flow rate is measured by a flow meter, and the drilling torque is measured by a torque sensor.

[0053] The second load current weighting factor, coolant flow rate weighting factor, and drilling torque weighting factor represent the pre-defined influence of the second load current, coolant flow rate, and drilling torque on the second feed process, respectively, as specified in the database. Specifically, the database stores preset weighting factors corresponding to the second load current, coolant flow rate, and drilling torque. These weighting factors have a pre-defined mapping relationship with the second load current, coolant flow rate, and drilling torque; this mapping relationship can be one-to-one or many-to-one. For example, in practical applications, real-time second load current, coolant flow rate, and drilling torque can be input into this mapping relationship to quickly obtain the corresponding weighting factors.

[0054] In this example, the values ​​of the second load current weighting factor, coolant flow weighting factor, and drilling torque weighting factor are typically between 0 and 1, and the sum of the three is 1.

[0055] It is important to understand that the feed process compliance index decreases as the second disk suction force and coolant flow rate increase, and increases as the second load current and drilling torque increase. When the second disk suction force increases, a larger coolant flow rate is required to ensure that the drill bit is adequately cooled and lubricated during drilling. This is because an increase in suction force may mean an increase in drilling depth or material hardness, thus requiring more coolant to remove heat and chips.

[0056] When the coolant flow rate decreases, the drill bit of the fully automatic drilling machine may overheat and increase the load, resulting in an increase in load current. Secondly, when the drilling torque increases, a larger load current is usually required to drive the drill bit, because the increase in torque means that greater resistance needs to be overcome, thus requiring more energy input.

[0057] By considering the above-mentioned interaction mechanisms, we can gain a more comprehensive understanding of the dynamic relationships between various parameters during the feed process. This helps to improve the accuracy and efficiency of drilling, and thus enables more accurate automated adjustment of the stepper motor's feed and retraction speeds.

[0058] Furthermore, the specific process for determining whether the second feed operation has been completed is as follows: when the obtained feed process compliance index is not greater than the preset feed process compliance index in the database, the second feed operation is completed and a retraction operation command is sent; otherwise, the feed parameters are adjusted. The feed parameters include coolant flow rate and stepper motor speed.

[0059] The specific process for adjusting the feed parameters is as follows: Y1, based on the acquired feed speed, adjust the coolant flow rate by a preset amount (set by the preset operator, usually 10% of the initial coolant flow rate) to conform to the exponential deviation. Simultaneously, if the decrease in the real-time monitored third load current is greater than the preset decrease in the third load current in the database, continue increasing the coolant flow rate by the preset amount until the monitored third load current is less than the allowable load current of the main motor; otherwise, proceed to Y2. Y2, based on the acquired feed speed, adjust the stepper motor speed by a preset amount (set by the preset operator, usually 10% of the initial stepper motor speed) to conform to the exponential deviation. Simultaneously, if the decrease in the real-time monitored fourth load current is greater than the preset decrease in the fourth load current in the database, continue increasing the stepper motor speed by the preset amount until the monitored fourth load current is less than the allowable load current of the main motor; otherwise, return to Y1.

[0060] In this embodiment, the condition for executing Y2 is: after increasing the coolant flow rate by a preset amount, the monitored third load current is still not less than the load allowable current of the main motor; the condition for returning to Y1 is: after increasing the stepper motor speed by a preset amount, the monitored fourth load current is still not less than the load allowable current of the main motor.

[0061] The feed rate adjustment compliance index deviation represents the difference between the obtained feed process compliance index and the preset feed process compliance index; the preset feed process compliance index is represented by the sum and average of the historical feed process compliance indices of the drilling machine at the historical second feed moment in the database; the preset third load current reduction magnitude and the preset fourth load current reduction magnitude are represented by the sum and average of the historical third load current reduction magnitude and the historical fourth load current reduction magnitude of the corresponding main motor during the historical feed parameter adjustment process of the drilling machine in the database.

[0062] This example demonstrates how dynamic adjustment of coolant flow and stepper motor speed, along with real-time monitoring of load current and adjustment of feed parameters, can avoid unnecessary energy waste and improve the automation level of the fully automatic drilling machine. Compared with existing technologies, this adjustment process can adapt to drilling requirements of different materials, thicknesses, and hole diameters, exhibiting greater flexibility and adaptability.

[0063] Furthermore, the specific process for real-time monitoring of the drilling machine's retraction status during the retraction process is as follows: R1, real-time monitoring of the stepper motor's direction adjustment status before retraction to obtain the direction adjustment response time. When the direction adjustment response time is within the allowable range of the direction adjustment response time in the database, directly execute R2. The condition for executing R2 is that the optimized direction adjustment response time is within the allowable range of the direction adjustment response time in the database; otherwise, prompt the preset personnel to check and optimize the stepper motor's driver program before executing R2; R2, real-time monitoring of the main motor at the specified retraction time. The fifth load current is determined by the following parameters: if the fifth load current is not greater than the allowable load current of the main motor, then R3 is executed directly; otherwise, an automatic drill bit switching command is sent and the retraction speed of the drilling machine is automatically adjusted based on the acquired fifth load current deviation before executing R3. The condition for executing R3 is that the fifth load current monitored after the feed speed adjustment is less than the allowable load current of the main motor. R3 acquires and analyzes the retraction status data to obtain the retraction process compliance index. The retraction status data includes the steering adjustment response time, the fifth load current, the automatic drill bit switching command response time, and the third disk adsorption force.

[0064] The retraction process compliance index is obtained through the following methods: First, the retraction process compliance index is obtained by acquiring the third disk adhesion force coefficient and the fifth load current coefficient and performing correlation averaging. The third disk adhesion force coefficient reflects the relationship between the third disk adhesion force and drilling stability during the retraction process. The fifth load current coefficient quantifies the change in the fifth load current of the main motor during the retraction process. The first retraction process compliance index represents the quantitative data on the combined influence of the third disk adhesion force coefficient and the fifth load current coefficient on the compliance of the retraction process. Second, the retraction process compliance index is obtained by acquiring the de-unitized steering adjustment response time and the automatic drill bit switching command response time and performing correlation processing. The second retraction process compliance index represents the quantitative data on the combined influence of the steering adjustment response time and the automatic drill bit switching command response time on the compliance of the retraction process. Finally, the first and second retraction process compliance indices are modified and coupled to obtain the retraction process compliance index. The retraction process compliance index represents the quantitative data on the combined influence of the steering adjustment response time, the fifth load current, the automatic drill bit switching command response time, and the third disk adhesion force on the compliance of the retraction process.

[0065] Specifically, the specific constraint expression for the retraction process conforming to the exponent is: In the formula, t is the number of the specified retraction time, t = 1, 2, ..., T, T is the total number of specified retraction times, TF represents the retraction process compliance index of the drilling machine during the retraction process, m1 represents the weighting factor of the first retraction process compliance index, and C3 t C0 represents the third disk adsorption force of the disk base in the drilling machine at the t-th specified retraction time, and L5 represents the reference third disk adsorption force. t L0 represents the fifth load current of the main motor in the drilling machine at the t-th specified retraction time, m2 represents the load allowable current of the main motor, H represents the steering adjustment response time of the drilling machine before retraction, and K represents the automatic drill bit switching command response time of the drilling machine during the retraction process.

[0066] In this embodiment, the allowable range of steering adjustment response time represents the range corresponding to the maximum and minimum values ​​of the historical steering adjustment response time of the drilling machine before the historical retraction operation in the database; the steering adjustment response time and the automatic drill bit switching command response time are obtained through a timer; the third disk adsorption force coefficient represents the ratio of the reference disk adsorption force in the database to the third disk adsorption force of the disk base in the drilling machine at a specified retraction time, i.e. The fifth load current coefficient represents the ratio of the fifth load current of the main motor in the drilling machine at a specified retraction moment to the allowable load current of the main motor, i.e.

[0067] The database stores preset weighting factors closely related to the retraction process compliance index. These weighting factors establish a predefined mapping relationship with the corresponding first and second retraction process compliance indices. It is worth noting that this mapping is not arbitrarily set; it can be a one-to-one correspondence or a many-to-one relationship. For example, in practical applications, when it is necessary to evaluate the retraction process, the real-time acquired first and second retraction process compliance indices can be directly input into this preset mapping relationship. This allows for the rapid and accurate acquisition of the first and second retraction process compliance index weighting factors that match the retraction process compliance index.

[0068] Importantly, to ensure consistency and comparability of the evaluation, the values ​​of the first and second retraction processes in this example are both limited to between 0 and 1, and their sum is 1.

[0069] It is important to understand that the retraction process conformity index decreases as the adsorption force of the third disk increases, and increases as the fifth load current, the steering adjustment response time, and the automatic drill bit switching command response time increase. Among these, there is an interrelationship between the fifth load current, the steering adjustment response time, and the automatic drill bit switching command response time.

[0070] For example, an increase in load current may slow down the system response speed (including steering adjustment response and automatic drill bit switching command response), thereby increasing the complexity of the retraction process. At the same time, the response speed of steering adjustment and drill bit switching will also affect the change in load current, forming a complex dynamic system.

[0071] By gaining a deeper understanding of the relationship between the retraction process index and various influencing factors, the control algorithm can be optimized to more accurately adjust the feed and retraction speeds according to real-time working conditions. This helps reduce errors and instabilities in the machining process, improves machining quality and efficiency, and ultimately enables more accurate automated adjustment of the stepper motor's feed and retraction speeds.

[0072] Furthermore, the specific process for determining whether the tool retraction operation has been completed is as follows: when the obtained tool retraction process compliance index is not greater than the preset tool retraction process compliance index in the database, a tool retraction operation completion command is sent; otherwise, the drive parameters are adjusted, including the stepper motor drive current and microstep settings.

[0073] The specific process for adjusting the drive parameters is as follows: D1, based on the obtained first retraction process conforming to the exponential deviation, increase the number of microstepping DIP switches by a preset number, while simultaneously monitoring the drive current of the stepper motor at the current adjustment moment. When the drive current is less than the rated current of the stepper motor and the obtained first retraction process conforming to the exponential deviation is not less than 0, the adjustment of the drive parameters is completed; otherwise, a drive current reduction command is sent and D2 is executed; D2, based on the obtained second retraction process conforming to the exponential deviation, continue to increase the number of microstepping DIP switches by a preset number until the re-obtained second retraction process conforming to the exponential deviation is not less than 0 and the drive current of the stepper motor is always less than the rated current of the stepper motor, the adjustment of the drive parameters is completed; otherwise, return to D1.

[0074] In this embodiment, the first retraction process conformity index deviation represents the difference between the preset retraction process conformity index and the obtained retraction process conformity index; the second retraction process conformity index deviation represents the difference between the first retraction process conformity index deviation and the retraction process conformity index deviation obtained after adjusting the microstepping DIP switch; the drive current reduction command is used to reduce the drive current by a preset amount, that is, each increase of the microstepping DIP switch corresponds to a decrease in the drive current. Reducing the drive current while increasing the microstepping DIP switch is to maintain the smooth operation of the stepper motor and prevent overload.

[0075] In practical applications, in order to obtain smoother motion and higher positioning accuracy, the drilling process of fully automatic drilling machines usually adopts microstep drive technology. By controlling the output current of the stepper motor driver, the stepper motor does not directly reach the position of the next basic step angle when rotating in each step, but stops at multiple intermediate positions, thereby achieving more precise rotation control. The number of these intermediate positions is called the microstep number (i.e., microstepping DIP switch). The more microsteps, the smoother the rotation of the stepper motor and the higher the positioning accuracy.

[0076] In the retraction operation, the microstep setting can affect the speed and accuracy of the retraction. In this example, by increasing the number of microsteps, the smoothness of the stepper motor's rotation and the positioning accuracy during the retraction process can be changed, thereby optimizing the retraction effect, reducing machining errors caused by improper retraction, and improving the accuracy and consistency of workpiece machining.

[0077] Figure 7 shows a schematic diagram of the control system based on the drilling machine feed control circuit provided in this embodiment of the application. The control system based on the drilling machine feed control circuit provided in this embodiment of the application includes: a first feed control module, a second feed control module, and a retraction control module. The first feed control module is used to monitor the first feed state of the drilling machine in the first feed process in real time and determine whether the first feed operation is completed. The second feed control module is used to monitor the second feed state of the drilling machine in the second feed process in real time if the first feed operation is completed, and determine whether the second feed operation is completed. The retraction control module is used to monitor the retraction state of the drilling machine in the retraction process in real time if the second feed operation is completed, and determine whether the retraction operation is completed.

[0078] In this embodiment, by dividing the feed process into two stages—the first feed and the second feed—and setting up control modules for real-time monitoring and control, refined control of the drilling machine's feed process is achieved. This design can more accurately determine the completion status of each feed stage, thereby ensuring the accuracy and stability of drilling. Furthermore, through the cooperation between the first feed control module, the second feed control module, and the retraction control module, automated control of the drilling machine's feed and retraction processes is achieved. This design improves the automation level of the drilling machine, reduces manual intervention, and enhances the safety of workpiece processing.

[0079] In summary, the embodiments of this application determine whether the first feed operation is completed by real-time monitoring of the first feed state. If the first feed operation is completed, the second feed operation is determined based on real-time monitoring of the second feed state. If the second feed operation is completed, the retraction operation is determined based on real-time monitoring of the retraction state. This not only ensures the continuity and accuracy of the drilling operation of the drilling machine, but also achieves precise control of the drilling process of the fully automatic drilling machine. This enables more accurate automatic adjustment of the feed speed and retraction speed of the stepper motor, effectively solving the problem of low accuracy in the automatic adjustment of the feed speed and retraction speed of the feed stepper motor in the prior art of fully automatic drilling machines.

[0080] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0084] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0085] 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 also intends to include these modifications and variations.

Claims

1. Control method based on the feed control circuit of a drilling machine, characterized in that, Includes the following steps: Step 1: Monitor the drilling machine's first feed status in real time during the first feed process to determine whether the first feed operation has been completed; Step 2: If the first feed operation is completed, monitor the second feed status of the drilling machine in real time during the second feed process to determine whether the second feed operation is completed. Step 3: If the second feed operation is completed, monitor the retraction status of the drilling machine in real time during the retraction process to determine whether the retraction operation is completed. The specific procedure for real-time monitoring of the retraction status of the drilling machine during the retraction process is as follows: R1 monitors the stepper motor's direction adjustment status before tool retraction to obtain the direction adjustment response time. If the direction adjustment response time is within the allowed range of the direction adjustment response time in the database, R2 is executed directly. Otherwise, the preset personnel are prompted to check and optimize the stepper motor's driver program before executing R2. R2 monitors the fifth load current of the main motor at the specified retraction time in real time. If the fifth load current is not greater than the allowable load current of the main motor, R3 is executed directly. Otherwise, an automatic drill bit switching command is sent and the retraction speed of the drilling machine is automatically adjusted based on the obtained fifth load current deviation before executing R3. R3 acquires and analyzes the retraction status data to obtain the retraction process compliance index. The retraction status data includes the steering adjustment response time, the fifth load current, the automatic drill bit switching command response time, and the third disk adsorption force.

2. The control method based on the drilling machine feed control circuit as described in claim 1, characterized in that, The specific procedure for real-time monitoring of the first feed state of the drilling machine during the first feed process is as follows: Z1: Obtain the spindle gear temperature of the stepper motor at the specified first feed moment. If the spindle gear temperature is greater than the allowable spindle gear temperature in the database, the overheat protection circuit is triggered. The overheat protection circuit has the function of automatically reducing the starting current of the stepper motor. Otherwise, execute Z2. Z2: Obtain the operating current of the stepper motor at the specified first feed moment. If the operating current is greater than the allowable operating current in the database, the overload protection circuit is triggered. The overload protection circuit has the function of automatically reducing the load current of the stepper motor. Otherwise, execute Z3. Z3 analyzes the acquired first feed state data to obtain the control circuit protection coefficient. The first feed state data includes the first disk adsorption force, the first load current, the stepper motor load, the spindle gear temperature, and the operating current. The control circuit protection coefficient represents the quantitative data of the degree of influence of the first feed state data on the compliance of the first feed process.

3. The control method based on the drilling machine feed control circuit as described in claim 2, characterized in that, The specific process for analyzing the acquired first feed state data to obtain the control circuit protection coefficient is as follows: Obtain the first disk adsorption force coefficient, which is used to reflect the relationship between the first disk adsorption force and the drilling stability during the first feed process of the drilling machine; When the spindle gear temperature is not greater than the allowable spindle gear temperature in the database and the working current is not greater than the allowable working current in the database, the working current of the stepper motor in the drilling machine at the specified first feed moment is obtained and it is determined whether the obtained working current is not less than the reference working current in the database. If so, the working current coefficient is obtained; otherwise, the change of the working current of the stepper motor in the first feed process is monitored. The first load current coefficient is obtained by correcting the difference between the first load current and the allowable load current of the main motor using a first load current weighting factor. The stepper motor load coefficient is obtained, and the control circuit protection coefficient is obtained by weighting the first disk adsorption force coefficient and the working current coefficient. The stepper motor load factor is used to quantify the degree of influence of the stepper motor load on the compliance of the first feed process.

4. The control method based on the drilling machine feed control circuit as described in claim 3, characterized in that, The specific procedure for determining whether the first feed operation has been completed is as follows: Determine whether the obtained control circuit protection coefficient is greater than the preset control circuit protection coefficient in the database: If the obtained control circuit protection coefficient is greater than the preset control circuit protection coefficient in the database, an automatic power cut-off command will be sent and the preset personnel will be prompted to perform maintenance. If the obtained control circuit protection coefficient is not greater than the preset control circuit protection coefficient in the database, then the first feed operation is completed and the second feed operation command is sent.

5. The control method based on the drilling machine feed control circuit as described in claim 1, characterized in that, The specific procedure for real-time monitoring of the second feed state of the drilling machine during the second feed process is as follows: X1: Obtain the second load current of the main motor at the specified second feed moment, and determine whether the second load current is not less than the allowable load current of the main motor. If so, automatically adjust the feed speed based on the obtained second load current deviation and then execute X2; otherwise, execute X2 directly. X2, obtain the second feed state data, and correct the difference between the second load current and the allowable load current of the main motor by the second load current weighting factor to obtain the second load current coefficient; X3, the obtained second load current coefficient, coolant flow coefficient and drilling torque coefficient are corrected to obtain the feed process compliance index; The second feed status data includes the second disk adsorption force, the second load current, the coolant flow rate, and the drilling torque; The coolant flow rate coefficient represents the result of the coolant flow rate weighting factor correcting for the degree of difference between the coolant flow rate and the reference coolant flow rate; The drilling torque coefficient represents the result of the drilling torque weighting factor correcting for the degree of difference between the drilling torque and the reference drilling torque; The feed process compliance index represents a quantitative measure of the combined influence of the second feed state data on the compliance degree of the second feed process.

6. The control method based on the drilling machine feed control circuit as described in claim 5, characterized in that, The specific procedure for determining whether the second feed operation has been completed is as follows: If the obtained feed process compliance index is not greater than the preset feed process compliance index in the database, the second feed operation is completed and a retraction operation command is sent; otherwise, the feed parameters are adjusted. The feed parameters include coolant flow rate and stepper motor speed; The specific procedure for adjusting the feed parameters is as follows: Y1, based on the obtained feed rate, adjust the coolant flow rate by a preset amount to increase the exponential deviation. At the same time, if the real-time monitored decrease in the third load current is greater than the preset decrease in the third load current in the database, the coolant flow rate will continue to increase by the preset amount until the monitored third load current is less than the allowable load current of the main motor. Otherwise, execute Y2. Y2 adjusts the stepper motor speed by a preset amount based on the obtained feed rate deviation in accordance with the exponential deviation. At the same time, if the decrease in the real-time monitored fourth load current is greater than the preset decrease in the fourth load current in the database, the stepper motor speed is further increased by the preset amount until the monitored fourth load current is less than the allowable load current of the main motor. Otherwise, it returns to Y1.

7. The control method based on the drilling machine feed control circuit as described in claim 1, characterized in that, The compliance index for the tool retraction process is obtained through the following method: The first retraction process compliance index is obtained by acquiring the third disk adsorption force coefficient and the fifth load current coefficient and performing correlation averaging. The third disk adsorption force coefficient is used to reflect the relationship between the adsorption force of the third disk and the drilling stability during the retraction process of the drilling machine. The fifth load current coefficient is used to quantify the change of the fifth load current of the main motor during the retraction process of the drilling machine. The first retraction process compliance index represents the quantitative data of the influence of the third disk adsorption force coefficient and the fifth load current coefficient on the compliance of the retraction process. The second retraction process compliance index is obtained by obtaining the de-unitized steering adjustment response time and the automatic drill bit switching command response time and performing correlation processing. The second retraction process compliance index represents the quantitative data of the degree of influence of the steering adjustment response time and the automatic drill bit switching command response time on the compliance of the retraction process. The first and second retraction process compliance indices are modified and coupled to obtain the retraction process compliance index. The retraction process compliance index represents the quantitative data of the combined influence of steering adjustment response time, fifth load current, automatic drill bit switching command response time, and third disk adsorption force on the retraction process compliance.

8. The control method based on the drilling machine feed control circuit as described in claim 1, characterized in that, The specific procedure for determining whether the tool retraction operation has been completed is as follows: When the obtained retraction process conformity index is not greater than the preset retraction process conformity index in the database, a retraction operation completion command is sent; otherwise, the drive parameters are adjusted, including the stepper motor drive current and microstep settings. The specific process for adjusting the drive parameters is as follows: D1: Based on the obtained first retraction process conforming to the exponential deviation, increase the subdivision DIP switch by a preset number, and at the same time monitor the drive current of the stepper motor at the current adjustment moment. When the drive current is less than the rated current of the stepper motor and the obtained first retraction process conforming to the exponential deviation is not less than 0, the adjustment of the drive parameters is completed; otherwise, send a drive current reduction command and execute D2. D2: Based on the obtained second retraction process meeting the exponential deviation, continue to increase the preset number of microstepping DIP switches until the re-obtained second retraction process meets the exponential deviation not less than 0 and the stepper motor drive current is always less than the stepper motor rated current. Then the drive parameter adjustment is completed. Otherwise, return to D1.

9. System for applying the control method based on the feed control circuit of a drilling machine according to any one of claims 1-8, characterized in that, include: The first feeding control module, the second feeding control module and the feeding-out control module; The first feeding control module is used for monitoring the first feeding state of the drilling machine in the first feeding process in real time, and judging whether the first feeding operation is completed or not; The second feeding control module is used for monitoring the second feeding state of the drilling machine in the second feeding process in real time if the first feeding operation is completed, and judging whether the second feeding operation is completed or not; The feeding-out control module is used for monitoring the feeding-out state of the drilling machine in the feeding-out process in real time if the second feeding operation is completed, and judging whether the feeding-out operation is completed or not.

Images