A kind of machine tool automatic identification and control method

Abstract

The present invention discloses an automatic tool identification and control method, comprising: obtaining the current posture of a vehicle, determining whether a mechanical arm of the vehicle is mounted with a tool; if the mechanical arm has been mounted with the tool, determining whether the mounted tool and a tool unique identification code in a tool switching instruction issued by a vehicle-mounted display unit match; if the mounted tool and the tool unique identification code do not match, a vehicle control unit obtains the tool to be mounted corresponding to the tool unique identification code in the tool switching instruction issued by the vehicle-mounted display unit; the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, the vehicle control unit obtains the tool rotary platform position, the turntable rotary platform position and the position of the tool to be mounted; the currently mounted tool is placed in a corresponding tool box; according to the position of the tool to be mounted, the vehicle control unit adjusts the tool rotary platform position, the turntable rotary platform position and the mechanical arm position; and the mechanical arm mounts the tool to be mounted.

Description

Technical Field

[0001] The invention relates to an automatic machine tool identification and control method, belonging to the technical field of operating machine tool switching control. Background Art

[0002] According to the work requirements, when switching the tool mode, the operator manually adjusts the boom to a certain angle, raises and lowers the boom arm to within the tool quick-change angle range, rotates the turntable to the center position in the front area, and rotates the tool platform according to the tool mode to be switched. Visually check the tool position to be directly under the quick-change device, manually fine-tune the boom, boom arm and quick-change device angles to switch the tool. During the tool switching process, another assistant is required to visually connect the tool to ensure that the tool is switched in place and the tool switching is completed.

[0003] After entering the emergency rescue operation site, if the on-site operation requires the switching and installation of machinery and tools, the existing technology requires the operator to manually position the machinery and tools according to a certain process. If an operation error occurs at this time or the operator is not familiar with the operation process, the machinery and tools are not placed in the corresponding tool box when they are removed and placed in manual mode, resulting in positioning errors and confusion when the machinery and tools are automatically switched later, causing safety accidents.

[0004] If there is no auxiliary personnel to assist in the hooking, it is unknown whether the equipment is hooked in place, which may cause the equipment to fall after the boom is raised, causing secondary injuries at the rescue site and even threatening the personal safety of the operator. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a method for automatic identification and control of machinery and tools, so as to realize automatic identification and rapid positioning of four kinds of machinery and tools, namely, a stone grab, a bucket, a breaker and a hydraulic shear, and effectively solve the problems of complicated switching process and switching errors of modular working machinery and tools.

[0006] To achieve the above object, the present invention provides a method for automatic identification and control of a machine tool, comprising:

[0007] S1, the vehicle control unit receives the tool switching instruction issued by the vehicle display unit;

[0008] S2, obtaining the current posture of the vehicle based on the sensor signals collected by the tool quick-change detection device, the double-rotation angle detection device and the mechanical arm angle detection device, and determining whether the mechanical arm of the vehicle is connected to the tool;

[0009] S3. If the robot arm has been connected to the implement, determine whether the unique identification code of the connected implement and the implement in the implement switching instruction issued by the vehicle-mounted display unit match;

[0010] S4. If the mounted machine and the unique identification code of the machine match, a message indicating successful matching is displayed;

[0011] S5. If the mounted implement and the unique identification code of the implement do not match, the vehicle control unit obtains the implement to be mounted corresponding to the unique identification code of the implement in the implement switching instruction issued by the vehicle display unit;

[0012] S6. The vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, and the vehicle control unit obtains the position of the tool rotary platform, the position of the turntable rotary platform, and the position of the tool to be attached;

[0013] Place the currently mounted implement into the corresponding implement box;

[0014] According to the position of the machine to be attached, the vehicle control unit adjusts the position of the machine rotary platform, the position of the turntable rotary platform and the position of the mechanical arm;

[0015] The mechanical arm is equipped with a reception device.

[0016] Preferably, step S6 is implemented by the following steps:

[0017] According to the dual rotation angle detection device and the robot arm angle detection device, the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, the vehicle control unit obtains the tool rotary platform position, the turntable rotary platform position and the position of the tool to be attached.

[0018] Preferably, in step S6, before the mechanical arm hangs the front hooking tool, the following steps are also included:

[0019] S11, the vehicle control unit reads the unique identification code of the tool to be mounted by the mechanical arm;

[0020] S12, based on a tool identification code comparison table pre-stored in the vehicle control unit, in which the tool identification code comparison table records the tool and the tool unique identification code corresponding to the tool, determining whether the tool unique identification code of the tool to be attached to the manipulator matches the tool unique identification code in the tool switching instruction issued by the vehicle display unit;

[0021] S13, if the unique identification code of the tool to be attached by the mechanical arm successfully matches the unique identification code of the tool in the tool switching instruction issued by the vehicle-mounted display unit, the mechanical arm attaches the tool to be attached;

[0022] S14. If the unique identification code of the tool to be attached by the mechanical arm in S9 fails to match the unique identification code of the tool in the tool switching instruction issued by the vehicle display unit, the vehicle control unit issues a warning prompt and stops the mechanical arm from attaching the tool to be attached.

[0023] Preferably, each tool corresponds to a unique tool identification code, and the tool identification code records the unique identification code of the tool that currently needs to be attached.

[0024] Preferably, the onboard display unit is communicatively connected to the vehicle control unit.

[0025] Preferably, the tool quick-change detection device sensor, the dual-rotation angle detection device, the robot arm angle detection device and the chassis engine are electrically connected to the vehicle control unit.

[0026] The beneficial effects achieved by the present invention are:

[0027] (1) The present invention effectively avoids the potential safety hazards caused by the inconsistency between the tool working mode selected by humans during construction and the actual attached tool by providing real-time feedback of the current tool mode and cooperating with the safety control logic unit, thereby protecting the safety of personnel and vehicle structure during operation.

[0028] (2) When the tool quick-change operation is selected, the present invention will automatically match the boom posture and the tool switching position, and will operate the tool quick-change valve after the throttle is lowered, thereby simplifying the user's operating process and further reducing the risk of operating errors. At the same time, it improves the tool quick-change efficiency and wins precious rescue time on site.

[0029] (3) The present invention uses the automatic tool retrieval function to avoid the safety hazard caused by manually placing the tool in the tool box without the correct number. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a principle block diagram of the present invention;

[0031] Figure 2 is a flow chart of the present invention;

[0032] Meaning of the reference numerals: 31 - vehicle-mounted display unit; 32 - vehicle-mounted control unit; 33 - dual-rotation angle detection device; 34 - mechanical arm angle detection device; 35 - quick-change monitoring device; 36 - chassis engine; 37 - tool quick-change valve; 321 - signal input unit; 322 - safety protection control unit; 323 - signal output unit. DETAILED DESCRIPTION

[0033] The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the protection scope of the present invention.

[0034] The purpose of the present invention is to provide an automatic tool identification device and control method, which can realize automatic identification and rapid positioning of four tools, namely, a rock grab, a bucket, a breaker and a hydraulic shear, and effectively solve the problems of complex switching process and switching errors of modular working tools. The present invention includes a vehicle-mounted display unit, a vehicle control unit, a tool quick-change detection device sensor, a double-swing angle detection device, a mechanical arm angle detection device and a chassis engine, the vehicle-mounted display unit is electrically connected to the vehicle control unit, and the tool quick-change detection device sensor, the double-swing angle detection device, the mechanical arm angle detection device and the chassis engine are electrically connected to the vehicle control unit.

[0035] Tools include rock grabs, buckets, breakers and hydraulic shears;

[0036] The vehicle mechanical structure posture includes the front retracting position, rear working position, side working position and rotating platform position;

[0037] The tool change detection device is a sensor located at the end of the vehicle boom to detect the tool attachment type and the angle of movement change.

[0038] The dual rotation angle detection device is a sensor. The tool quick-change detection device includes a turntable rotation detection sensor and a tool platform rotation detection sensor. The sensor is located near the rotation motor and is used to detect the turntable rotation position angle and the tool platform rotation position angle.

[0039] The mechanical arm angle detection device is a sensor, and the mechanical arm angle detection device includes a boom detection sensor and a boom arm angle detection sensor, and the boom detection sensor and the boom arm angle detection sensor are installed at the hinge point of the boom frame rotation, and are used to detect the movement angle position of the mechanical arm frame;

[0040] There are many models of the vehicle display unit, vehicle control unit, tool quick-change detection device, double-rotation angle detection device, robotic arm angle detection device, chassis engine, stone tool, bucket, breaker hammer and hydraulic shear that can be used in the prior art. Technical personnel in this field can choose appropriate models according to actual needs, and this embodiment will not give examples one by one.

[0041] S1. During the automatic operation of the vehicle, the vehicle control unit receives a tool switching instruction issued by the vehicle display unit;

[0042] S2, obtaining the current posture of the vehicle and determining whether the vehicle's mechanical arm is connected to the machine tool according to the sensor signals collected by the machine tool quick-change detection device sensor, the double-rotation angle detection device and the mechanical arm angle detection device;

[0043] S3. If the robot arm has attached a tool, determine whether the attached tool and the tool unique identification code in the tool switching command issued by the vehicle display unit match. Each tool corresponds to a unique tool unique identification code, and the tool identification code records the unique identification code of the tool currently to be attached;

[0044] S4. If the mounted tool and the tool unique identification code match, no processing is performed and a successful match is prompted.

[0045] S5. If the mounted implement and the unique identification code of the implement do not match, the vehicle control unit obtains the implement position corresponding to the unique identification code of the implement in the implement switching instruction issued by the vehicle display unit.

[0046] S6. The vehicle control unit calculates the motion trajectory of the tool rotary platform and the turntable rotary platform, and the vehicle control unit issues an automatic positioning instruction for the tool rotary platform, the turntable rotary platform and the tool to obtain the tool positioning;

[0047] Specifically, the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, and the vehicle control unit obtains the position of the tool rotary platform, the position of the turntable rotary platform and the position of the tool to be attached;

[0048] After the tool positioning is completed, the currently mounted tool is placed in the corresponding tool box, and then the tool rotating platform, turntable rotating platform and robotic arm position are adjusted according to the tool position corresponding to the tool unique identification code in the tool switching command issued by the vehicle display unit, and the tool corresponding to the tool unique identification code in the tool switching command issued by the vehicle display unit is mounted.

[0049] If the mechanical arm is not connected to the tool corresponding to the tool unique identification code in the tool switching command issued by the vehicle display unit, the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, the vehicle control unit obtains the tool rotary platform position, the turntable rotary platform position and the position of the tool to be connected, and automatically positions the dual rotary platform and the tool according to the dual rotary angle detection device and the mechanical arm angle detection device;

[0050] After the positioning is completed, the robot arm first hooks up the implement corresponding to the unique identification code of the implement in the implement switching command issued by the vehicle-mounted display unit;

[0051] S11. When the tool is manually placed in the tool box, it may not be placed in accordance with the operating specifications. Therefore, when the tool is automatically attached, the vehicle control unit reads the tool unique identification code of the tool to be attached by the mechanical arm;

[0052] S12, based on a tool identification code comparison table pre-stored in the vehicle control unit, which records tools and tool unique identification codes corresponding to the tools, determining whether the tool unique identification code of the tool to be attached to the robot arm matches the tool unique identification code in the tool switching instruction issued by the vehicle display unit;

[0053] S13, if the tool unique identification code of the tool to be attached by the mechanical arm in S9 successfully matches the tool unique identification code in the tool switching instruction issued by the vehicle display unit, the vehicle control unit issues a tool unique identification code confirmation instruction, the mechanical arm attaches the tool to be attached, and at the same time the vehicle control unit activates the safety protection logic of the corresponding tool to perform vehicle operation limit protection in the current tool mode;

[0054] S14. If the unique identification code of the tool to be attached by the robot arm in S9 fails to match the unique identification code of the tool in the tool switching instruction issued by the vehicle display unit, the vehicle control unit issues a warning prompt and stops attaching the tool to be attached.

[0055] In this system, an "array of machine positioning angle values" and an "array of machine identification retrieval codes" under different machine modes are established through offline calculation and input into the vehicle control unit 22 for storage. When the vehicle is operated, the vehicle display unit 21, the dual-rotation angle detection device 24, the mechanical arm angle detection device 25 and the machine quick-change detection device sensor 23 transmit the real-time monitored machine command signal, rotation angle signal, mechanical arm angle signal and current hooked machine signal to the vehicle control unit 22. When the vehicle control unit 22 determines that the vehicle display unit 21 has a request to switch the machine mode, it determines whether the current hooked machine and the requested switching machine match through the machine quick-change detection device 23. If they do not match, the current mechanical arm angle value is calculated through the sensor signals collected by the dual-rotation angle detection device 24 and the mechanical arm angle detection device 25.

[0056] The current boom posture is determined according to the robot arm angle, and the angle value of the tool to be switched is obtained from the "tool positioning angle value array" according to the boom posture. If the conditions are met, the boom and the arm are automatically positioned, and the turntable and the tool platform are rotated according to the instructions issued by the vehicle control unit 22 to perform synchronous positioning operations;

[0057] When the positioning of the robot arm and the double rotary platform is completed, it is determined according to the "machine identification retrieval code array" whether the machine to be mounted matches the machine switching instruction issued by the vehicle-mounted display unit 21. If the match is successful, the chassis engine speed 26 is reduced to perform the mounting operation of the quick-change device until the chassis engine speed 26 is restored after the machine quick change is completed and controlled by the vehicle itself; if the switching conditions are not met, an early warning prompt is given and the switching action is stopped.

[0058] 1. The vehicle-mounted display unit 31 is mainly used to monitor the current tool mode and boom posture information in real time, and send the user's tool quick-change operation request signal to the vehicle-mounted control unit 32.

[0059] 2. The vehicle control unit 32 includes a signal input unit 321, a safety protection control unit 322, and a signal output unit 323, and its specific functions are as follows:

[0060] The vehicle-mounted control unit 32 monitors the real-time rotation angle information from the dual rotation angle detection device 33 through the signal input unit 321, and also monitors the arm posture of the robot arm angle detection device 34. At the same time, it monitors the request signal for machine mode switching from the vehicle-mounted display unit 31, monitors the machine tool retrieval code input by the quick-change device 35, and obtains the robot arm angle information and the current machine tool mode through calculation and matching.

[0061] The vehicle-mounted control unit 32 determines whether the quick-change valve operation 37 of the machine and the throttle reduction operation of the chassis engine 36 can be performed through the safety protection control unit 322. At the same time, according to the current attached machine, it automatically matches the extreme protection module of the vehicle condition, and performs safety limit protection through the boom angle, dipper arm angle, rotation angle and quick-change device angle signal value.

[0062] The vehicle-mounted control unit 32 drives the quick-change device valve 37 to operate through the signal output unit 323, and drives the chassis engine 36 to increase or decrease the throttle.

[0063] 3. The dual-rotation angle monitoring device 33 obtains the angle change state of the dual-rotation platform in real time and inputs it into the vehicle-mounted control unit 32 for rotation angle calculation processing. The dynamic position of the rotation platform can be obtained through the calculation of the rotation angle sensor.

[0064] 4. The robot arm angle monitoring device 34 obtains the robot arm angle change status in real time and inputs it into the vehicle-mounted control unit 32 for angle calculation processing. The current arm posture can be obtained through the robot arm angle sensor calculation.

[0065] 5. The quick-change monitoring device 35 sends the current hitch tool identification retrieval code to the vehicle-mounted control unit 32 in real time and determines the verification comparison between the current tool identification code and the identification code issued by the vehicle-mounted display unit 31 based on the pre-maintained comparison table.

[0066] 6. The chassis engine 36 receives the command from the vehicle control unit 32 and controls the increase or decrease of the throttle.

[0067] 7. The implement quick-change valve 37 receives instructions from the vehicle-mounted control unit 32 to open and close the quick-change oil circuit.

[0068] (1) The problem of complex and inefficient switching of modular working tools is solved through the effective coordination of the turntable swivel platform and the tool swivel platform, the automatic extension and retraction of the robotic arm, and the automatic identification and positioning of the tool to be attached.

[0069] (2) The unique retrieval code of the tool is identified by the quick-change device and verified with the switching command code issued by the vehicle display unit, effectively avoiding the problem of the tool not being placed in the tool box in manual mode.

[0070] Related terminology meaning:

[0071] 1. Stone grabber: a demolition and rescue tool, mainly used for grabbing and transferring objects.

[0072] 2. Bucket: Also called a digging bucket, it is divided into backhoe bucket and front shovel bucket according to the working method. A backhoe bucket is used here.

[0073] 3. Breaker: A demolition and rescue tool, mainly used for demolition of walls and roads.

[0074] 4. Hydraulic shears: A demolition and rescue tool, mainly used for cutting steel bars and cement products. The working principle is that after the hydraulic liquid flows into the hydraulic cylinder, it applies pressure to the piston. The opening and closing of the blade depends on the direction of the force applied to the piston. When oil enters the large cavity of the piston, the blade opens, and when oil enters the small cavity of the piston, the blade closes.

[0075] 5. Rotation: It includes turntable slewing platform and machine tool slewing platform. The turntable slewing platform realizes the independent rotation of the control room and the mechanical arm (including the boom and the dipper arm). The machine tool slewing platform can prevent 4 kinds of machines from rotating independently.

[0076] 6. Boom and arm: It has two sections. Each section can be extended or retracted by the connected cylinder. In addition, an angle sensor is installed on the arm to measure the deployment angle of each arm, which is used to monitor the current arm posture in real time.

[0077] 7. Quick-change device: a docking mechanism with tools, with built-in sensor technology for identifying the attached tools and their changing angles. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. A method for automatic identification and control of machine tools, It is characterized in that include: S1, the vehicle control unit receives the tool switching instruction issued by the vehicle display unit; S2, obtaining the current posture of the vehicle based on the sensor signals collected by the tool quick-change detection device, the double-rotation angle detection device and the mechanical arm angle detection device, and determining whether the mechanical arm of the vehicle is connected to the tool; It also includes that if the mechanical arm in S2 is not connected to the tool corresponding to the tool unique identification code in the tool switching instruction issued by the vehicle display unit, the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, the vehicle control unit obtains the tool rotary platform position, the turntable rotary platform position and the position of the tool to be connected, and automatically positions the dual rotary platform and the tool according to the dual rotary angle detection device and the mechanical arm angle detection device; After the positioning is completed, the robot arm first hooks up the implement corresponding to the unique identification code of the implement in the implement switching command issued by the vehicle-mounted display unit; S3. If the robot arm has been connected to the implement, determine whether the unique identification code of the connected implement and the implement in the implement switching instruction issued by the vehicle-mounted display unit match; S4. If the mounted machine and the unique identification code of the machine match, a message indicating successful matching is displayed; S5. If the mounted implement and the unique identification code of the implement do not match, the vehicle control unit obtains the implement to be mounted corresponding to the unique identification code of the implement in the implement switching instruction issued by the vehicle display unit; S6. The vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, and the vehicle control unit obtains the position of the tool rotary platform, the position of the turntable rotary platform, and the position of the tool to be attached; specifically, according to the double rotation angle detection device and the mechanical arm angle detection device, the vehicle control unit obtains the motion trajectory of the tool rotary platform, the motion trajectory of the turntable rotary platform, and the vehicle control unit obtains the position of the tool rotary platform, the position of the turntable rotary platform, and the position of the tool to be attached; Place the currently mounted implement into the corresponding implement box; According to the position of the machine to be attached, the vehicle control unit adjusts the position of the machine rotary platform, the position of the turntable rotary platform and the position of the mechanical arm; Among them, the vehicle control unit adjusts the position of the tool rotary platform, the turntable rotary platform and the mechanical arm position, including: establishing the "tool positioning angle value array" and "tool identification retrieval code array" under different tool modes through offline calculation and inputting them into the vehicle control unit for storage, calculating the current mechanical arm angle value through the sensor signals collected by the dual rotation angle detection device and the mechanical arm angle detection device; determining the current boom posture according to the mechanical arm angle, and obtaining the angle value of the tool to be switched from the "tool positioning angle value array" according to the boom posture, automatically positioning the boom and the arm arm, and performing synchronous positioning operations of the turntable rotation and the tool platform rotation according to the instructions issued by the vehicle control unit; the mechanical arm is hung before the tool is hung; Also includes: S11, the vehicle control unit reads the unique identification code of the tool to be mounted by the mechanical arm; S12, based on a tool identification code comparison table pre-stored in the vehicle control unit, which records tools and tool unique identification codes corresponding to the tools, determining whether the tool unique identification code of the tool to be attached to the robot arm matches the tool unique identification code in the tool switching instruction issued by the vehicle display unit; S13. If the unique identification code of the tool to be attached by the mechanical arm successfully matches the unique identification code of the tool in the tool switching instruction issued by the vehicle display unit, the vehicle control unit issues a tool unique identification code confirmation instruction, and the mechanical arm attaches the tool to be attached. At the same time, the vehicle control unit activates the safety protection logic of the corresponding tool to perform vehicle operation limit protection in the current tool mode, reduces the chassis engine speed to perform the attachment operation of the quick-change device, and restores the chassis engine speed to be controlled by the vehicle after the tool quick change is completed; S14, if the unique identification code of the tool to be attached by the mechanical arm fails to match the unique identification code of the tool in the tool switching instruction issued by the vehicle display unit, the vehicle control unit issues a warning prompt and stops attaching the tool to be attached; Among them, the safety protection logic is: the on-board control unit determines whether the quick-change valve operation of the machine and the speed reduction operation of the chassis engine can be performed, and at the same time, according to the current attached machine, it automatically matches the extreme protection module of the vehicle condition, and performs safety limit protection through the boom angle, boom arm angle, rotation angle and quick-change device angle signal value.

2. A machine tool automatic identification and control method according to claim 1, It is characterized in that Each machine corresponds to a unique machine identification code, and the machine identification code records the unique identification code of the machine that currently needs to be attached.

3. The automatic identification and control method of a machine tool according to claim 1, It is characterized in that The on-board display unit is communicatively connected with the vehicle control unit.

4. The automatic identification and control method of a machine tool according to claim 1, It is characterized in that The tool quick-change detection device sensor, the double-rotation angle detection device, the mechanical arm angle detection device and the chassis engine are electrically connected to the vehicle control unit.

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