Cutter seat posture detection system, clamping mechanism and cutter seat posture detection method

Abstract

The invention provides a tool rest posture detection system, a clamping mechanism and a tool rest posture detection method. The cutter seat posture detection system comprises a clamping mechanism which comprises a platform and a tracking target spot, the platform is used for installing a rotary drum of a milling rotor and makes contact with the axial end face of the rotary drum through a supporting face, and the platform is rotatably arranged so as to drive the rotary drum installed on the platform to rotate; each tool apron of the milling rotor can be placed and fixed at different positions of the rotary drum in the rotating process of the rotary drum, and the tracking target point is arranged on the supporting surface; and the detection device is used for detecting the tracking target spot so as to determine the pose of the measurement coordinate system rotating along with the platform, and detecting the actual pose of each tool apron when the tool apron is placed on the rotary drum based on the determined pose of the measurement coordinate system. In this way, high-precision positioning of the tool apron can be conveniently and efficiently achieved.

Description

Technical Field

[0001] The present application relates to the technical field of milling rotor production, and in particular to a tool seat posture detection system, a clamping mechanism and a tool seat posture detection method. Background Art

[0002] The cutter holder is an important component of the milling rotor. Its positioning accuracy directly affects the construction performance of the milling rotor. Therefore, there are high requirements for the positioning accuracy of the cutter holder during the manufacturing process of the milling rotor.

[0003] However, how to conveniently and efficiently achieve high-precision positioning of the tool holder has always been a difficult problem. Summary of the invention

[0004] The present application aims to provide a tool holder posture detection system, a clamping mechanism and a tool holder posture detection method, so as to conveniently and efficiently realize high-precision positioning of the tool holder.

[0005] In order to achieve the above-mentioned purpose, the tool seat posture detection system provided in the present application includes:

[0006] The clamping mechanism includes a platform and a tracking target point, wherein the platform is used to mount the drum of the milling rotor and contacts the axial end surface of the drum through the supporting surface, and the platform is rotatably arranged to drive the drum mounted on the platform to rotate, so that each tool holder of the milling rotor can be placed and fixed at different positions of the drum during the rotation of the drum, and the tracking target point is arranged on the supporting surface; and

[0007] The detection device is used to detect the tracking target point to determine the position and posture of the measurement coordinate system rotating with the platform, and based on the determined position and posture of the measurement coordinate system, detect the actual position and posture of each tool holder when it is placed on the drum.

[0008] In some embodiments, the platform is configured as at least one of the following:

[0009] The supporting surface is concentric with the axial end surface of the drum;

[0010] The supporting surface is circular;

[0011] The rotation axis of the platform is along the up-down direction or the horizontal direction.

[0012] In some embodiments, the clamping mechanism further includes a rotating drum fixing mechanism, which is disposed on the platform and is used to connect with the rotating drum to achieve installation of the rotating drum on the platform.

[0013] In some embodiments, the size of the drum fixing mechanism is adjustable so as to be connected to drums of different specifications; and / or, the drum fixing mechanism extends into the drum and is connected to the drum.

[0014] In some embodiments, the drum securing mechanism comprises a claw.

[0015] In some embodiments, the clamping mechanism further comprises a column, which is disposed on the supporting surface and is used to coaxially extend into the drum. Positioning points are provided on the side of the column, and the detection device detects the positioning points to determine the origin of the measurement coordinate system.

[0016] In some embodiments, the tool holder position posture detection system also includes a measurement target point, which moves with the tool holder and is provided for detection by a detection device to detect the actual position of the tool holder when it is placed on the rotating drum; and / or, the tool holder position posture detection system also includes a tool holder transfer mechanism, which is movably arranged and includes a seat fixing tool for installing the tool holder to place the tool holder on the rotating drum.

[0017] In some embodiments, the tool holder posture detection system includes a measurement target point and a tool holder transfer mechanism, and the measurement target point is set on the tool holder fixing tooling.

[0018] In some embodiments, the tool holder transfer mechanism includes a robot.

[0019] In some embodiments, the tool holder position detection system further includes a controller, which is signal-connected to the detection device and the tool holder transfer mechanism to control the tool holder transfer mechanism to reposition the tool holder according to the detection result of the detection device.

[0020] In some embodiments, when the detection device detects that the deviation between the actual position and design position of the tool holder exceeds a threshold, the controller controls the tool holder transfer mechanism to reposition the tool holder.

[0021] In some embodiments, when controlling the tool holder transfer mechanism to reposition the tool holder, the controller first controls the tool holder transfer mechanism to drive the tool holder to retreat from the rotating drum to the transition position, and then controls the tool holder transfer mechanism to adjust the posture at the transition position according to the deviation between the actual posture and the designed posture of the tool holder, and after the posture adjustment, drives the tool holder to move from the transition position to the rotating drum again, and re-places the tool holder on the rotating drum.

[0022] In some embodiments, the transition position is located directly above the target position of the knife holder on the drum.

[0023] In addition, the tool seat posture detection method provided in this application includes:

[0024] Install the drum of the milling rotor on the platform;

[0025] The tool holders of the milling rotor are sequentially placed on the rotating drum, and when each tool holder is placed on the rotating drum, a detection device is used to detect a tracking target point to determine the position and posture of a measurement coordinate system rotating with the platform, and based on the determined position and posture of the measurement coordinate system, the actual position and posture of the tool holder when it is placed on the rotating drum is detected;

[0026] Determine whether the deviation between the actual position and design position of the tool holder exceeds a threshold;

[0027] When the deviation between the actual position and design position of the tool holder is less than or equal to a threshold value, the tool holder is fixed on the drum;

[0028] When the deviation between the actual position and the designed position of the tool holder exceeds a threshold, the tool holder is repositioned.

[0029] In some embodiments, repositioning the tool holder includes:

[0030] The knife holder transfer mechanism drives the knife holder to retreat from the drum to the transition position;

[0031] The tool holder transfer mechanism is made to adjust the position of the tool holder according to the deviation between the actual position and the designed position at the transition position;

[0032] The knife holder transfer mechanism drives the knife holder to move from the transition position to the rotating drum again, and the knife holder is placed on the rotating drum again.

[0033] In some embodiments, before placing each tool holder of the milling rotor on the rotary drum, the tool holder fixing tool of the tool holder transfer mechanism is moved to a starting position and combined with the tool holder.

[0034] In some embodiments, the method for detecting the position of the tool seat further includes:

[0035] Before placing the first toolholder on the drum, a measurement coordinate system is established.

[0036] In some embodiments, establishing the measurement coordinate system includes:

[0037] A measurement coordinate system is established with the center of the axial end surface of the drum that is used to contact the supporting surface as the origin and the central axis of the drum as the Z axis.

[0038] In some embodiments, establishing the measurement coordinate system further includes:

[0039] Before establishing a measurement coordinate system, taking the center of the axial end face of the drum for contacting the supporting surface as the origin and the central axis of the drum as the Z axis, a detection device is used to detect the positioning points on the side of the cylinder coaxially extending into the drum provided on the supporting surface to determine the center of the axial end face of the drum for contacting the supporting surface and the central axis of the drum.

[0040] By setting up a platform to support the drum, and making the platform contact the axial end surface of the drum through the supporting surface, and setting a tracking target on the supporting surface, the online detection of the tool seat posture can be conveniently, efficiently and accurately achieved, thereby conveniently and efficiently achieving high-precision positioning of the tool seat.

[0041] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0043] Figure 1 This is a simplified schematic diagram of the structure of the tool seat posture detection system in the embodiment of the present application.

[0044] Figure 2 It is a schematic diagram of the combination of the platform, tracking target, column and drum fixing mechanism in the embodiment of the present application.

[0045] Figure 3 It is a schematic diagram of the state of the tool holder transfer mechanism in the embodiment of the present application at the starting position.

[0046] Figure 4 It is a schematic diagram of the tool holder transfer mechanism in the embodiment of the present application retreating from the target position to the transition position.

[0047] Figure 5 This is a control logic diagram of the controller, the detection device, and the tool holder transfer mechanism in the embodiment of the present application.

[0048] Figure 6 Schematic diagram of the process of the tool seat posture detection method in the embodiment of the present application.

[0049] Figure 7 It is a schematic diagram of the operation process of the tool holder transfer mechanism in the embodiment of the present application.

[0050] Description of reference numerals:

[0051] 10. Tool seat posture detection system; 20. Milling rotor;

[0052] 1. Clamping mechanism; 11. Platform; 12. Tracking target; 13. Tracking target point; 14. Support surface; 15. Column; 16. Positioning point; 17. Drum fixing mechanism; 18. Clamping claw;

[0053] 2. Detection device; 21. Camera; 22. Bracket;

[0054] 3. Tool holder transfer mechanism; 31. Robot; 32. Tool holder fixing tool; 33. Cylindrical part;

[0055] 4. Measure the target; 41. Measure the target point;

[0056] 5. Controller;

[0057] 6. Rotating drum;

[0058] 7. Knife holder;

[0059] 8. Feed tray;

[0060] 91. Starting position; 92. Transition position; 93. Target position. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without carrying out creative work are within the scope of protection of this application.

[0062] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0063] In the description of the present application, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present application.

[0064] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the attached Figure 1 The orientation or position relationship shown is only for the convenience of describing the present application and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

[0065] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0066] With the continuous and rapid construction of infrastructure, the application of milling construction equipment such as road maintenance machinery, tunnel boring machinery and continuous wall milling machinery is becoming more and more extensive, and the requirements for their performance are also becoming higher and higher.

[0067] Some milling equipment, such as milling machines, cold regenerators, tunnel boring machines and double-wheel slot milling machines, use rotary milling and crushing operations. The working devices of these milling equipment are called milling rotors. Among them, the milling rotor of the milling machine is also called the milling wheel; the milling rotor of the cold regenerator is also called the milling rotor; the milling rotor of the tunnel boring machine is also called the cutting head; the milling rotor of the double-wheel slot milling machine is also called the milling wheel.

[0068] See also Figure 1 The milling rotor 20 generally includes a drum 6, a flange (not shown), a cutter seat 7 and a cutter body (not shown). The drum 6 is a rotating body (for example, cylindrical or conical), which is hollow inside and rotatably arranged. The flange is arranged inside the drum 6. Generally, flanges are provided on both axial sides of the inside of the drum 6, that is, the milling rotor 20 includes flanges located on both axial sides of the inside. A plurality of cutter seats 7 are provided on the drum 6, and these plurality of cutter seats 7 are generally arranged along a spiral trajectory. Each cutter seat 7 is provided on the drum 6 by welding (for example, spot welding) or the like. The cutter body is mounted on the cutter seat 7 to achieve installation on the drum 6. Specifically, generally, a mounting hole is provided inside the cutter seat 7, the cutter body is inserted into the mounting hole, and the tip of the cutter body is located above the cutter seat 7. At the same time, the cutter body is pressed on the upper surface of the cutter seat 7, so that the upper surface of the cutter seat 7 constitutes the mounting surface of the cutter seat 7. The mounting surface faces the tip of the cutter body.

[0069] During operation, the drum 6 rotates, and the cutter body on the drum 6 mills and crushes the milling and crushing medium (such as asphalt, cement, ore or rock and soil) to achieve the purposes of road maintenance, tunnel excavation, continuous wall milling, etc.

[0070] It can be seen that the milling rotor is the core component of the milling construction equipment. Therefore, the performance of the milling rotor directly affects the performance of the milling construction equipment.

[0071] Since the milling rotor has a complex structure, multiple positioning parameters and is difficult to manufacture, its performance is affected not only by the design level but also by the manufacturing level.

[0072] In the production process of the milling rotor, the positioning accuracy of the cutter seat 7 is a very important indicator, because the positioning accuracy of the cutter seat 7 directly affects the position and posture of the cutter body, and further affects the performance of the milling rotor and the construction quality.

[0073] Since the positioning accuracy of the tool holder 7 directly affects the posture of the tool body and thus affects the construction performance, it is necessary to detect the posture (position and attitude) of the tool holder 7 to determine whether the deviation between the actual posture of the tool holder 7 and the designed posture is too large, and then determine whether the positioning accuracy of the tool holder 7 meets the design requirements, so as to prevent the performance of the milling rotor 20 from being affected by the large difference between the actual posture parameters of the tool holder 7 and the designed posture parameters.

[0074] In the related art, some technologies for detecting the tool seat posture have appeared.

[0075] For example, some related technologies provide a method for detecting the position and posture of the tool holder after installation, which checks the quality of the milling rotor by performing position and posture detection on the installed and fixed tool holder. However, this method is a post-detection method, and has problems such as untimely detection, difficulty in rework, and long time. It is difficult to effectively improve the positioning accuracy during the installation of the tool holder.

[0076] For another example, some other related technologies provide a posture detection method during the installation of the tool holder (which may be referred to as an online posture detection method), which combines the tool holder posture detection technology with the tool holder installation process, and improves the positioning accuracy of the tool holder 7 by performing posture detection on the tool holder 7 during the installation of the tool holder on the drum 6. Compared with the aforementioned posture detection method after the tool holder is installed, this online posture detection method for the tool holder during the installation process, because the tool holder posture detection process is advanced from after the tool holder is fixed to before the tool holder is fixed, is convenient for timely adjustment of the tool holder posture according to the detection results during the installation of the tool holder. Therefore, it can effectively improve the positioning accuracy of the tool holder installation process, and solve the problems of untimely detection, difficult rework, and long time in the posture detection method after the tool holder is installed, thereby improving the processing efficiency and quality of the milling rotor 20.

[0077] However, the online detection scheme of the tool holder posture in the related art usually adopts two half-axes connected with two flanges in the drum 6, and tracking disks with marks and spaced apart from the axial end faces of the drum 6 are set on the two half-axes. During the detection process, the marks on the two tracking disks are first detected by the detection device, and then the marks on the detected tracking disks are used as a reference. The light pen is used to touch multiple points on the side surface (i.e., the circumferential surface) of the drum 6 to detect and determine the two axial end faces of the drum 6 and the centers of the two axial end faces. Then, the central axis and center of the drum 6 are determined based on the centers of the two axial end faces, and based on the determined central axis and center of the drum 6, a workpiece coordinate system located at the center of the drum is established. Then, the posture of the tool holder is detected based on the workpiece coordinate system. The whole process is relatively complicated, and it is difficult to conveniently and efficiently achieve high-precision positioning of the tool holder.

[0078] It can be seen that the tool holder posture detection solutions in the related technologies are difficult to achieve high-precision positioning of the tool holder conveniently and efficiently.

[0079] In view of the above situation, the present application provides a tool seat posture detection system, a clamping mechanism and a tool seat posture detection method.

[0080] Figure 1-Figure 7 The tool seat posture detection system, clamping mechanism and tool seat posture detection method in the present application are exemplarily shown.

[0081] See also Figure 1-Figure 5 In the present application, the tool holder posture detection system 10 includes a clamping mechanism 1 and a detection device 2. The clamping mechanism 1 includes a platform 11 and a tracking target point 13. The platform 11 is used to mount the drum 6 of the milling rotor 20 and is in contact with the axial end surface of the drum 6 through the support surface 14. The platform 11 is rotatably arranged to drive the drum 6 mounted on the platform 11 to rotate, so that each tool holder 7 of the milling rotor 20 can be placed and fixed at different positions of the drum 6 during the rotation of the drum 6. The tracking target point 13 is arranged on the support surface 14. The detection device 2 is used to detect the tracking target point 13 to determine the posture of the measurement coordinate system that rotates with the platform 11, and based on the determined posture of the measurement coordinate system, detect the actual posture of each tool holder 7 when it is placed on the drum 6.

[0082] In the above scheme, the clamping mechanism 1 and the detection device 2 cooperate to detect the position of the tool holder 7 during the placement process before the tool holder 7 is fixed on the drum 6, and the actual tool holder position is detected online. Therefore, compared with the method of performing position detection after the tool holder is installed in the related art, the positioning accuracy of the tool holder installation process can be effectively improved, and the problems of untimely detection, difficult rework and long time existing in the position detection method after the tool holder is installed can be solved, thereby improving the processing efficiency and quality of the milling rotor 20.

[0083] Moreover, in the above scheme, the clamping mechanism 1 carries the rotating drum 6 for installing the tool holder 7 through the platform 11, and a tracking target 13 is set on the platform 11 to track the measurement coordinate system that rotates with the platform 11 and serves as the basis for tool holder posture detection (because the tool holder posture can be regarded as the position and posture of the tool holder in the measurement coordinate system), so that there is no need to re-establish the measurement coordinate system after the platform 11 drives the rotating drum 6 to rotate each time. This not only avoids the trouble caused by constantly re-establishing the measurement coordinate system during the rotation of the drum, but also prevents the inconsistency between the re-established measurement coordinate systems from affecting the accuracy of the detection results. Therefore, it can effectively simplify the tool holder posture detection process, improve the tool holder posture detection efficiency, and improve the tool holder posture detection accuracy, thereby realizing a simple, efficient and high-precision tool holder posture online detection process.

[0084] Furthermore, since the tracking target 13 for tracking the measuring coordinate system is arranged on the platform 11 for carrying the rotating drum 6, during the process of replacing the rotating drum 6, it is only necessary to disassemble and assemble the rotating drum 6, without disassembling and assembling the platform 11 and the tracking target 13. In other words, the platform 11 and the tracking target 13 do not need to be disassembled and assembled during the replacement of the rotating drum 6. In this way, the operation of disassembling and assembling the platform 11 and the tracking target 13 during each replacement of the rotating drum 6 can be omitted, and the position change of the tracking target 13 caused by the disassembly and assembly of the platform 11 and the tracking target 13 can be prevented, so that it is not necessary to re-detect the tracking target 13 and re-establish the measuring coordinate system after each replacement of the rotating drum 6. From this perspective, it can also effectively simplify the tool seat posture detection process, improve the tool seat posture detection efficiency, and improve the tool seat posture detection accuracy, so as to realize a simple, efficient and high-precision tool seat posture online detection process.

[0085] Moreover, in the above scheme, the clamping mechanism 1 supports the drum 6 through the platform 11, and the platform 11 contacts the axial end face of the drum 6 through the supporting surface 14. In this case, since the supporting surface 14 can represent the axial end face of the drum 6, there is a point on the supporting surface 14 corresponding to the center of the axial end face of the drum 6. Therefore, the axial end face and the center of the axial end face of the drum 6 can be detected by detecting the supporting surface 14 and the point of the supporting surface 14 corresponding to the center of the axial end face of the drum 6. Then, based on the detected axial end face and the center of the axial end face of the drum 6, a measurement coordinate system is established to detect the position and posture of the tool holder 7. In the corresponding process, since the supporting surface 14 is a solid surface and the supporting surface 14 is in contact with the center of the axial end face of the drum 6 The corresponding point is also a physical feature, and is not a non-physical feature like the center of the axial end face of the drum 6 which is the center of the hole. The detection difficulty is lower and the detection accuracy is higher. In addition, a tracking target point 13 is provided on the support surface 14. By detecting the tracking target point 13, the surface feature of the support surface 14 can be detected. Therefore, the axial end face and the center of the axial end face of the drum 6 are detected by detecting the support surface 14 and the point of the support surface 14 corresponding to the center of the axial end face of the drum 6. This is not only simple and convenient, but also highly accurate. It can effectively simplify the detection process of the axial end face and the center of the axial end face of the drum 6, and improve the detection accuracy of the axial end face and the center of the axial end face of the drum 6, which is conducive to realizing a more convenient, efficient and high-precision online detection process of the tool seat posture.

[0086] By detecting the support surface 14 and the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6, the axial end surface and the center of the axial end surface of the drum 6 are detected. In fact, the detection of the axial end surface and the center of the axial end surface of the drum 6 is converted into the detection of the support surface 14 and the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6. This detection method can cleverly solve the detection problem of non-physical features such as the center of the hole, so that there is no need to "first use the detection device to detect the marks on the two tracking disks, and then use the detected marks on the tracking disks as a reference" like the online detection scheme of the tool seat posture in the related technology. , use a light pen to touch multiple points on the side of the drum 6, detect and determine the two axial end faces of the drum 6 and the centers of the two axial end faces. Only through these multiple steps can the detection of the axial end faces and the centers of the axial end faces of the drum be realized. This also makes it unnecessary to specially set up a light pen outside the detection device as in the online detection scheme of the tool seat posture in the related art, in order to realize the detection of the axial end faces and the centers of the axial end faces of the drum. Therefore, not only the detection process can be simplified, but also the structure of the tool seat posture detection system 10 can be simplified, so that a more convenient and efficient online detection process of the tool seat posture can be realized based on a simpler structure.

[0087] It can be seen that by providing a platform 11 to support the drum 6, and making the platform 11 contact the axial end surface of the drum 6 through the supporting surface 14, and providing a tracking target 13 on the supporting surface 14, the tool seat posture detection system 10 can realize online detection of the tool seat posture conveniently, efficiently and with high precision based on a relatively simple structure, which is conducive to conveniently and efficiently realizing high-precision positioning of the tool seat 7, so that the tool seat 7 can be accurately installed in the designed position during the manufacturing process of the milling rotor 20, effectively meeting the design requirements, improving product quality and improving product performance.

[0088] See also Figure 1 and Figure 2 In some embodiments, the support surface 14 is concentric with the axial end surface of the drum 6. At this time, the drum 6 is arranged at the center of the support surface 14, and the center of the support surface 14 coincides with the center of the axial end surface of the drum 6. The center of the support surface 14 constitutes the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6, that is, the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6 is the center of the support surface 14. In this case, not only can the drum 6 be supported more stably, but also the center of the axial end surface of the drum 6 can be detected by detecting the center of the support surface 14, which is simpler, more convenient, and more accurate, which is conducive to further improving the efficiency and accuracy of the online detection process of the tool seat posture.

[0089] In the above embodiments, the shape of the support surface 14 is not limited, and can be rectangular, polygonal, circular or other shapes. Figure 1 and Figure 2When the support surface 14 is circular, the shape of the support surface 14 is consistent with the shape of the axial end surface of the drum 6, which can more accurately characterize the axial end surface of the drum 6 and is more convenient to determine the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6. In particular, it is convenient to determine the center of the support surface 14, so that when the point of the support surface 14 corresponding to the center of the axial end surface of the drum 6 is the center of the support surface 14, the center of the axial end surface of the drum 6 can be conveniently determined by conveniently determining the center of the support surface 14. Therefore, it is beneficial to further improve the efficiency and accuracy of the online detection process of the tool seat posture.

[0090] In addition, in the above embodiments, the rotation axis of the platform 11 can be along various directions, for example, the rotation axis of the platform 11 is along the up-down direction, the horizontal direction or the inclined direction. Figure 1-Figure 4 When the rotation axis of the platform 11 is along the up and down direction, the supporting surface 14 faces upward. In this case, it is only necessary to place the drum 6 vertically on the supporting surface 14, and the drum 6 can be pressed on the supporting surface 14 under the action of gravity to realize the supporting effect of the platform 11 on the drum 6. It is not only simple to operate, but also has stable support. At the same time, in this case, one platform 11 can achieve stable support for the drum 6, and the other end of the drum 6 does not need to be supported by a supporting component. Therefore, the structure is also relatively simple. Moreover, in this case, the drum 6 is placed vertically, and the space above is relatively wide with fewer obstacles. Therefore, it is also more convenient to place and fix each tool holder 7, which is not only conducive to improving the production efficiency of the milling rotor 20, but also conducive to improving the placement and fixing accuracy of the tool holder 7 and improving the positioning accuracy of the tool holder 7.

[0091] In the above embodiments, in order to achieve the fixing of the drum 6 on the platform 11, see Figure 2 The clamping mechanism 1 includes a drum fixing mechanism 17, which is disposed on the platform 11 and is used to connect with the drum 6 to realize the installation of the drum 6 on the platform 11. In this way, the drum 6 can be fixed to the platform 11 by the drum fixing mechanism 17, so that the drum fixing mechanism 17 can not only rotate with the platform 11, but also is not easy to be accidentally displaced during the rotation process.

[0092] The drum fixing mechanism 17 can be connected to the drum 6 in a variety of ways such as snap connection, clamping or threaded connection, and the connection position of the drum fixing mechanism 17 and the drum 6 is not limited, and can be located outside the drum 6 or inside the drum 6. For example, in some embodiments, the drum fixing mechanism 17 extends into the drum 6 and is connected to the drum 6. At this time, the connection position of the drum fixing mechanism 17 and the drum 6 is located inside the drum 6, not outside, or in other words, the drum fixing mechanism 17 is connected to the inside of the drum 6, not the outside. In this way, not only can the drum 6 be effectively fixed, but also the drum fixing mechanism 17 will not block the outer surface of the drum 6, and it is not easy to interfere with the mechanism for placing the knife seat 7 and fixing the knife seat 7 mentioned later, so it will not affect the installation of the knife seat 7.

[0093] As an example of a drum fixing mechanism 17 extending into the drum 6 and connected to the drum 6, see Figure 2 The drum fixing mechanism 17 includes a claw 18. At this time, the claw 18 extends into the drum 6 and clamps the inside of the drum 6, so that the drum 6 can be installed and fixed on the platform 11, which is simple and convenient.

[0094] Also, see Figure 2 In some embodiments, the size of the drum fixing mechanism 17 is adjustable so as to be connected to drums 6 of different specifications. Based on this, the same drum fixing mechanism 17 can fix drums 6 of different specifications, and flexibly meet the installation and fixing requirements of drums 6 of different specifications, so that even if drums 6 of different specifications are replaced, there is no need to disassemble the drum fixing mechanism 17 and the platform 11. In this way, not only can the adaptability of the tool seat posture detection system 10 to drums 6 of different specifications be enhanced, and the application scope of the tool seat posture detection system 10 can be expanded, but also, it can be prevented that the platform 11 is disassembled and assembled, and each time the drum 6 is replaced, it is necessary to re-detect the tracking target 13 and re-establish the measurement coordinate system. Therefore, the tool seat posture detection process can be effectively simplified, the tool seat posture detection efficiency can be improved, and the tool seat posture detection accuracy can be improved, so as to realize a simple, efficient and high-precision tool seat posture online detection process.

[0095] As an example of a size-adjustable drum fixing mechanism 17, see Figure 2 The drum fixing mechanism 17 includes a claw 18. In this way, the claw 18 can change its size by changing the degree of expansion, adapt to the inner diameter of different drums 6, and realize connection with drums 6 of different specifications, which is simple and convenient.

[0096] As mentioned above, the measurement coordinate system is established based on the axial end face and the center of the axial end face of the drum 6. Specifically, the center of the axial end face of the drum 6 is determined based on the axial end face of the drum 6, and the Z axis and the origin of the measurement coordinate system are determined based on the center of the axial end face of the drum 6. The axial end face of the drum 6 can be determined by detecting the support surface 14 in contact with the axial end face of the drum 6, and the center of the axial end face of the drum 6 can be determined by detecting the point on the support surface 14 corresponding to the center of the axial end face of the drum 6. Furthermore, the detection of the support surface 14 is Measurement can be achieved by detecting the tracking target point 13 on the supporting surface 14. In this case, the tracking target point 13 is not only used to track the posture of the measurement coordinate system during the rotation of the drum 6 driven by the platform 11, but also used to establish the initial measurement coordinate system before the platform 11 drives the drum 6 to start rotating. The point on the supporting surface 14 corresponding to the center of the axial end face of the drum 6 can be determined in a variety of ways. For example, since the corresponding point is a physical feature, it can be determined by directly detecting the corresponding point. For another example, other detection methods can also be used to indirectly determine the corresponding point.

[0097] As an example of indirectly detecting the point on the support surface 14 corresponding to the center of the axial end surface of the drum 6 in the above-mentioned embodiments, see Figure 2 The clamping mechanism 1 further includes a column 15, which is arranged on the support surface 14 and is used to coaxially extend into the drum 6. A positioning point 16 is arranged on the side of the column 15. The detection device 2 detects the positioning point 16 to determine the point on the support surface 14 corresponding to the center of the axial end surface of the drum 6 by detecting the center of the axial end surface of the column 15 and the projection of the center of the axial end surface of the column 15 on the support surface 14, thereby determining the center of the axial end surface of the drum 6. After that, the origin of the measurement coordinate system is determined based on the center of the axial end surface of the drum 6. The number and arrangement of the positioning points 16 are based on the ability to detect and determine the center of the axial end surface of the column 15. For example, generally, a plurality of positioning points 16 are arranged at intervals along the circumference of the column 15 on the side of the column 15, and in some embodiments, a plurality of groups of positioning points 16 are arranged in the axial direction of the column 15 to further improve the accuracy of the detection result and more accurately determine the axial end surface and center of the column 15.

[0098] Since the cylinder 15 is located on the support surface 14, and the cylinder 15 extends into the drum 6 and is coaxial with the drum 6, the center of the axial end surface of the cylinder 15 is collinear with the center of the axial end surface of the drum 6, and the projection of the center of the axial end surface of the cylinder 15 on the support surface 14 coincides with the projection of the center of the axial end surface of the drum 6 on the support surface 14. In other words, the projection of the center of the axial end surface of the cylinder 15 on the support surface 14 is the point on the support surface 14 corresponding to the center of the axial end surface of the drum 6. In view of this, the detection device 2 detects the positioning point 16 on the side of the cylinder 15, which can be confirmed After determining the side surface features of the cylinder 15, the axial end face of the cylinder 15 can be determined based on the side surface features of the cylinder 15. Then, based on the axial end face center of the cylinder 15, the axial end face center of the cylinder 15 can be determined. Then, based on the axial end face center of the cylinder 15 and the determined supporting surface 14, the axial end face center of the cylinder 15 is projected onto the supporting surface 14. The point on the supporting surface 14 corresponding to the axial end face center of the drum 6 can be determined, and then the center of the axial end face of the drum 6 can be determined. In order to determine the origin of the measurement coordinate system based on the center of the axial end face of the drum 6.

[0099] When determining the origin of the measurement coordinate system based on the center of the axial end face of the drum 6, the central axis of the drum 6 can be determined based on the center of the axial end face of the drum 6, and then the center of the drum 6 can be determined based on the center axis and the axial end face of the drum 6, as in the related art, and then the center of the drum 6 can be used as the origin of the measurement coordinate system. Alternatively, the center of the drum 6 can be used as the origin of the measurement coordinate system directly instead of the center of the drum 6. The measurement coordinate system established by the former is consistent with the workpiece coordinate system in the related art, with the center of the drum 6 as the origin and the central axis of the drum 6 as the Z axis; while the measurement coordinate system established by the latter is no longer consistent with the workpiece coordinate system in the related art. Although it still takes the central axis of the drum 6 as the Z axis, it no longer takes the center of the drum 6 as the origin, but takes the center of the axial end face of the drum 6 as the origin. In this case, since the step of determining the center of the drum 6 based on the two axial end faces and their centers of the drum 6 can be omitted, and only one axial end face and its center of the drum 6 (for example, the axial end face of the drum 6 in contact with the support surface 14) can be determined. Therefore, there are fewer steps, a simpler process, and lower detection difficulty, which can effectively improve the efficiency of establishing the measurement coordinate system, thereby improving the efficiency of tool seat posture detection. At the same time, in the actual production process, it is also difficult to establish a coordinate system in the center of the drum 6 to detect the tool seat parameters, and usually a coordinate system is established at one axial end of the drum 6 to detect the tool seat parameters. Therefore, directly establishing a measurement coordinate system with the center of the axial end face of the drum 6 as the origin is more in line with the actual production process, and is more conducive to obtaining tool seat posture detection results consistent with the actual production process, thereby improving product quality.

[0100] In addition, based on the provided cylinder 15 , in addition to determining the center of the axial end surface of the drum 6 , the central axis of the drum 6 can also be determined, thereby determining the Z axis of the measurement coordinate system. When determining the center axis of the drum 6 based on the set cylinder 15 and the positioning points 16 thereon, and then determining the Z axis of the measuring coordinate system, the two axial end faces and the center of the cylinder 15 can be determined based on the positioning points 16 on the cylinder 15, and then the centers of the two axial end faces of the cylinder 15 are connected to obtain the center axis of the cylinder 15, and then the center axis of the drum 6 coinciding with the center axis of the cylinder 15 is determined, and the center axis of the drum 6 is used as the Z axis of the measuring coordinate system. Alternatively, an axial end face and the center of the cylinder 15 can be determined based on the positioning points 16 on the cylinder 15, and then the axis passing through the center of the corresponding axial end face of the cylinder 15 and perpendicular to the support surface 14 (also passing through the origin of the measuring coordinate system and perpendicular to the axis of the support surface 14) is used as the center axis of the cylinder 15 and the drum 6, and then the center axis of the drum 6 is used as the Z axis of the measuring coordinate system.

[0101] After the origin and Z axis of the measurement coordinate system are determined, a straight line perpendicular to the Z axis is drawn through the corresponding origin to determine the Z axis and Y axis of the measurement coordinate system, thereby completing the establishment of the measurement coordinate system.

[0102] After the measurement coordinate system is established, the position and posture parameters of the tool holder 7 in the measurement coordinate system can be detected, thereby realizing the detection of the position and posture of the tool holder 7.

[0103] In order to detect the position and posture parameters of the tool holder 7 in the measurement coordinate system, see Figure 1-Figure 4 In some embodiments, the tool holder seat posture detection system 10 includes not only the clamping mechanism 1 and the detection device 2, but also includes a measurement target point 41. The measurement target point 41 moves with the tool holder 7 and is detected by the detection device 2 to detect the actual posture of the tool holder 7 when it is placed on the drum 6. Since the measurement target point 41 can move with the tool holder 7, the detection device 2 detects the coordinates of the measurement target point 41 in the measurement coordinate system, and can detect the position and posture parameters of the tool holder 7 in the measurement coordinate system.

[0104] The measuring target point 41 can be directly set on the tool holder 7, or can also be set at other places outside the tool holder 7. When the measuring target point 41 is set at other places outside the tool holder 7, all tool holders 7 can share the measuring target point 41, so that there is no need to equip each tool holder 7 with a dedicated measuring target point 41, and there is no need to remove the measuring target point 41 from the tool holder 7 after the detection is completed, so the structure and operation are simpler.

[0105] As an example of a measurement target point 41 being arranged at a place other than the tool holder 7, see Figure 1The tool seat posture detection system 10 includes a tool seat transfer mechanism 3, which is movably arranged and includes a tool seat fixing tool 32 for installing the tool seat 7 to place the tool seat 7 on the drum 6, and the measurement target point 41 is set on the tool seat fixing tool 32.

[0106] The tool holder transfer mechanism 3 is provided to place the tool holder 7 , so that the tool holder placement process can be automated. Compared with the manual placement of the tool holder 7 , the efficiency and accuracy are higher, the flexibility is stronger, and it is beneficial to improve the installation efficiency and accuracy of the tool holder 7 .

[0107] Since the tool holder transfer mechanism 3 drives the tool holder 7 to move together, the positional relationship between the tool holder fixing fixture 32 of the tool holder transfer mechanism 3 for installing the tool holder 7 and the tool holder 7 is fixed, and the position and posture of the tool holder fixing fixture 32 can represent the position and posture of the tool holder 7. Therefore, setting the measurement target point 41 on the tool holder fixing fixture 32 of the tool holder transfer mechanism 3 can make the measurement target point 41 move with the tool holder 7, and can obtain the position and posture parameters of the tool holder fixing fixture 32 in the measurement coordinate system by detecting the measurement target point 41 on the tool holder fixing fixture 32, and then determine the position and posture parameters of the tool holder 7 in the measurement coordinate system, so as to realize the detection of the position and posture of the tool holder 7. In this case, the measurement target point 41 on the tool holder transfer mechanism 3 can be used to detect the positions and postures of different tool holders 7. Even if all the tool holders 7 on one drum 6 are installed and another tool holder 7 needs to be replaced, there is no need to disassemble and assemble the measurement target point 41. Therefore, the operation is simpler and the detection accuracy is higher.

[0108] The tool holder transfer mechanism 3 can adopt various mechanical structures, including but not limited to a robot 31 and a machine tool. When the tool holder transfer mechanism 3 includes a robot 31, it has greater flexibility, higher precision, higher automation, and is more convenient to realize a fully automated tool holder posture detection and adjustment process.

[0109] To achieve a fully automated tool position detection and adjustment process, see Figure 5 The tool seat posture detection system 10 includes a controller 5, which is connected to the detection device 2 and the tool seat transfer mechanism 3 by signals, so as to control the tool seat transfer mechanism 3 to reposition the tool seat 7 according to the detection result of the detection device 2. In this way, the tool seat posture detection system 10 can not only realize the online detection of the tool seat posture, but also reposition the tool seat 7 according to the posture detection result when the actual posture of the tool seat 7 does not meet the requirements, and correct the positioning result of the tool seat 7, which is conducive to further improving the positioning accuracy during the installation of the tool seat.

[0110] For example, in some embodiments, when the detection device 2 detects that the deviation between the actual position and the designed position of the tool holder 7 exceeds a threshold, the controller 5 controls the tool holder transfer mechanism 3 to reposition the tool holder 7. At this time, whether the deviation between the actual position and the designed position of the tool holder 7 exceeds the threshold is used as a condition for whether the positioning accuracy of the tool holder 7 meets the requirements. In this way, the positioning accuracy of the tool holder 7 during the installation process can be controlled within the allowable range, effectively meeting the design requirements of the tool holder, and reducing the difficulty of positioning, so as to avoid excessive requirements for positioning accuracy, which makes it difficult to implement and affects efficiency.

[0111] Specifically, see Figure 4 In some embodiments, when controlling the tool holder transfer mechanism 3 to reposition the tool holder 7, the controller 5 first controls the tool holder transfer mechanism 3 to drive the tool holder 7 to retreat from the rotating drum 6 to the transition position 92, and then controls the tool holder transfer mechanism 3 to adjust the posture at the transition position 92 according to the deviation between the actual posture of the tool holder 7 and the designed posture, and after the posture adjustment, drives the tool holder 7 to move from the transition position 92 to the rotating drum 6 again, and re-places the tool holder 7 on the rotating drum 6.

[0112] Based on the above scheme, when re-placing the tool holder 7, the tool holder transfer mechanism 3 does not need to completely re-position the tool holder 7 from the beginning, but only needs to first remove the tool holder 7 from the rotating drum 6 and drive the tool holder 7 to retreat to the transition position 92, and then adjust and correct the deviation between the actual posture and the designed posture of the tool holder 7 (which can be called positioning deviation) at the transition position 92 to complete the re-positioning of the tool holder 7. In the corresponding process, since the transition position 92 can be located between the starting position 91 of the tool holder transfer mechanism 3 and the target position 93 of the tool holder 7 on the rotating drum 6, the tool holder transfer mechanism 3 does not need to return from the target position 93 to the starting position 91, and then return from the starting position 91 to the target position every time the tool holder 7 is re-placed. Position 93, therefore, can effectively shorten the moving distance of the tool holder transfer mechanism 3 during the tool holder repositioning process, thereby improving the tool holder repositioning efficiency; and, because the tool holder transfer mechanism 3 directly uses the deviation between the actual position of the tool holder 7 and the designed position as a basis for posture adjustment, and makes adjustments based on the current existing positioning results, rather than completely re-adjusting from the beginning with the designed position as a reference, therefore, can effectively reduce the number of tool holder posture adjustments, so that the tool holder transfer mechanism 3 can quickly readjust the posture of the tool holder 7 to a state where the deviation from the designed position is within the threshold range, thereby achieving an efficient and high-precision posture adjustment process, which is beneficial to further improving the tool holder installation and milling rotor production efficiency.

[0113] The transition position 92 may be any position between the starting position 91 of the knife holder transfer mechanism 3 and the target position 93 of the knife holder 7 on the drum 6. Figure 4The transition position 92 is located directly above the target position 93 of the knife seat 7 on the drum 6. At this time, the transition position 92 is closer to the target position 93 of the knife seat 7 on the drum 6, which is more conducive to shortening the moving distance of the knife seat transfer mechanism 3 during the repositioning of the knife seat and improving the repositioning efficiency of the knife seat.

[0114] Based on the tool seat posture detection system 10 of the above-mentioned embodiments, the present application also provides a tool seat posture detection method. Figure 6-Figure 7 In this application, the knife seat posture detection method includes:

[0115] The drum 6 of the milling rotor 20 is mounted on the platform 11;

[0116] The tool holders 7 of the milling rotor 20 are sequentially placed on the rotating drum 6, and when each tool holder 7 is placed on the rotating drum 6, the detection device 2 is used to detect the tracking target point 13 to determine the position and posture of the measurement coordinate system rotating with the platform 11, and based on the determined position and posture of the measurement coordinate system, the actual position and posture of the tool holder 7 when placed on the rotating drum 6 is detected;

[0117] Determine whether the deviation between the actual position and the designed position of the tool holder 7 exceeds a threshold;

[0118] When the deviation between the actual position and the designed position of the knife seat 7 is less than or equal to the threshold, the knife seat 7 is fixed on the drum 6;

[0119] When the deviation between the actual position and the designed position of the tool holder 7 exceeds a threshold, the tool holder 7 is repositioned.

[0120] Based on the above steps, not only the online detection of the tool seat posture can be realized, but also the online adjustment of the tool seat posture can be realized, so that the positioning accuracy of the tool seat 7 can be controlled within the allowable range, and the positioning accuracy of the tool seat 7 during the installation process can be effectively improved.

[0121] Specifically, see Figure 4 , Figure 6 and Figure 7 In some embodiments, repositioning the tool holder 7 includes:

[0122] The knife holder transfer mechanism 3 drives the knife holder 7 to retreat from the drum 6 to the transition position 92;

[0123] The tool holder transfer mechanism 3 is configured to adjust the position of the tool holder 7 at the transition position 92 according to the deviation between the actual position and the designed position.

[0124] The knife holder transfer mechanism 3 drives the knife holder 7 to move from the transition position 92 to the rotating drum 6 again, and the knife holder 7 is placed on the rotating drum 6 again.

[0125] Based on the above steps, not only can the tool holder transfer mechanism 3 be used to realize automatic online adjustment of the posture of the tool holder 7 that does not meet the requirements, but also the tool holder transfer mechanism 3 can be controlled to retreat to the transition position 92 during the repositioning of the tool holder, and the posture can be adjusted based on the deviation between the actual posture of the tool holder and the designed posture, so as to realize rapid adjustment of the tool holder posture and rapid repositioning of the tool holder, thereby realizing an efficient and high-precision posture adjustment and repositioning process.

[0126] See also Figure 3 , Figure 6 and Figure 7 In some embodiments, before placing each tool holder 7 of the milling rotor 20 on the rotary drum 6, the tool holder fixing fixture 32 of the tool holder transfer mechanism 3 is moved to the starting position 91 and combined with the tool holder 7. Based on this, the starting point of each placement of the tool holder 7 by the tool holder transfer mechanism 3 is the starting position 91. The tool holder transfer mechanism 3 picks up the tool holder 7 at the starting position 91, and then drives the tool holder 7 to move from the starting position 91 to the target position 93 on the rotary drum 6. After the tool holder 7 is fixed, the tool holder transfer mechanism 3 returns to the starting position 91 from the target position 93, continues to pick up the next tool holder 7, or ends the operation. In this way, the action of the tool holder transfer mechanism 3 is orderly, which is not only convenient for control, but also not prone to errors, which is conducive to further improving the production efficiency and production quality of the milling rotor.

[0127] In addition, in some embodiments, the above-mentioned detection of the actual posture of the tool holder 7 when placed on the drum 6 based on the determined posture of the measurement coordinate system includes:

[0128] Using the detection device 2 to detect the measuring target point 41 moving with the tool holder 7;

[0129] The actual position and posture of the tool holder 7 is determined based on the detection results of the detection device 2 on the measurement target point 41 and the measurement coordinate system.

[0130] Based on the above steps, the position and posture parameters of the tool holder 7 in the measurement coordinate system can be detected, thereby realizing online detection of the posture of the tool holder 7. When determining the posture of the tool holder 7 based on the measurement target point 41 and the measurement coordinate system, the principles and methods similar to those in the related art can be adopted, so they will not be described here.

[0131] In addition, in some embodiments, the tool seat posture detection method further includes:

[0132] Before placing the first tool holder 7 on the drum 6, a measuring coordinate system is established.

[0133] Before placing the tool holder 7 on the drum 6, a measurement coordinate system is pre-established, so as to facilitate the subsequent detection of the positions of the tool holders 7 installed on the drum 6 based on the measurement coordinate system. Among them, "before placing the first tool holder 7 on the drum 6" includes two stages: before the drum 6 is installed on the platform 11, and after the drum 6 is installed on the platform 11 until the first tool holder 7 is placed on the drum 6. As mentioned above, in the case where the origin of the measurement coordinate system is established by detecting the positioning point 16 on the column 15, the establishment of the measurement coordinate system can be carried out in particular before the drum 6 is installed on the platform 11, so as to avoid blocking the column 15 after the drum 6 is installed on the platform 11, thereby affecting the detection of the positioning point 16.

[0134] Specifically, in some embodiments, establishing a measurement coordinate system includes:

[0135] A measurement coordinate system is established with the center of the axial end surface of the drum 6 for contacting the support surface 14 as the origin and the central axis of the drum 6 as the Z axis.

[0136] Furthermore, in some embodiments, establishing the measurement coordinate system further includes:

[0137] Before establishing a measurement coordinate system, taking the center of the axial end face of the drum 6 for contacting the support surface 14 as the origin and the central axis of the drum 6 as the Z axis, the detection device 2 is used to detect the positioning point 16 on the side of the cylinder 15 coaxially extending into the drum 6 and arranged on the support surface 14, so as to determine the center of the axial end face of the drum 6 for contacting the support surface 14 and the central axis of the drum 6.

[0138] Based on the aforementioned steps, the measurement coordinate system can be established conveniently and efficiently, effectively improving the online detection efficiency of the tool seat posture.

[0139] Next, combine Figure 1-Figure 7 The embodiments shown are used to further illustrate the present application.

[0140] like Figure 1-Figure 7 As shown, in this embodiment, the tool holder posture detection system 10 includes a clamping mechanism 1, a detection device 2, a tool holder transfer mechanism 3, a measurement target 4, a controller 5 and a tool holder fixing device (not shown). The clamping mechanism 1 includes a platform 11, a tracking target 12, a column 15, a positioning point 16 and a drum fixing mechanism 17.

[0141] The platform 11 is used to support the drum 6. Figure 1 and Figure 2As shown, in this embodiment, the platform 11 is circular, arranged horizontally, and rotatably arranged around a vertical rotation axis located in the center, so that the rotation axis of the platform 11 is along the up and down direction, and the upper surface of the platform 11 constitutes a circular supporting surface 14, and the rotation axis of the platform 11 is located at the center of the supporting surface 14.

[0142] The drum fixing mechanism 17 is disposed on the platform 11 and is used to connect with the drum 6 to achieve installation and fixing of the drum 6 on the platform 11. Figure 2 As shown, in this embodiment, the drum fixing mechanism 17 includes at least two (for example, three) claws 18, which are arranged around the center of the support surface 14 and are used to extend into the drum 6, and are connected to the drum 6 by being clamped on the inner wall of the drum 6 or clamped on the flange hole of the drum 6. In this way, the drum 6 can be installed and fixed at the center of the support surface 14, so that the lower axial end surface of the drum 6 fits the center of the support surface 14, and the center of the lower axial end surface of the drum 6 coincides with the center of the support surface 14. In addition, in this embodiment, the ends of the claws 18 of the drum fixing mechanism 17 can be close to or away from the rotation axis of the platform 11, so that the size of the drum fixing mechanism 17 is adjustable, and can adapt to the installation and fixing requirements of drums 6 with different inner diameters and / or different flange apertures. In this way, when the knife seat 7 on one drum 6 is installed and another drum 6 needs to be replaced, it is not necessary to replace the drum fixing mechanism 17 and the platform 11, so as to avoid the need to re-establish the measurement coordinate system.

[0143] The column 15 is arranged at the center of the support surface 14 and is surrounded by the drum fixing mechanism 17. The column 15 is used to extend into the drum 6 so as to cooperate with the positioning point 16 and the detection device 2 to determine the geometric features such as the axial end face and the axial end face center of the drum 6 to establish a measurement coordinate system. Figure 2 As shown, in this embodiment, the column 15 is cylindrical, arranged vertically, and its lower axial end surface coincides with the supporting surface 14.

[0144] The positioning point 16 is set on the circumferential surface of the cylinder 15, and is used to be detected by the detection device 2 to determine the geometric features such as the axial end face and the axial end face center of the drum 6, so as to facilitate the establishment of a measurement coordinate system. Figure 2As shown, in this embodiment, a plurality of groups of positioning points 16 are provided on the circumferential surface of the cylinder 15, and each group of positioning points 16 includes a plurality of positioning points 16 arranged at intervals along the circumference of the cylinder 15 (which is also the rotation direction of the platform 11). In this way, by detecting these positioning points 16, the surface features such as the outer diameter of the axial end surface of the cylinder 15 can be determined, and then the center of the axial end surface of the cylinder 15 can be determined based on the determined surface features such as the outer diameter of the axial end surface of the cylinder 15, and the central axis of the cylinder 15 can be determined based on the determined center of the axial end surface of the cylinder 15. Since the projection of the center of the axial end surface of the cylinder 15 on the support surface 14 coincides with the center of the support surface 14 and the lower axial end surface of the drum 6, the projection of the center of the axial end surface of the cylinder 15 on the support surface 14 can be used as the center of the support surface 14 and the lower axial end surface of the drum 6, thereby realizing the detection of the center of the support surface 14 and the lower axial end surface of the drum 6. After the center of the lower axial end surface of the drum 6 is detected and determined, the center of the lower axial end surface of the drum 6 can be used as the origin of the measurement coordinate system to achieve the determination of the origin of the measurement coordinate system.

[0145] The tracking target 12 is disposed on the support surface 14 and is used to be detected by the detection device 2 to establish a measurement coordinate system and track the position of the measurement coordinate system during the rotation of the drum 6 driven by the platform 11. Figure 1 and Figure 2 As shown, in this embodiment, a plurality of tracking targets 12 are provided on the support surface 14, and the plurality of tracking targets 12 are arranged at intervals along the circumference of the support surface 14 (which is also the rotation direction of the platform 11), and each tracking target 12 includes a plurality of tracking target points 13. In this way, the support surface 14 is provided with a plurality of tracking target points 13 arranged at intervals along the rotation direction of the platform 11, so that the surface features of the support surface 14 can be determined by detecting these tracking target points 13, and then the axis passing through the origin of the measurement coordinate system and perpendicular to the support surface 14 can be determined, and the corresponding axis is used as the Z axis of the measurement coordinate system, so as to realize The determination of the Z axis of the measurement coordinate system enables the establishment of the measurement coordinate system based on the determined origin and Z axis, and after the platform 11 drives the drum 6 to rotate each time, the tracking target points 13 are detected, and the change of the measurement coordinate system posture (such as angle) caused by the platform 11 driving the drum 6 to rotate can be determined, and the measurement coordinate posture can be tracked, so that the current posture of the established measurement coordinate system after the platform 11 drives the drum 6 to rotate each time can be easily obtained, so as to perform posture detection on the tool holder 7 installed after the platform 11 drives the drum 6 to rotate each time. It can be seen that the tracking target points 13 of this embodiment are not only used to establish the measurement coordinate system, but also used to track the actual posture of the measurement coordinate system.

[0146] The tool holder transfer mechanism 3 is used to grab, place and adjust the position of the tool holder 7. Figure 1As shown, in this embodiment, the tool holder transfer mechanism 3 is a robot 31, at the end of which is provided with a tool holder fixing tool 32 including a cylindrical portion 33, and the corresponding tool holder fixing tool 32 is used to be detachably combined with the tool holder 7 to enable the robot 31 (tool holder transfer mechanism 3) to grasp and place the tool holder 7.

[0147] like Figure 3 and Figure 4 As shown, in this embodiment, a starting position (also referred to as Home position) 91 is set for the robot 31. The corresponding starting position 91 is located between the rotating drum 6 on the platform 11 and the material tray 8 for placing the tool holder 7. It is the position where the robot 31 grabs the tool holder 7. That is to say, when the tool holder fixing fixture 32 is at the starting position 91, the robot 31 performs the tool holder grabbing action. After the robot 31 grabs the tool holder 7, the tool holder 7 is combined with the tool holder fixing fixture 32. After that, the robot 31 moves and drives the tool holder 7 to reach the target position 93 of the rotating drum 6 corresponding to the corresponding tool holder 7 (corresponding to the design position of the corresponding tool holder 7), so as to place the tool holder 7 on the rotating drum 6. And, as Figure 3 and Figure 4 As shown, in this embodiment, a transition position 92 is also set for the robot 31. The transition position 92 corresponds to the target position 93 of each tool holder 7 one by one. The transition position 92 is located directly above the target position 93 of each tool holder 7 and between the starting position 91 and the target position 93 of each tool holder 7. It is used to adjust the posture of each tool holder 7 when the posture deviation of each tool holder 7 exceeds the limit (i.e. exceeds the threshold).

[0148] The measuring target 4 is arranged on the robot 31 and is used to be detected by the detection device 2 to determine the position and posture parameters of each tool holder 7 in the measurement coordinate system, thereby realizing the detection of the actual position and posture of each tool holder 7. Figure 1 As shown, in this embodiment, the measurement target 4 is arranged on the tool holder fixing fixture 32 of the robot 31, and is specifically located on the cylindrical portion 33 of the tool holder fixing fixture 32, and the measurement target 4 includes a plurality of measurement target points 41 arranged at intervals along the circumference of the cylindrical portion 33. In this way, by detecting these measurement target points 41, the circumferential end surface and the center of the cylindrical portion 33 can be determined, and then the position and posture of the cylindrical portion 33 in the measurement coordinate system can be determined, and the tool holder 7 is installed on the tool holder fixing fixture 32, and the relative position relationship with the cylindrical portion 33 is certain. Therefore, after the position and posture of the cylindrical portion 33 in the measurement coordinate system is determined, the position and posture of the tool holder 7 in the measurement coordinate system can be determined, and the actual position and posture of the tool holder 7 can be detected.

[0149] The detection device 2 is used to cooperate with the tracking target point 13, the positioning point 16 and the measuring target point 41 to establish the measurement coordinate system and detect the actual position and posture of the tool holder. Figure 1As shown, in this embodiment, the detection device 2 includes two cameras 21, which are arranged at intervals on a bracket 22, and their common field of view can cover the required detection range. At this time, the detection device 2 realizes the detection function by taking pictures, which is simple, convenient and accurate. However, it can be understood that, as a variation, the detection device 2 can also use other methods such as infrared detection to realize the detection function.

[0150] In this embodiment, the detection device 2 not only detects the actual position and posture of the tool holder 7, but also determines the deviation between the actual position and posture of the tool holder 7 and the designed position and posture based on the detected actual position and posture of the tool holder 7, and when the position and posture of the tool holder 7 exceeds the limit, the adjustment offset (or deviation compensation data) is determined according to the deviation between the actual position and posture of the tool holder 7 and the designed position and posture, and the adjustment offset is sent to the controller 5, so that the controller 5 controls the tool holder transfer mechanism 3 (robot 31) to adjust the position and posture according to the corresponding adjustment offset during the process of re-placing the tool holder 7, so that the position and posture of the re-placed tool holder 7 does not exceed the limit and meets the positioning accuracy requirement.

[0151] The knife seat fixing device is used to fix the placed knife seat 7 on the drum 6 to realize the installation of the knife seat 7 on the drum 6. In this embodiment, the knife seat fixing device is a splicing machine tool, which can realize the fixation of the knife seat 7 on the drum 6 by splicing welding the knife seat 7.

[0152] The controller 5 is connected to the clamping mechanism 1, the detection device 2, the tool holder transfer mechanism 3 and the tool holder fixing device by signals to control the platform 11, the tool holder transfer mechanism 3 and the tool holder fixing device and the detection of the detection device 2, so as to realize the automatic placement, posture detection and adjustment, and welding fixation of each tool holder 7 on the drum 6, and realize the fully automated process of installation of each tool holder 7 on the drum 6 and online posture detection and adjustment. In this embodiment, the controller 5 is a PLC controller, which is used to realize the start and stop control of the camera 21, the start and stop control of the robot 31, the start and stop control of the stitching machine, and the transmission of posture detection results and adjustment offset. During the working process, the two cameras 21 of the detection device 2 feed back the posture detection results to the controller 5, and the controller 5 determines whether the tool holder 7 needs to be re-placed.

[0153] Based on the tool holder position detection system 10 of this embodiment, the positioning accuracy of the tool holder can be controlled during the tool holder installation process to achieve a high-precision tool holder installation process, such as Figure 3-Figure 4 as well as Figure 6-Figure 7 As shown, the corresponding process mainly includes the following steps:

[0154] First, the robot 31 grabs the knife holder 7 from the tray 8 and places the knife holder 7 at the target position 93;

[0155] Then, the detection device 2 takes a photo to detect the actual position of the tool holder 7 to determine whether the positioning deviation of the tool holder 7 exceeds the threshold;

[0156] Next, if the deviation exceeds the threshold, the robot 31 retreats, adjusts the posture according to the detection result, and repositions the tool holder 7. If the deviation is within the threshold, the tool holder 7 is fixed;

[0157] Finally, repeat the above steps until all the tool holders 7 are positioned and fixed.

[0158] Specifically, the entire working process of the tool seat posture detection system 10 is roughly as follows:

[0159] (1) Installing the drum 6 of the milling rotor 20 to be processed on the platform 11;

[0160] (2) The detection device 2 reads the product model information corresponding to the rotating drum 6 on the current platform 11 from the controller 5 to realize the reading of the product model;

[0161] (3) The end of the robot 31 (i.e., the tool holder fixing tool 32) moves to the starting position 91, and grabs the tool holder 7 to be installed from the material tray 8 according to the instruction of the controller 5;

[0162] (4) The robot 31 places the tool holder 7 at the target position 93 corresponding to the corresponding tool holder 7 on the drum 6 according to the current tool holder positioning coordinates;

[0163] (5) After the tool holder 7 is placed in place, the robot 31 triggers a signal of being in place and feeds it back to the controller 5. The controller 5 sends a detection signal to the detection device 2, triggering the camera 21 of the detection device 2 to take photos of the tracking target 13 and the measuring target 41. The current posture of the measuring coordinate system is determined by using the tracking target 13. The current posture of the tool holder 7 is calculated based on the current posture of the measuring coordinate system and the photo results of the measuring target 41, thereby realizing the detection of the current posture (i.e., the actual posture) of the tool holder 7.

[0164] (6) According to the product model, the detection device 2 automatically calls the design posture parameters of the tool holder 7, compares the actual posture detection parameters in the previous step with the design posture parameters, and calculates the actual positioning deviation of the tool holder 7;

[0165] (7) Analyze whether the actual positioning deviation of the tool holder 7 exceeds a given threshold value. If the deviation exceeds the threshold value, the detection device 2 sends the positioning deviation information (including the adjustment offset) to the controller 5. The controller 5 sends the corresponding positioning deviation information to the robot 31, triggering the robot 31 to move, retreat from the current position to the transition position 92 located directly above the target position 93, and offset according to the adjustment offset based on the current posture, adjust the posture, and then reposition the tool holder 7 and enter step (5); if the deviation does not exceed the threshold value, control the tool holder fixing device to perform spot welding on the tool holder 7, and determine whether the positioning of the tool holder has been completed;

[0166] (8) If there is still a tool holder that has not been positioned, go to step (3), and the robot 31 continues to position the next tool holder 7; if the positioning of all tool holders has been completed, the data of the detection device 2 is saved and the tool holder positioning work is ended.

[0167] It can be seen that this embodiment can realize the grasping and placement of the tool holder 7 based on the robot 31, and detect the actual position and posture of the tool holder 7 based on the detection device 2, analyze the deviation between the actual position and the designed position and posture of the tool holder, and feed back the positioning deviation to the robot 31 for posture adjustment, thereby realizing closed-loop control of the tool holder positioning during the installation process and effectively improving the positioning accuracy of the tool holder.

[0168] Moreover, this embodiment uses a platform 11 that contacts the axial end surface of the drum 6 to support the drum 6, and sets a tracking target point 13 and a cylinder 15 on the supporting surface 14 of the platform 11 that contacts the axial end surface of the drum 6, and sets a positioning point 16 on the circumferential surface of the cylinder 15, which can conveniently and accurately establish and track the measurement coordinate system. In this way, the positioning efficiency and accuracy of the tool holder can be effectively improved, and high-precision positioning of the tool holder can be conveniently and efficiently achieved, thereby effectively improving the production efficiency of the milling rotor 20 and improving the production quality of the milling rotor 20.

[0169] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A tool seat posture detection system (10), characterized in that: include: A mounting mechanism (1) comprises a platform (11) and a tracking target point (13); the platform (11) is used to mount a rotating drum (6) of a milling rotor (20) and is in contact with an axial end surface of the rotating drum (6) via a supporting surface (14); the platform (11) is rotatably arranged to drive the rotating drum (6) mounted on the platform (11) to rotate, so that each tool holder (7) of the milling rotor (20) can be placed and fixed at different positions of the rotating drum (6) during the rotation of the rotating drum (6); and the tracking target point (13) is arranged on the supporting surface (14); and The detection device (2) is used to detect the tracking target point (13) to determine the position and posture of the measurement coordinate system that rotates with the platform (11), and based on the determined position and posture of the measurement coordinate system, detect the actual position and posture of each tool holder (7) when it is placed on the rotating drum (6).

2. The tool position posture detection system (10) according to claim 1, characterized in that: The platform (11) is constructed as at least one of the following: The support surface (14) is concentric with the axial end surface of the drum (6); The supporting surface (14) is circular; The rotation axis of the platform (11) is along the up-down direction or the horizontal direction.

3. The tool position posture detection system (10) according to claim 1, characterized in that: The clamping mechanism (1) further comprises a rotating drum fixing mechanism (17), wherein the rotating drum fixing mechanism (17) is arranged on the platform (11) and is used to connect with the rotating drum (6) so as to realize the installation of the rotating drum (6) on the platform (11).

4. The tool position posture detection system (10) according to claim 3, characterized in that: The size of the rotating drum fixing mechanism (17) is adjustable so as to be connected to the rotating drums (6) of different specifications; and / or the rotating drum fixing mechanism (17) extends into the rotating drum (6) and is connected to the rotating drum (6).

5. The tool position posture detection system (10) according to claim 4, characterized in that: The rotating drum fixing mechanism (17) comprises a claw (18).

6. The tool position posture detection system (10) according to claim 1, characterized in that: The clamping mechanism (1) further comprises a column (15), wherein the column (15) is arranged on the supporting surface (14) and is used to coaxially extend into the rotating drum (6), and a positioning point (16) is provided on a side surface of the column (15). The detection device (2) detects the positioning point (16) to determine the origin of the measurement coordinate system.

7. The tool seat posture detection system (10) according to any one of claims 1 to 6, characterized in that: The tool holder position posture detection system (10) further comprises a measurement target point (41), wherein the measurement target point (41) moves with the tool holder (7) and is detected by the detection device (2) to detect the actual position of the tool holder (7) when it is placed on the rotating drum (6); and / or, the tool holder position posture detection system (10) further comprises a tool holder transfer mechanism (3), wherein the tool holder transfer mechanism (3) is movably arranged and comprises a tool holder fixing tool (32) for mounting the tool holder (7) to place the tool holder (7) on the rotating drum (6).

8. The tool position posture detection system (10) according to claim 7, characterized in that: The tool holder seat posture detection system (10) comprises the measurement target point (41) and the tool holder transfer mechanism (3), and the measurement target point (41) is arranged on the tool holder fixing tool (32).

9. The tool position posture detection system (10) according to claim 7, characterized in that: The tool holder transfer mechanism (3) comprises a robot (31).

10. The tool position posture detection system (10) according to claim 7, characterized in that: The tool holder position detection system (10) further comprises a controller (5), wherein the controller (5) is signal-connected to the detection device (2) and the tool holder transfer mechanism (3) so as to control the tool holder transfer mechanism (3) to determine whether to reposition the tool holder (7) based on a detection result of the detection device (2).

11. The tool position posture detection system (10) according to claim 10, characterized in that: The controller (5) controls the tool holder transfer mechanism (3) to reposition the tool holder (7) when the detection device (2) detects that the deviation between the actual position and the designed position of the tool holder (7) exceeds a threshold value.

12. The tool position posture detection system (10) according to claim 11, characterized in that: In the process of controlling the tool holder transfer mechanism (3) to reposition the tool holder (7), the controller (5) first controls the tool holder transfer mechanism (3) to drive the tool holder (7) to retreat from the rotating drum (6) to the transition position (92), and then controls the tool holder transfer mechanism (3) to adjust the position of the tool holder (7) at the transition position (92) according to the deviation between the actual position and the designed position of the tool holder (7), and after the position adjustment, drives the tool holder (7) to move from the transition position (92) to the rotating drum (6) again, so as to reposition the tool holder (7) on the rotating drum (6).

13. The tool position posture detection system (10) according to claim 12, characterized in that: The transition position (92) is located directly above the target position (93) of the knife seat (7) on the rotating drum (6).

14. A clamping mechanism (1) of a tool seat posture detection system (10) as claimed in any one of claims 1 to 13.

15. A method for detecting a tool seat posture based on the tool seat posture detection system (10) according to any one of claims 1 to 14, characterized in that: include: Mounting the drum (6) of the milling rotor (20) on the platform (11); The tool holders (7) of the milling rotor (20) are sequentially placed on the rotating drum (6), and when each tool holder (7) is placed on the rotating drum (6), the tracking target point (13) is detected using a detection device (2) to determine the position and posture of a measurement coordinate system that rotates with the platform (11), and based on the determined position and posture of the measurement coordinate system, the actual position and posture of the tool holder (7) when placed on the rotating drum (6) is detected; Determining whether a deviation between an actual position and a designed position of the tool holder (7) exceeds a threshold; When the deviation between the actual position and the designed position of the tool holder (7) is less than or equal to the threshold value, fixing the tool holder (7) on the rotating drum (6); When the deviation between the actual position and design position of the tool holder (7) exceeds the threshold, the tool holder (7) is repositioned.

16. The method for detecting the position posture of a tool seat according to claim 15, characterized in that: Repositioning the knife holder (7) comprises: The knife seat transfer mechanism (3) drives the knife seat (7) to retreat from the rotating drum (6) to a transition position (92); The tool holder transfer mechanism (3) is caused to adjust the position of the tool holder (7) at the transition position (92) according to the deviation between the actual position and the designed position; The knife seat transfer mechanism (3) drives the knife seat (7) to move from the transition position (92) back to the rotating drum (6), and the knife seat (7) is placed back on the rotating drum (6).

17. The method for detecting the position posture of a tool seat according to claim 15, characterized in that: Before placing each tool holder (7) of the milling rotor (20) on the rotary drum (6), the tool holder fixing tool (32) of the tool holder transfer mechanism (3) is moved to a starting position (91) and combined with the tool holder (7).

18. The method for detecting the position posture of a tool seat according to claim 15, characterized in that: The knife seat posture detection method also includes: Before placing the first tool holder (7) on the drum (6), the measuring coordinate system is established.

19. The method for detecting the position of a tool seat according to claim 18, characterized in that: Establishing the measurement coordinate system includes: The measurement coordinate system is established with the center of the axial end surface of the rotating drum (6) in contact with the supporting surface (14) as the origin and the central axis of the rotating drum (6) as the Z axis.

20. The method for detecting the position of a tool seat according to claim 19, characterized in that: Establishing the measurement coordinate system further includes: Before establishing the measurement coordinate system, the center of the axial end face of the drum (6) for contacting the support surface (14) is taken as the origin, and the central axis of the drum (6) is taken as the Z axis. The detection device (2) is used to detect the positioning point (16) on the side of the column (15) provided on the support surface (14) and extending coaxially into the drum (6), so as to determine the center of the axial end face of the drum (6) for contacting the support surface (14), and the central axis of the drum (6).

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