A hobbing machining system, control method, device and medium

Abstract

The application provides a hobbing machining system, a control method, a device and a medium, and relates to the technical field of numerical control machine tools.The hobbing machining system comprises a hobbing machine tool, a tool holder and a tool changing robot, a tool fixing mechanism is used for fixing tools, a tool station is used for storing tools, the tool changing robot is used for changing the tools installed on the tool fixing mechanism, the tool changing robot comprises a mechanical arm, a gripper, a visual sensor and a force sensor, the gripper is used for grabbing tools, the gripper is arranged at the end of the mechanical arm, the visual sensor is used for identifying the positional relationship between the tools grabbed by the gripper and the tool fixing mechanism, and the force sensor is used for identifying the connection state between the tools grabbed by the gripper and the tool fixing mechanism.The coordinated action between the hobbing machine tool, the tool holder and the tool changing robot improves the continuous machining capacity of the hobbing machine, thereby improving the production efficiency of the hobbing machine.

Description

Technical Field

[0001] This application relates to the field of CNC machine tool technology, and in particular to a gear hobbing system, control method, device and medium. Background Technology

[0002] Gear hobbing is a common process in gear manufacturing. It involves using a hobbing cutter on a hobbing machine to process the gear blank, gradually cutting out a specific tooth profile. Currently, hobbing cutters are usually replaced manually, by removing the old cutter and installing a new one.

[0003] However, manual tool changing requires machine downtime. The entire process, from disassembling the old tool to installing the new one, and then adjusting and testing, is time-consuming. Furthermore, for large or heavy gear hobbing cutters, it can easily lead to operator fatigue, and problems such as improper installation or tool misalignment can occur, requiring repeated disassembly and assembly, which reduces the production efficiency of the gear hobbing machine. Summary of the Invention

[0004] This application provides a gear hobbing system, control method, device, and medium to solve the technical problem of low production efficiency of existing gear hobbing machines.

[0005] In a first aspect, embodiments of this application provide a gear hobbing system, including:

[0006] A gear hobbing machine tool includes a tool fixing mechanism for fixing the tool.

[0007] The tool holder includes a wireless radio frequency RFID reader and multiple tool stations. The tool stations are used to store tools. The RFID reader is used to read and write data on RFID tags. Different tools are equipped with different RFID tags.

[0008] A tool changing robot is used to replace the tool mounted on the tool fixing mechanism. The tool changing robot includes a robotic arm, a gripper, a vision sensor, and a force sensor. The gripper is used to grasp the tool and is located at the end of the robotic arm. The vision sensor is used to identify the positional relationship between the tool grasped by the gripper and the tool fixing mechanism. The force sensor is used to identify the connection status between the tool grasped by the gripper and the tool fixing mechanism.

[0009] The gear hobbing machine, the tool holder, and the tool changing robot are connected in communication.

[0010] Optionally, the gripper includes a first gripping end and a second gripping end, with a hollowed-out accommodating area between the first gripping end and the second gripping end, the accommodating area being used to provide accommodating space for the body of the tool.

[0011] Optionally, at least one of the first clamping end and the second clamping end includes: a first clamping plate and a second clamping plate disposed opposite to each other, wherein the first clamping plate is provided with a first groove and the second clamping plate is provided with a second groove, and the opening directions of the first groove and the second groove are disposed opposite to each other.

[0012] Secondly, embodiments of this application provide a control method for a gear hobbing system, applied to the gear hobbing system described in the first aspect, the method comprising:

[0013] When the wear condition of the first tool installed on the gear hobbing machine is detected to reach a preset threshold, the tool changing robot is controlled to transport the disassembled first tool to the tool station of the tool holder.

[0014] Control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder;

[0015] The tool-changing robot is controlled to transport the second tool to the tool fixing mechanism and install the second tool on the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

[0016] Optionally, before the tool-changing robot transports the first tool, which has been removed from the tool fixing mechanism, to the tool holder's tool station, the method further includes at least one of the following:

[0017] When the gear hobbing machine is stopped, the vision sensor of the tool changing robot is controlled to acquire the image information of the first tool in order to determine the wear state of the first tool.

[0018] Based on the RFID information of the first tool recorded by the tool holder, the wear state of the first tool is determined, and the RFID information includes the tool's usage time.

[0019] Optionally, the control of the tool-changing robot to transport the disassembled first tool to the tool holder's tool station includes:

[0020] Control the robotic arm to move the gripper to the position of the first tool;

[0021] When the gripper is gripping the first cutter, the cutter fixing mechanism is controlled to release the first cutter from its lock.

[0022] The robotic arm is controlled to move the gripper holding the first cutting tool to the tool position of the tool holder.

[0023] Optionally, controlling at least one of the tool-changing robot and the tool holder to acquire the RFID information of the first tool includes at least one of the following:

[0024] When the robotic arm moves the gripper closer to the first cutter, it controls the RFID reading device installed on the gripper to obtain the RFID information of the first cutter.

[0025] When the robotic arm moves the gripper holding the first tool to the tool station of the tool holder, it controls the RFID reader / writer device installed on the tool holder to obtain the RFID information of the first tool.

[0026] Optionally, controlling the tool-changing robot to transport the second tool to the tool-fixing mechanism and installing the second tool on the tool-fixing mechanism includes:

[0027] The tool holder determines the position information of the second tool based on the RFID information of the first tool, and the position information is used to indicate the tool station of the second tool in the tool holder;

[0028] The tool changing robot controls the robotic arm to move the gripper to the tool station where the second tool is located based on the position information, and controls the gripper to grab the second tool.

[0029] The robotic arm is controlled to move the gripper holding the second tool to the position of the tool fixing mechanism;

[0030] After the robotic arm adjusts its posture based on the positional relationship, the tool fixing mechanism is controlled to lock the second tool. The positional relationship is determined based on image data obtained by the vision sensor of the tool changing robot.

[0031] Optionally, the robotic arm adjusts its posture based on positional relationships, including:

[0032] The positional relationship between the second tool and the tool fixing mechanism is determined by controlling the image data between the second tool and the tool fixing mechanism acquired by the vision sensor.

[0033] The robotic arm is controlled to adjust the distance and angle of the gripper holding the second tool according to the positional relationship, so as to align the handle of the second tool with the assembly port of the tool fixing mechanism.

[0034] Optionally, after mounting the second tool on the tool fixing mechanism, the method further includes at least one of the following:

[0035] When the gripper grasps the second tool, the robotic arm is controlled to move away from the tool fixing mechanism, and the force sensor of the tool changing robot is controlled to obtain the connection status between the second tool and the tool fixing mechanism.

[0036] The gear hobbing machine is controlled to idle, and the vision sensor of the tool changing robot is controlled to acquire the motion state of the second tool.

[0037] Thirdly, embodiments of this application provide a control device for a gear hobbing system, applied to the gear hobbing system described in the first aspect, the device comprising:

[0038] The first control module is used to control the tool changing robot to transport the disassembled first tool to the tool station of the tool holder when the wear condition of the first tool installed on the gear hobbing machine reaches a preset threshold.

[0039] The second control module is used to control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder.

[0040] The third control module is used to control the tool changing robot to transport the second tool to the tool fixing mechanism and install the second tool in the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0042] In this embodiment, the tool changing robot automatically grasps and transports the tool using a robotic arm and grippers. Combined with vision and force sensors, it achieves precise alignment of the tool with the tool fixing mechanism and accurate identification of the installation status, reducing the time-consuming repeated adjustments and calibrations required during manual installation and shortening the tool changing operation time. The tool holder, through RFID reading and writing devices working in conjunction with the dedicated RFID tags on the tools, can quickly complete the automatic reading, writing, and identification of tool information, eliminating the need for manual verification of tool parameters and locating the tool station. The synergistic effect between the gear hobbing machine, the tool holder, and the tool changing robot enhances the continuous processing capability of the gear hobbing machine, thereby improving its production efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is one of the structural schematic diagrams of a gear hobbing system provided in the embodiments of this application;

[0045] Figure 2 This is a second schematic diagram of the structure of a gear hobbing system provided in the embodiments of this application;

[0046] Figure 3 This is a schematic diagram of the structure of a cutting tool provided in an embodiment of this application;

[0047] Figure 4 This is one of the structural schematic diagrams of the gripper of a gear hobbing system provided in the embodiments of this application;

[0048] Figure 5 This is a second schematic diagram of the structure of the gripper of a gear hobbing system provided in the embodiments of this application;

[0049] Figure 6 This application provides a control method for a gear hobbing system.

[0050] Figure 7 This is a control device for a gear hobbing system provided in the embodiments of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] This application provides a gear hobbing system, such as... Figure 1 As shown, it includes:

[0053] The gear hobbing machine 10 includes a tool fixing mechanism for fixing the tool 40.

[0054] The tool holder 20 includes a radio frequency identification (RFID) reader and multiple tool stations. The tool stations are used to store tools, and the RFID reader is used to read and write data on RFID tags. Different tools are equipped with different RFID tags.

[0055] The tool changing robot 30 is used to replace the tool mounted on the tool fixing mechanism. The tool changing robot 30 includes a robotic arm, a gripper, a vision sensor, and a force sensor. The gripper is used to grasp the tool and is located at the end of the robotic arm. The vision sensor is used to identify the positional relationship between the tool grasped by the gripper and the tool fixing mechanism. The force sensor is used to identify the connection status between the tool grasped by the gripper and the tool fixing mechanism.

[0056] The gear hobbing machine 10, the tool holder 20, and the tool changing robot 30 are communicatively connected. For example, the gear hobbing machine 10, the tool holder 20, and the tool changing robot 30 can be connected via a hub to achieve data transmission, such as... Figure 2 As shown.

[0057] Among them, the tool changing robot 30 is equipped with a FANUC robot controller, the gear hobbing machine 10 is equipped with a PLC or CNC system, and the tool holder 20 is equipped with an intelligent management system. The gear hobbing system can realize automatic tool changing by controlling the robot controller, CNC system and intelligent management system.

[0058] In this embodiment, the tool fixing mechanism of the gear hobbing machine 10 can adopt a quick-change tool shaft. The quick-change tool shaft and the BT tool holder of the tool (i.e., the gear hobbing cutter) quickly and automatically lock and unlock, eliminating the need for manual operation and reducing workload and risk of injury. The tool holder 20 can be a line-side tool magazine for intelligent management of various tools required on the production line. RFID information is written and read using an RFID reader to obtain parameters such as tool model, type, and service life. Figure 3As shown, an RFID tag 401 (or QR code) is installed on the cutting tool 40. The RFID tag 401 is embedded in the keyway of the cutting tool and can store data written by an RFID reader / writer. The tool holder 20 stores multiple pre-installed cutting tools. Furthermore, the tool holder 20 interacts with the tool changing robot 30 via signals, guiding the robot to move to the accurate tool position to pick up and place the tool, avoiding human error. The tool changing robot 30 replaces manual labor for automatic tool changing. Through signal interaction between the gear hobbing machine 10, the tool holder 20, and the tool changing robot 30, the actions of automatic tool release, automatic tool unloading by the robot, automatic tool loading by the robot, and automatic tool clamping are achieved, completely eliminating manual intervention.

[0059] Furthermore, the tool changing robot 30 can be a FANUC 6-axis industrial robot capable of gripping and changing tools along the X, Y, and Z axes, including adjustments on the rotary axis. It supports high-precision vision and force sensors. The vision sensor can be located at the end effector of the robotic arm, without interfering with the gripper, to identify the positional relationship between the tool gripped by the gripper and the tool fixing mechanism. The force sensor can be located on the gripper to identify the connection status between the tool gripped by the gripper and the tool fixing mechanism. See the following description for details:

[0060] In one example, a vision sensor acquires image data in real time. The gear hobbing system analyzes this image data to capture the spatial position and orientation information between the tool and the tool fixing mechanism, or between the tool and the tool holder station. When removing an old tool, the system identifies its precise mounting position on the tool fixing mechanism and coordinates the gripper to align and grasp it. When grasping a new tool, the system identifies the placement orientation and position of the new tool on the corresponding station of the tool holder, improving the accuracy of the gripper's grasping. When installing a new tool, the system identifies the relative position and angular deviation between the new tool on the gripper and the mounting position on the tool fixing mechanism in real time and feeds this position data back to the gear hobbing system. Based on this, the system dynamically adjusts the robotic arm's movement trajectory and the gripper's placement angle to achieve precise alignment between the new tool and the mounting position on the tool fixing mechanism.

[0061] In one example, a force sensor can collect the contact force between the gripper and the tool, and between the tool and the tool fixing mechanism, in real time. When gripping new or old tools, the force sensor monitors the contact clamping force between the gripper and the tool to ensure that the gripping force of the gripper reaches a preset value, thereby improving the stability of tool gripping and reducing damage to the tool due to excessive gripping force. After a new tool is installed in the tool fixing mechanism, the reverse movement of the robotic arm is controlled, and the contact force between the tool and the tool fixing mechanism is monitored by the force sensor to determine whether the tool is fully fitted to the mounting position. If an abnormal contact force is found, the force data can be fed back to the system, and the system can fine-tune the robotic arm and gripper to drive the tool to make local position adjustments, so that the tool and the mounting position are seamlessly fitted, reducing the possibility of the tool loosening in the tool fixing mechanism, thereby improving machining accuracy.

[0062] In this way, by using a vision sensor to provide a visual reference for the spatial position of the tool changing operation and a force sensor to provide force feedback on the contact state of the tool changing operation, the accuracy of automated tool changing is improved, the entire tool changing process is automated, and the existing time-consuming manual tool changing operation is replaced, thus solving the problem of low tool changing efficiency.

[0063] Optionally, such as Figure 4 As shown, the gripper includes a first gripping end 301 and a second gripping end 302. Between the first gripping end 301 and the second gripping end 302 is a hollowed-out accommodating area 303, which is used to provide accommodating space for the body of the tool 40.

[0064] In this example, the gripper of the tool-changing robot 30 adopts a dual-gripping-end structure. The distance between the first gripping end 301 and the second gripping end 302 can be 192mm, the thickness of the gripping end can be 14mm, and the offset distance between the center of the tool gripped by the gripper and the center of the robot tool end can be 165mm. When the gripper grasps the tool 40, the two gripping ends act on the tool shank position to improve the stability of the gripping, while the tool body is suspended in the receiving area 303, reducing the possibility of collision between the tool body (e.g., the cutting edge) and the gripper.

[0065] Optionally, such as Figure 5 As shown, at least one of the first clamping end 301 and the second clamping end 302 includes: a first clamping plate 304 and a second clamping plate 305 disposed opposite to each other, wherein the first clamping plate 304 is provided with a first groove 3041 and the second clamping plate 305 is provided with a second groove 3051, and the opening directions of the first groove 3041 and the second groove 3051 are opposite to each other.

[0066] In this example, at least one of the first gripping end 301 and the second gripping end 302 adopts a double-clamping adapter structure. Preferably, both the first gripping end 301 and the second gripping end 302 adopt a double-clamping adapter structure. Thus, both the first gripping end 301 and the second gripping end 302 are provided with a first clamping plate 304 and a second clamping plate 305 arranged opposite to each other. The first clamping plate 304 has a first groove 3041, and the second clamping plate 305 has a second groove 3051. The opening directions of the two grooves are opposite to each other, forming a clamping and positioning space adapted to the tool holder. This groove structure can compensate for the positioning deviation between the tool and the gripper, improving gripping accuracy. Furthermore, it can effectively reduce tool slippage and skew during gripping and handling, improving the stability and positioning accuracy of tool gripping during automated tool changing.

[0067] In this embodiment, the tool changing robot 30 automatically grasps and transports the tool using a robotic arm and grippers. Combined with vision and force sensors, it achieves precise alignment of the tool with the tool fixing mechanism and accurate identification of the installation status, reducing the time spent on repeated adjustments and calibrations during manual installation and shortening the tool changing operation time. The tool holder 20, through RFID reading and writing equipment working in conjunction with the dedicated RFID tag on the tool, can quickly complete the automatic reading, writing, and identification of tool information, eliminating the need for manual verification of tool parameters and locating the tool station. The synergistic effect between the gear hobbing machine 10, the tool holder 20, and the tool changing robot 30 enhances the continuous processing capability of the gear hobbing machine, thereby improving its production efficiency.

[0068] See Figure 6 , Figure 6 This application provides a control method for a gear hobbing system, applied to the aforementioned gear hobbing system. The method includes:

[0069] Step 601: When the wear condition of the first tool installed on the gear hobbing machine is detected to reach a preset threshold, the tool changing robot is controlled to transport the disassembled first tool to the tool station of the tool holder.

[0070] In this step, the gear hobbing system continuously monitors the wear condition of the first tool on the gear hobbing machine during processing. When the wear level reaches a preset threshold, such as the amount of wear or the duration of use reaching a threshold, the tool change process is automatically triggered. That is, the gear hobbing system issues an instruction to the tool changing robot to disassemble the first tool and precisely transport it to the designated tool station on the tool holder for storage, preparing for subsequent replacement with a new tool. The determination of the wear condition of the first tool is detailed below:

[0071] Optionally, before the tool-changing robot transports the first tool, which has been removed from the tool fixing mechanism, to the tool holder's tool station, the method further includes at least one of the following:

[0072] When the gear hobbing machine is stopped, the vision sensor of the tool changing robot is controlled to acquire the image information of the first tool in order to determine the wear state of the first tool.

[0073] Based on the RFID information of the first tool recorded by the tool holder, the wear state of the first tool is determined, and the RFID information includes the tool's usage time.

[0074] In one example, the operation can be performed while the gear hobbing machine is in a safe, stopped state. The gear hobbing system issues a detection command to the tool changing robot, which acquires high-definition image information of the first tool to be detected through a vision sensor. By analyzing and processing the image, the actual physical wear of the tool's cutting edge is identified, such as the amount of wear, chipping, notches, and the degree of edge dulling. The detection results are then compared with a preset wear threshold to determine whether the first tool has reached the wear state that requires replacement.

[0075] In another example, the RFID information of the first tool can be continuously recorded and dynamically updated via the tool holder. The RFID information pre-writes and synchronizes in real-time operating parameters such as tool usage time and cumulative machining time. The gear hobbing system does not require additional physical inspection; it can directly retrieve the RFID information of the first tool stored in the tool holder. By analyzing data such as the tool's cumulative usage time and matching it with a preset tool lifespan threshold, it can quickly determine whether the wear condition meets the standard, achieving real-time monitoring of tool wear. This reduces subjective errors from manual judgment, eliminates time-consuming manual inspection, integrates wear determination into the overall automated tool changing process, and improves the production efficiency of the gear hobbing system.

[0076] It should be understood that the gear hobbing system can also receive input commands from the operator to control the tool changing robot to perform tool changing operations.

[0077] Once the wear condition of the first tool is determined to have reached a preset threshold, the old tool is transported to the corresponding tool station on the tool holder through the precise coordinated movements of the robotic arm, gripper, and tool fixing mechanism. See the following description for details:

[0078] Optionally, the control of the tool-changing robot to transport the disassembled first tool to the tool holder's tool station includes:

[0079] Control the robotic arm to move the gripper to the position of the first tool;

[0080] When the gripper is gripping the first cutter, the cutter fixing mechanism is controlled to release the first cutter from its lock.

[0081] The robotic arm is controlled to move the gripper holding the first cutting tool to the tool position of the tool holder.

[0082] In this example, the tool-changing robot first receives a tool-changing command from the gear hobbing system. It then controls the robotic arm to move the end effector gripper along a preset path to the position of the first tool on the tool fixing mechanism. A vision sensor on the robotic arm assists in positioning, ensuring the gripper accurately grasps the shank of the first tool. A force sensor on the gripper detects pressure changes, confirming that the gripper has grasped the first tool. The robot then further controls the tool fixing mechanism to unlock the first tool, reducing the risk of the tool slipping or deflecting due to unlocking first. After the tool fixing mechanism is unlocked and the first tool is completely separated from the fixing mechanism, the robotic arm again moves along the preset path, carrying the gripper holding the first tool, to the designated tool position on the tool holder. This facilitates subsequent reading and writing of the first tool's RFID information, improving the efficiency of disassembling the first tool.

[0083] Step 602: Control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder.

[0084] In this step, after the first tool is transported to the tool holder, the RFID information of the RFID tag on the first tool is further read by the tool changing robot and at least one device in the tool holder. This information is tool parameter information (such as tool model, specifications, suitable machining conditions, usage time, etc.) pre-written by the RFID reader / writer of the tool holder, providing data support for subsequent matching of the corresponding new tool. For details on obtaining the RFID information of the first tool, please refer to the following description:

[0085] Optionally, controlling at least one of the tool-changing robot and the tool holder to acquire the RFID information of the first tool includes at least one of the following:

[0086] When the robotic arm moves the gripper closer to the first cutter, it controls the RFID reading device installed on the gripper to obtain the RFID information of the first cutter.

[0087] When the robotic arm moves the gripper holding the first tool to the tool station of the tool holder, it controls the RFID reader / writer device installed on the tool holder to obtain the RFID information of the first tool.

[0088] In one example, the gripper can be equipped with an RFID reading module for reading RFID information. The hobbing machining system controls the robotic arm of the tool changing robot to move the gripper toward the first tool. When the gripper enters the effective reading range of the RFID module, the RFID reading module integrated on the gripper is automatically triggered to start working, so as to read the RFID information in the RFID tag on the first tool, thereby obtaining the parameter information of the old tool. Based on the parameter information of the old tool, the corresponding new tool can be accurately matched, improving the efficiency and accuracy of tool changing.

[0089] In another example, after the robotic arm moves the gripper holding the first cutting tool to the designated tool station on the tool holder, the RFID reader on the tool holder is automatically activated to read the RFID information of the first cutting tool placed at the tool station, accurately obtaining the parameter information of the old cutting tool. This allows for accurate matching of the corresponding new cutting tool based on the parameter information of the old tool, improving tool changing efficiency and accuracy.

[0090] It should be understood that the RFID tag of the first tool can also be read simultaneously through the RFID reading module on the gripper and the RFID reading and writing device on the tool holder, reducing the information reading failure that may occur with a single reading method and further improving the accuracy of obtaining tool parameter information.

[0091] Step 603: Control the tool changing robot to transport the second tool to the tool fixing mechanism and install the second tool on the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

[0092] In this step, the gear hobbing system, based on the first tool RFID information obtained above, matches a second tool with compatible specifications, model, and other parameters in the tool holder. It then issues a command to control the tool changing robot to grab the second tool from the tool holder. Leveraging the flexible movement capabilities of FANUC's 6-axis robotic arm, the second tool is transported to the tool fixing mechanism of the gear hobbing machine, and the clamping and fixing operation of the second tool on the fixing mechanism is completed, thus automating the tool changing process. The specific clamping and fixing operation of the second tool on the fixing mechanism is described below:

[0093] Optionally, controlling the tool-changing robot to transport the second tool to the tool-fixing mechanism and installing the second tool on the tool-fixing mechanism includes:

[0094] The tool holder determines the position information of the second tool based on the RFID information of the first tool, and the position information is used to indicate the tool station of the second tool in the tool holder;

[0095] The tool changing robot controls the robotic arm to move the gripper to the tool station where the second tool is located based on the position information, and controls the gripper to grab the second tool.

[0096] The robotic arm is controlled to move the gripper holding the second tool to the position of the tool fixing mechanism;

[0097] After the robotic arm adjusts its posture based on the positional relationship, the tool fixing mechanism is controlled to lock the second tool. The positional relationship is determined based on image data obtained by the vision sensor of the tool changing robot.

[0098] In this example, after acquiring the RFID information of the first tool, the gear hobbing system controls the tool holder to automatically match a second tool whose specifications and performance are perfectly compatible with the first tool based on the RFID information. It then precisely locates the corresponding tool position of the second tool in the tool holder, generating and outputting clear position information. The tool changing robot's control system receives the second tool position information transmitted by the tool holder and drives the robotic arm to move the end effector gripper to the tool position of the second tool along the corresponding motion path. The gripper then grasps the second tool, and the dual gripping ends and groove structure of the gripper ensure the stability of tool grasping and transport. After the gripper grasps the second tool, the robotic arm further moves the gripper holding the second tool to the tool fixing mechanism of the gear hobbing machine, completing the preparation for new tool installation and realizing the transport from the tool holder to the machine tool mounting position.

[0099] After the second tool is transported to the location of the tool fixing mechanism, the control robot arm adjusts its posture based on the positional relationship, as detailed below:

[0100] Optionally, the robotic arm adjusts its posture based on positional relationships, including:

[0101] The positional relationship between the second tool and the tool fixing mechanism is determined by controlling the image data between the second tool and the tool fixing mechanism acquired by the vision sensor.

[0102] The robotic arm is controlled to adjust the distance and angle of the gripper holding the second tool according to the positional relationship, so as to align the handle of the second tool with the assembly port of the tool fixing mechanism.

[0103] In this example, the vision sensor of the tool-changing robot acquires image data between the second tool and the assembly port of the tool fixing mechanism. The gear hobbing system analyzes and processes this image data using image recognition and spatial positioning algorithms to determine the positional relationship between the second tool and the assembly port of the tool fixing mechanism, such as the distance, relative angle, and coaxiality. This provides accurate positional data for subsequent adjustments by the robotic arm. Then, the gear hobbing system converts the determined positional relationship into motion commands for the robotic arm, controlling the robotic arm to move the gripper holding the second tool. It then performs targeted adjustments to the spatial distance extension and rotation angle until the tool holder of the second tool is precisely aligned coaxially with the assembly port of the tool fixing mechanism, ensuring that the tool holder smoothly and without jamming fits into the assembly port.

[0104] After the robotic arm adjusts its posture based on the positional relationship, it immediately triggers the tool fixing mechanism to perform a locking and clamping action on the second tool, ultimately completing the clamping and fixing operation of the second tool on the fixing mechanism, realizing an automated tool changing process. In this way, real-time perception through vision sensors eliminates blind spots in alignment information, and deviation correction by the robotic arm ensures that the alignment accuracy between the tool holder and the assembly port meets the processing requirements, reducing subjective visual errors. At the same time, it avoids operators entering dangerous areas, reducing safety risks and improving production safety and efficiency.

[0105] Furthermore, after the second tool is installed in the tool fixing mechanism, at least one of the following can also be included:

[0106] When the gripper grasps the second tool, the robotic arm is controlled to move away from the tool fixing mechanism, and the force sensor of the tool changing robot is controlled to obtain the connection status between the second tool and the tool fixing mechanism.

[0107] The gear hobbing machine is controlled to idle, and the vision sensor of the tool changing robot is controlled to acquire the motion state of the second tool.

[0108] In one example, to test the stability of the tool installation, while the gripper is holding the second tool, the robotic arm can be controlled to make a small movement away from the tool fixing mechanism. During this process, the robotic arm will exert a slight pulling force on the connection between the tool and the fixing mechanism. The force sensor integrated on the gripper can capture and detect the force data between the second tool and the tool fixing mechanism in real time. By analyzing the force, it can accurately determine whether the tool fixing mechanism is firmly locking the second tool, and whether there are problems such as loosening, jamming, or poor fit between the tool and the fixing mechanism, thereby improving the stability of the tool installation.

[0109] In one example, to test the actual operating effect of the tool after installation, the gear hobbing machine can be controlled to perform an idle operation, i.e., no-load operation without workpiece cutting, simulating the motion conditions of the machine tool spindle and tool during normal machining. Simultaneously, the vision sensor of the tool-changing robot is triggered to collect real-time motion image data of the second tool during the idle operation. Through image analysis and processing, it is possible to identify whether the tool's operation is smooth, and whether there are abnormal motion states such as wobble, jitter, or axial displacement. This allows for the determination of whether the coaxiality and positioning accuracy of the second tool meet the machining requirements, further ensuring the stability of the tool installation. This effectively reduces the possibility of reduced gear accuracy in subsequent machining due to clamping problems.

[0110] See Figure 7 , Figure 7 This application provides a control device for a gear hobbing system, which is applied to the aforementioned gear hobbing system. Figure 7 As shown, the control device 700 of the gear hobbing system includes:

[0111] The first control module 701 is used to control the tool changing robot to transport the disassembled first tool to the tool station of the tool holder when the wear condition of the first tool installed on the gear hobbing machine reaches a preset threshold.

[0112] The second control module 702 is used to control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder.

[0113] The third control module 703 is used to control the tool changing robot to transport the second tool to the tool fixing mechanism and install the second tool in the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

[0114] Optionally, the device further includes at least one of the following:

[0115] The first determining module is used to control the vision sensor of the tool changing robot to acquire the image information of the first tool in the stopped state of the gear hobbing machine, so as to determine the wear state of the first tool.

[0116] The second determining module is used to determine the wear state of the first tool based on the RFID information of the first tool recorded by the tool holder, wherein the RFID information includes the tool's usage time.

[0117] Optionally, the first control module 701 is specifically used for:

[0118] Control the robotic arm to move the gripper to the position of the first tool;

[0119] When the gripper is gripping the first cutter, the cutter fixing mechanism is controlled to release the first cutter from its lock.

[0120] The robotic arm is controlled to move the gripper holding the first cutting tool to the tool position of the tool holder.

[0121] Optionally, the second control module 702 is specifically used for at least one of the following:

[0122] When the robotic arm moves the gripper closer to the first cutter, it controls the RFID reading device installed on the gripper to obtain the RFID information of the first cutter.

[0123] When the robotic arm moves the gripper holding the first tool to the tool station of the tool holder, it controls the RFID reader / writer device installed on the tool holder to obtain the RFID information of the first tool.

[0124] Optionally, the third control module 703 is specifically used for:

[0125] The tool holder determines the position information of the second tool based on the RFID information of the first tool, and the position information is used to indicate the tool station of the second tool in the tool holder;

[0126] The tool changing robot controls the robotic arm to move the gripper to the tool station where the second tool is located based on the position information, and controls the gripper to grab the second tool.

[0127] The robotic arm is controlled to move the gripper holding the second tool to the position of the tool fixing mechanism;

[0128] After the robotic arm adjusts its posture based on the positional relationship, the tool fixing mechanism is controlled to lock the second tool. The positional relationship is determined based on image data obtained by the vision sensor of the tool changing robot.

[0129] Optionally, the robotic arm adjusts its posture based on positional relationships, including:

[0130] The positional relationship between the second tool and the tool fixing mechanism is determined by controlling the image data between the second tool and the tool fixing mechanism acquired by the vision sensor.

[0131] The robotic arm is controlled to adjust the distance and angle of the gripper holding the second tool according to the positional relationship, so as to align the handle of the second tool with the assembly port of the tool fixing mechanism.

[0132] Optionally, the device further includes at least one of the following:

[0133] The fourth control module is used to control the robotic arm to move away from the tool fixing mechanism when the gripper grasps the second tool, and to control the force sensor of the tool changing robot to obtain the connection status between the second tool and the tool fixing mechanism.

[0134] The fifth control module is used to control the gear hobbing machine to idle and to control the vision sensor of the tool changing robot to obtain the motion state of the second tool.

[0135] The control device 700 of the gear hobbing system is capable of implementing each process of the above-described method embodiments, with one-to-one correspondence of technical features and achieving the same technical effect. To avoid repetition, it will not be described in detail here.

[0136] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0137] This application also provides a computer program product, including computer instructions. When executed by a processor, these computer instructions implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0138] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0140] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gear hobbing system, characterized in that, include: A gear hobbing machine tool includes a tool fixing mechanism for fixing the tool. The tool holder includes a wireless radio frequency RFID reader and multiple tool stations. The tool stations are used to store tools. The RFID reader is used to read and write data on RFID tags. Different tools are equipped with different RFID tags. A tool changing robot is used to replace the tool mounted on the tool fixing mechanism. The tool changing robot includes a robotic arm, a gripper, a vision sensor, and a force sensor. The gripper is used to grasp the tool and is located at the end of the robotic arm. The vision sensor is used to identify the positional relationship between the tool grasped by the gripper and the tool fixing mechanism. The force sensor is used to identify the connection status between the tool grasped by the gripper and the tool fixing mechanism. The gear hobbing machine, the tool holder, and the tool changing robot are connected in communication.

2. The gear hobbing system according to claim 1, characterized in that, The gripper includes a first gripping end and a second gripping end, with a hollowed-out accommodating area between the first gripping end and the second gripping end, which is used to provide accommodating space for the body of the tool.

3. The gear hobbing system according to claim 2, characterized in that, At least one of the first clamping end and the second clamping end includes: a first clamping plate and a second clamping plate disposed opposite to each other, wherein the first clamping plate is provided with a first groove and the second clamping plate is provided with a second groove, and the opening directions of the first groove and the second groove are disposed opposite to each other.

4. A control method for a gear hobbing system, characterized in that, The method, applied to the gear hobbing system as described in any one of claims 1 to 3, comprises: When the wear condition of the first tool installed on the gear hobbing machine is detected to reach a preset threshold, the tool changing robot is controlled to transport the disassembled first tool to the tool station of the tool holder. Control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder; The tool-changing robot is controlled to transport the second tool to the tool fixing mechanism and install the second tool on the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

5. The method according to claim 4, characterized in that, Before the controlled tool-changing robot transports the first tool, which has been removed from the tool fixing mechanism, to the tool station of the tool holder, the method further includes at least one of the following: When the gear hobbing machine is stopped, the vision sensor of the tool changing robot is controlled to acquire the image information of the first tool in order to determine the wear state of the first tool. Based on the RFID information of the first tool recorded by the tool holder, the wear state of the first tool is determined, and the RFID information includes the tool's usage time.

6. The method according to claim 4, characterized in that, The control of the tool-changing robot to transport the disassembled first tool to the tool holder's tool station includes: Control the robotic arm to move the gripper to the position of the first tool; When the gripper is gripping the first cutter, the cutter fixing mechanism is controlled to release the first cutter from its lock. The robotic arm is controlled to move the gripper holding the first cutting tool to the tool position of the tool holder.

7. The method according to claim 4, characterized in that, The method of controlling at least one of the tool-changing robot and the tool holder to acquire the RFID information of the first tool includes at least one of the following: When the robotic arm moves the gripper closer to the first cutter, it controls the RFID reading device installed on the gripper to obtain the RFID information of the first cutter. When the robotic arm moves the gripper holding the first tool to the tool station of the tool holder, it controls the RFID reader / writer device installed on the tool holder to obtain the RFID information of the first tool.

8. The method according to claim 4, characterized in that, The process of controlling the tool-changing robot to transport the second tool to the tool-fixing mechanism and installing the second tool on the tool-fixing mechanism includes: The tool holder determines the position information of the second tool based on the RFID information of the first tool, and the position information is used to indicate the tool station of the second tool in the tool holder; The tool changing robot controls the robotic arm to move the gripper to the tool station where the second tool is located based on the position information, and controls the gripper to grab the second tool. The robotic arm is controlled to move the gripper holding the second tool to the position of the tool fixing mechanism; After the robotic arm adjusts its posture based on the positional relationship, the tool fixing mechanism is controlled to lock the second tool. The positional relationship is determined based on image data obtained by the vision sensor of the tool changing robot.

9. The method according to claim 8, characterized in that, The robotic arm adjusts its posture based on positional relationships, including: The positional relationship between the second tool and the tool fixing mechanism is determined by controlling the image data between the second tool and the tool fixing mechanism acquired by the vision sensor. The robotic arm is controlled to adjust the distance and angle of the gripper holding the second tool according to the positional relationship, so as to align the handle of the second tool with the assembly port of the tool fixing mechanism.

10. The method according to claim 4, characterized in that, After mounting the second tool onto the tool fixing mechanism, the method further includes at least one of the following: When the gripper grasps the second tool, the robotic arm is controlled to move away from the tool fixing mechanism, and the force sensor of the tool changing robot is controlled to obtain the connection status between the second tool and the tool fixing mechanism. The gear hobbing machine is controlled to idle, and the vision sensor of the tool changing robot is controlled to acquire the motion state of the second tool.

11. A control device for a gear hobbing system, characterized in that, The apparatus, used in any one of claims 1 to 3, comprises: The first control module is used to control the tool changing robot to transport the disassembled first tool to the tool station of the tool holder when the wear condition of the first tool installed on the gear hobbing machine reaches a preset threshold. The second control module is used to control at least one of the tool changing robot and the tool holder to acquire the RFID information of the first tool, wherein the RFID information is tool parameter information pre-written by the RFID reader / writer based on the tool holder. The third control module is used to control the tool changing robot to transport the second tool to the tool fixing mechanism and install the second tool in the tool fixing mechanism. The second tool is determined based on the RFID information of the first tool.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 4 to 10.

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