Automatic tool changing method and system of vertical cutting machine and medium

Abstract

The invention discloses an automatic tool changing method and system of a vertical cutting machine and a medium, and relates to the field of intelligent manufacturing, the method comprises the steps that first wire tool automatic dismounting operation is executed, specifically, a wire tool clamping device is controlled to move to a first position to clamp a first target wire tool, and the first target wire tool is a wire tool to be replaced; the first position is the position where the wire cutter clamping device is located when clamping a first target wire cutter installed in a first target installation groove, and the first target installation groove is any installation groove, where the wire cutter needs to be replaced, in the vertical cutting machine; controlling a fixing device of the first target mounting groove to release the first target wire knife; and after the first wire knife automatic dismounting operation is executed, the first wire knife automatic mounting operation or the second wire knife automatic mounting operation is executed. The wire cutter of the vertical cutting machine is automatically replaced, and the cutter replacing precision and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing, and in particular to an automatic tool changing method, system and medium for a vertical cutting machine. Background Art

[0002] Autoclaved aerated concrete blocks are a new type of lightweight and porous building material that has thermal insulation, fire resistance and a certain degree of earthquake resistance. Due to its lightweight characteristics, this material can reduce the overall weight of the building, thereby helping to improve the building's earthquake resistance. In the production process of autoclaved aerated concrete blocks, in order to meet the customer's requirements for block length specifications, it is generally necessary to use an autoclaved aerated concrete block vertical cutting machine (referred to as vertical cutting machine) to cut the blocks.

[0003] The existing vertical cutting machine replaces the wire cutter manually, which cannot ensure high precision of replacing the wire cutter and has extremely low efficiency of wire cutter replacement. Summary of the invention

[0004] The purpose of the present application is to provide an automatic tool changing method, system and medium to solve the problems of low accuracy and efficiency of manual replacement of wire knives in existing vertical cutting machines.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides an automatic tool changing method for a vertical cutting machine, comprising:

[0007] To perform the first line knife automatic removal operation:

[0008] Controlling the wire cutter clamping device to move to a first position to clamp a first target wire cutter, wherein the first target wire cutter is a wire cutter to be replaced, and the first position is a position where the wire cutter clamping device clamps the first target wire cutter installed in a first target installation slot, and the first target installation slot is any installation slot on the vertical cutting machine where the wire cutter needs to be replaced;

[0009] Controlling the fixing device of the first target installation slot to release the first target wire cutter;

[0010] After performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation or the second wire cutter automatic installation operation is performed.

[0011] Optionally, the first wire cutter automatic installation operation includes:

[0012] After controlling the wire cutter clamping device to move to a second position, the first target wire cutter is released in the tool magazine; the second position is the position where the wire cutter clamping device releases the clamped first target wire cutter in the tool magazine;

[0013] Control the wire cutter clamping device to move to a third position to clamp a second target wire cutter, where the second target wire cutter is any wire cutter to be installed in the tool magazine, and the third position is the position where the wire cutter clamping device is located when clamping the second target wire cutter;

[0014] Controlling the wire cutter clamping device to move to a fourth position, wherein the fourth position is a position where the wire cutter clamping device releases the second target wire cutter into the first target installation slot;

[0015] Controlling the fixing device of the first target installation slot to clamp the second target wire cutter;

[0016] The wire cutter clamping device is controlled to release the second target wire cutter.

[0017] Optionally, the performing of the second wire cutter automatic installation operation includes:

[0018] Controlling the wire cutter clamping device to move to a fifth position, wherein the fifth position is a position where the wire cutter clamping device releases the first target wire cutter into a second target installation slot, wherein the second target installation slot is an installation slot where the first target wire cutter is to be installed;

[0019] Controlling the fixing device of the second target installation slot to clamp the first target wire cutter;

[0020] The wire cutter clamping device is controlled to release the first target wire cutter.

[0021] Optionally, the automatic tool changing method of the vertical cutting machine further includes:

[0022] Before performing the first wire cutter automatic disassembly operation, monitoring the status of each wire cutter installed on the vertical cutting machine to determine whether each wire cutter installed on the vertical cutting machine meets the cutting work requirements;

[0023] After determining that a certain wire cutter does not meet the cutting work requirements, the wire cutter that does not meet the cutting work requirements is used as the first target wire cutter, and the first wire cutter automatic disassembly operation is performed. After performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation is performed to replace the wire cutter that does not meet the cutting work requirements.

[0024] Optionally, after the first wire cutter automatic installation operation is performed, an initial image of the installed second target wire cutter is acquired and saved;

[0025] The state monitoring of the wire cutter installed on the vertical cutting machine includes:

[0026] Get a real-time picture of each wire cutter installed on the vertical cutting machine;

[0027] According to the initial picture and the real-time picture of each wire cutter, the state of each wire cutter is monitored based on image processing to determine whether each wire cutter installed on the vertical cutting machine meets the cutting work requirements.

[0028] In a second aspect, the present application provides an automatic tool changing system for a vertical cutting machine, which is used to implement the automatic tool changing method for a vertical cutting machine described in any one of the above items;

[0029] The automatic tool changing system of the vertical cutting machine comprises a tool magazine, a wire knife clamping device and a controller;

[0030] The tool magazine contains wire cutters to be installed and wire cutters to be disassembled;

[0031] The controller is used to control the wire cutter clamping device, the fixing device of the first target installation slot, and the fixing device of the second target installation slot to cooperate in performing the first wire cutter automatic disassembly operation, and after performing the first wire cutter automatic disassembly operation, perform the first wire cutter automatic installation operation or the second wire cutter automatic installation operation.

[0032] Optionally, the wire cutter clamping device is mounted on a moving mechanism;

[0033] The wire cutter clamping device includes two manipulators or two clamping claws;

[0034] Each of the claws comprises a broken line structure, wherein the broken line structure comprises a first connecting member, a second connecting member and a third connecting member connected in sequence, wherein:

[0035] The first connecting member is arranged along the width direction of the vertical cutting machine and one end of the first connecting member is slidably connected to the moving mechanism. The second connecting member is arranged along the length direction of the vertical cutting machine. The third connecting member is arranged along the height direction of the vertical cutting machine, and a second wire cutter groove matching the second clamping groove on the wire cutter is provided at the top of the third connecting member.

[0036] Optionally, each crossbeam of the reciprocating frame of the vertical cutting machine is connected to the mounting shaft via a first linear drive mechanism, and the first linear drive mechanism can drive the mounting shaft connected thereto to move in a horizontal direction away from the reciprocating frame or towards the reciprocating frame.

[0037] Optionally, the fixing device comprises an upper fixer and a lower fixer, wherein:

[0038] The upper fixture is fixedly connected to the mounting shaft, and an upper fixing groove corresponding to each mounting groove is formed at the bottom of the upper fixture, and the upper fixing groove matches the upper half of the first clamping groove on the wire cutter;

[0039] The lower fixer is located below the upper fixer, and the lower fixer is connected to the upper fixer via a vertically arranged second linear drive mechanism, and the second linear drive mechanism can drive the lower fixer to move between a third point position and a fourth point position, the third point position is the position when the top of the lower fixer is in close contact with the bottom of the upper fixer, and the fourth point position is the position when the lower fixer is installed with the wire cutter.

[0040] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned methods for automatic tool changing of a vertical cutting machine.

[0041] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0042] The present application provides an automatic tool changing method, system and medium for a vertical cutting machine, the method comprising: performing an automatic disassembly operation of a first wire cutter: controlling a wire cutter clamping device to move to a first position to clamp a first target wire cutter, the first target wire cutter is a wire cutter to be replaced, the first position is a position at which the wire cutter clamping device clamps the first target wire cutter installed in a first target mounting slot, the first target mounting slot is any mounting slot on the vertical cutting machine where the wire cutter needs to be replaced; controlling a fixing device of the first target mounting slot to release the first target wire cutter; after performing an automatic disassembly operation of the first wire cutter, performing an automatic installation operation of the first wire cutter or an automatic installation operation of the second wire cutter; realizing automatic replacement of the wire cutter of the vertical cutting machine without manual tool change, improving the efficiency and accuracy of replacing the wire cutter, and solving the problem of low accuracy and efficiency of manual replacement of wire cutters in existing vertical cutting machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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 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.

[0044] Figure 1 This is a schematic diagram of a process flow of an automatic tool changing method for a vertical cutting machine in one embodiment of the present application;

[0045] Figure 2 for Figure 1 A schematic diagram of the process flow of the first line knife automatic installation operation in step 102;

[0046] Figure 3 for Figure 1 A schematic diagram of the process flow of the second wire cutter automatic installation operation in step 102;

[0047] Figure 4 A schematic diagram of gradient direction division provided in an embodiment of the present application;

[0048] Figure 5 This is a structural schematic diagram of an automatic tool changing system for a vertical cutting machine in one embodiment of the present application;

[0049] Figure 6 It is a schematic diagram of the structure explosion of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0050] Figure 7 This is a structural schematic diagram of a steel wire tile of a vertical cutting machine in one embodiment of the present application;

[0051] Figure 8 A schematic diagram of the connection between the tool holder and the clamping claw of the automatic tool changing system of the vertical cutting machine in one embodiment of the present application;

[0052] Fig. 9 This is a schematic diagram of the structure of a manipulator of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0053] Fig.10 This is a schematic structural diagram of a clamping claw of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0054] Fig.11 A schematic diagram of a partial structure of a wire cutter of an automatic cutter changing system of a vertical cutting machine in one embodiment of the present application;

[0055] Fig.12 It is a partial structural schematic diagram of a lower fixture of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0056] Fig.13 It is a side structural schematic diagram of a fixing device of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0057] Fig.14 It is a schematic diagram of the main view of the structure of a fixing device of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0058] Fig.15 It is a schematic diagram of a top view of a partial structure of a fixing device of an automatic tool changing system of a vertical cutting machine in one embodiment of the present application;

[0059] Fig.16 A schematic diagram of a functional module of an automatic tool changing device for a vertical cutting machine provided in one embodiment of the present application;

[0060] Fig.17 A schematic diagram of the structure of a computer device provided in one embodiment of the present application.

[0061] In the figure, 1. tool magazine, 1-1. tool holder, 1-2. first wire knife groove, 2. wire knife, 2-1. first clamping groove, 2-2. second clamping groove, 2-3. third clamping groove, 2-4. wire knife joint, 3. steel wire tile, 3-1. mounting groove, 4. first motion structure, 5. second motion structure, 6. third motion structure, 7. manipulator, 8. flange, 9. claw, 9-1. second wire knife groove, 9-2. broken line structure, 10. first linear drive mechanism, 12. crossbeam, 13. mounting shaft, 14. mounting seat, 15. upper fixer, 15-1. upper fixed groove, 16. lower fixer, 16-1. lower fixed groove, 17. second linear drive mechanism. DETAILED DESCRIPTION

[0062] 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, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0064] In an exemplary embodiment, Figure 1 As shown, an automatic tool changing method is provided, comprising the following steps 101 to 102. Among them:

[0065] Step 101, performing the first line knife automatic disassembly operation:

[0066] Control the wire cutter clamping device to move to the first position to clamp the first target wire cutter, the first target wire cutter is the wire cutter 2 to be replaced, the first position is the position of the wire cutter clamping device when clamping the first target wire cutter installed in the first target installation slot, the first target installation slot is any installation slot 3-1 on the vertical cutting machine where the wire cutter 2 needs to be replaced;

[0067] The fixing device of the first target installation slot is controlled to release the first target wire cutter.

[0068] Step 102: After performing the first wire cutter automatic disassembly operation, perform the first wire cutter automatic installation operation or the second wire cutter automatic installation operation.

[0069] By implementing the above steps 101 to 102, the automatic tool changing operation of the vertical cutting machine is realized without manual tool changing, which effectively improves the accuracy and efficiency of replacing the wire knife.

[0070] In another exemplary embodiment of the present application, Figure 2 As shown, the above-mentioned first line knife automatic installation operation includes the following steps 201 to 205. Among them:

[0071] Step 201, after controlling the wire cutter clamping device to move to the second position, release the first target wire cutter in the tool magazine 1; the second position is the position where the wire cutter clamping device releases the clamped first target wire cutter in the tool magazine 1.

[0072] Step 202, control the wire cutter clamping device to move to the third position to clamp the second target wire cutter, the second target wire cutter is any wire cutter 2 to be installed in the tool magazine 1, and the third position is the position of the wire cutter clamping device when clamping the second target wire cutter.

[0073] Step 203, controlling the wire cutter clamping device to move to a fourth position, where the fourth position is the position where the wire cutter clamping device releases the second target wire cutter in the first target installation slot.

[0074] Step 204, controlling the fixing device of the first target installation slot to clamp the second target wire cutter.

[0075] Step 205, controlling the wire cutter clamping device to release the second target wire cutter.

[0076] In another exemplary embodiment of the present application, Figure 3 As shown, the above-mentioned second wire cutter automatic installation operation includes the following steps 301 to 303. Among them:

[0077] Step 301, control the wire cutter clamping device to move to the fifth position, the fifth position is the position where the wire cutter clamping device releases the first target wire cutter in the second target installation slot, and the second target installation slot is the installation slot 3-1 where the first target wire cutter is to be installed.

[0078] Step 302, controlling the fixing device of the second target installation slot to clamp the first target wire cutter.

[0079] Step 303: Control the wire cutter clamping device to release the first target wire cutter.

[0080] In another exemplary embodiment of the present application, the above-mentioned wire cutter automatic replacement method further includes:

[0081] Repeat the automatic tool change operation, which includes:

[0082] Execute the automatic disassembly operation of the first line knife;

[0083] After performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation or the second wire cutter automatic installation operation is performed.

[0084] In another exemplary embodiment of the present application, the above automatic tool changing method further includes the following steps 401 to 402. Among them:

[0085] Step 401, before executing the first wire cutter automatic disassembly operation, monitor the status of each wire cutter 2 installed on the vertical cutting machine to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements.

[0086] Step 402, after determining that a certain wire cutter 2 does not meet the cutting work requirements, the wire cutter 2 that does not meet the cutting work requirements is used as the first target wire cutter to perform the first wire cutter automatic disassembly operation, and after performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation is performed to replace the wire cutter 2 that does not meet the cutting work requirements.

[0087] In another exemplary embodiment of the present application, after the first wire cutter automatic installation operation is performed, an initial image of the installed second target wire cutter is acquired and saved, and an initial outline of the second target wire cutter is detected and stored.

[0088] In another exemplary embodiment of the present application, in the above step 401, the state monitoring of the wire cutter 2 installed on the vertical cutting machine includes the following steps 4011 to 4012. Among them:

[0089] Step 4011, obtaining a real-time picture of each wire cutter 2 installed on the vertical cutting machine.

[0090] Step 4012, based on the initial image and the real-time image of each wire cutter 2, the state of each wire cutter 2 is monitored based on image processing to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements.

[0091] In another exemplary embodiment of the present application, the above step 4012 is replaced by the following steps (1) to (3). Among them:

[0092] Step (1) preprocesses the real-time image of each wire knife 2, wherein the preprocessing includes grayscale processing, filtering processing and edge detection to highlight the boundary of the wire knife 2.

[0093] The embodiment of the present application does not limit the filter used for filtering processing, and it can be selected according to actual needs, for example, median filtering or Gaussian filtering.

[0094] Step (2), based on the real-time image of each of the wire cutters 2 after preprocessing, determine whether each of the wire cutters 2 has at least one of wear and breakage. If a wire cutter 2 has at least one of wear and breakage, it is determined that the wire cutter 2 does not meet the cutting work requirements.

[0095] The edge detection in the embodiment of the present application adopts the Canny edge detection method. The Canny edge detection algorithm is less susceptible to noise interference and can detect weak edges in the image, including:

[0096] Use the derivative operator to find the partial derivatives P(x,y) and Q(x,y) of the image grayscale along the x and y directions, and use the partial derivatives P(x,y) and Q(x,y) to calculate the gradient amplitude and gradient direction;

[0097] Remove pixels with non-maximum gradient values ​​according to the gradient direction, and only retain edge points with the largest local gradient values;

[0098] Edge tracking is performed using two thresholds, a high threshold and a low threshold. The low threshold is used to determine potential weak edges, and the high threshold is used to determine strong edges. A complete edge line is formed by connecting the weak edges and the strong edges.

[0099] In the embodiment of the present application, the partial derivatives P(x, y) and Q(x, y) of the image grayscale along the x and y directions are calculated according to the following formulas:

[0100]

[0101] Wherein, B(x,y) is the pixel value of the (x,y) coordinate point of the input image, B(x+1,y) is the pixel value of the (x+1,y) coordinate point of the input image, B(x,y+1) is the pixel value of the (x,y+1) coordinate point of the input image, and B(x+1,y+1) is the pixel value of the (x+1,y+1) coordinate point of the input image;

[0102] The gradient amplitude is calculated according to the following formula:

[0103]

[0104] Where |B| is the gradient amplitude of the (x,y) coordinate point of the input image;

[0105] The gradient direction is calculated according to the following formula:

[0106]

[0107] Among them, θ is the gradient direction of the (x, y) coordinate point of the input image.

[0108] In the embodiment of the present application, in order to fit the edge of the input image, the points with the largest local gradient value should be retained and the points with non-maximum values ​​should be suppressed. Figure 4The four regions 1, 2, 3, and 4 shown in the figure are then traversed through the entire input image. If the gradient amplitude of a pixel in the input image is less than the gradient amplitude of the two pixels in the gradient direction of the point, then the point is determined not to be the edge of the image and is removed; otherwise, it is an edge and is retained. It can be concluded from the figure that if the gradient direction of the central pixel X is in region 1, it should be compared with the upper left pixel and the lower right pixel; if the gradient direction of X is in region 2, it should be compared with the two pixels above and below the point; if the gradient direction of X is in region 3, it should be compared with the lower left pixel and the upper right pixel; if the gradient direction of X is region 4, it should be compared with the two pixels on the left and right of the point. At this time, if the gradient amplitude of X is less than or equal to the gradient amplitude of the two points in its gradient direction, then let X = 0, which means that it can be determined that the point is definitely not an edge point.

[0109] In the embodiment of the present application, after removing the pixel points of non-maximum gradient values ​​according to the gradient direction and retaining only the edge points with the largest local gradient values ​​(non-maximum suppression), the image may produce isolated discontinuous points, causing the interruption of the image edge. To this end, a high-low dual threshold processing method is adopted to solve this situation, that is, setting a high threshold T2 and a low threshold T1 (usually taking T1=0.4T2); for the local maximum point, if its grayscale value is greater than the high threshold T2, then it can be judged that the point must be an edge; if its grayscale value is less than the low threshold T1, then it is definitely not an edge; if the pixel grayscale value of the point is between the high threshold T2 and the low threshold T1, and there are pixels greater than T2 in its adjacent pixels, then the point is also an edge, if there are no pixels greater than T2 in its adjacent pixels, then this pixel is not an edge point. Finally, the edges obtained after processing are connected, and the edge detection of the Canny operator is completed. After the Canny edge detection is completed, points with obvious brightness changes are identified in the image, and these points constitute the edges in the image.

[0110] As an optional embodiment, the above step (2) is replaced by the following steps 501 to 503:

[0111] Step 501 , performing threshold segmentation on the pre-processed real-time image of the wire knife 2 to distinguish the background and the wire knife 2 .

[0112] Step 502 , performing contour detection on the real-time image of the wire knife 2 after the threshold segmentation, and determining the real-time contour of the wire knife 2 .

[0113] Step 503, based on the stored initial profile of the wire cutter 2 and the detected real-time profile of the wire cutter 2, use template matching to determine whether the wire cutter 2 has at least one of wear and breakage. If a wire cutter 2 has at least one of wear and breakage, it is determined that the wire cutter 2 does not meet the cutting work requirements.

[0114] In the embodiment of the present application, the stored initial contour of the wire knife 2 is obtained by photographing and collecting an initial picture of the wire knife 2 after the wire knife 2 is installed, and then determining and storing the initial contour of the wire knife 2 using the method of the above steps (1) to (2). The initial contour of the wire knife 2 is used as the ideal shape of the wire knife 2, and template matching is used to detect whether the wire knife 2 is worn or broken.

[0115] As an optional embodiment, the above step (2) is replaced by the following steps 601 to 602. Wherein:

[0116] Step 601 , using a straight line detection algorithm to perform straight line detection on the pre-processed real-time image of each wire knife 2 .

[0117] Step 602, judging whether the detected wire cutter 2 is at least one of worn and broken according to the straight line monitoring result;

[0118] If a wire cutter 2 is at least one of worn and broken, it is determined that the wire cutter 2 does not meet the cutting work requirements.

[0119] In the embodiment of the present application, if the detected straight line is continuous and consistent with the expected position and direction, it is considered that the detected wire cutter 2 is intact. If the detected straight line is discontinuous or the direction deviates greatly, it is considered that the detected wire cutter 2 is worn. If no straight line is detected, it is considered that the detected wire cutter 2 is broken.

[0120] In the embodiment of the present application, the straight line detection algorithm adopts the Hough transform algorithm. For the standard Hough transform method for detecting straight lines, the basic idea is the point-line duality, that is, mapping a straight line in the rectangular coordinate system (x, y) to a point in the polar coordinate system. Next, it is necessary to consider discretizing ρ, θ to form a discretized Hough space, which is similar to a mat matrix / image, for counting the number of intersections. The color in some areas is darker, which means that there are more intersecting sinusoidal curves in this area, and there are more straight lines in this area of ​​the image. The darker the color, the longer the length of the straight line. In some areas without intersections, no straight line is detected in the original image. At this time, by comparing it with the wire knife position information entered when the device starts working, it is determined whether the wire knife is worn or broken. When the Hough transform algorithm is started, each pixel coordinate point P (x, y) is converted to the curve point of the polar coordinate system (ρ, θ), and then accumulated to a custom accumulator. If a peak appears, it means that a wire knife appears.

[0121] In another exemplary embodiment of the present application, before cutting, a third wire cutter automatic installation operation is performed, and the third wire cutter automatic installation operation includes the following steps 701 to 704. Among them:

[0122] Step 701, controlling the wire cutter clamping device to move to a third position to clamp a second target wire cutter.

[0123] Step 702, control the wire cutter clamping device to move to the sixth position, the sixth position is the position when the wire cutter clamping device releases the second target wire cutter in the third target installation slot, the third target installation slot is any installation slot 3-1 on the vertical cutting machine where the wire cutter 2 needs to be installed.

[0124] Step 703, controlling the fixing device of the third target installation slot to clamp the second target wire cutter.

[0125] Step 704: Control the wire cutter clamping device to release the second target wire cutter.

[0126] In another exemplary embodiment of the present application, the third wire cutter automatic installation operation further includes:

[0127] Step 705, repeat the third wire cutter automatic installation operation until all second target wire cutters are installed.

[0128] In another exemplary embodiment of the present application, after cutting, the second wire cutter automatic disassembly operation is performed, and the second wire cutter automatic disassembly operation includes the following steps 801 to 803. Among them:

[0129] Step 801, control the wire cutter clamping device to move to the seventh position to clamp the third target wire cutter, the third target wire cutter is the wire cutter 2 to be disassembled, and the seventh position is the position where the wire cutter clamping device clamps the third target wire cutter installed in the fourth target installation groove.

[0130] Step 802, controlling the fixing device of the fourth target installation slot to release the third target wire cutter.

[0131] Step 803, after controlling the wire cutter clamping device to move to the eighth position, the third target wire cutter is released in the tool magazine 1. The eighth position is the position where the wire cutter clamping device releases the clamped third target wire cutter in the tool magazine 1.

[0132] In another exemplary embodiment of the present application, the second wire cutter automatic disassembly operation further includes:

[0133] Step 804, repeat the second wire cutter automatic disassembly operation until all third target wire cutters are disassembled.

[0134] In another exemplary embodiment of the present application, the automatic tool changing method further includes:

[0135] The real-time information of the wire cutter is read from the wire cutter status database in real time and uploaded to the wire cutter status database. The real-time information of the wire cutter includes the number, position and status of the wire cutters 5 remaining in the tool magazine 1, and the number, position and status of the wire cutters 2 installed on the vertical cutting machine. The status of the wire cutter 2 refers to whether the wire cutter 2 is worn and the wear condition. An ideal wire cutter distribution map can be formed according to the real-time information of the wire cutter 2 installed on the vertical cutting machine in the wire cutter status database, and compared with the actual wire cutter distribution map obtained by the wire cutter status monitoring system, so as to obtain the fracture data information of the wire cutter 2. The fracture data information of the wire cutter 2 is transmitted to the wire cutter tension monitoring system. The wire cutter tension monitoring system can upload the sudden change information of the tension value to the host computer in time. After receiving the signal, the host computer stops the wire cutter in time, compares the data of the wire cutter status monitoring system, checks the position of the wire cutter fracture, and replaces the cutter in time.

[0136] like Figures 5-6 As shown, an automatic tool changing system is provided, which is used to implement the automatic tool changing method of the vertical cutting machine mentioned above, including a tool magazine 1, a wire knife clamping device and a controller;

[0137] The tool magazine 1 contains wire cutters 2 to be installed and wire cutters 2 to be disassembled;

[0138] The controller is used to control the cooperation between the wire cutter clamping device, the fixing device of the first target installation slot and the fixing device of the second target installation slot to perform the first wire cutter automatic disassembly operation, and, after performing the first wire cutter automatic disassembly operation, perform the first wire cutter automatic installation operation or the second wire cutter automatic installation operation.

[0139] In the embodiment of the present application, the first target installation slot, the second target installation slot, the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation, and the second wire cutter automatic installation operation are described in detail in the above method embodiment, and will not be repeated here. The controller is not specifically limited and can be selected according to actual needs. For example, a single chip microcomputer is used as the controller.

[0140] The previous station of the vertical cutting machine of autoclaved aerated concrete blocks is a horizontal cutting machine, which is used to horizontally cut the autoclaved aerated concrete blocks. The next station of the vertical cutting machine of autoclaved aerated concrete blocks is a flipping device, which is used to flip the autoclaved aerated concrete blocks that have been vertically cut and moved into place. The flipping device places the concrete blocks in a designated location, such as a conveyor belt, a stacking area or a packaging area. The autoclaved aerated concrete blocks are placed on a loading platform, which is slidably connected to the conveying track. Driven by its driving device, the loading platform moves along the conveying track to the horizontal cutting machine, the vertical cutting machine and the flipping device in sequence.

[0141] Corresponding mounting grooves 3-1 are provided on the beams 12 on both sides of the reciprocating frame. When installing the wire cutter 2, the two ends of the wire cutter 2 are placed one by one in the corresponding mounting grooves 3-1 on the two beams 12, and then the fixing devices of the two mounting grooves 3-1 are controlled to clamp the two ends of the wire cutter 2.

[0142] In the embodiment of the present application, the reset position of the wire cutter clamping device is not specifically limited and can be set according to actual needs. For example, the reset position of the wire cutter clamping device is set to the initial position of the wire cutter clamping device and / or the position of the wire cutter clamping device during the cutting process of the vertical cutting machine.

[0143] In another exemplary embodiment of the present application, in order to prevent the presence of the tool magazine 1 from interfering with the feeding, discharging and cutting operations of the vertical cutting machine, the tool magazine 1 is installed on a lifting device, and the lifting device is installed in an underground installation groove (a groove embedded downward in the ground) located below any position within the length range from the feeding end to the discharging end of the vertical cutting machine, and the lifting device can drive the tool magazine 1 to move between a first point position and a second point position along the vertical direction. The first point position is the position of the tool magazine 1 when it is located in the vertical cutting machine, and the second point position is the position of the tool magazine 1 when it is located in the underground installation groove. Specifically, the underground installation groove is located between the two tracks of the conveying track, so as to achieve non-interference with the feeding, discharging and cutting operations of the vertical cutting machine, while facilitating the wire knife clamping device to clamp the wire knife 2 to be installed in the tool magazine 1 or release the disassembled wire knife 2 in the tool magazine 1. The driver of the lifting device is electrically connected to the controller to control the lifting process of the lifting device through the controller.

[0144] In the embodiment of the present application, before performing the first wire cutter automatic disassembly operation, the controller is used to control the lifting device to move to the first position, so that the tool magazine 1 is raised into the vertical cutting machine, and then the first wire cutter automatic disassembly operation is performed. After performing the first wire cutter automatic installation operation or the second wire cutter automatic installation operation, the controller is used to control the lifting device to move to the second position, so that the tool magazine 1 is lowered into the underground installation slot.

[0145] In an embodiment of the present application, after completing the replacement of all wire cutters 2 that need to be replaced, completing the layout setting of the wire cutters 2 required for the current cutting task, completing the installation of all wire cutters 2 that need to be installed, or completing the disassembly of all wire cutters 2 that need to be disassembled, the lifting device is controlled by the controller to move to the second point position, so that the tool magazine 1 is lowered into the underground installation groove.

[0146] In another exemplary embodiment of the present application, the crossbeam 12 of the reciprocating frame of the vertical cutting machine is fixed with steel wire tiles 3 evenly distributed along its axial direction, and each steel wire tile 3 is provided with a plurality of mounting grooves 3 - 1 .

[0147] In the present application embodiment, Figure 7As shown, the steel wire shoe 3 includes a semicircular plate, on which are arranged a plurality of mounting grooves 3-1 evenly distributed along its axial direction. The mounting grooves 3-1 are arc-shaped grooves. When the steel wire shoe 3 is used to position and tension the wire knife 2, the wire knife 2 is clamped in the corresponding mounting groove 3-1.

[0148] In another exemplary embodiment of the present application, Figure 7 As shown, two adjacent steel wire tiles 3 installed on each cross beam 12 are staggered so that the steel wire tiles 3 on the cross beam 12 are divided into two groups along its length direction, and among two adjacent steel wire tiles 3, the distance between the last mounting groove 3-1 on the previous steel wire tile 3 and the first mounting groove 3-1 on the subsequent steel wire tile 3 is equal to the distance between the two adjacent mounting grooves 3-1 on each steel wire tile 3, so as to ensure that the mounting grooves 3-1 on all steel wire tiles 3 installed on each cross beam 12 are evenly distributed along the entire cross beam 12, so as to meet the installation position requirements of wire cutters 2 with different cutting sizes.

[0149] In another exemplary embodiment of the present application, Figure 5 As shown, each crossbeam 12 of the reciprocating frame is connected to a mounting shaft 13 via a first linear drive mechanism 10. The first linear drive mechanism 10 can drive the mounting shaft 13 connected thereto to move in a horizontal direction away from or close to the reciprocating frame. The fixing device of each mounting slot 3-1 is installed on the mounting shaft 13.

[0150] In the embodiment of the present application, Figure 1 The figure shows a schematic diagram of a first linear drive mechanism 10 connected only to the crossbeam 12 of the reciprocating frame. The first linear drive mechanism 10 can be connected to the crossbeam 12 and the mounting shaft 13 through the flange 8. There is no specific limitation on the first linear drive mechanism 10, and it can be selected according to actual needs. For example, a cylinder is used as the first linear drive mechanism 10. For example, an electric cylinder is used as the first linear drive mechanism 10. For another example, a hydraulic cylinder is used as the first linear drive mechanism 10.

[0151] When performing vertical cutting, first control the first linear drive mechanism 10 to drive the mounting shaft 13 to move the tensioned wire cutter 2 away from the reciprocating frame, and then control the reciprocating frame to move downward, and the tensioned wire cutter 2 cuts the blank under the action of the reciprocating frame.

[0152] In another exemplary embodiment of the present application, a connecting block is fixed to one end of each first linear drive mechanism 10 connected to the mounting shaft 13, each mounting shaft 13 is hinged to the corresponding connecting block, and both ends of each mounting shaft 13 are connected to a synchronous gearbox. The synchronous gearboxes at one end of the two mounting shafts 13 are connected by a swing connecting shaft to achieve synchronous action, and the input end of one of the synchronous gearboxes is connected to a swing motor.

[0153] In the embodiment of the present application, when performing vertical cutting, the first linear drive mechanism 10 is first controlled to drive the mounting shaft 13 to move the tensioned mounted wire cutter 2 in a direction away from the reciprocating frame, and then the reciprocating frame is controlled to move downward, and the swing motor is controlled to start working, and the mounting shaft is driven to realize synchronous swing through the synchronous gear box and the swing connecting shaft, and the tensioned wire cutter 2 cuts the blank under the action of the reciprocating frame and the mounting shaft 13.

[0154] In another exemplary embodiment of the present application, Figure 8 As shown, the tool magazine 1 includes a tool holder 1-1, and the tool holder 1-1 includes two oppositely disposed vertical plates and a horizontal plate, and the horizontal plate connects the two oppositely disposed vertical plates;

[0155] A plurality of first wire cutter grooves 1-2 are respectively provided on the top of the two vertical plates, and the first wire cutter grooves 1-2 match the third clamping grooves 2-3 of the wire cutter 2. Each third clamping groove 2-3 of the wire cutter 2 is arranged on one side of the corresponding first clamping groove 2-1 close to the center point of the length of the wire cutter 2, so that the wire cutter 2 can be mounted on the knife holder 1-1 through the first wire cutter grooves 1-2 and the third clamping grooves 2-3, so as to facilitate and accurately clamp the wire cutter 2.

[0156] As an optional implementation, the wire cutter clamping device adopts a robot 7.

[0157] As an optional implementation, the length of the tool magazine 1 is smaller than the length of the wire knife 2 , so that both ends of the wire knife 2 extend out of the tool magazine 1 .

[0158] The wire cutter clamping device includes two manipulators 7, such as Fig. 9 As shown, the manipulator 7 is connected to the moving mechanism.

[0159] As an optional implementation, Figure 8 As shown, the wire cutter clamping device includes two claws 9, such as Fig.10 As shown, each claw 9 includes a folded line structure 9-2, and the folded line structure 9-2 includes a first connecting member, a second connecting member and a third connecting member connected in sequence, wherein:

[0160] The first connecting member is arranged along the width direction of the vertical cutting machine and one end of the first connecting member is slidably connected to the moving mechanism, the second connecting member is arranged along the length direction of the vertical cutting machine, the third connecting member is arranged along the height direction of the vertical cutting machine, and the top of the third connecting member is provided with a second wire cutter groove 9-1 matching the second clamping groove 2-2 on the wire cutter 2. The second clamping groove 2-2 on the wire cutter 2 is arranged between the corresponding first clamping groove 2-1 and the third clamping groove 2-3.

[0161] In the embodiment of the present application, when the clamping claw 9 clamps the wire cutter 2 from the tool magazine 1, the moving mechanism drives the two clamping claws 9 to move to the two sides of the tool magazine 1 along its length direction and below the wire cutter 2 to be installed, and the second wire cutter grooves 9-1 of the two clamping claws 9 are clamped with the second clamping grooves 2-2 at both ends of the wire cutter 2 to be installed, which means that the clamping claw 9 has reached the third position. When the clamping claw 9 clamps the wire cutter 2 from the installation groove 3-1 of the wire cutter 2 to be replaced, the moving mechanism drives the two clamping claws 9 to move to the below the wire cutter 2 to be replaced, and the second wire cutter grooves 9-1 of the two clamping claws 9 are clamped with the second clamping grooves 2-2 at both ends of the wire cutter 2 to be removed, which means that the clamping claw 9 has reached the first position.

[0162] In another exemplary embodiment of the present application, the wire cutter connectors 2 - 4 at both ends of the wire cutter 2 are made of high-strength magnetic material and can be automatically adsorbed on both sides of the tool magazine 1 by magnetism.

[0163] In the embodiment of the present application, after the wire cutter 2 required for production is manually placed in the tool magazine 1, the wire cutter connector 2-4 with a magnetic property firmly adsorbs the wire cutter 2 in the tool magazine 1.

[0164] In another exemplary embodiment of the present application, the wire cutter clamping device is installed on a moving mechanism, and the moving mechanism drives the wire cutter clamping device to move.

[0165] In the embodiments of the present application, there is no specific limitation on the structure of the moving mechanism, and any moving device that can meet the movement requirements and does not affect the cutting operation can be used in the embodiments of the present application.

[0166] In another exemplary embodiment of the present application, a reciprocating frame driver is arranged on the top of the frame of the vertical cutting machine, and the reciprocating frame driver drives the reciprocating frame to move up and down. To ensure the movement stability of the reciprocating frame, the reciprocating machine can be connected to the top of the frame through multiple guide mechanisms.

[0167] like Figures 5-6 As shown, the moving mechanism includes:

[0168] Two first linear motion mechanisms 4, which are mounted on both sides of the top of the highest position of the reciprocating frame through first columns and are arranged along the length direction of the vertical cutting machine;

[0169] Two second moving mechanisms 5, the two second linear motion mechanisms 5 are arranged on both sides of the length direction of the reciprocating frame and on the inner side of the frame of the vertical cutting machine, the two second linear motion mechanisms 5 are correspondingly slidably connected with the two first linear motion mechanisms 4, and each first linear motion mechanism 4 can drive the second linear motion mechanism 5 connected thereto to move along the length direction of the vertical cutting machine;

[0170] The third moving mechanism 6 is arranged along the width direction of the vertical cutting machine, and the two ends of the third moving mechanism 6 are correspondingly slidably connected with the two second moving mechanisms 5, and the two second moving mechanisms 5 can drive the third moving mechanism 6 to move along the height direction of the vertical cutting machine;

[0171] The wire cutter clamping device is slidably connected to the third moving mechanism 6, and the third moving mechanism 6 can drive the wire cutter clamping device to move along the width direction of the vertical cutting machine.

[0172] In the embodiment of the present application, the structure of the first moving mechanism 4 to the third moving mechanism 6 is not specifically limited. Any moving mechanism that can meet the requirements and does not affect the cutting of the cutting machine can be used in the embodiment of the present application, and can be selected according to the requirements. For example, the first moving mechanism 4 to the third moving mechanism 6 adopts a screw guide rail slide. The driver of the reciprocating frame is set on the top of the frame of the vertical cutting machine, and the linear motion mechanism 4 is installed on both sides of the top of the highest position of the reciprocating frame. The two second linear motion mechanisms 5 are set on both sides of the length direction of the reciprocating frame and the inner side of the frame of the vertical cutting machine to avoid interference between the moving mechanism and the reciprocating machine. The vertical distance between the bottom of the manipulator 7 or the claw 9 and the top of the third moving mechanism 6 is greater than the height of the lower fixture 16 to avoid interference between the third moving mechanism 6 and the lower fixture 16 when the manipulator 7 or the claw 9 clamps the wire cutter 2 or installs the wire cutter 2. The length of the linear motion mechanism 4 is greater than the length of the reciprocating frame, so that the initial position of the moving device (that is, the reset position after the wire cutter 2 is replaced) is set on either side of the reciprocating frame along the width direction and above the highest position of the reciprocating frame. There is no specific limitation on the driver of the reciprocating frame, and the driver can be selected according to actual needs. For example, a hydraulic cylinder is used as the driver of the reciprocating frame.

[0173] In another exemplary embodiment of the present application, the reciprocating frame is slidably connected to the first column supporting it, and a driving device of the reciprocating frame is installed on the first column. The reciprocating frame can be driven by the driving device to reciprocate up and down along the first column.

[0174] The mobile mechanism includes:

[0175] Two first linear motion mechanisms 4, which are mounted on both sides of the top of the vertical cutting machine through second columns and are arranged along the length direction of the vertical cutting machine;

[0176] Two fourth linear motion mechanisms, the two fourth linear motion mechanisms are fixedly connected, and the two fourth linear motion mechanisms are correspondingly slidably connected with the two first linear motion mechanisms 4, and the first linear motion mechanism 4 can drive the two fourth linear motion mechanisms to move synchronously along the length direction of the vertical cutting machine;

[0177] Two sliders, the two sliders are slidably connected to the two fourth linear motion mechanisms, and each fourth linear motion mechanism can drive the slider connected thereto to move along the width direction of the vertical cutting machine;

[0178] Two fifth linear motion mechanisms, the two fifth linear motion mechanisms are rotatably connected to the two sliders, and each slider can drive the fifth linear motion mechanism connected thereto to flip, so that the fifth linear motion mechanism flips from a horizontal state to a vertical state when performing an automatic tool changing operation, and the fifth linear motion mechanism flips from a vertical state to a horizontal state after performing an automatic tool changing operation;

[0179] The two fifth linear motion mechanisms are respectively slidably connected to a manipulator 7 or a claw 9, and the two fifth moving mechanisms can drive the manipulator 7 or the claw 9 connected thereto to move along the height direction of the vertical cutting machine.

[0180] In the embodiment of the present application, when controlling the movement of the wire cutter clamping device, the controller first controls the fourth linear motion mechanism to drive the two sliders to move toward each other, so that the two sliders drive the two manipulators 7 or two claws 9 to move toward each other through the fifth linear motion mechanism. When the distance between the two manipulators 7 or two claws 9 is equal to the distance between the two second clamping grooves 2-2 on the wire cutter 2 and is less than the width of the reciprocating frame, the two fifth linear motion mechanisms are controlled to rotate around the hinge points with the corresponding sliders, flipping from a horizontal state to a vertical state, and then controlling the two first linear motion mechanisms 4, the two fourth linear motion mechanisms and the two fifth linear motion mechanisms to cooperate to drive the two manipulators 7 or two claws 9 to move to the target position (first position, second position, third position, fourth position or fifth position). The structures of the first motion mechanism 4, the fourth motion mechanism and the fifth motion mechanism are not specifically limited. Any moving mechanism that can meet the requirements and does not affect the cutting of the cutting machine can be used in the embodiment of the present application and can be selected according to the requirements. For example, a lead screw guide slide is used.

[0181] In another exemplary embodiment of the present application, Fig.11 As shown, both ends of each wire cutter 2 are respectively provided with a first clamping groove 2 - 1 .

[0182] The fixing device of the mounting groove 3-1 includes an upper fixing device 15 and a lower fixing device 16. Fig.13 and Fig.14 The upper fixture 15 is fixedly connected to the mounting shaft 13 , and the bottom of the upper fixture 15 is provided with an upper fixing groove 15 - 1 corresponding to each mounting groove 3 - 1 , and the upper fixing groove 15 - 1 matches the upper half of the first clamping groove 2 - 1 on the wire cutter 2 .

[0183] The lower fixture 16 is located below the upper fixture 15. Fig.13 and Fig.15As shown, the lower fixture 16 is connected to the upper fixture 15 through a vertically arranged second linear drive mechanism 17, and the second linear drive mechanism 17 can drive the lower fixture 16 to move between a third point position and a fourth point position, and the distance between the third point position and the fourth point position is greater than the diameter of the wire cutter end 2-4 of the wire cutter 2, the third point position is the position when the top of the lower fixture 16 is in close contact with the bottom of the upper fixture 15, and the fourth point position is the position when the lower fixture 16 and the wire cutter 2 are installed.

[0184] The top of the lower fixture 16 is provided with a lower fixing groove 16-1 corresponding to each upper fixing groove 15-1. Fig.12 and Fig.14 As shown, the lower fixing groove 16 - 1 matches the lower half of the first clamping groove 2 - 1 of the wire cutter 2 .

[0185] In the embodiment of the present application, the second linear drive mechanism 17 is not specifically limited and can be selected according to the needs. For example, a cylinder is used as the second linear drive mechanism 17. For example, an electric cylinder is used as the second linear drive mechanism 17. For another example, a hydraulic cylinder is used as the second linear drive mechanism 17.

[0186] When the wire cutter 2 needs to be replaced, the wire cutter clamping device is controlled to move to the first position and clamp the first target wire cutter, and then the movable end of the second linear drive mechanism 17 of the fixing device is controlled to extend, driving the lower fixture 16 to move downward to the fourth point, thereby releasing the first target wire cutter. When performing the first wire cutter automatic installation operation, when the wire cutter clamping device is controlled to move to the fourth position, the first clamping grooves 2-1 at both ends of the second target wire cutter are respectively placed in the corresponding lower fixing grooves 16-1 in the lower fixture 16 of the corresponding fixing device, and then the movable end of the second linear drive mechanism 17 is controlled to retract, driving the lower fixture 16 to move upward to the third point, thereby clamping the second target wire cutter. When the lower fixture 16 moves to the third point, the second target wire cutter is just stuck in the corresponding installation groove 3-1. When performing the second wire cutter automatic installation operation, when the wire cutter clamping device is controlled to move to the fifth position, the first target wire cutter is located in the corresponding installation groove 3-1, and the first clamping grooves 2-1 at both ends of the first target wire cutter are respectively placed in the corresponding lower fixing grooves 16-1 in the lower fixer 16 of the corresponding fixing device, and then the movable end of the second linear drive mechanism 17 is controlled to retract, driving the lower fixer 16 to move upward to the third point, thereby clamping the first target wire cutter.

[0187] In another exemplary embodiment of the present application, in order to avoid interference between the second linear drive mechanism 17 and the wire cutter clamping device, the horizontal distance between the two second linear drive mechanisms 17 corresponding to the two fixing devices installed on the two mounting shafts 13 is greater than the length of the wire cutter 2.

[0188] In another exemplary embodiment of the present application, in order to ensure the fixing effect of the fixing device on the wire cutter 2, a plurality of mounting seats 14 are evenly arranged on the outer side of each upper fixture 15 and the lower fixture 16 along the length direction thereof, and the plurality of mounting seats 14 on each upper fixture 15 and the lower fixture 16 correspond one to another, and the two corresponding mounting seats 14 are connected by a second linear drive mechanism 17. Specifically, the fixed end of the second linear drive mechanism 17 is fixedly connected to the mounting seat 14 of the upper fixture 15, and the movable end of the second linear drive mechanism 17 is fixedly connected to the mounting seat 14 of the lower fixture 16.

[0189] In another exemplary embodiment of the present application, in order to further ensure the fixing effect of the fixing device on the wire knife 2, a mounting seat 14 is respectively arranged on the inner side of one end of each upper fixer 15 and lower fixer 16 along the length direction thereof, and these two mounting seats 14 correspond to each other up and down and are connected by a second linear drive mechanism 17.

[0190] In another exemplary embodiment of the application, in order to further ensure the fixing effect of the fixing device on the wire cutter 2, a clamping block is arranged between two adjacent upper fixing grooves 15-1 on each upper fixer 15, and a clamping groove which matches and engages with the clamping block one by one is arranged between two adjacent lower fixing grooves 16-1 on each lower fixer 16. When the wire cutter 2 is clamped, each lower fixer 16 moves upward under the drive of the second linear drive mechanism 17 until it is in close contact with the upper fixer 15. Then, the clamping block on each upper fixer 15 is engaged with the corresponding clamping groove on the lower fixer 16 one by one. At this time, the distance between the third point and the fourth point can be set to be greater than the sum of the height of the clamping block and the diameter of the wire cutter connector 2-4.

[0191] In another exemplary embodiment of the present application, the automatic tool changing system further includes a host computer, which is connected to the controller and sends control instructions to the controller.

[0192] In the embodiment of the present application, the host computer reads and writes the relevant data of the controller in real time, controls the controller to send a corresponding number of pulses, and then controls each servo motor of the mobile mechanism. The communication protocol between the host computer and the controller is not specifically limited and can be set according to actual needs. For example, the VISA protocol is used.

[0193] In another exemplary embodiment of the present application, the automatic tool changing system also includes a wire cutter status monitoring system, which is used to monitor the status of each wire cutter 2 installed on the vertical cutting machine to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements.

[0194] As an optional embodiment, the wire cutter status monitoring system includes a camera, which is connected to the controller. The camera is used to take an initial picture and a real-time picture of each wire cutter 2 installed on the vertical cutting machine and transmit the pictures to the controller. The controller monitors the status of each wire cutter 2 based on image processing according to the initial picture and the real-time picture of each wire cutter 2 to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements.

[0195] As an optional implementation manner, the controller is further used for:

[0196] According to the real-time picture of each wire cutter 2 transmitted by the camera, the breaking position of the wire cutter 2 is located based on image processing.

[0197] In another exemplary embodiment of the present application, the automatic tool changing system also includes a wire cutter tension monitoring system, which is connected to a host computer. The wire cutter tension monitoring system is used to monitor the tension value of each wire cutter 2 installed on the vertical cutting machine. When the tension value of each wire cutter 2 suddenly changes (the wire cutter breaks), the sudden change information of the tension value is sent to the host computer so that the host computer can control the shutdown through a controller in time according to the sudden change information of the tension value.

[0198] As an optional embodiment, the wire cutter tension monitoring system includes a pressure sensor, which is embedded in the target position in the installation groove 3-1. The target position is the position where the installation groove 3-1 is in close contact with the wire cutter 2 when the wire cutter 2 is tensioned. The pressure sensor is electrically connected to the upper computer.

[0199] In the embodiment of the present application, when the installed wire cutter 2 is not broken, the tensioned wire cutter 2 will act on the pressure sensor so that the pressure sensor monitors the pressure value, indicating that the wire cutter 2 is not broken. When the installed wire cutter 2 is broken, the wire cutter 2 is no longer tensioned, and the force of the wire cutter 2 on the pressure sensor disappears or becomes significantly smaller, indicating that the wire cutter 2 is broken, and the sudden change information of the tension value is sent to the upper computer.

[0200] Based on the same inventive concept, the embodiment of the present application also provides an automatic tool changing device for implementing the automatic tool changing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more automatic tool changing device embodiments provided below can refer to the limitations of the automatic tool changing method above, and will not be repeated here.

[0201] In an exemplary embodiment, Fig.16 As shown, an automatic tool changing device 90 is provided, comprising:

[0202] The wire cutter automatic disassembly module 901 is used to perform the first wire cutter automatic disassembly operation:

[0203] Control the wire cutter clamping device to move to the first position to clamp the first target wire cutter, the first target wire cutter is the wire cutter 2 to be replaced, the first position is the position of the wire cutter clamping device when clamping the first target wire cutter installed in the first target installation slot, the first target installation slot is any installation slot 3-1 on the vertical cutting machine where the wire cutter 2 needs to be replaced;

[0204] Controlling the fixing device of the first target installation slot to release the first target wire cutter;

[0205] The wire cutter automatic installation module 902 is used to perform a first wire cutter automatic installation operation or a second wire cutter automatic installation operation after performing a first wire cutter automatic removal operation.

[0206] In the embodiment of the present application, the relevant introduction of the first target installation slot, the second target installation slot, the first wire knife automatic disassembly operation, the first wire knife automatic installation operation and the second wire knife automatic installation operation is detailed in the records in the above method embodiment and will not be repeated here.

[0207] In another exemplary embodiment of the present application, the wire cutter automatic installation module 902 is further used for:

[0208] After the wire cutter clamping device is controlled to move to the second position, the first target wire cutter is released in the tool magazine 1; the second position is the position where the wire cutter clamping device releases the clamped first target wire cutter in the tool magazine 1;

[0209] Control the wire cutter clamping device to move to the third position to clamp the second target wire cutter, the second target wire cutter is any wire cutter 2 to be installed in the tool magazine 1, and the third position is the position of the wire cutter clamping device when clamping the second target wire cutter;

[0210] Controlling the wire cutter clamping device to move to a fourth position, the fourth position being the position at which the wire cutter clamping device releases the second target wire cutter into the first target installation slot;

[0211] Controlling the fixing device of the first target mounting slot to clamp the second target wire cutter;

[0212] The wire cutter clamping device is controlled to release the second target wire cutter.

[0213] In another exemplary embodiment of the present application, the wire cutter automatic installation module 902 is further used for:

[0214] Control the wire cutter clamping device to move to a fifth position, the fifth position being the position where the wire cutter clamping device releases the first target wire cutter into the second target installation slot, the second target installation slot being the installation slot 3-1 where the first target wire cutter is to be installed;

[0215] Controlling the fixing device of the second target mounting slot to clamp the first target wire cutter;

[0216] The wire cutter clamping device is controlled to release the first target wire cutter.

[0217] In another exemplary embodiment of the present application, the automatic tool changing device 90 further includes:

[0218] The repeating module 902 is used to repeatedly perform the automatic tool changing operation, and the automatic tool changing operation includes:

[0219] Execute the automatic disassembly operation of the first line knife;

[0220] After performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation or the second wire cutter automatic installation operation is performed.

[0221] In another exemplary embodiment of the present application, the automatic tool changing device 90 further includes:

[0222] The wire cutter status monitoring module 903 is used to monitor the status of each wire cutter 2 installed on the vertical cutting machine before performing the first wire cutter automatic disassembly operation to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements;

[0223] After determining that a certain wire cutter 2 does not meet the cutting work requirements, the wire cutter 2 that does not meet the cutting work requirements is used as the first target wire cutter to perform the first wire cutter automatic disassembly operation, and after performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation is performed to replace the wire cutter 2 that does not meet the cutting work requirements.

[0224] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0225] After performing the first wire cutter automatic installation operation, an initial image of the installed second target wire cutter is acquired and saved, and an initial outline of the second target wire cutter is detected and stored.

[0226] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0227] Obtaining a real-time picture of each wire cutter 2 installed on the vertical cutting machine;

[0228] According to the initial picture and the real-time picture of each wire cutter 2, the state of each wire cutter 2 is monitored based on image processing to determine whether each wire cutter 2 installed on the vertical cutting machine meets the cutting work requirements.

[0229] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0230] Preprocessing the real-time image of each wire knife 2, wherein the preprocessing includes grayscale processing, filtering processing and edge detection to highlight the boundary of the wire knife 2;

[0231] Based on the real-time image of each of the wire cutters 2 after preprocessing, it is determined whether each of the wire cutters 2 has at least one of wear and breakage. If a wire cutter 2 has at least one of wear and breakage, it is determined that the wire cutter 2 does not meet the cutting work requirements.

[0232] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0233] Performing threshold segmentation on the pre-processed real-time image of the wire knife 2 to distinguish the background from the wire knife 2;

[0234] Performing contour detection on the real-time image of the wire knife 2 after threshold segmentation to determine the real-time contour of the wire knife 2;

[0235] Based on the stored initial profile of the wire knife 2 and the detected real-time profile of the wire knife 2, template matching is used to determine whether the wire knife 2 has at least one of wear and breakage. If a wire knife 2 has at least one of wear and breakage, it is determined that the wire knife 2 does not meet the cutting work requirements.

[0236] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0237] Using a straight line detection algorithm to perform straight line detection on the real-time image of each of the wire cutters 2 after the preprocessing;

[0238] It is determined whether the detected wire cutter 2 is at least one of worn and broken according to the straight line detection result. If a wire cutter 2 is at least one of worn and broken, it is determined that the wire cutter 2 does not meet the cutting work requirements.

[0239] In another exemplary embodiment of the present application, the wire cutter automatic installation module 902 is further used for:

[0240] Before cutting, perform the third-line knife automatic installation operation, which includes:

[0241] Controlling the wire cutter clamping device to move to a third position to clamp a second target wire cutter;

[0242] Control the wire cutter clamping device to move to a sixth position, the sixth position being the position at which the wire cutter clamping device releases the second target wire cutter into the third target installation slot, the third target installation slot being any installation slot 3-1 on the vertical cutting machine where the wire cutter 2 needs to be installed;

[0243] Controlling the fixing device of the third target mounting slot to clamp the second target wire cutter;

[0244] The wire cutter clamping device is controlled to release the second target wire cutter.

[0245] In another exemplary embodiment of the present application, the wire cutter automatic installation module 902 is further used for:

[0246] Repeat the third wire cutter automatic installation operation until all second target wire cutters are installed.

[0247] In another exemplary embodiment of the present application, the wire cutter automatic disassembly module 901 is further used for:

[0248] After cutting, the second wire cutter is automatically disassembled, and the second wire cutter is automatically disassembled including:

[0249] Control the wire cutter clamping device to move to the seventh position to clamp the third target wire cutter, the third target wire cutter is the wire cutter 2 to be disassembled, and the seventh position is the position where the wire cutter clamping device clamps the third target wire cutter installed in the fourth target installation groove;

[0250] Controlling the fixing device of the fourth target mounting slot to release the third target wire cutter;

[0251] After the wire cutter clamping device is controlled to move to the eighth position, the third target wire cutter is released in the tool magazine 1. The eighth position is the position where the wire cutter clamping device releases the clamped third target wire cutter in the tool magazine 1.

[0252] In another exemplary embodiment of the present application, the wire cutter automatic disassembly module 901 is further used for:

[0253] Repeat the second wire cutter automatic disassembly operation until all third target wire cutters are disassembled.

[0254] In another exemplary embodiment of the present application, the wire knife status monitoring module 903 is further used to:

[0255] The real-time information of the wire cutter is read from the wire cutter status database in real time and uploaded to the wire cutter status database. The real-time information of the wire cutter includes the number, position and status of the wire cutters 5 remaining in the tool magazine 1, and the number, position and status of the wire cutters 2 installed on the vertical cutting machine. The status of the wire cutter 2 refers to whether the wire cutter 2 is worn and the wear condition. An ideal wire cutter distribution map can be formed according to the real-time information of the wire cutter 2 installed on the vertical cutting machine in the wire cutter status database, and compared with the actual wire cutter distribution map obtained by the wire cutter status monitoring system, so as to obtain the data information of the wire cutter fracture. The fracture data information of the wire cutter 2 is transmitted to the wire cutter tension monitoring system. The wire cutter tension monitoring system can upload the sudden change information of the tension value to the host computer in time. After receiving the signal, the host computer stops the wire cutter in time, and compares the data of the wire cutter status monitoring system to check the position of the wire cutter fracture and change the cutter in time.

[0256] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.17 As shown. The computer device includes a processor, a memory, an input / output interface (input / output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store video tag processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an automatic tool changing method is implemented.

[0257] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0258] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0259] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0260] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0261] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0262] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0263] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0264] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0265] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An automatic tool changing method for a vertical cutting machine, characterized in that: include: To perform the first line knife automatic removal operation: Controlling the wire cutter clamping device to move to a first position to clamp a first target wire cutter, the first target wire cutter being a wire cutter (2) to be replaced, the first position being a position at which the wire cutter clamping device clamps the first target wire cutter installed in a first target installation slot, the first target installation slot being any installation slot (3-1) on the vertical cutting machine where the wire cutter (2) needs to be replaced; Controlling the fixing device of the first target installation slot to release the first target wire cutter; After performing the first wire cutter automatic disassembly operation, the first wire cutter automatic installation operation or the second wire cutter automatic installation operation is performed.

2. The automatic tool changing method for a vertical cutting machine according to claim 1, characterized in that: The first wire cutter automatic installation operation includes: After the wire cutter clamping device is controlled to move to a second position, the first target wire cutter is released into the tool magazine (1); the second position is the position where the wire cutter clamping device releases the clamped first target wire cutter into the tool magazine (1); Controlling the wire cutter clamping device to move to a third position to clamp a second target wire cutter, the second target wire cutter being any wire cutter (2) to be installed in the tool magazine (1), and the third position being the position of the wire cutter clamping device when clamping the second target wire cutter; Controlling the wire cutter clamping device to move to a fourth position, wherein the fourth position is a position where the wire cutter clamping device releases the second target wire cutter into the first target installation slot; Controlling the fixing device of the first target installation slot to clamp the second target wire cutter; The wire cutter clamping device is controlled to release the second target wire cutter.

3. The automatic tool changing method for a vertical cutting machine according to claim 1, characterized in that: The performing of the second wire cutter automatic installation operation includes: Controlling the wire cutter clamping device to move to a fifth position, wherein the fifth position is the position at which the wire cutter clamping device releases the first target wire cutter in a second target installation slot, wherein the second target installation slot is an installation slot (3-1) in which the first target wire cutter is to be installed; Controlling the fixing device of the second target installation slot to clamp the first target wire cutter; The wire cutter clamping device is controlled to release the first target wire cutter.

4. The automatic tool changing method for a vertical cutting machine according to claim 2, characterized in that: Also includes: Before performing the first wire cutter automatic disassembly operation, a status monitoring is performed on each wire cutter (2) installed on the vertical cutting machine to determine whether each wire cutter (2) installed on the vertical cutting machine meets the cutting work requirements; After determining that a certain wire cutter (2) does not meet the cutting work requirements, the wire cutter (2) that does not meet the cutting work requirements is used as the first target wire cutter, and the first wire cutter automatic disassembly operation is performed. After the first wire cutter automatic disassembly operation is performed, the first wire cutter automatic installation operation is performed to replace the wire cutter (2) that does not meet the cutting work requirements.

5. The automatic tool changing method for a vertical cutting machine according to claim 4, characterized in that: After the first wire cutter automatic installation operation is performed, obtaining and saving an initial image of the installed second target wire cutter; The state monitoring of the wire cutter (2) installed on the vertical cutting machine includes: Obtaining a real-time picture of each wire cutter (2) installed on the vertical cutting machine; According to the initial image and the real-time image of each wire cutter (2), the state of each wire cutter (2) is monitored based on image processing to determine whether each wire cutter (2) installed on the vertical cutting machine meets the cutting work requirements.

6. An automatic tool changing system for a vertical cutting machine, characterized in that: An automatic tool changing method for implementing the vertical cutting machine described in any one of claims 1 to 5; The automatic tool changing system of the vertical cutting machine comprises a tool magazine (1), a wire knife clamping device and a controller; The tool magazine (1) contains wire cutters (2) to be installed and wire cutters (2) to be disassembled; The controller is used to control the wire cutter clamping device, the fixing device of the first target installation slot, and the fixing device of the second target installation slot to cooperate in performing the first wire cutter automatic disassembly operation, and after performing the first wire cutter automatic disassembly operation, perform the first wire cutter automatic installation operation or the second wire cutter automatic installation operation.

7. The automatic tool changing system for a vertical cutting machine according to claim 6, characterized in that: The wire cutter clamping device is installed on the moving mechanism; The wire cutter clamping device comprises two manipulators (7) or two clamping claws (9); Each of the claws (9) comprises a folded line structure (9-2), wherein the folded line structure (9-2) comprises a first connecting member, a second connecting member and a third connecting member connected in sequence, wherein: The first connecting member is arranged along the width direction of the vertical cutting machine and one end of the first connecting member is slidably connected to the moving mechanism. The second connecting member is arranged along the length direction of the vertical cutting machine. The third connecting member is arranged along the height direction of the vertical cutting machine and a second wire cutter groove (9-1) matching with a second clamping groove (2-2) on the wire cutter (2) is formed at the top end of the third connecting member.

8. The automatic tool changing system for a vertical cutting machine according to claim 6, characterized in that: Each crossbeam (12) of the reciprocating frame of the vertical cutting machine is connected to a mounting shaft (13) via a first linear drive mechanism (10), and the first linear drive mechanism (10) can drive the mounting shaft (13) connected thereto to move in a horizontal direction away from the reciprocating frame or towards the reciprocating frame.

9. The automatic tool changing system for a vertical cutting machine according to claim 6, characterized in that: The fixing device comprises an upper fixing device (15) and a lower fixing device (16), wherein: The upper fixer (15) is fixedly connected to the installation shaft (13), and the bottom of the upper fixer (15) is provided with an upper fixing groove (15-1) corresponding to each installation groove (3-1) one by one, and the upper fixing groove (15-1) matches the upper half of the first clamping groove (2-1) on the wire cutter (2); The lower fixer (16) is located below the upper fixer (15), and the lower fixer (16) is connected to the upper fixer (15) through a second linear drive mechanism (17) arranged vertically, and the second linear drive mechanism (17) can drive the lower fixer (16) to move between a third point position and a fourth point position, and the distance between the third point position and the fourth point position is greater than the diameter of the wire cutter end (2-4) of the wire cutter (2), the third point position is the position where the top of the lower fixer (16) is in close contact with the bottom of the upper fixer (15), and the fourth point position is the position where the lower fixer (16) is installed with the wire cutter (2).

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic tool changing method for a vertical cutting machine according to any one of claims 1 to 5 are implemented.

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