A tool adjustment method based on vision recognition and positioning

Abstract

This invention relates to a tool adjustment method based on visual recognition positioning, comprising: storing the current size information of the tool and the information of the screw in the central control system of the machine tool; preparing the tool adjustment device; installing the tool adjustment device on the machine tool, and establishing communication between the control mechanism and the central control system of the machine tool; determining the tool to be adjusted and the rotation angle θ of the adjusting screw; the central control system sending the information to the control mechanism; the tool adjustment device determining a matching adjusting wrench, grasping the wrench and moving it to the tool; identifying and determining the position and angle of the locking screw through the visual recognition mechanism, aligning and connecting the adjusting wrench with the locking screw; turning the adjusting wrench to the loose state; identifying and determining the position and angle of the tool's adjusting screw through the visual recognition mechanism, connecting the adjusting wrench with the adjusting screw; turning the adjusting screw to the angle θ; reconnecting the adjusting wrench with the locking screw, and turning the locking screw to the locked state.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and processing, specifically to a tool adjustment method based on visual recognition and positioning. Background Technology

[0002] In the machining industry, holes are the most common feature. Hole machining involves related tools such as drills, reamers, and precision boring tools. Among them, precision boring tools are the most widely used. They are generally used to ensure the dimensional and positional accuracy of holes. The diameter of the hole is determined by the diameter of the precision boring tool, which inevitably results in a wide variety of precision boring tool sizes. On the other hand, it is also limited by the mechanical structure of the boring tool. Currently, all boring tools on the market use hexagonal bars for manual adjustment of diameter, which increases tool management and personnel costs, especially in discrete manufacturing industries. This situation is even more pronounced and is also a key factor restricting the automation of machining.

[0003] Considering the requirements of automation and intelligent manufacturing, if the manual adjustment of precision boring tools could be replaced with automatic adjustment, it would bring us one step closer to the large-scale application of intelligent manufacturing. However, due to limitations in tool cost and application, no tool manufacturer currently offers products with automatic boring tool adjustment. Machine tools also lack this functionality; therefore, there is currently no solution for automatic boring tool adjustment on the market. On the other hand, out-of-tolerance hole diameter is a common phenomenon, mostly caused by wear on the precision boring tool inserts or tool deflection. This necessitates manual adjustment of the precision boring tool dimensions to resolve the issue, resulting in low automation levels, let alone intelligent manufacturing. With the development of vision technology, the technology of capturing and positioning images using vision cameras has become increasingly mature and is already being applied in the manufacturing field. Therefore, using existing vision technology for boring tool adjustment provides a research direction for the intelligent and automatic adjustment of boring tools. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a tool adjustment method based on visual recognition and positioning, which can realize automatic tool adjustment and improve the level of intelligence.

[0005] To achieve the above objectives, the present invention provides a tool adjustment method based on visual recognition and positioning, used to adjust a tool in a machine tool, the tool having an adjusting screw and a locking screw; the tool adjustment method includes: storing the current size information of the tool, as well as the information of the adjusting screw and the locking screw, in the central control system of the machine tool; and further includes the following steps:

[0006] S1. Preparation of the tool adjustment device: The tool adjustment device includes a quick-change positioning mechanism, and a robotic arm, a rotary drive mechanism, a clamping mechanism, a wrench holder, a vision recognition mechanism, an energy storage mechanism, and a control mechanism, all mounted on the quick-change positioning mechanism. The quick-change positioning mechanism includes a quick-change positioning plate, and the wrench holder is mounted on the quick-change positioning plate. Depending on the tool in the machine tool, an adjusting wrench that mates with the tool's adjusting screw and locking screw is placed in the wrench holder. The robotic arm is mounted on the quick-change positioning plate, and the clamping mechanism and the rotary drive mechanism are both mounted on the robotic arm. The system is capable of gripping an adjusting wrench. A rotary drive mechanism connected to the gripping mechanism drives the gripping mechanism to rotate. A vision recognition mechanism includes a vision camera fixed to the robotic arm. This mechanism takes pictures using the vision camera, processes and calculates the images, identifies the photographed object, and determines its position. The vision recognition mechanism is communicatively connected to a control mechanism, which is connected to the robotic arm, rotary drive mechanism, and gripping mechanism. The control mechanism also stores the specifications and position of the adjusting wrench in the wrench holder. An energy storage mechanism connected to the robotic arm provides electrical power for its movement.

[0007] S2. When it is necessary to adjust the tool, the tool adjustment device is moved to the machine tool and fixed in the machine tool through the quick-change positioning mechanism, and the control mechanism establishes communication with the central control system of the machine tool.

[0008] S3. The central control system determines the tool that needs adjustment, the required adjustment amount, and the rotation angle θ of the adjusting screw corresponding to the adjustment amount; the machine tool moves the tool to the designated safe position and locks it in place; the central control system sends the rotation angle θ, as well as the information of the adjusting screw and the locking screw, to the control mechanism of the tool adjustment device.

[0009] S4. The control mechanism of the tool adjustment device determines the matching adjustment wrench based on the information of the adjustment screw and the locking screw, and controls the movement of the robot arm to drive the clamping mechanism to the wrench placement seat to grab the corresponding adjustment wrench. Then the robot arm drives the adjustment wrench to the tool.

[0010] S5. The tool adjustment device takes real-time pictures through the vision camera of the vision recognition mechanism, identifies and determines the position and angle of the tool's locking screw, and transmits the position information to the control mechanism. The control mechanism controls the movement of the robot arm and adjusts the position and angle of the adjusting wrench so that the adjusting wrench can be aligned with and connected to the locking screw.

[0011] S6. The control mechanism controls the rotary drive mechanism to rotate the adjusting wrench and loosen the locking screw.

[0012] S7. The tool adjustment device uses the vision camera of the vision recognition mechanism to take real-time pictures, identify and determine the position and angle of the tool adjustment screw, control the movement of the robot arm and adjust the position and angle of the adjustment wrench so that the adjustment wrench can be connected with the adjustment screw; then the control mechanism controls the action of the rotary drive mechanism to drive the adjustment wrench to rotate and turn the adjustment screw by an angle θ.

[0013] S8. Connect the adjusting wrench to the locking screw in the same way as in step S5; then drive the adjusting wrench to rotate and turn the locking screw to the locked position.

[0014] S9. After the tool adjustment is completed, remove the tool adjustment device from the machine tool.

[0015] Furthermore, a quick-change positioning base is fixedly installed on the machine tool. The quick-change positioning base is provided with a first positioning connection structure. In step S1, the quick-change positioning plate of the tool adjustment device is provided with a second positioning connection structure that cooperates with the first positioning connection structure. The quick-change positioning plate can be fixedly connected to the quick-change positioning base through the cooperation of the first positioning connection structure and the second positioning connection structure. The robot, the rotary drive mechanism, the clamping mechanism, the wrench holder, the adjusting wrench, the vision recognition mechanism, the energy storage mechanism, and the control mechanism are all set on the quick-change positioning plate and move as a whole with the quick-change positioning plate. In step S2, when installing the tool adjustment device, the positioning tray is positioned and installed on the quick-change positioning base.

[0016] Furthermore, in step S2, the tool adjustment device is transported by a transport robot. The side of the quick-change positioning plate is also provided with a transport interface. The central control system of the machine tool transmits signals to the transport robot. The transport robot is fixedly connected to the quick-change positioning plate through the transport interface and transports the quick-change positioning plate to the quick-change positioning base.

[0017] Furthermore, in step S2, the control mechanism of the tool adjustment device and the central control system of the machine tool are connected by wireless communication.

[0018] Further, in step S3, the method for determining the tool that needs to be adjusted is as follows: the machine tool's central control system extracts the tool list based on the production schedule and processing task, determines the required tools and their dimensions, and sequentially judges the tools in the machine tool's tool magazine as follows: whether the tool is present, whether the current size of the tool meets the requirements, and whether the required size is within the adjustable size range of the tool. If the tool is present in the tool magazine and the current size does not meet the requirements, but the required size is within the adjustable size range of the tool, then the tool is considered the tool that needs to be adjusted.

[0019] Furthermore, in step S3, the machine tool's central control system determines the required adjustment amount for the tool based on the current size information of the tool and the size information required by the machining task.

[0020] Furthermore, in step S8, after the tool adjustment device completes the tightening of the locking screw, it sends an adjustment completion signal to the machine tool's central control system, which then updates the previously stored current tool size information to the adjusted size information.

[0021] Furthermore, it also includes step S10: after machining the part using the adjusted tool, the machined part is inspected. If the part dimensions are out of tolerance, the tool is readjusted again according to steps S2 to S8.

[0022] Furthermore, in step S1, the rotary drive mechanism of the tool adjustment device includes a servo motor, and the clamping mechanism is mounted on the output shaft of the servo motor.

[0023] Furthermore, in step S1, the energy storage mechanism of the tool adjustment device has a charging interface; in step S9, the tool adjustment device is moved to the waiting work position, and the energy storage mechanism is charged in the waiting work position.

[0024] As described above, the tool adjustment method of the present invention has the following beneficial effects:

[0025] 1. It can be used for automatic adjustment of cutting tools such as boring tools. It uses visual recognition positioning technology to position and align the adjustment wrench, and automatically rotate the adjustment wrench to a specific angle to adjust the tool, realize automated work, reduce labor costs, improve tool preparation efficiency, and has high adjustment accuracy, stability and reliability.

[0026] 2. It has a high degree of automation and can automatically find and adjust the tool according to the machining task and tool condition of the machine tool. It can also automatically provide feedback on the adjustment based on the part inspection structure, thus initially realizing the machine's autonomous decision-making and closed-loop production.

[0027] 3. The quick-change positioning mechanism enables the tool adjustment device to be quickly installed or removed from the machine tool. It is suitable for manufacturing industries that use quick-change positioning mechanisms for clamping, and is especially suitable for intelligent production lines that use quick-change positioning mechanisms for clamping.

[0028] 4. Wide range of applications: It can be used for adjusting various precision boring tools, as well as other similar tools that can be adjusted by various wrenches, thereby reducing the number of tools and saving tool costs. Attached Figure Description

[0029] Figure 1 This is a schematic flowchart of the tool adjustment method of the present invention.

[0030] Figure 2 This is a schematic diagram of the tool adjustment device in this invention.

[0031] Figure 3 This is a schematic diagram of the installation of the positioning base in this invention on the machine tool table.

[0032] Figure 4 This is a schematic diagram of the tool adjustment device for the handling robot in this invention.

[0033] Explanation of icon numbers

[0034] 1- Replace the positioning base

[0035] 2-Quick change positioning plate

[0036] 201-Positioning Hole

[0037] 202-Transport Interface

[0038] 3-Robot arm

[0039] 4-Torsion drive mechanism

[0040] 5-Clamping Mechanism

[0041] 6-Visual Recognition Agency

[0042] 7-Wrench holder

[0043] 8-Adjusting wrench

[0044] 9-Control Mechanism

[0045] 10-Energy Storage Organizations

[0046] 11-Machine table

[0047] 12-Cutting Tools

[0048] 13-Transportation Robot Detailed Implementation

[0049] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0050] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0051] See Figures 1 to 4 This invention provides a tool adjustment method based on visual recognition and positioning for adjusting a tool 12 in a machine tool. Existing intelligent machine tools generally have a tool magazine storing multiple tools 12, which may include various types such as boring tools. Each tool 12 has an adjusting screw and a locking screw. The locking screw is used to lock the tool 12. After the locking screw is unlocked, the tool 12 is in an adjustable state, and adjustment can be made by rotating the adjusting screw. In this invention, the machine tool's central control system stores the current size information of the tool 12, as well as information about the adjusting screw and locking screw. The tool adjustment method includes the following steps:

[0052] S1. Preparation of the tool adjustment device: The tool adjustment device includes a quick-change positioning mechanism, and a robotic arm 3, a rotary drive mechanism 4, a clamping mechanism 5, a wrench holder 7, a vision recognition mechanism 6, an energy storage mechanism 10, and a control mechanism 9, all mounted on the quick-change positioning mechanism. The quick-change positioning mechanism includes a quick-change positioning plate 2, and the wrench holder 7 is mounted on the quick-change positioning plate 2. Depending on the tool 12 in the machine tool, an adjusting wrench 8, such as an Allen wrench, that mates with the adjusting screw and locking screw of the tool 12 is placed in the wrench holder 7. The robotic arm 3 is mounted on the quick-change positioning plate 2, and the clamping mechanism 5 and the rotary drive mechanism 4 are both mounted on the robotic arm 3. The clamping mechanism 5 can hold the adjusting wrench 8. The rotary drive mechanism 4 is connected to the clamping mechanism 5 and can drive the clamping mechanism 5 to rotate. The vision recognition mechanism 6 includes a vision camera fixed on the robot arm 3. The vision recognition mechanism 6 can take pictures through the vision camera, perform image data processing and calculation, identify the photographed object and determine its position. The vision recognition mechanism 6 is communicatively connected to the control mechanism 9. The control mechanism 9 is connected to the robot arm 3, the rotary drive mechanism 4 and the clamping mechanism 5 respectively. The control mechanism 9 also stores the specification information and position of the adjusting wrench 8 in the wrench placement seat 7. The energy storage mechanism 10 is connected to the robot arm 3 and is used to provide electrical energy for the movement of the robot arm 3.

[0053] In this invention, the method of visual recognition mechanism 6 for identification and positioning through imaging, and the method of driving the robotic arm 3 to move to a designated position after positioning through visual recognition, can both adopt existing mature methods, such as: "Component Visual Recognition and Positioning Technology Based on Deep Learning" (Lei Wentong, Gu Jinan, et al., School of Mechanical Engineering, Jiangsu University, Zhenjiang 2012013), "Research on Autonomous Workpiece Grasping by Robotic Arm Based on Machine Vision" (Sun Wanlin's Master's Thesis, Tarim University), and Patent CN 201911310686.3 "Robotic Arm Grasping Method, Device, Computer-Readable Storage Medium and Robot". In terms of hardware, the visual recognition mechanism 6 may include structures such as a visual camera and a data processor. The visual camera takes pictures and transmits the image data to the data processor for processing. The data processor has a built-in corresponding calculation processing program and has storage and calculation processing functions.

[0054] In this embodiment, preferably, a quick-change positioning base 1 is fixedly installed on the machine tool. During machining, the quick-change positioning base 1 can be fixed in a suitable position on the machine tool table 11 without affecting machining. The quick-change positioning base 1 is provided with a first positioning connection structure, and the quick-change positioning plate 2 of the tool adjustment device is provided with a second positioning connection structure that cooperates with the first positioning connection structure. The quick-change positioning plate 2 can be fixed on the quick-change positioning base 1 through the cooperation of the first and second positioning connection structures, realizing quick positioning assembly and disassembly. The robot arm 3, the rotary drive mechanism 4, the clamping mechanism 5, the wrench placement seat 7, the adjusting wrench 8, the vision recognition mechanism 6, the energy storage mechanism 10, and the control mechanism 9 are all set on the quick-change positioning plate 2 and move as a whole with the quick-change positioning plate 2. The entire tool adjustment device can be moved by simply moving the quick-change positioning plate 2. The first and second positioning connection structures can adopt existing structures that can achieve quick and stable connection, such as positioning blocks and positioning slots engaging.

[0055] S2. When it is necessary to adjust the tool 12, the tool adjustment device is moved to the machine tool and fixed in the machine tool through the quick-change positioning mechanism, and the control mechanism 9 establishes communication with the central control system of the machine tool.

[0056] In this embodiment, as a preferred design, see [reference needed]. Figure 2 and Figure 4The tool adjustment device is moved by the transport robot 13. The quick-change positioning plate 2 is also provided with a transport interface 202 on its side. The central control system of the machine tool transmits signals to the robot. The transport robot 13 moves and is fixedly connected to the quick-change positioning plate 2 through the transport interface 202. The quick-change positioning plate 2 is moved to the quick-change positioning base 1. The quick-change positioning plate 2 is fixed on the quick-change positioning base 1 through the cooperation of the first positioning connection structure and the second positioning connection structure, thereby realizing the quick positioning and installation of the tool adjustment device on the machine tool.

[0057] In this embodiment, the control mechanism 9 of the tool adjustment device establishes communication with the central control system of the machine tool via wireless means such as Bluetooth or WiFi. The two can transmit data signals to each other without affecting the handling of the tool adjustment device.

[0058] S3. The central control system determines the tool 12 that needs to be adjusted, and determines the required adjustment amount of the tool 12, as well as the rotation angle θ of the adjusting screw corresponding to the adjustment amount; the machine tool moves the tool 12 to the designated safe position and locks it in place; the central control system sends the rotation angle θ, as well as the information of the adjusting screw and the locking screw, to the control mechanism 9 of the tool adjustment device.

[0059] Specifically, the machine tool's central control system extracts a list of cutting tools 12 based on its production schedule and machining tasks. It determines the required cutting tools 12 and their dimensions, checks if the machine tool's tool magazine contains the required tool, whether the current size of the tool meets the requirements, and whether the required size is within the tool's adjustable range. If the current size of the tool in the tool magazine does not meet the machining requirements, but the required size is within the tool's adjustable range, then that tool 12 is designated as the tool 12 requiring adjustment. Then, the machine tool's central control system determines the required adjustment amount for the tool 12 based on its current size information and the size information required by the machining task. Taking a boring tool as an example, its size information includes its diameter, which can be adjusted using an adjusting screw. The adjustment amount is the difference between the required radius and the current radius. Based on the adjustment amount and the tool 12's design parameters, the rotation angle θ of the adjusting screw corresponding to the adjustment amount is determined.

[0060] S4. The control mechanism 9 of the tool adjustment device determines the matching adjustment wrench 8 based on the information of the adjustment screw and the locking screw, and controls the movement of the robot arm 3 to drive the clamping mechanism 5 to the wrench placement seat 7 to grab the corresponding adjustment wrench 8. Then the robot arm 3 drives the adjustment wrench 8 to move to the vicinity of the tool 12.

[0061] Preferably, the specifications and position information of the adjusting wrench 8 are pre-stored in the control mechanism 9. The control mechanism 9 can directly determine the matching adjusting wrench 8 and its position based on the adjusting screw and locking screw of the cutting tool 12, and control the robot arm 3 to install the set path program, so as to drive the clamping mechanism 5 to the wrench placement seat 7 to grab the adjusting wrench 8.

[0062] S5. The tool adjustment device takes a picture through the vision camera of the vision recognition mechanism 6, identifies and determines the position and angle of the locking screw of the tool 12, and transmits the position information to the control mechanism 9. The control mechanism 9 controls the movement of the robot arm 3 and adjusts the position and angle of the adjusting wrench 8 so that the adjusting wrench 8 can be aligned with the locking screw and connected.

[0063] S6. The control mechanism 9 controls the rotary drive mechanism 4 to rotate, driving the adjusting wrench 8 to rotate the locking screw to the loose state, where the tool 12 is in an adjustable state.

[0064] S7. The tool adjustment device takes a picture through the vision camera of the vision recognition mechanism 6, identifies and determines the position and angle of the adjustment screw of the tool 12, controls the movement of the robot arm 3 and adjusts the position and angle of the adjustment wrench 8 so that the adjustment wrench 8 can be connected with the adjustment screw; then the control mechanism 9 controls the action of the torque drive mechanism 4 according to the rotation angle of the adjustment screw, drives the adjustment wrench 8 to rotate, rotates the adjustment screw by an angle θ, thereby adjusting the tool 12 to the required size.

[0065] S8. Using the same method as in step S5, align and connect the adjusting wrench 8 with the locking screw; then drive the adjusting wrench 8 to rotate, turning the locking screw to the locked state, locking the tool 12 to a non-adjustable state. Preferably, after the tool adjustment device completes the locking screw tightening operation, it sends an adjustment completion signal to the machine tool's central control system, and the central control system updates the previously stored current dimension information of the tool 12 to the adjusted dimension information.

[0066] S9. After the tool 12 is adjusted, the tool adjustment device is removed from the machine tool. In this embodiment, the quick-change positioning plate 2 of the tool adjustment device can be removed from the quick-change positioning base 1 by the handling robot 13.

[0067] S10. After the tool 12 is adjusted, the part is machined using the adjusted tool 12. The machined part is then inspected. If the part dimensions are out of tolerance, the tool 12 is readjusted again according to steps S2 to S8. The amount of adjustment for this readjustment can be determined based on the extent of the dimensional deviation.

[0068] In this invention, the visual recognition mechanism 6 can also be used to take pictures of the cutting tool 12 for identification and compare the cutting edge of the new cutting tool 12 to detect the wear condition of the cutting tool 12.

[0069] In this invention, the adjusting screw and locking screw of the tool 12 are generally of the same type, and the matching adjusting wrenches 8 are the same. If the adjusting screw and the locking screw are matched with different adjusting wrenches 8, the adjusting wrench 8 is replaced before the tool adjustment operation in step S5 and before the re-locking operation in step S8. The tool adjustment device puts the already gripped adjusting wrench 8 back to its original position, and then the matching adjusting wrench 8 is gripped again in the manner of step S4.

[0070] See Figure 2 In this embodiment, as a preferred design, the quick-change positioning plate 2 of the tool adjustment device has a mounting surface at the upper end and is used to connect to the quick-change positioning base 1 at the lower end. The mounting surface has a plurality of positioning holes 201, which are preferably arranged in an array and cover the entire mounting surface. The robot arm 3, the wrench holder 7, the energy storage mechanism 10 and the control mechanism 99 are all fixedly connected to the positioning holes 201 by bolts, which can conveniently adjust the relative positions of the robot arm 3 and the wrench holder 7 on the quick-change positioning plate 2 as needed, thereby facilitating the picking up and adjusting the wrench 8.

[0071] See Figure 2 In this embodiment, as a preferred design, the wrench holder 7 has multiple placement positions, and different adjusting wrenches 8 are placed in different placement positions to meet the usage needs of different cutting tools 12.

[0072] See Figure 2 In this embodiment, as a preferred design, the robotic arm 3 is a multi-axis robotic arm 3 with multiple degrees of freedom of motion. Specifically, it can adopt existing mature intelligent robotic arm 3 products, which can drive the gripping mechanism 5 to move flexibly, thereby accurately grasping the adjusting wrench 8 and inserting the adjusting wrench 8 into the screw of the tool 12.

[0073] See Figure 2 In this embodiment, as a preferred design, the rotary drive mechanism 4 includes a servo motor, which is fixedly connected to the robotic arm 3, and the clamping mechanism 5 is mounted on the output shaft of the servo motor. The servo motor has excellent rotation angle control precision, thereby enabling precise control of the rotation angle of the adjusting wrench 8 and ensuring accurate adjustment of the tool 12. The clamping mechanism 5 can be any existing suitable mechanism that can automatically and stably clamp the wrench.

[0074] See Figure 2In this embodiment, the energy storage mechanism 10 includes a battery with a charging interface for storing electrical energy to power the movement of the robotic arm 3. It also powers other components requiring electricity, such as the rotary drive mechanism 44 of the tool adjustment device, the clamping mechanism 5, the vision recognition mechanism 6, and the control mechanism 9. Preferably, the energy storage mechanism 10 has a charging interface for charging the battery. After the tool 12 is adjusted, the handling robot 13 moves the quick-change positioning plate 2 to the waiting position and charges it.

[0075] As can be seen from the above, the tool adjustment method of the present invention has the following beneficial effects:

[0076] 1. It can be used for automatic adjustment of cutting tools 12 such as boring tools. It uses visual recognition positioning technology to position and align the adjusting wrench 8, and automatically rotates the adjusting wrench 8 to a specific angle to adjust the cutting tool 12, realizing automated work, reducing labor costs, improving the preparation efficiency of the cutting tool 12, and the adjustment is highly accurate, stable and reliable.

[0077] 2. It has a high degree of automation and can automatically find and adjust the tool according to the machining task and tool status. It can also automatically provide feedback on the adjustment status based on the part inspection structure, thus initially realizing the machine's autonomous decision-making and closed-loop production.

[0078] 3. The quick-change positioning mechanism enables the tool adjustment device to be quickly installed or removed from the machine tool. It is suitable for manufacturing industries that use quick-change positioning mechanisms for clamping, and is especially suitable for intelligent production lines that use quick-change positioning mechanisms for clamping.

[0079] 4. It has a wide range of applications and can be used for adjusting various precision boring tools, as well as other similar tools 12 that can be adjusted by various wrenches, thereby reducing the number of tools 12 and saving tool 12 costs.

[0080] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0081] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A tool adjustment method based on visual recognition and positioning, used to adjust a tool (12) in a machine tool, the tool (12) having an adjusting screw and a locking screw, characterized in that: The tool adjustment method includes: storing the current size information of the tool (12), as well as the information of the adjusting screw and the locking screw in the central control system of the machine tool; and also includes the following steps: S1. Preparation of the tool adjustment device: The tool adjustment device includes a quick-change positioning mechanism, a robot (3), a rotary drive mechanism (4), a clamping mechanism (5), a wrench holder (7), a vision recognition mechanism (6), an energy storage mechanism (10), and a control mechanism (9) all mounted on the quick-change positioning mechanism. The quick-change positioning mechanism includes a quick-change positioning plate (2). The wrench holder (7) is mounted on the quick-change positioning plate (2). According to the tool (12) in the machine tool, an adjusting wrench (8) that cooperates with the adjusting screw and locking screw of the tool (12) is placed in the wrench holder (7). The robot (3) is mounted on the quick-change positioning plate (2). The clamping mechanism (5) and the rotary drive mechanism (4) are both mounted on the robot (3). 5) It can hold the adjusting wrench (8), and the rotary drive mechanism (4) is connected to the clamping mechanism (5) and can drive the clamping mechanism (5) to rotate; the vision recognition mechanism (6) includes a vision camera fixed on the robot (3), and the vision recognition mechanism (6) can take pictures through the vision camera, process and calculate, identify the pictures and determine its position; the vision recognition mechanism (6) is connected to the control mechanism (9), and the control mechanism (9) is connected to the robot (3), the rotary drive mechanism (4) and the clamping mechanism (5) respectively; the control mechanism (9) also stores the specification information and position of the adjusting wrench (8) in the wrench placement seat (7); the energy storage mechanism (10) is connected to the robot (3) and is used to provide electrical energy for the movement of the robot (3); S2. When it is necessary to adjust the tool (12), the tool adjustment device is moved to the machine tool and fixed in the machine tool through the quick-change positioning mechanism, and the control mechanism (9) establishes communication with the central control system of the machine tool. S3. The central control system determines the tool (12) that needs to be adjusted, and determines the adjustment amount required for the tool (12) and the rotation angle θ of the adjusting screw corresponding to the adjustment amount; the machine tool moves the tool (12) to the designated safe position and locks it in place; the central control system sends the rotation angle θ and the information of the adjusting screw and locking screw to the control mechanism (9) of the tool adjustment device. S4. The control mechanism (9) of the tool adjustment device determines the matching adjustment wrench (8) according to the information of the adjustment screw and the locking screw, and controls the movement of the robot (3) to drive the clamping mechanism (5) to the wrench placement seat (7) to grab the corresponding adjustment wrench (8). Then the robot (3) drives the adjustment wrench (8) to move to the tool (12). S5. The tool adjustment device takes pictures through the vision camera of the vision recognition mechanism (6), identifies and determines the position and angle of the locking screw of the tool (12), and transmits the position information to the control mechanism (9). The control mechanism (9) controls the movement of the robot (3) and adjusts the position and angle of the adjusting wrench (8) so that the adjusting wrench (8) can be aligned with the locking screw and connected. S6. The control mechanism (9) controls the rotary drive mechanism (4) to rotate, driving the adjusting wrench (8) to rotate the locking screw to the loose state; S7. The tool adjustment device takes pictures through the vision camera of the vision recognition mechanism (6), identifies and determines the position and angle of the adjustment screw of the tool (12), controls the movement of the robot (3) and adjusts the position and angle of the adjustment wrench (8) so that the adjustment wrench (8) can be connected with the adjustment screw; then the control mechanism (9) controls the action of the rotary drive mechanism (4) to drive the adjustment wrench (8) to rotate and rotate the adjustment screw by an angle θ. S8. Using the same method as in step S5, connect the adjusting wrench (8) to the locking screw; then drive the adjusting wrench (8) to rotate and turn the locking screw to the locked state; S9. After the tool (12) is adjusted, remove the tool adjustment device from the machine tool.

2. The tool adjustment method according to claim 1, characterized in that: A quick-change positioning base (1) is fixedly installed on the machine tool. The quick-change positioning base (1) is provided with a first positioning connection structure. In step S1, the quick-change positioning plate (2) of the tool adjustment device is provided with a second positioning connection structure that cooperates with the first positioning connection structure. The quick-change positioning plate (2) can be fixed on the quick-change positioning base (1) through the cooperation of the first positioning connection structure and the second positioning connection structure. The robot (3), the rotary drive mechanism (4), the clamping mechanism (5), the wrench placement seat (7), the adjusting wrench (8), the vision recognition mechanism (6), the energy storage mechanism (10), and the control mechanism (9) are all set on the quick-change positioning plate (2) and move as a whole with the quick-change positioning plate (2). In step S2, when installing the tool adjustment device, the positioning tray is positioned and installed on the quick-change positioning base (1).

3. The tool adjustment method according to claim 2, characterized in that: In step S2, the tool adjustment device is transported by the transport robot (13). The quick-change positioning plate (2) is also provided with a transport interface (202) on its side. The central control system of the machine tool transmits the signal to the transport robot (13). The transport robot (13) is fixedly connected to the quick-change positioning plate (2) through the transport interface (202) and transports the quick-change positioning plate (2) to the quick-change positioning base (1).

4. The tool adjustment method according to claim 1, characterized in that: In step S2, the control mechanism (9) of the tool adjustment device communicates wirelessly with the central control system of the machine tool.

5. The tool adjustment method according to claim 1, characterized in that: In step S3, the method for determining the tool (12) that needs to be adjusted is as follows: the central control system of the machine tool extracts the tool list according to the production schedule and processing task, determines the required tool (12) and its size, and makes the following judgments on the tool (12) in the tool magazine of the machine tool: whether the tool (12) is available, whether the current size of the tool (12) meets the requirements, and whether the required size is within the adjustable size range of the tool (12). If the tool (12) is available in the tool magazine and the current size does not meet the requirements, but the required size is within the adjustable size range of the tool, then the tool (12) is regarded as the tool (12) that needs to be adjusted.

6. The tool adjustment method according to claim 1, characterized in that: In step S3, the machine tool's central control system determines the adjustment amount required for the tool (12) based on the current size information of the tool (12) and the size information required for the machining task.

7. The tool adjustment method according to claim 1, characterized in that: In step S8, after the tool adjustment device completes the tightening of the locking screw, it sends an adjustment completion signal to the central control system of the machine tool. The central control system updates the previously stored current size information of the tool (12) to the adjusted size information.

8. The tool adjustment method according to claim 1, characterized in that: It also includes step S10: after machining the part using the adjusted tool (12), the machined part is inspected. If the part size is out of tolerance, the tool (12) is readjusted again according to steps S2~S8.

9. The tool adjustment method according to claim 1, characterized in that: In step S1, the rotary drive mechanism (4) of the tool adjustment device includes a servo motor, and the clamping mechanism (5) is mounted on the output shaft of the servo motor.

10. The tool adjustment method according to claim 1, characterized in that: In step S1, the energy storage mechanism (10) of the tool adjustment device has a charging interface; in step S9, the tool adjustment device is moved to the waiting work position and the energy storage mechanism (10) is charged at the waiting work position.

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