A positioning method, system, electronic device and storage medium for a tool changing cylinder seat

Abstract

The present application discloses a positioning method, system, electronic device and storage medium for a tool-changing cylinder seat, and the technical field to which it belongs is the technical field of shield equipment. The positioning method of the tool-changing cylinder seat includes: determining the distance between the cylinder contact surface of the tool barrel and the end surface of the tool-changing gate according to the three-dimensional model of the hob cutter disc, and setting the sum of the distance between the surfaces, the theoretical tool-changing stroke and the occupied length of the tool-changing cylinder as the target installation distance; controlling the measuring device to emit a laser beam and determining the measurement result of the measuring device; adjusting the installation position and / or installation angle of the tool-changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°. The present application can improve the positioning accuracy and efficiency of the tool-changing cylinder seat of the hob cutter disc.

Description

Technical Field

[0001] The present application relates to the technical field of shield equipment, and in particular to a positioning method, system, electronic equipment and storage medium for a tool-changing cylinder seat. Background Art

[0002] Large and extra-large diameter shield machines with atmospheric pressure replaceable cutterheads are widely used in underground tunnel construction projects due to their safety, environmental friendliness, and high efficiency. Furthermore, with the emergence of increasingly complex geological conditions, especially hard rock composite formations with uneven hardness, shield machines equipped with atmospheric pressure cutterheads have become the preferred construction equipment.

[0003] Because the cutter disc of the normal pressure hob needs to be disassembled and assembled with the help of the extraction and extension of the tool-changing cylinder when the cutter is replaced, and the tool-changing cylinder must be fixed on the tool-changing cylinder seat to obtain the support reaction force required for the cylinder to extend and retract. To ensure construction safety, when the cylinder pulls the cutter barrel backward, it is necessary to ensure that the outer wall of the cutter barrel and the inner wall of the sealing gate are effectively sealed, and when the sealing gate can be closed, it is still necessary to ensure that the cutter barrel and the rear section of the sealing gate maintain a good seal. Obviously, during the tool replacement operation, it is necessary to ensure the rationality of the first extraction distance and the coaxiality between the cutter barrel, the sealing gate, and the tool-changing cylinder. The accuracy of the position of the tool-changing cylinder seat is a necessary prerequisite for ensuring the tool change requirements.

[0004] In the prior art, the tool-changing cylinder seat is positioned and installed mainly by setting a positioning fixture of a rod-shaped steel rod behind the flange. However, the positioning accuracy and efficiency of the above method are relatively low.

[0005] Therefore, how to improve the positioning accuracy and positioning efficiency of the tool-changing cylinder seat of the hob cutter disc is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0006] The purpose of the present application is to provide a positioning method, system, electronic equipment and storage medium for a tool-changing cylinder seat, which can improve the positioning accuracy and positioning efficiency of the tool-changing cylinder seat of a hob cutter disc.

[0007] In order to solve the above technical problems, the present application provides a positioning method for a tool-changing cylinder seat, which comprises:

[0008] Determine the distance between the contact surface of the cutter drum and the end surface of the tool change gate based on the three-dimensional model of the hob cutter disc, and set the sum of the distance, the theoretical tool change stroke, and the occupied length of the tool change cylinder as the target installation distance;

[0009] Controlling a measuring device to emit a laser beam and determining a measurement result of the measuring device; wherein the measuring device is mounted on a tool-changing gate interface corresponding to a tool-changing cylinder seat, a main laser beam of the laser beam is perpendicular to an end face of the tool-changing gate, and the measurement result includes a measured distance between the end face of the tool-changing gate and a light-facing surface of the tool-changing cylinder seat, and a measured incident angle between the main laser beam and the light-facing surface;

[0010] The installation position and / or installation angle of the tool-changing cylinder seat are adjusted so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

[0011] Optionally, adjusting the installation position and / or installation angle of the tool-changing cylinder seat includes:

[0012] If the current value of the measured incident angle is not 0°, adjusting the installation angle of the tool changing cylinder seat;

[0013] If the current value of the measured distance is not equal to the target installation distance, the installation position of the tool changing cylinder seat is adjusted along a preset direction; wherein the preset direction is the emission direction of the main laser or the opposite direction of the emission direction of the main laser.

[0014] Optionally, after adjusting the installation position and / or installation angle of the tool-changing cylinder seat, the method further includes:

[0015] Determining whether the measured distance is equal to the target installation distance and the measured incident angle is 0°;

[0016] If so, the tool-changing cylinder seat is fixed at the current position.

[0017] Optionally, a reflective plate is provided on the light-facing surface;

[0018] Accordingly, controlling the measuring device to emit a laser beam comprises:

[0019] The measuring device is controlled to emit the laser beam toward the reflecting plate.

[0020] Optionally, controlling the measuring device to emit the laser beam toward the reflective plate includes:

[0021] controlling the measuring device to emit the laser beam including a main laser, a first auxiliary laser, and a second auxiliary laser toward the reflective plate;

[0022] The main laser, the first auxiliary laser, and the second auxiliary laser are all irradiated onto the reflector, and a plane formed by the main laser and the first auxiliary laser is perpendicular to a plane formed by the main laser and the second auxiliary laser.

[0023] Optionally, after setting the sum of the inter-surface distance, the theoretical tool change stroke, and the occupied length of the tool change cylinder as the target installation distance, the method further includes:

[0024] inputting the target installation distance into the measuring device so that the measuring device performs an automatic comparison operation;

[0025] Among them, the process of the measuring device performing automatic comparison operation includes: judging whether the measured distance between the end face of the tool changing gate and the light-facing surface of the tool changing cylinder seat is equal to the target installation distance, and obtaining a first judgment result; judging whether the measured incident angle between the main laser and the light-facing surface is 0°, and obtaining a second judgment result; if the first judgment result and the second judgment result are correct, a prompt message indicating that the positioning is completed is output.

[0026] The present application also provides a positioning system for a tool-changing oil cylinder seat, the positioning system for the tool-changing oil cylinder seat comprising:

[0027] A distance calculation module is used to determine the distance between the contact surface of the cylinder of the tool barrel and the end surface of the tool change gate based on the three-dimensional model of the hob cutter head, and set the sum of the distance between the surfaces, the theoretical tool change stroke and the occupied length of the tool change cylinder as the target installation distance;

[0028] a measuring module, configured to control a measuring device to emit a laser beam and determine a measurement result of the measuring device; wherein the measuring device is mounted on a tool-changing gate interface corresponding to a tool-changing cylinder seat, a main laser beam of the laser beam is perpendicular to an end face of the tool-changing gate, and the measurement result includes a measured distance between the end face of the tool-changing gate and a light-facing surface of the tool-changing cylinder seat, and a measured incident angle between the main laser beam and the light-facing surface;

[0029] An adjustment module is used to adjust the installation position and / or installation angle of the tool-changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

[0030] Optionally, the measuring device includes a laser emission hole, an angle display area, a distance display area, an angle indicator light, and a distance indicator light;

[0031] Among them, the laser emission hole is used to emit the laser beam; the angle display area is used to display the measured incident angle; the distance display area is used to display the measured distance; the angle indicator light is used to switch from the off state to the on state when the measured distance is equal to the target installation distance; the distance indicator light is used to switch from the off state to the on state when the measured incident angle is 0°.

[0032] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the positioning method of the tool-changing cylinder seat are implemented.

[0033] The present application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the positioning method of the tool-changing cylinder seat are implemented.

[0034] The present application provides a positioning method for a tool-changing cylinder seat, comprising: determining the inter-surface distance between the cylinder contact surface of the tool barrel and the end face of the tool-changing gate according to a three-dimensional model of a hob cutter disc, and setting the sum of the inter-surface distance, the theoretical tool-changing stroke and the tool-changing cylinder occupancy length as a target installation distance; controlling a measuring device to emit a laser beam, and determining a measurement result of the measuring device; wherein the measuring device is installed at a tool-changing gate interface corresponding to the tool-changing cylinder seat, the main laser of the laser beam is perpendicular to the end face of the tool-changing gate, and the measurement result includes the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat, and the measured incident angle between the main laser and the light-facing surface; adjusting the installation position and / or installation angle of the tool-changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

[0035] After obtaining the target installation distance that needs to be achieved between the end face of the knife gate and the light-facing surface of the tool-changing cylinder seat, the present application emits a laser beam to the tool-changing cylinder seat through a measuring device and obtains the measurement results of the measuring device. The above-mentioned measurement results may include the measured distance between the end face of the knife-changing gate and the light-facing surface, and the measured incident angle between the main laser and the light-facing surface. The present application adjusts the installation position and / or installation angle of the tool-changing cylinder seat according to the measurement results so that the measured distance is equal to the target installation distance and the measured incident angle is 0°. The above process can quickly and accurately adjust the installation position and / or installation angle of the tool-changing cylinder seat through the incident angle and distance detected in real time by the measuring device, effectively avoiding the problems of cumbersome operation and low efficiency caused by the need to use multiple specifications of positioning devices at different points in the prior art. Therefore, the present application can improve the positioning accuracy and positioning efficiency of the tool-changing cylinder seat of the hob cutter disc. The present application also provides a positioning system for the tool-changing cylinder seat, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not further described here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A flowchart of a positioning method for a tool-changing cylinder seat provided in an embodiment of the present application;

[0038] Figure 2 A schematic structural diagram of a hob cutter disc provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the axial structure of a measuring device provided in an embodiment of the present application;

[0040] Figure 4 A schematic structural diagram of a measuring device provided in an embodiment of the present application;

[0041] Figure 5 A side view of a measuring device provided in an embodiment of the present application;

[0042] Figure 6 A schematic structural diagram of a tool-changing cylinder seat provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a laser beam irradiating a reflective plate provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the relative positions of the tool barrel and the tool when the tool-changing oil cylinder retracts to correspond to the tool-changing stroke provided in an embodiment of the present application;

[0045] Figure 9 A partially enlarged schematic diagram of a tool barrel and a tool when a tool-changing oil cylinder retracts to correspond to a tool-changing stroke provided in an embodiment of the present application;

[0046] Figure 10 This is a structural schematic diagram of a positioning system for a tool-changing cylinder seat provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] See below Figure 1 , Figure 1 This is a flow chart of a positioning method for a tool-changing cylinder seat provided in an embodiment of the present application.

[0049] Specific steps may include:

[0050] S101: Determine the distance between the contact surface of the oil cylinder of the cutter drum and the end surface of the tool change gate according to the three-dimensional model of the hob cutter head, and set the sum of the distance between the surfaces, the theoretical tool change stroke, and the occupied length of the tool change oil cylinder as the target installation distance;

[0051] This embodiment can be applied to an electronic device connected to a measuring device and a cutterhead assembly device, or to a cutterhead assembly device connected to the measuring device. Prior to this step, a three-dimensional model of the cutterhead can be obtained, and the distance between the contact surface of the oil cylinder and the end surface of the cutterhead gate, i.e., the inter-surface distance, can be measured in the system containing the three-dimensional model.

[0052] Specifically, this step can obtain the design parameters of the aforementioned hob cutterhead and, based on these design parameters, determine the theoretical tool change stroke and the tool change cylinder's occupied length. In this embodiment, the sum of the inter-surface distance, the theoretical tool change stroke, and the tool change cylinder's occupied length can be set as the target installation distance. The target installation distance describes the distance between the theoretical installation position of the tool change cylinder seat and the cylinder contact surface of the tool barrel.

[0053] S102: controlling the measuring device to emit a laser beam and determining a measurement result of the measuring device;

[0054] In which, the measuring device is installed on the tool changing gate interface corresponding to the tool changing cylinder seat, and the measuring device includes a laser emitting hole, an angle display area, a distance display area (i.e., a distance digital display area), an angle indicator light (i.e., an angle digital display area), and a distance indicator light; the laser emitting hole is used to emit the laser beam; the angle display area is used to display the measured incident angle; the distance display area is used to display the measured distance; the angle indicator light is used to be lit when the measured distance is equal to the target installation distance; the distance indicator light is used to be lit when the measured incident angle is 0°.

[0055] There can be multiple tool-changing cylinder seats on the cutter disc, and each tool-changing cylinder seat has its corresponding tool-changing gate. When the tool-changing cylinder seat to be positioned needs to be positioned, the measuring device can be installed to the interface of the tool-changing gate corresponding to the tool-changing cylinder seat to be positioned. The measuring device emits a laser beam to the light-facing surface of the tool-changing cylinder seat, and determines the angle and distance of the light-facing surface based on the reflected laser. The main laser of the laser beam emitted by the above-mentioned measuring device is perpendicular to the end face of the tool-changing gate, and the measurement result includes the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat, and the measured incident angle between the main laser and the light-facing surface. The tool-changing cylinder seat includes a fixed surface and a light-facing surface. The fixed surface is used to install the tool-changing cylinder seat, and the light-facing surface is the surface facing the laser beam. The measured incident angle is the angle between the main laser and the normal of the plane where the light-facing surface (or reflector) is located.

[0056] As a feasible implementation method, in order to facilitate detection, the light-facing surface of the tool-changing cylinder seat can be mirror-finished, or a reflector can be provided on the light-facing surface, and the shape of the reflector is the same as that of the light-facing surface. Accordingly, the measuring device can be controlled to emit the laser beam toward the reflector in the following manner, including: controlling the measuring device to emit the laser beam including the main laser, the first auxiliary laser, and the second auxiliary laser toward the light-facing surface; wherein the main laser, the first auxiliary laser, and the second auxiliary laser are all irradiated on the light-facing surface, and the plane formed by the main laser and the first auxiliary laser is perpendicular to the plane formed by the main laser and the second auxiliary laser. If a reflector is provided, when calculating the actual measured distance, the distance between the end face of the tool-changing gate and the reflector and the thickness of the reflector can be added to obtain the actual measured distance.

[0057] S103: Adjust the installation position and / or installation angle of the tool-changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

[0058] After obtaining the above-mentioned measured distance and measured incident angle, this step can use the measured distance to adjust the installation position of the tool changer cylinder base so that the adjusted measured distance equals the target installation distance. This step can also use the measured incident angle to adjust the installation angle of the tool changer cylinder base so that the adjusted measured incident angle is 0° (i.e., the main laser is perpendicular to the light-facing surface). After adjusting the measured distance to the target installation distance and the measured incident angle to 0°, it can be determined that the tool changer cylinder base is in the theoretical installation position, thereby completing the installation and positioning of the tool changer cylinder base.

[0059] As a feasible implementation method, after adjusting the installation position and / or installation angle of the tool changing cylinder seat, it is also possible to determine whether the measured distance is equal to the target installation distance and the measured incident angle is 0°; if so, the tool changing cylinder seat is fixed at the current position to perform the installation operation.

[0060] After obtaining the target installation distance that needs to be achieved between the end face of the knife gate and the light-facing surface of the tool-changing cylinder seat, this embodiment emits a laser beam to the tool-changing cylinder seat through a measuring device and obtains the measurement results of the measuring device. The above-mentioned measurement results may include the measured distance between the end face of the knife-changing gate and the light-facing surface, and the measured incident angle between the main laser and the light-facing surface. This embodiment adjusts the installation position and / or installation angle of the tool-changing cylinder seat according to the measurement results so that the measured distance is equal to the target installation distance and the measured incident angle is 0°. The above process can quickly and accurately adjust the installation position and / or installation angle of the tool-changing cylinder seat through the incident angle and distance detected in real time by the measuring device, effectively avoiding the problems of cumbersome operation and low efficiency caused by the need to use multiple specifications of positioning devices at different points in the prior art. Therefore, this embodiment can improve the positioning accuracy and positioning efficiency of the tool-changing cylinder seat of the hob cutter head.

[0061] As a feasible implementation, this embodiment can adjust the installation position and / or installation angle of the tool changer cylinder base according to the following principles: if the current value of the measured incident angle is not 0°, the installation angle of the tool changer cylinder base is adjusted; if the current value of the measured distance is not equal to the target installation distance, the installation position of the tool changer cylinder base is adjusted along a preset direction; wherein the preset direction is the emission direction of the main laser or the opposite direction of the emission direction of the main laser. In this process, the installation angle can be adjusted first, followed by the installation position. During the adjustment of the installation position, movement can be performed in the preset direction to avoid further errors in the measured incident angle.

[0062] As a feasible implementation, a reflector is provided on the light-facing surface of the tool-changing cylinder seat. Accordingly, the measuring device can be controlled to emit the laser beam in the following manner: the measuring device is controlled to emit the laser beam toward the reflector.

[0063] Specifically, the laser beam may include a main laser, a first auxiliary laser, and a second auxiliary laser. The main laser, the first auxiliary laser, and the second auxiliary laser may have the same intensity but different emission directions. Accordingly, the measuring device may be controlled to emit the laser beam toward the reflector in the following manner, including: controlling the measuring device to emit the laser beam including the main laser, the first auxiliary laser, and the second auxiliary laser toward the reflector; wherein the main laser, the first auxiliary laser, and the second auxiliary laser are all irradiated onto the reflector, and a plane formed by the main laser and the first auxiliary laser is perpendicular to a plane formed by the main laser and the second auxiliary laser.

[0064] As a feasible implementation method, after setting the sum of the inter-surface distance, the theoretical tool change stroke, and the occupied length of the tool change cylinder as the target installation distance, the target installation distance can also be input into the measuring device so as to perform an automatic comparison operation in the measuring device;

[0065] The process of the automatic comparison operation performed by the above-mentioned measuring device includes: determining whether the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat is equal to the target installation distance, thereby obtaining a first judgment result; determining whether the measured incident angle between the main laser and the light-facing surface is 0°, thereby obtaining a second judgment result; and outputting a prompt message indicating that positioning is completed if the first judgment result and the second judgment result are the same. Specifically, the measuring device may further output a prompt message indicating that distance positioning is completed when the first judgment result is yes (i.e., the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat is equal to the target installation distance); and may further output a prompt message indicating that angle positioning is completed when the second judgment result is yes (i.e., the measured incident angle between the main laser and the light-facing surface is 0°).

[0066] The process described in the above embodiment is explained below through an embodiment in actual application.

[0067] In the related art, the positioning and installation of the tool changing cylinder seat mainly rely on setting a rod-shaped steel rod positioning tool behind the flange. This method is not only heavy and difficult to carry, but also has poor positioning accuracy and low efficiency. Especially when positioning the tool changing cylinder seat of the edge hob, it is impossible to ensure the coaxiality requirements among the tool barrel, sealing gate and tool changing cylinder at any point to be positioned.

[0068] In the design and production of large-diameter or ultra-large-diameter normal pressure hob cutter heads, in order to circumvent the technical problems existing in the above-mentioned related technologies, the embodiment of the present application provides a positioning solution for the tool-changing cylinder seat, see Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , Figure 2 This is a schematic structural diagram of a hob cutter disc provided in an embodiment of the present application. Figure 3 This is a schematic diagram of the axial structure of a measuring device provided in an embodiment of the present application. Figure 4 This is a schematic diagram of the structure of a measuring device provided in an embodiment of the present application. Figure 5 This is a side view of a measuring device provided in an embodiment of the present application. Figure 6This is a schematic diagram of the structure of a tool-changing cylinder seat provided in an embodiment of the present application. In the above figure, 1 represents a measuring device, 11 represents a measuring instrument on the measuring device, 111 represents a laser emission hole, 112 represents a data input area, 113 represents an angle digital display area, 114 represents a distance digital display area, 115 represents an angle indicator light, 116 represents a distance indicator light, 12 represents a connecting seat, 13 represents a fixing plate, 14 represents a laser beam, 2 represents a tool-changing cylinder seat, 21 represents a clamping plate, 211 represents a light-facing surface, 22 represents a base, 221 represents a fixing surface, 30 represents a cutter head, 31 represents a tool-changing gate, 32 represents a tool barrel, 33 represents a tool-changing cylinder, 34 represents a fixing bracket, Hi represents the actual measured distance digital display value (i.e., the actual measured distance), and α represents the incident angle digital display value (i.e., the actual measured incident angle). Δi represents the distance from the contact surface of the tool barrel cylinder to the end face of the corresponding tool change gate, Si represents the theoretical tool change stroke, Li represents the occupied length of the tool change cylinder, Σi=(Li+Si+Δi), and the tool change cylinder seat positioning solution can specifically include the following steps:

[0069] Step 1: Based on the design parameters and three-dimensional model system determined by the designer, measure the distance Δi from the contact surface of the tool barrel cylinder to the end face of the corresponding tool change gate, and input the measured value Δi together with the sum of the theoretical tool change stroke Si required for tool change and the corresponding tool change cylinder occupation length Li into the measuring device, Σi, where Σi = (Li + Si + Δi).

[0070] Step 2: Install the measuring device 1 on the tool-changing gate interface corresponding to the tool-changing cylinder seat 2 to be positioned, and press the corresponding option switch Ki to start the measuring device 1 to emit the laser beam;

[0071] Step 3: Install the reflector plate at the center of the light-facing surface of the tool change cylinder base 2 to be positioned, and then move the tool change cylinder base 2 so that the laser beam 14 is projected onto the reflector plate;

[0072] Step 4: Observe the incident angle digital display value α on the measuring device 1, and fine-tune the angle between the tool change cylinder base 2 and the laser beam 14 according to the α value. When the incident angle digital display value α on the measuring device 1 is 0°, it is determined that the laser beam 14 and the light-facing surface of the tool change cylinder base 2 are perpendicular to each other.

[0073] Step 5: Keep α = 0° unchanged, observe the measured distance digital display value Hi on the measuring device 1, and slowly move the tool change cylinder base 2 back and forth along the direction of the laser beam 14. When the measured distance digital display value Hi = Σi, stop moving the tool change cylinder base 2;

[0074] Step 6: again confirm that the incident angle digital display value α on the measuring device 1 is 0° and the measured distance digital display value Hi is Σi, define the fixing surface of the tool change cylinder base 2, and take corresponding measures to fix the tool change cylinder base 2 at the determined position;

[0075] Step 7: Repeat steps 2 to 6 above until all tool-changing cylinder seats 2 are positioned and installed.

[0076] Furthermore, the measuring device 1 includes a measuring instrument 11, a connecting base 12, and other devices. The measuring instrument 11 is provided with a laser emission hole 111, a data input area 112, an angle digital display area 113, a distance digital display area 114, an angle indicator 115, and a distance indicator 116. The measuring instrument 11 is bolted to the center of the connecting base 12 via a fixing plate 13. The reflector can be a magnetic circular plate with a diameter equal to that of the light-facing surface 211, which can be directly attached to the end face of the light-facing surface 211. The side of the reflector that receives the laser beam 14 is mirror-finished.

[0077] See Figure 7 , Figure 7 A schematic diagram of a laser beam irradiating a reflective plate provided in an embodiment of the present application is shown in FIG. Figure 7 The laser beam 14 shown is divided into a main beam OA (i.e., the main laser beam), a first auxiliary beam OB (i.e., the first auxiliary laser beam), and a second auxiliary beam OC (i.e., the second auxiliary laser beam). The plane formed by OAB and the plane formed by OAC are perpendicular to each other. E is the position of the OA reflector plate, which makes it perpendicular. θ represents the angle between the main beam OA and the auxiliary beam OC during laser beam emission, and β represents the angle between the main beam OA and the auxiliary beam OB during laser beam emission. To ensure that the distance measurement accuracy of the measuring device is controlled within 2 mm, the angle between OA and OB in this embodiment is β = arctan (1 / 5000), and the angle between OA and OC is θ = arctan (2 / 5000).

[0078] The tool-changing cylinder seat 2 includes a clamping plate 21 and a base 22, wherein the clamping plate 21 and the base 22 are welded and fixedly connected, and a columnar light-facing surface 211 is provided at the center position of the front end surface of the clamping plate 21; the rear end of the base 22 is provided with a fixing surface 221 for fixing the entire tool-changing cylinder seat.

[0079] The design parameters and three-dimensional model system determined by the above-mentioned designers include the cutter head model 30, the tool changing gate 31, the tool barrel 32, the tool changing cylinder 33, and the fixing frame 34 drawn using drawing software; the distance Δi from the cylinder contact surface of the tool barrel 32 to the end face of the corresponding tool changing gate 31 can be directly measured within the design parameters and three-dimensional model system; the occupied length Li of the tool changing cylinder 33 and the theoretical tool changing stroke Si are both determined by the design parameters.

[0080] See Figure 8 and Figure 9 , Figure 8 This is a relative schematic diagram of the tool barrel and tool when the tool-changing oil cylinder retracts to correspond to the tool-changing stroke provided by an embodiment of the present application. Figure 9A partially enlarged schematic diagram of a tool barrel tool when the tool-changing cylinder retracts to correspond to the tool-changing stroke provided in an embodiment of the present application. In the figure, d1 represents the major diameter of the tool barrel, and d2 represents the minor diameter of the tool barrel. Furthermore, the theoretical tool-changing stroke Si is the first extension and retraction distance of the tool-changing cylinder 33 during tool changing; the precise position of the tool-changing cylinder seat 2 must satisfy that when the tool-changing cylinder 33 retracts the distance Si, the tool-changing cylinder 33 is just in the initial position, that is, it cannot continue to retract, and at this time the tool barrel 32 must retract to the rear side of the tool-changing gate 31, and the front section of the outer wall of the major diameter of the knife barrel must be before the inner wall seal, ensuring a good seal between the tool barrel 32 and the sealing gate 31 before the sealing gate 31 is closed. Figure 9 Also shown are the inner wall sealing ring and the outer wall of the knife barrel with a large diameter.

[0081] In the above embodiment, in the designed normal pressure hob cutter disc model, the distance Δi from the contact surface of all hob cutter barrels and cylinders except the center hob to the corresponding tool change gate end face is measured; and the measured value Δi, together with the theoretical tool change stroke Si required for tool change and the corresponding tool change cylinder occupation length Li, the sum of the three Σi=(Li+Si+Δi) is input into the measuring device; the measuring device is installed on the tool change gate interface corresponding to the tool change cylinder seat 2 to be positioned, and the corresponding option switch Ki is pressed to turn on the measuring device 1 to emit a laser beam; the reflector is installed at the center position of the light-facing surface of the tool change cylinder seat to be positioned, and then the tool change cylinder seat is adjusted so that the laser beam is projected exactly on the reflector; by observing the data and indicator lights on the measuring device, the exact position of the tool change cylinder seat is determined, and then the tool change cylinder seat is fixed. The above process can quickly and accurately determine the exact spatial position of the cylinder seat to be positioned through the angle and distance values ​​displayed in real time by the measuring device, effectively avoiding the problems of cumbersome operation and low efficiency caused by the need to use multiple specifications of positioning devices at different points in the existing technology. At the same time, it also solves the problems of traditional positioning devices being unable to measure distances and having large installation angle errors, thereby helping to improve work efficiency and positioning accuracy.

[0082] See Figure 10 , Figure 10 A schematic structural diagram of a positioning system for a tool-changing cylinder seat provided in an embodiment of the present application, the system may include:

[0083] A distance calculation module 1001 is configured to determine the distance between the contact surface of the cutter drum and the end surface of the tool change gate based on the three-dimensional model of the hob cutter head, and to set the sum of the distance, the theoretical tool change stroke, and the occupied length of the tool change cylinder as the target installation distance;

[0084] A measurement module 1002 is configured to control a measuring device to emit a laser beam and determine a measurement result of the measuring device; wherein the measuring device is mounted on a tool-changing gate interface corresponding to a tool-changing cylinder seat, a main laser beam of the laser beam is perpendicular to an end face of the tool-changing gate, and the measurement result includes a measured distance between the end face of the tool-changing gate and a light-facing surface of the tool-changing cylinder seat, and a measured incident angle between the main laser beam and the light-facing surface;

[0085] The adjustment module 1003 is used to adjust the installation position and / or installation angle of the tool-changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

[0086] Furthermore, the measuring device includes a laser emission hole, an angle display area, a distance display area, an angle indicator light, and a distance indicator light;

[0087] Among them, the laser emission hole is used to emit the laser beam; the angle display area is used to display the measured incident angle; the distance display area is used to display the measured distance; the angle indicator light is used to switch from the off state to the on state when the measured distance is equal to the target installation distance; the distance indicator light is used to switch from the off state to the on state when the measured incident angle is 0°.

[0088] After obtaining the target installation distance that needs to be achieved between the end face of the knife gate and the light-facing surface of the tool-changing cylinder seat, this embodiment emits a laser beam to the tool-changing cylinder seat through a measuring device and obtains the measurement results of the measuring device. The above-mentioned measurement results may include the measured distance between the end face of the knife-changing gate and the light-facing surface, and the measured incident angle between the main laser and the light-facing surface. This embodiment adjusts the installation position and / or installation angle of the tool-changing cylinder seat according to the measurement results so that the measured distance is equal to the target installation distance and the measured incident angle is 0°. The above process can quickly and accurately adjust the installation position and / or installation angle of the tool-changing cylinder seat through the incident angle and distance detected in real time by the measuring device, effectively avoiding the problems of cumbersome operation and low efficiency caused by the need to use multiple specifications of positioning devices at different points in the prior art. Therefore, this embodiment can improve the positioning accuracy and positioning efficiency of the tool-changing cylinder seat of the hob cutter head.

[0089] Furthermore, the process of the adjustment module 1003 adjusting the installation position and / or installation angle of the tool changing cylinder seat includes: if the current value of the measured incident angle is not 0°, adjusting the installation angle of the tool changing cylinder seat; if the current value of the measured distance is not equal to the target installation distance, adjusting the installation position of the tool changing cylinder seat along a preset direction; wherein the preset direction is the emission direction of the main laser or the opposite direction of the emission direction of the main laser.

[0090] Furthermore, it also includes:

[0091] A fixing module is used to determine whether the measured distance is equal to the target installation distance and the measured incident angle is 0° after adjusting the installation position and / or installation angle of the tool changing cylinder seat; if so, fix the tool changing cylinder seat at the current position.

[0092] Furthermore, a reflective plate is provided on the light-facing surface;

[0093] Correspondingly, the process of the measuring module 1002 controlling the measuring device to emit the laser beam includes: controlling the measuring device to emit the laser beam toward the reflective plate.

[0094] Furthermore, the process of the measuring module 1002 controlling the measuring device to emit the laser beam toward the reflector includes: controlling the measuring device to emit the laser beam including a main laser, a first auxiliary laser, and a second auxiliary laser toward the reflector;

[0095] The main laser, the first auxiliary laser, and the second auxiliary laser are all irradiated onto the reflector, and a plane formed by the main laser and the first auxiliary laser is perpendicular to a plane formed by the main laser and the second auxiliary laser.

[0096] Furthermore, it also includes:

[0097] An automatic comparison module is configured to input the target installation distance into the measuring device after setting the sum of the inter-surface distance, the theoretical tool change stroke, and the occupied length of the tool change cylinder as the target installation distance, so that the measuring device performs an automatic comparison operation;

[0098] Among them, the process of the measuring device performing automatic comparison operation includes: judging whether the measured distance between the end face of the tool changing gate and the light-facing surface of the tool changing cylinder seat is equal to the target installation distance, and obtaining a first judgment result; judging whether the measured incident angle between the main laser and the light-facing surface is 0°, and obtaining a second judgment result; if the first judgment result and the second judgment result are correct, a prompt message indicating that the positioning is completed is output.

[0099] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and will not be repeated here.

[0100] The present application also provides a storage medium having a computer program stored thereon, which, when executed, can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, among other media capable of storing program code.

[0101] The present application also provides an electronic device that may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0102] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0103] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A positioning method for a tool changing cylinder seat, characterized in that: include: Determine the distance between the contact surface of the cylinder of the tool barrel and the end surface of the tool change gate according to the three-dimensional model of the hob cutter disc, and set the sum of the distance between the surfaces, the theoretical tool change stroke and the occupied length of the tool change cylinder as the target installation distance; Controlling the measuring device to emit a laser beam, and determining the measurement result of the measuring device; wherein the measuring device is installed at the tool-changing gate interface corresponding to the tool-changing cylinder seat, the main laser of the laser beam is perpendicular to the end face of the tool-changing gate, and the measurement result includes the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat, and the measured incident angle between the main laser and the light-facing surface; The installation position and / or installation angle of the tool-changing cylinder seat is adjusted so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

2. The positioning method of the tool changing cylinder seat according to claim 1, characterized in that: Adjusting the installation position and / or installation angle of the tool changing cylinder seat includes: If the current value of the measured incident angle is not 0°, adjusting the installation angle of the tool changing cylinder seat; If the current value of the measured distance is not equal to the target installation distance, the installation position of the tool changing cylinder seat is adjusted along a preset direction; wherein the preset direction is the emission direction of the main laser or the opposite direction of the emission direction of the main laser.

3. The positioning method of the tool changing cylinder seat according to claim 1 is characterized in that: After adjusting the installation position and / or installation angle of the tool changing cylinder seat, the method further comprises: Determine whether the measured distance is equal to the target installation distance and the measured incident angle is 0°; If so, the tool changing cylinder seat is fixed at the current position.

4. The positioning method of the tool changing cylinder seat according to claim 1, characterized in that: A reflector is provided on the light-facing surface; Accordingly, controlling the measuring device to emit a laser beam comprises: The measuring device is controlled to emit the laser beam toward the reflecting plate.

5. The positioning method of the tool changing cylinder seat according to claim 4, characterized in that: Controlling the measuring device to emit the laser beam toward the reflecting plate comprises: Controlling the measuring device to emit the laser beam including the main laser, the first auxiliary laser and the second auxiliary laser to the reflective plate; The main laser, the first auxiliary laser and the second auxiliary laser are all irradiated onto the reflective plate, and a plane formed by the main laser and the first auxiliary laser is perpendicular to a plane formed by the main laser and the second auxiliary laser.

6. The positioning method of the tool changing cylinder seat according to any one of claims 1 to 5, characterized in that: After the sum of the distance between the surfaces, the theoretical tool change stroke and the occupied length of the tool change cylinder is set as the target installation distance, the method further includes: inputting the target installation distance into the measuring device so that the measuring device performs an automatic comparison operation; Among them, the process of the measuring device performing automatic comparison operation includes: judging whether the measured distance between the end face of the tool changing gate and the light-facing surface of the tool changing cylinder seat is equal to the target installation distance, and obtaining a first judgment result; judging whether the measured incident angle between the main laser and the light-facing surface is 0°, and obtaining a second judgment result; if the first judgment result and the second judgment result are the same, a prompt message indicating that the positioning is completed is output.

7. A positioning system for a tool changing cylinder seat, characterized in that: include: A distance calculation module is used to determine the distance between the contact surface of the oil cylinder of the tool barrel and the end surface of the tool change gate according to the three-dimensional model of the hob cutter disc, and set the sum of the distance between the surfaces, the theoretical tool change stroke and the occupied length of the tool change oil cylinder as the target installation distance; A measuring module, used for controlling the measuring device to emit a laser beam and determining the measurement result of the measuring device; wherein the measuring device is installed at the tool-changing gate interface corresponding to the tool-changing cylinder seat, the main laser of the laser beam is perpendicular to the end face of the tool-changing gate, and the measurement result includes the measured distance between the end face of the tool-changing gate and the light-facing surface of the tool-changing cylinder seat, and the measured incident angle between the main laser and the light-facing surface; The adjustment module is used to adjust the installation position and / or installation angle of the tool changing cylinder seat so that the measured distance is equal to the target installation distance and the measured incident angle is 0°.

8. The positioning system of the tool-changing cylinder seat according to claim 7, characterized in that: The measuring device comprises a laser emitting hole, an angle display area, a distance display area, an angle indicator light, and a distance indicator light; Among them, the laser emission hole is used to emit the laser beam; the angle display area is used to display the measured incident angle; the distance display area is used to display the measured distance; the angle indicator light is used to switch from the off state to the on state when the measured distance is equal to the target installation distance; the distance indicator light is used to switch from the off state to the on state when the measured incident angle is 0°.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the positioning method of the tool changing cylinder seat as claimed in any one of claims 1 to 6 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the positioning method of the tool changing cylinder seat as claimed in any one of claims 1 to 6 are implemented.

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