Machining apparatus, tool identification method, and readable storage medium

Abstract

The invention provides machining equipment, a tool recognition method and a readable storage medium. The machining equipment comprises a rack, at least two tools and a Hall sensor, and the rack is provided with a driving mechanism; one of the at least two cutters can be selectively and directionally connected to the driving mechanism and can be driven by the driving mechanism to rotate, each cutter is provided with at least one magnet, and the magnets arranged on the at least two cutters are different in arrangement mode on the cutter; the Hall sensor is arranged on the machine frame and used for sensing magnetic field intensity changes in the rotating process of the cutter and outputting Hall signals. The method comprises the following steps: acquiring a Hall signal in a cutter rotating process; and obtaining the type of the currently connected cutter according to the Hall signal. According to the technical scheme, the tool type can be automatically and reliably recognized, and the automation degree of machining equipment is improved.

Description

Technical Field

[0001] The mechanical processing of the present invention relates to the technical field, and particularly relates to a processing device, a tool recognition method, and a readable storage medium. Background Technique

[0002] With the development of the manufacturing industry, processing devices have been widely used in production factories. In processing devices, different tools need to be installed according to different processing requirements. In related technologies, methods such as photoelectric sensors, radio frequency identification technology (RFID), or touch switches can be used to identify tools.

[0003] When using a photoelectric sensor for identification, different reflective areas are required on different types of tools. The photoelectric sensor determines different types of processing tools according to the color of the light valve reflected back from the reflective area; this identification method has a slow identification speed, low accuracy, and if there is dirt in the reflective area, affecting the reflectivity, it will cause incorrect identification; when using radio frequency identification technology, the area of the required electronic tags and identification antennas is too large, and metal objects will weaken the signal quality, which is not suitable for scenarios where tools are small and structurally compact; the touch switch will have mechanical fatigue after long-term use, resulting in damage to the switch and inability to identify, and has a short service life; if it is manually judged whether the type of the installed tool is correct and the corresponding processing parameters are set for processing, it is inconvenient to use. Summary of the Invention

[0004] The main purpose of the present invention is to provide a processing device, a tool recognition method, and a readable storage medium, aiming to automatically and reliably identify the tool type and improve the automation degree of the processing device.

[0005] To achieve the above object, a processing device proposed by the present invention includes:

[0006] A frame, the frame is provided with a driving mechanism;

[0007] At least two tools, at least two of the tools can be selectively and directionally connected to the driving mechanism and can be driven by the driving mechanism to rotate. Each tool is provided with at least one magnet, and the magnets arranged on at least two tools are different in the arrangement manner of the tools; and

[0008] A Hall sensor, the Hall sensor is arranged on the frame for sensing the change in magnetic field strength during the rotation of the tool and outputting a Hall signal.

[0009] In an embodiment of the present application, the driving mechanism is provided with a first positioning portion, and the tool is provided with a second positioning portion; when the tool is connected to the driving mechanism, the first positioning portion and the second positioning portion cooperate to enable the tool to be positioned and connected to the driving mechanism;

[0010] And / or, the processing device further includes an origin positioning mechanism, which is arranged on the frame and can send an induction signal when the tool is driven to rotate to a preset origin position.

[0011] The present application also proposes a tool identification method, which is applied to the processing device described in any of the foregoing embodiments. The tool identification method includes the following steps:

[0012] Drive the tool to rotate and collect the Hall signal during the rotation process of the tool;

[0013] Obtain the type of the currently connected tool according to the Hall signal.

[0014] In an embodiment of the present application, in the step of driving the tool to rotate and collecting the Hall signal during the rotation process of the tool, it includes:

[0015] Drive the tool to rotate;

[0016] Collect the Hall signal during the uniform rotation process of the tool on the condition that it is confirmed that the tool rotates uniformly.

[0017] In an embodiment of the present application, before the step of collecting the Hall signal during the uniform rotation process of the tool on the condition that it is confirmed that the tool rotates uniformly, it includes:

[0018] After the tool rotates a first preset number of turns, it is confirmed that the tool starts to rotate uniformly.

[0019] In an embodiment of the present application, in the step of collecting the Hall signal during the uniform rotation process of the tool on the condition that it is confirmed that the tool rotates uniformly, the tool rotates at least one full turn uniformly.

[0020] In an embodiment of the present application, the step of obtaining the type of the currently connected tool according to the Hall signal includes:

[0021] Determine the arrangement mode of the magnets on the tool according to the Hall signal, and the arrangement mode at least includes the number of magnets and the arrangement orientation of the magnets in the circumferential direction of the tool;

[0022] Obtain the type of the currently connected tool according to the determined arrangement mode of the magnets.

[0023] In an embodiment of the present application, the step of obtaining the arrangement mode of the magnets on the tool according to the Hall signal includes:

[0024] Obtain a magnetic field strength-time curve according to the Hall signal;

[0025] Determine the arrangement mode of the magnets on the tool according to the time of the peaks and / or valleys on the curve.

[0026] In an embodiment of the present application, before the step of driving the tool to rotate, the following steps are further included:

[0027] Drive the tool to rotate to a preset origin position.

[0028] The present application also provides a readable storage medium storing program instructions, which when executed by a processor can implement the tool recognition method described in any of the foregoing embodiments.

[0029] In the technical solution of the present application, after the tool is installed on the driving mechanism of the processing equipment, since a magnet is provided on the tool, the Hall sensor on the frame senses the magnetic field. In addition, the magnet is eccentrically arranged with respect to the rotation center of the tool, so that when the driving mechanism drives the tool to rotate, the relative position between the magnet and the Hall sensor changes, resulting in a change in the magnetic field strength sensed by the Hall sensor, so that the Hall sensor outputs a Hall signal. Moreover, since the arrangement of the magnets on different tools is different on the tools, for example, the number of magnets provided on the tool is different, or the placement orientation of the magnet is different when the tool is positioned and installed on the driving mechanism, etc., the change modes of the magnetic field strength sensed by the Hall sensor when different tools are installed on the driving mechanism and rotated are different, and different Hall signals can be output; at this time, the type of the currently installed tool can be correspondingly confirmed according to the Hall signal output by the Hall sensor. That is to say, the tool installed on the processing equipment is automatically recognized by the way of the Hall sensor sensing the change of the magnetic field strength, which improves the automation degree of the processing equipment, and the setting of this detection structure is relatively simple, and non-contact detection is adopted, the risk of damage to the Hall sensor and the tool is low, and it is not easily interfered, and the system reliability is high. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0031] Figure 1 It is a structural diagram of an embodiment of the processing equipment of the present application;

[0032] Figure 2 It is Figure 1 a structural diagram of the tool and the driving mechanism being disengaged in the processing equipment in

[0033] Figure 3 It is Figure 1 a structural diagram of the processing equipment removing the tool in

[0034] Figure 4For Figure 3 Structural diagram of another perspective of the processing equipment;

[0035] Figure 5 Structural diagram of an embodiment of the cutting tool in the processing equipment of the present application;

[0036] Figure 6 Cross-sectional view of an embodiment of the cutting tool in the processing equipment of the present application;

[0037] Figure 7 Cross-sectional view of another embodiment of the cutting tool in the processing equipment of the present application;

[0038] Figure 8 Cross-sectional view of yet another embodiment of the cutting tool in the processing equipment of the present application;

[0039] Figure 9 Flowchart of the first embodiment of the tool identification method of the present application;

[0040] Figure 10 Flowchart of the second embodiment of the tool identification method of the present application;

[0041] Figure 11 Flowchart of the third embodiment of the tool identification method of the present application;

[0042] Figure 12 Flowchart of the fourth embodiment of the tool identification method of the present application;

[0043] Figure 13 Flowchart of the fifth embodiment of the tool identification method of the present application;

[0044] Figure 14 Flowchart of the sixth embodiment of the tool identification method of the present application;

[0045] Figure 15 Flowchart of the seventh embodiment of the tool identification method of the present application;

[0046] Figure 16 Schematic diagram of an embodiment where the Hall sensor senses the change in magnetic field strength as the tool rotates.

[0047] Explanation of the reference numerals in the drawings:

[0048] Reference numeral Name Reference numeral Name 100 Processing equipment 50 Hall sensor 10 Frame 70 Origin positioning mechanism 11 Drive mechanism 71 Induction structure 111 First positioning part 711 Light emitter 30 Tool 713 Light receiver 31 Magnet 73 Light blocking part 33 Second positioning part 731 Light passing port

[0049] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0052] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0053] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0054] The present invention provides a processing device 100.

[0055] With reference to Figures 1 to 8 , in some embodiments of the present application, the processing device 100 includes:

[0056] A frame 10, and a driving mechanism 11 is provided on the frame 10;

[0057] At least two cutters 30, at least two of the cutters 30 are selectively and directionally connected to the driving mechanism 11 and can be driven by the driving mechanism 11 to rotate. Each cutter 30 is provided with at least one magnet 31, and the magnets 31 provided on at least two of the cutters 30 are arranged in different ways on the cutters 30; and

[0058] A Hall sensor 50 is provided on the frame 10 and is used to sense the change in the magnetic field intensity during the rotation of the tool 30 and output a Hall signal.

[0059] In the embodiment of the present application, the processing device 100 can be a device for driving the tool 30 to process the processing material; it can also be a tool 30 maintenance device for maintaining and overhauling the tool 30, or a storage device for storing the tool 30. Identifying the type of the tool 30 can facilitate the automatic matching of processing parameters, overhaul parameters, maintenance procedures, storage positions, etc. by the processing device 100, improving the degree of automation.

[0060] The frame 10 can be the main structure of the processing device 100 or the mounting bracket provided for the processing head in the processing device 100; it serves to mount and support various components (such as the drive mechanism 11, Hall sensor 50, etc.). The drive mechanism 11 refers to a mechanism for providing power to drive the tool 30 to rotate. Among them, the drive mechanism 11 can be a combination including a driving member and a transmission component. For example, a motor is set as the driving member, and the motor is in transmission cooperation with at least one of a gear transmission component, a belt transmission component, a link transmission component, etc.; of course, the drive mechanism 11 can also only include a driving member. For example, the tool 30 is directly connected to the output shaft of the motor. The present application does not limit the specific setting manner of the drive mechanism 11, as long as it can be used to provide power to drive the tool 30 to rotate. In addition, the drive mechanism 11 can be installed on a translation component (which can be a combination of a motor and a pulley or a linear module, etc.) in the processing device 100, so as to drive the drive mechanism 11 to drive the tool 30 to translate through the translation component to process different processing positions.

[0061] A connection structure for installing the tool 30 is provided on the drive mechanism 11, which can be an installation hole, a clamping mechanism, a connecting shaft or other implementable structures; the tool 30 can be installed on the connection structure. In the embodiment of the present application, it is necessary to position and install the tool 30 on the drive mechanism 11 in a preset orientation. It can be to set a positioning mark on the tool 30 and use the positioning mark to judge the installation orientation of the tool 30, or as in the following embodiment, a first positioning portion 111 and a second positioning portion 33 are respectively provided on the drive mechanism 11 and the tool 30 for foolproof mating installation to improve the installation convenience of the tool 30.

[0062] In the processing device 100, different tools 30 may be required for different processing requirements. At this time, there may be two, three or more tools 30 equipped in the processing device 100, and at least two of the tools 30 are of different types. Specifically: The tool 30 equipped in the processing device 100 may be a cutting tool to realize cutting processing of the workpiece; it may also include an indentation tool to realize indentation processing of the workpiece; or the tool 30 may also be a paintbrush for drawing processing indication lines or other patterns on the workpiece.

[0063] In the embodiments of the present application, magnets 31 are provided on at least two tools 30 that can be applied to the processing device 100, and the arrangement modes of the magnets 31 on the at least two tools 30 are different. The setting mode of the magnet 31 on the tool 30 may be at least one connection form such as embedding, pasting, binding connection, etc., which is not limited herein. Specifically, different tools 30 need to be positioned and installed on the driving mechanism 11 at a specific angle and can be driven by the driving mechanism 11 to rotate; assuming that there is a mark set at a certain position in the circumferential direction of rotation on the tool 30, the mark can be virtual, or a pattern, a protrusion, a depression, and other visible structures, etc.; when the tool 30 is positioned and installed on the driving mechanism 11 and does not rotate, the marks of different tools 30 are in the same position in the driving mechanism 11. Based on this mark, the arrangement modes of the magnets 31 on at least two tools 30 equipped in the processing device 100 relative to this mark on the tool 30 are different. For example, with reference to Figures 6 to 8, it is assumed that the magnet 31 on one of the cutting tools 30 and the identifier on the cutting tool 30 are deflected by 45° with the axis of rotation of the cutting tool 30 as the center, and the magnet 31 on the other cutting tool 30 and the identifier on the cutting tool 30 are deflected by 60° with the axis of rotation of the cutting tool 30 as the center; it is also possible to arrange two magnets 31 on one cutting tool 30, and the two magnets 31 are symmetrically arranged with the axis of rotation of the cutting tool 30 as the center, and three magnets 31 are arranged on the other cutting tool 30 at equal intervals along the circumferential direction of the rotation of the cutting tool 30; the arrangement mode of the magnets 31 on the cutting tool 30 is not specifically limited herein. And with such an arrangement, when different cutting tools 30 are positioned and installed on the drive mechanism 11, the relative positions of the magnets 31 on the cutting tool 30 and the Hall sensors 50 arranged on the machine frame 10 are also different. And when the drive mechanism 11 drives the cutting tool 30 to rotate, the magnetic field intensity sensed by the Hall sensors 50 will also change, and the magnetic field change modes sensed by the Hall sensors 50 when different cutting tools 30 rotate are also different. For example, at the same rotation speed, if the distances between the magnets 31 on the cutting tool 30 and the Hall sensors 50 are different, the time and change values for the Hall sensors 50 to sense the magnetic field gradually increasing to the maximum magnetic field intensity or decreasing to the minimum magnetic field intensity are also different; thus, the Hall sensors 50 can output different Hall signals according to the different magnetic field intensity change modes sensed; enabling the processing device 100 to directly identify the type of the currently installed cutting tool 30 based on the Hall signals output by the Hall sensors 50. And using the Hall sensors 50 to sense the magnetic field change is a non-contact detection, there is no direct contact between the cutting tool 30 and the Hall sensors 50, the damage risks of the Hall sensors 50 and the cutting tool 30 are low, and the system reliability is high.

[0064] It should be noted that in the embodiments of the present application, it is possible to arrange one of the various cutting tools 30 equipped with the processing device 100 without a magnet 31. In this way, the Hall sensors 50 will not sense the magnetic field and can also be distinguished from the identification states of other cutting tools 30; at this time, when it is confirmed that the cutting tool 30 is installed and the Hall sensors 50 do not detect the magnetic field, the type of the currently installed cutting tool 30 can also be confirmed.

[0065] Therefore, it can be understood that in the technical solution of the present application, after the tool 30 is installed on the driving mechanism 11 of the processing device 100, since the magnet 31 is provided on the tool 30, the Hall sensor 50 on the frame 10 senses the magnetic field. In addition, the magnet 31 is eccentrically arranged with respect to the rotation center of the tool 30. Thus, when the driving mechanism 11 drives the tool 30 to rotate, the relative position between the magnet 31 and the Hall sensor 50 changes, resulting in a change in the magnetic field strength sensed by the Hall sensor 50, so that the Hall sensor 50 outputs a Hall signal. Moreover, since the arrangement of the magnets 31 on different tools 30 is different, for example, the number of circumferentially arranged magnets 31 is different, or the placement orientation of the magnet 31 is different when the tool 30 is positioned and installed on the driving mechanism 11, etc., the change mode of the magnetic field strength sensed by the Hall sensor 50 is different when different tools 30 are installed on the driving mechanism 11 and rotate, and different Hall signals can be output. At this time, the type of the currently installed tool 30 can be correspondingly confirmed according to the Hall signal output by the Hall sensor 50. That is, the tool 30 installed on the processing device 100 is automatically identified by the way of the Hall sensor 50 sensing the change in the magnetic field strength, which improves the automation degree of the processing device 100. Moreover, the setting of this detection structure is relatively simple, and non-contact detection is adopted. The Hall sensor 50 and the tool 30 have a low risk of damage and are not easily interfered, and the system reliability is relatively high.

[0066] Please refer to Figure 2 and Figure 5 In some embodiments of the present application, the driving mechanism 11 is provided with a first positioning portion 111, and the tool 30 is provided with a second positioning portion 33. When the tool 30 is connected to the driving mechanism 11, the first positioning portion 111 and the second positioning portion 33 cooperate to positionally connect the tool 30 to the driving mechanism 11.

[0067] In this embodiment, the setting manners of the first positioning portion 111 and the second positioning portion 33 may be, but are not limited to, the following examples. A positioning hole may be formed in the side surface of the cutter 30, and a positioning portion may protrude from the driving mechanism 11 substantially in the horizontal direction, so that the cutter 30 is sleeved on the positioning portion through the positioning hole. Of course, a positioning hole may be provided in the driving mechanism 11, and a positioning portion may protrude from the side surface of the cutter 30. In some embodiments, an installation hole may be provided in the driving mechanism 11, and an installation portion matching the contour of the installation hole may be provided at one end of the cutter 30 away from the cutter head. The installation hole is a non-circular hole, such as an irregular hole, or the contour of the installation hole may include an arc segment and a straight segment connected to each other. At this time, the installation portion of the cutter 30 can only be inserted into the installation hole in a unique orientation. Of course, the installation hole may also be a square hole, a rectangular hole or other polygonal holes, and the cutter 30 can be accurately positioned and installed on the driving mechanism 11 only by simply identifying the direction. Similarly, an installation hole may be provided at one end of the cutter 30 away from the cutter head, and a connecting shaft may be provided on the driving mechanism 11, which will not be elaborated here.

[0068] The cutter 30 can be installed in an anti-fooling manner through the cooperation between the second positioning portion 33 and the first positioning portion 111 on the driving mechanism 11, so as to accurately position and install the cutter 30 on the driving mechanism 11 at an accurate angle, and improve the installation convenience of the cutter 30.

[0069] Please refer to Figure 1 and Figure 3 , in some embodiments of the present application, the processing device 100 further includes an origin positioning mechanism 70, and the origin positioning mechanism 70 is arranged on the frame 10 and can send an induction signal when the cutter 30 is driven to rotate to a preset origin position.

[0070] In this embodiment, the origin positioning mechanism 70 can detect whether the tool 30 is reset to the preset origin position. It can be understood that in the embodiment of the present application, the Hall sensor 50 can sense the change of the magnetic field and output a Hall signal by driving the tool 30 to rotate. Among them, according to different arrangements of the magnets 31 on different tools 30, different Hall signals can be collected to identify the type of the tool 30. Among them, it is necessary to reset the tool 30 before driving it to rotate so that the Hall sensor 50 can sense the magnetic field strength, ensuring that different tools 30 start to rotate in a preset unified orientation. As described above, it is assumed that the tool 30 is provided with a mark set at a certain position in the circumferential direction of rotation. The mark can be virtual, or a pattern, a physical structure, etc.; and the reset of the tool 30 before rotation is to ensure that the marks of different tools 30 are in the same position before rotation, reducing variables, so as to accurately sense the change of the magnetic field strength when the tool 30 rotates by the Hall sensor 50, and thus output different Hall signals according to different tools 30, so as to analyze and calculate the Hall signals to accurately identify the type of the tool 30, reducing confusion, improving the identification accuracy of the tool 30 and reducing the difficulty of signal analysis.

[0071] Among them, the origin positioning mechanism 70 can include a light emitter 711, a light receiver 713 and a light blocking member 73 as introduced below. Of course, the origin positioning mechanism 70 can also be a contact switch, and the present application does not limit the position of the origin positioning mechanism 70. In addition, it can be that after each installation of the tool 30, the control driving mechanism 11 drives the tool 30 to rotate and reset to the origin position. When the origin positioning mechanism 70 sends out an induction signal, it is confirmed that the tool 30 has rotated to the preset origin position, so that each tool 30 is in the same initial position to detect the type of the tool 30.

[0072] Please refer to Figure 1 and Figure 3, in some embodiments of the present application, the origin positioning mechanism 70 includes an induction structure 71 and a light blocking member 73. The induction structure 71 includes a light emitter 711 and a light receiver 713, and the light emitter 711 and the light receiver 713 are arranged opposite to each other; the light blocking member 73 is connected to the tool 30 or the connection structure for fixing the tool 30 and can rotate synchronously with the tool 30. When the tool 30 rotates to the origin position, the light blocking member 73 can conduct or block the optical path between the light emitter 711 and the light receiver 713, so as to trigger the induction structure 71 to send out a signal indicating that the tool 30 has been reset to the origin position by conducting or blocking the optical path between the light emitter 711 and the light receiver 713 through the light blocking member 73, realizing non-contact detection of the reset of the tool 30 to the origin position and being able to reduce the influence on the tool 30. Among them, the light blocking member 73 can be a disc-shaped structure as introduced below, and a light passing opening 731 is provided at the periphery to conduct the optical path between the light emitter 711 and the light receiver 713 through the light passing opening 731, thereby triggering the induction structure 71 to send out a signal indicating that the tool 30 has been reset to the origin position. Of course, the light blocking member 73 can also be a long strip plate structure to block the optical path between the light emitter 711 and the light receiver 713, thereby triggering the induction structure 71 to send out a signal indicating that the tool 30 has been reset to the origin position.

[0073] Please refer to Figure 1 and Figure 3 , in some embodiments of the present application, the light blocking member 73 is a disc-shaped structure, and a light passing opening 731 is provided at the edge of the light blocking member 73. The light passing opening 731 can pass between the light emitter 711 and the light receiver 713 when the light blocking member 73 rotates with the tool 30 to conduct the optical path between the light emitter 711 and the light receiver 713.

[0074] In this embodiment, the light blocking member 73 is set as a disc-shaped structure. On the one hand, its shape can be relatively regular, which is convenient for its forming process. At the same time, on the other hand, the force on the tool 30 and the light blocking member 73 can be more balanced, thereby improving the stability of the tool 30 driving the light blocking member 73 to rotate. Among them, the light blocking member 73 can be sleeved on the tool 30 or installed on the connection structure for fixing the tool 30 provided in the driving mechanism 11.

[0075] Please refer to Figure 9 , based on the hardware architecture of any of the foregoing embodiments, the present application also proposes a tool identification method, and the tool identification method includes the following steps:

[0076] Step S10, drive the tool 30 to rotate and collect the Hall signal during the rotation process of the tool 30;

[0077] Step S20: Obtain the type of the currently connected tool 30 according to the Hall signal.

[0078] The tool identification method proposed in the embodiments of the present application can be applied to the processing device 100 proposed in any of the foregoing embodiments. For the specific structure of the processing device 100, refer to the foregoing embodiments and will not be elaborated herein.

[0079] When it is necessary to identify the type of the tool 30, the driving mechanism 11 provided on the processing device 100 can be used to drive the tool 30 to rotate, and the tool 30 can be rotated for a preset number of turns and / or a preset duration, so that the Hall sensor 50 senses the change in the magnetic field strength during the rotation of the tool 30 to output a Hall signal. Among them, the Hall signal can be a directly output magnetic field strength signal, or a voltage signal generated by the Hall sensor 50 sensing the change in the magnetic field strength.

[0080] It can be understood that when different tools 30 are positioned and installed on the driving mechanism 11, the relative positions of the magnets 31 on the tool 30 and the Hall sensors 50 provided on the frame 10 are also different. And when the driving mechanism 11 drives the tool 30 to rotate, the ways in which the Hall sensors 50 sense the magnetic field changes during the rotation of different tools 30 are also different. For example, if the distances between the magnets 31 on the tool 30 and the Hall sensors 50 are different, the time and change values for the Hall sensors 50 to sense the magnetic field gradually increasing to the maximum magnetic field strength or decreasing to the minimum magnetic field strength are also different; if the number of magnets 31 provided on the tool 30 is different, when the tool 30 rotates the same number of turns, the number of times the Hall sensors 50 sense the maximum magnetic field strength is also different, and the time interval between sensing the maximum magnetic field strength twice is also different. In some embodiments, it is also possible to make the maximum magnetic field strength and the minimum magnetic field strength sensed by the Hall sensors 50 for different tools 30 different; thus, the Hall sensors 50 can output different Hall signals according to the different ways of sensing the magnetic field strength changes; at this time, the type of the currently installed tool 30 can be automatically identified according to the Hall signals output by the Hall sensors 50.

[0081] It should be noted that in this embodiment, the driving mechanism 11 drives the tool 30 to rotate. The rotation can be less than one full circle, one full circle, or more than one full circle. It can be set according to the actual setting method of the magnet 31 on the tool 30 and the type of tool 30 to be identified, etc. Additionally, during the process where the Hall sensor 50 senses the change in magnetic field intensity and outputs a Hall signal, the driving mechanism 11 can drive the tool 30 to rotate at a constant speed or drive the tool 30 to rotate non-uniformly, which is not limited herein. When the driving mechanism 11 drives different tools 30 to rotate, the same rotation mode can be adopted, or different rotation modes can be adopted. In a preferred embodiment, different tools 30 are rotated in the same rotation manner, which can reduce the variables affecting the Hall signal and reduce the difficulty of analyzing and calculating the Hall signal, so as to more quickly and simply identify the type of tool 30 through the Hall signal.

[0082] Please refer to Figure 10 , in some embodiments of the present application, in the step of driving the tool 30 to rotate and collecting the Hall signal during the rotation process of the tool 30, it includes:

[0083] Step S11, driving the tool 30 to rotate;

[0084] Step S13, collecting the Hall signal during the uniform rotation process of the tool 30 under the condition of confirming that the tool 30 rotates at a constant speed.

[0085] In this embodiment, the Hall signal output by the Hall sensor 50 after the tool 30 enters uniform rotation is analyzed and calculated; it can be understood that if the tool 30 rotates non-uniformly, it is difficult to control the rotation speed and rotation angle of the tool 30 at this time, and since the speed of the tool 30 is constantly changing, it is difficult to accurately reflect the relationship between the rotation angle of the tool 30 and the change in magnetic field intensity at this time, increasing the difficulty of analyzing the type of tool 30 and easily resulting in reduced reliability, versatility, and an increase in the recognition time. By controlling the tool 30 to rotate at a constant speed and then collecting the Hall signal during the uniform rotation process of the tool 30, the time taken for the tool 30 to rotate the same angle is consistent at this time. When the tool 30 is driven to rotate a preset angle, the overall trend of the change in the magnetic field intensity sensed by the Hall sensor 50 with time and the rotation angle of the tool 30 can be known, thereby clearly reflecting the type of tool 30 corresponding to this Hall signal.

[0086] Please refer to Figure 11 , in some embodiments of the present application, before the step of collecting the Hall signal during the uniform rotation process of the tool 30 under the condition of confirming that the tool 30 rotates at a constant speed, it includes:

[0087] Step S12, after the tool 30 rotates the first preset number of circles, it is confirmed that the tool 30 starts to rotate at a constant speed.

[0088] It is understandable that generally the driving mechanism 11 drives the tool 30 to rotate at a constant speed. However, during the initial period of the rotation of the tool 30, the tool 30 needs to accelerate and rotate non-uniformly in this process. In this embodiment, according to experimental means, experience, performance parameters of the driving mechanism 11, etc., it can be determined in advance how many circles the tool 30 rotates after being driven by the driving mechanism 11 before entering the uniform rotation stage, and this number of circles is written into the control program as the first preset number of circles. With such a setting, after the driving mechanism 11 drives the tool 30 to rotate the first preset number of circles, it can be confirmed that the tool 30 has entered the uniform rotation stage. Compared with the method of directly monitoring the rotation speed of the tool 30, this judgment method is more convenient and simple. Then, the type of the tool 30 can be identified according to the Hall signal collected after the tool 30 rotates at a constant speed. It should be noted that the Hall signal collected after the tool 30 rotates at a constant speed for identifying the type of the tool 30 can be directly the Hall signal at the moment when the tool 30 rotates the first preset number of circles, or the Hall signal after a certain period of time after the tool 30 rotates the first preset number of circles. For example, if it is determined according to experimental means, experience, performance parameters of the driving mechanism 11, etc. that the tool 30 enters the uniform rotation stage after rotating 0.5 circles, at this time, the Hall signal after the tool 30 rotates one circle or other circles and returns to the original position can be collected for identifying the type of the tool 30; or the Hall signal directly after the tool 30 rotates 0.5 circles can be collected for identifying the type of the tool 30, which is not limited here.

[0089] In addition, during the braking period when the tool 30 is about to stop rotating, the tool 30 needs to decelerate and rotate non-uniformly. If the Hall signal collected during the process from uniform rotation to complete stop is directly used to identify the type of the tool 30, the Hall signal during the braking period is also likely to interfere with the process of identifying the type of the tool 30. In this embodiment, according to experimental means, experience, performance parameters of the driving mechanism 11, etc., it can be determined in advance the number of circles the tool 30 rotates from the start of deceleration in the uniform rotation stage until it completely stops, and this number of circles is written into the control program as the second preset number of circles. Then, when analyzing the Hall signal, the Hall signal collected during the last number of circles can be not analyzed, or the Hall signal of this number of circles can be directly not collected, so as to reduce the interference during the analysis of the Hall signal and improve the speed, reliability and accuracy of identifying the type of the tool 30.

[0090] In some embodiments of the present application, in the step of collecting the Hall signal during the uniform rotation process of the tool 30 under the condition of confirming the uniform rotation of the tool 30, the tool 30 rotates at least one circle uniformly.

[0091] In this embodiment, the tool 30 is rotated at least one full circle at a constant speed, which can be 1.5 circles, two circles, three circles or even more. With such a setting, the Hall sensor 50 can detect the change in magnetic field strength within a complete cycle when the tool 30 rotates one full circle, thereby obtaining the distribution information of all the magnets 31 arranged in the circumferential direction of the tool 30, improving the accuracy and reliability of identifying the type of the tool 30.

[0092] For example, if it is previously confirmed that the process of the driving mechanism 11 driving the tool 30 to start rotating until it enters a uniform rotation requires no more than one full circle, and the process of the driving mechanism 11 braking the tool 30 from uniform rotation until it completely stops rotating requires approximately 0.5 circles, at this time, it can be preset that the driving mechanism 11 drives the tool 30 to rotate 2.5 circles, and only collect the Hall signal during the second circle rotation process of the tool 30, so that the type of the installed tool 30 can be accurately, reliably and quickly identified according to the Hall signal.

[0093] Please refer to Figure 12 , in some embodiments of the present application, the step of determining the type of the currently connected tool 30 according to the Hall signal includes:

[0094] Step S21, determining the arrangement mode of the magnets 31 on the tool 30 according to the Hall signal, where the arrangement mode at least includes the number of the magnets 31 and the arrangement orientation of the magnets 31 in the circumferential direction of the tool 30;

[0095] Step S22, obtaining the type of the currently connected tool 30 according to the determined arrangement mode of the magnets 31.

[0096] It can be understood that in the embodiments of the present application, since the arrangement modes of the magnets 31 on different tools 30 are different, different magnetic field strength change modes can be sensed by the Hall sensor 50 by driving the tool 30 to rotate, and then the Hall signal is output, and then the type of the currently installed tool 30 on the processing device 100 is identified. For example, if the distances between the magnets 31 on the tool 30 and the Hall sensor 50 are different, the time and change value for the Hall sensor 50 to sense the magnetic field gradually increasing to the maximum magnetic field strength or decreasing to the minimum magnetic field strength are also different. With such a setting, according to the rotation speed of the tool 30 and the time when the Hall sensor 50 senses the maximum magnetic field strength, the rotation angle of the magnet 31 relative to the initial position can be confirmed, thereby obtaining the installation orientation of the magnet 31 in the circumferential direction of the tool 30; if there are at least two magnets 31 arranged along the circumferential direction of the tool 30, according to the time interval between sensing the two maximum magnetic field strengths and the rotation speed of the tool 30, the installation interval between the two magnets 31 on the tool 30 can be confirmed, so that the arrangement mode of the magnets 31 on the tool 30 can be confirmed, and then the type of the installed tool 30 can be confirmed according to the arrangement mode of the magnets 31.

[0097] Please refer to Figure 13, in some embodiments of the present application, the step of obtaining the arrangement of the magnet 31 on the tool 30 according to the Hall signal includes:

[0098] Step S211, obtaining a magnetic field strength - time curve according to the Hall signal;

[0099] Step S212, determining the arrangement of the magnet 31 on the tool 30 according to the time of the peaks and / or valleys on the curve.

[0100] In this embodiment, a relationship curve of magnetic field strength - time can be established based on the collected Hall signal, and then the type of the tool 30 can be identified by analyzing this relationship curve. As Figure 16 shown in the curve, taking the example that the tool 30 is provided with one magnet 31, where a - d represents one rotation of the tool 30 driven. Starting from point a, the tool 30 begins to rotate, and the magnet 31 on the tool 30 gradually approaches the Hall sensor 50. In the section a - b, the magnetic field strength sensed by the Hall sensor 50 gradually increases until it reaches the peak value when the magnet 31 is closest to the Hall sensor 50; the tool 30 continues to rotate. In the section b - c, the magnet 31 gradually moves away from the Hall sensor 50. At this time, the magnetic field strength sensed by the Hall sensor 50 gradually decreases until it reaches the valley value when the magnet 31 is farthest from the Hall sensor 50; the tool 30 continues to rotate. In the section c - d, the magnet 31 gradually approaches the Hall sensor 50 again until the tool 30 rotates one week and the magnet 31 returns to its original position. It is not difficult to understand that the curve graph more clearly reflects the change in the magnetic field strength sensed by the Hall sensor 50, which is beneficial to more quickly analyzing and obtaining the arrangement of the magnet 31 on the tool 30, and improving the speed and accuracy of tool 30 identification.

[0101] It can be understood that in this embodiment, the arrangement position of the magnet 31 on the tool 30 can be determined by the peak value of the curve and the corresponding time point value. The peak value corresponds to the closest distance between the magnet 31 and the Hall sensor 50; at this time, by combining the installation position of the Hall sensor 50 on the frame 10 and the relative position between the tool 30 and the Hall sensor 50, the orientation of the magnet 31 on the tool 30 can be calculated.

[0102] Of course, the arrangement position of the magnet 31 on the tool 30 can also be determined by using the valley value of the curve and the corresponding time point value. The valley value corresponds to the farthest distance between the magnet 31 and the Hall sensor 50; at this time, by combining the installation position of the Hall sensor 50 on the frame 10 and the relative position between the tool 30 and the Hall sensor 50, the orientation of the magnet 31 on the tool 30 can also be calculated.

[0103] Please refer to Figure 14 and Figure 15 , in some embodiments of the present application, before the step of driving the tool 30 to rotate, it further includes:

[0104] Step S01, drive the tool 30 to rotate to a preset origin position.

[0105] In the embodiment of the present application, the Hall sensor 50 can sense the magnetic field change and output a Hall signal by driving the tool 30 to rotate. According to different arrangements of the magnets 31 on different tools 30, different Hall signals can be collected to identify the type of the tool 30. In this embodiment, before the tool 30 is driven to rotate to enable the Hall sensor 50 to sense the magnetic field strength, the tool 30 is reset to ensure that different tools 30 start to rotate in a preset and unified orientation. As described above, it is assumed that there is a mark set at a certain position in the circumferential direction of rotation on the tool 30, and this mark can be virtual, or a pattern, a physical structure, etc.; and the reset of the tool 30 before rotation is to ensure that the marks of different tools 30 are in the same position before rotation, reducing variables, so as to accurately sense the change in the magnetic field strength when the tool 30 rotates by the Hall sensor 50, and thus output different Hall signals according to different tools 30, so as to analyze and calculate the Hall signals to accurately identify the type of the tool 30, reduce confusion, improve the accuracy of tool 30 identification and reduce the difficulty of signal analysis.

[0106] Among them, as in the foregoing embodiment, an origin positioning mechanism 70 can be provided in the processing device 100 to detect whether the tool 30 has rotated and reset to the preset origin position.

[0107] The present application also proposes a readable storage medium storing program instructions, and when the program instructions are executed by a processor, the tool identification method described in any of the foregoing embodiments can be implemented.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a readable storage medium as described above (such as ROM / RAM, magnetic disk, optical disc) to enable a terminal device to execute the tool identification method described in various embodiments of the present application.

[0109] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the description and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A processing device, characterized in that, Including: A frame, on which a driving mechanism is provided; At least two cutters, at least two of which are selectively and directionally connected to the driving mechanism and can be driven by the driving mechanism to rotate. Each cutter is provided with at least one magnet, and the magnets provided on at least two cutters are arranged in different ways on the cutters; and A Hall sensor, which is arranged on the frame and is used to sense the change of magnetic field intensity during the rotation of the cutter and output a Hall signal.

2. The processing equipment according to claim 1, characterized in that, The driving mechanism is provided with a first positioning part, and the cutter is provided with a second positioning part; when the cutter is connected to the driving mechanism, the first positioning part and the second positioning part cooperate to enable the cutter to be positioned and connected to the driving mechanism; And / or, the processing equipment further includes an origin positioning mechanism, which is arranged on the frame and can send an induction signal when the cutter is driven to rotate to a preset origin position.

3. A tool recognition method, applied to the processing equipment as described in claim 1 or 2, characterized in that, The cutter identification method includes the following steps: Drive the cutter to rotate and collect the Hall signal during the rotation of the cutter; Obtain the type of the currently connected cutter according to the Hall signal.

4. The tool identification method according to claim 3, characterized in that, In the step of driving the cutter to rotate and collecting the Hall signal during the rotation of the cutter, it includes: Drive the cutter to rotate; Collect the Hall signal during the uniform rotation of the cutter under the condition of confirming that the cutter rotates uniformly.

5. The tool identification method according to claim 4, wherein, Before the step of collecting the Hall signal during the uniform rotation of the cutter under the condition of confirming that the cutter rotates uniformly, it includes: After the cutter rotates the first preset number of turns, confirm that the cutter starts to rotate uniformly.

6. The tool identification method according to claim 4, wherein In the step of collecting the Hall signal during the uniform rotation of the cutter under the condition of confirming that the cutter rotates uniformly, at least make the cutter rotate uniformly for one turn.

7. The tool identification method according to claim 3, characterized in that, The step of obtaining the type of the currently connected cutter according to the Hall signal includes: Determine the arrangement mode of the magnets on the cutter according to the Hall signal, and the arrangement mode at least includes the number of magnets and the arrangement azimuth of the magnets in the circumferential direction of the cutter; Obtain the type of the currently connected cutter according to the determined arrangement mode of the magnets.

8. The tool identification method according to claim 7, wherein The step of obtaining the arrangement mode of the magnets on the cutter according to the Hall signal includes: Obtain a magnetic field intensity-time curve according to the Hall signal; Determine the arrangement mode of the magnets on the cutter according to the time of the peaks and / or valleys on the curve.

9. The tool identification method according to any one of claims 3 to 8, characterized in that, Before the step of driving the cutter to rotate, it further includes: Drive the cutter to rotate to a preset origin position.

10. A readable storage medium, characterized in that, The readable storage medium stores program instructions, and when the program instructions are executed by a processor, the cutter identification method described in any one of claims 3 to 9 can be implemented.

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