A chain-type composite tool magazine tool detection method and system

Abstract

The present invention relates to the technical field of tool magazines, and more particularly to a tool detection method and system for a chain-type composite tool magazine. The method comprises the following steps: dividing a tool chain structure into N tool chain segments; setting a ratio of a steering wheel radius to a driving wheel radius of (N+1) / N; providing N detection disks that rotate synchronously with the steering wheel; combining multiple detectors to form a detection array; when placing a tool, first rotating the driving wheel to a base position, and then recording the tool placement segment parameters, tool position parameters, and corresponding tool number combination at this time; adjusting each tool placement segment parameter based on the number of tool chain segments between the tool placement position and the tool change position to form corresponding processing segment parameters; during processing, moving the tool chain structure so that the detection segment parameters are equal to the processing segment parameters where the target tool is located, and then moving the tool chain structure again according to the corresponding position of the target tool in the corresponding tool chain segment. The present invention can effectively solve the problems of poor reliability and slow detection speed of traditional detection systems.

Description

Technical Field

[0001] The present invention relates to the technical field of tool magazine detection, and in particular to a tool detection method and system for a chain-type composite tool magazine. Background Art

[0002] The structure of the chain compound tool magazine is as follows Figure 1 As shown, multiple knife sleeves 01 are combined through connecting plates to form a chain-shaped knife chain structure, which is then driven by a driving wheel 02 to enable the knife chain structure to move, and multiple steering wheels 03 are used to control the path of the knife chain structure and tighten the knife chain structure.

[0003] Since the composite tool magazine itself is used in composite machining centers, it needs to store a large number of different types of tools. Therefore, a tool detection system is designed to identify the position of each tool in the magazine to ensure the accuracy of tool access during machining. In existing identification systems, tools are usually identified by marking them with barcodes, etc. However, this model has two major problems: First, the identification system is complex and fragile, and the markings on the tools cannot be guaranteed to align with the identification system, resulting in poor reliability of the detection system; second, because the markings on the tools need to be carefully identified, the tool movement speed cannot be too fast, resulting in slow movement of the tool magazine. Summary of the Invention

[0004] The present invention provides a tool detection method and system for a chain-type composite tool magazine, which can effectively solve the problems of poor reliability and slow detection speed of traditional detection systems in the background technology.

[0005] The present invention provides a chain type composite tool magazine tool detection method, the steps comprising:

[0006] Divide the knife chain structure into N knife chain segments, so that each rotation of the driving wheel pushes the knife chain structure to move the distance of one knife chain segment; set the basic position of the driving wheel; set the ratio of the steering wheel radius to the driving wheel radius to (N+1) / N; set N detection disks that rotate synchronously with the steering wheel and set the basic position of the detection disks;

[0007] A plurality of detectors are combined to form a detection array, the detection length of the detection array is the distance of a knife chain segment, and each detector detects one knife sleeve;

[0008] When placing a tool, first rotate the drive wheel to the base position, then detect the angles of all detection discs at this time and form the tool placement segmentation parameters; record the values ​​of each detector in the detection array at this time and form the tool position parameters; record the combination of the tool placement segmentation parameters, tool position parameters and the corresponding tool number;

[0009] According to the number of tool chain segments between the tool placement position and the tool change position, the parameters of each tool placement segment are adjusted to form the corresponding processing segment parameters;

[0010] During processing, the tool chain structure is moved so that the detection segment parameters formed by all detection disks are equal to the processing segment parameters where the target tool is located. Then, the tool chain structure is moved again according to the corresponding position of the target tool in the corresponding tool chain segment so that the tool holder corresponding to the target tool is aligned with the tool changing position.

[0011] Furthermore, a sensing structure is provided on both the driving wheel and the detection disk, and a corresponding sensor is provided. When the sensing structure is aligned with the sensor, the sensor generates a signal; the sensing structures and sensors of the driving wheel and the detection disk are aligned with their respective basic positions.

[0012] Furthermore, when installing the test disks, number them in the order of 1, 2, ..., N;

[0013] First, stop the driving wheel at the basic position and align the sensing structure of the No. 1 detection plate with the sensor;

[0014] Then make the driving wheel rotate one circle and stop at the basic position, and align the sensing structure of the No. 2 detection plate with the sensor;

[0015] …

[0016] Continue in this manner until all test discs are installed.

[0017] Furthermore, the knife placement segmentation parameter specifically includes: numbering the detection disks in the order of 1, 2...N, recording whether the sensor has a signal, if yes, it is recorded as 1, if no, it is recorded as 0, and then combining all the numbers in the numbering order to form a binary number, which is the knife placement segmentation parameter;

[0018] The tool position parameters specifically include: recording whether each detector in the detection array has a signal, if yes, it is recorded as 1, if not, it is recorded as 0, and then all the numbers are combined according to the array direction to form a binary number, which is the tool position parameter.

[0019] Furthermore, the specific steps for forming the processing segmentation parameters are:

[0020] According to the rotation direction of the tool chain structure, there is a difference of d tool chain segments between the tool placement position and the tool change position. Then, each tool placement segment parameter is cyclically shifted right by d positions to form the processing segment parameter.

[0021] Furthermore, during processing, each time the driving wheel rotates to the basic position, the sensing structure signals of all the detection disks are checked. If the signal of only one sensing structure is not triggered, the machine is stopped and an alarm is issued.

[0022] Furthermore, the steps include:

[0023] After restarting, perform self-test, rotate the drive wheel to the basic position, and then read the segmented self-test parameters formed by all the detection disks at this time, as well as the tool position self-test parameters formed by the detection array, and then find the corresponding tool placement segmentation parameters, and then find the tool placement segmentation parameters that are equal to the segmented self-test parameters, and determine whether the tool position parameters corresponding to the tool placement segmentation parameters are equal to the tool position self-test parameters. If they are not equal, the machine will stop and issue an alarm.

[0024] Furthermore, a proximity switch is provided at the tool changing position. When the tool holder corresponding to the target tool is aligned with the tool changing position, the proximity switch is read to see whether it is activated. If it is activated, processing is performed normally. If it is not activated, the machine is stopped and an alarm is sounded.

[0025] The present invention also provides a chain-type composite tool magazine tool detection system, comprising:

[0026] a first angle measuring device for detecting the rotation angle of the driving wheel;

[0027] Multiple detectors are distributed along the length of the knife chain structure, and each detector is aligned with a knife pocket;

[0028] Multiple detection discs rotate synchronously with the steering wheel;

[0029] A plurality of second angle measuring devices, used for detecting the rotation angle of the detection disk;

[0030] The processor is used to implement the above-mentioned chain compound tool magazine tool detection method.

[0031] Furthermore, a plurality of detection discs are respectively installed on both sides of each steering wheel and are evenly distributed on all steering wheels.

[0032] The technical solution of the present invention can achieve the following technical effects:

[0033] This tool detection method transforms direct detection of tool numbers into detection of the drive and steering wheels in the tool magazine, ensuring the continuous and proper functioning of all detection components and enhancing detection reliability. Furthermore, this detection method avoids direct detection of the rapidly moving tool chain structure. Instead, it detects the angles of the drive and steering wheels, which fluctuate relatively insignificantly. Combined with segmented management of the tool holder, this method enables accurate detection even during rapid movement of the tool chain structure. This improves detection accuracy without affecting the tool magazine's operating speed, preventing tool misuse. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 Schematic diagram of the structure of the chain-type compound tool magazine of the present invention;

[0036] Figure 2 This is a flow chart of the tool detection method of the chain-type composite tool magazine of the present invention;

[0037] Reference numerals: 01, knife sheath; 02, driving wheel; 03, steering wheel. DETAILED DESCRIPTION

[0038] The basic principles and main features of the technical solution of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention. The following will be described more intuitively through one or more embodiments, and the described embodiments are only part of the embodiments of the present invention, not all embodiments.

[0039] In the description of the present invention, words indicating directions or positional relationships (such as up, down, left, right, etc.) are based on the directions shown in the drawings or some conventional positional relationships. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the features referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0040] The present invention provides a chain type compound tool magazine tool detection method, the main steps of which involve hardware setting, tool placement before processing and tool identification during processing. Figure 2 As shown, the following are the specific contents of each step.

[0041] Hardware Setup: This step is mainly used to set up the basic hardware requirements required for the detection method:

[0042] First, all the knife pockets 01 are divided into N knife chain segments, each knife chain segment has multiple adjacent knife pockets 01, and the number of knife pockets 01 in all knife chain segments is equal; the number of knife pockets 01 in each knife chain segment needs to be specially set so that every time the driving wheel 02 rotates one circle, the driving wheel 02 can just push the knife chain structure to move the distance of one segment (that is, if each knife chain segment wraps around the driving wheel 02, it can just wrap around the driving wheel 02 one circle).

[0043] Second, an angle of the driving wheel 02 is set as a basic position, which serves as the starting position and the ending position of the driving wheel 02 when it rotates one circle.

[0044] Third, the ratio of the radius of the steering wheel 03 and the radius of the driving wheel 02 is set to (N+1) / N. It should be noted that the radius of the steering wheel 03 and the radius of the driving wheel 02 are both their contact radii, that is, the radius of the circle where the steering wheel 03 and the driving wheel 02 contact the outer side of the tool sleeve 01. Since the driving wheel 02 is provided with a tooth on the outside that extends between two adjacent tool sleeves 01, this tooth is not counted in the radius of the driving wheel 02.

[0045] Fourth, a detection disk is provided that rotates synchronously with the steering wheel 03. Specifically, the rotation angle of the detection disk must be the same as that of the steering wheel 03. The number of detection disks is set to N, which is equal to the number of knife chain segments. Each detection disk is assigned a base angle, which serves as the starting and ending position of each rotation.

[0046] Fifth, multiple detectors are arranged along the direction of the knife chain structure, and the multiple detectors are combined to form a detection array. The detection length of the detection array is the distance of a knife chain segment, and each detector detects whether there is a tool on a knife sleeve 01; the detection array is set at the position where the tool is placed, and when the driving wheel 02 stops at the basic position, the head and tail of the detection array correspond exactly to the head and tail of a knife chain segment.

[0047] Tool placement step before processing: This step is mainly used to place the tools needed for this time into the tool chain structure before processing, and generate a comparison table for subsequent processing to retrieve tools. The details are as follows:

[0048] When placing the tool, first rotate the driving wheel 02 to the basic position, then detect the angles of all the detection discs at this time, and form the tool placement segment parameter according to the number of detection discs located at the basic position. The tool placement segment parameter is equivalent to the number of the tool chain segment stopped at the tool placement position;

[0049] After all the tools in a knife chain segment are placed, the values ​​of each detector in the detection array are recorded and formed into tool position parameters. The tool position parameters mainly reflect the position of each tool in this knife chain segment.

[0050] Record the tool placement segmentation parameters, tool position parameters and corresponding tool number combinations into the comparison table;

[0051] For example: When the driving wheel 02 rotates to the basic position, a knife chain segment stops at the tool placement position and aligns with the detection array. Now all the detection disks form the tool placement segment parameter 00010, so 00010 is the knife chain segment number. There are 7 tool pockets in the knife chain segment. Now tools No. 1, 2, and 3 are placed in the 1st, 4th, and 7th tool pockets respectively. The tool position parameter formed by the detection array is 1001001, and the following content will be recorded:

[0052] Tool placement segmentation parameter: 00010, tool position parameter: 1001001, tool number: 1, 2, 3;

[0053] It should be noted that the recording order of the tool numbers cannot be changed. For example, if tools No. 2, 1, and 3 are recorded, the physical meaning is that tool No. 2 is located in the first tool pocket in tool chain segment No. 00010, and tool No. 1 is located in the fourth tool pocket in tool chain segment No. 00010.

[0054] Similarly, each time a tool is placed in a knife chain segment, the tool placement segment parameters and the corresponding tool number of the knife chain segment are formed. When a knife chain segment is placed, the drive wheel 02 is started to rotate one circle, so that the next knife chain segment reaches the tool placement position, and then the tool is placed.

[0055] Finally, after all the tools are placed, a comparison table of the tool placement segment parameters of each tool chain segment and its corresponding tool number can be obtained. During subsequent processing, the comparison table can be used to refer to the tool in the tool magazine.

[0056] The specific steps for identifying tools during machining are as follows:

[0057] The tool placement position is mainly for personnel to place tools in the tool magazine, and it will be located on the outside of the tool magazine; the tool changing position is mainly for the robot to take and place tools from the tool magazine, and it will be located on the inside of the tool magazine; therefore, the tool placement position and the tool changing position are located at different positions on the tool chain structure. If the stop position of the tool chain structure is identified directly according to the tool placement segment parameters, the corresponding tool chain segment can only stop at the tool placement position, not the tool changing position. Therefore, it is necessary to adjust each tool placement segment parameter according to the difference in the number of tool chain segments between the tool placement position and the tool change position to form corresponding processing segment parameters, so that each tool placement segment parameter has a corresponding processing segment parameter. For example, there is a tool placement segment parameter of 00010, that is, this is the tool chain segment numbered 00010. When the detection disk of all steering wheels 03 forms 00010, this tool chain segment is at the tool placement position. It is necessary to make up for the distance difference between the tool placement position and the tool change position to form a tool placement segment parameter of 01000, so its physical meaning is that when the tool chain segment with a tool placement segment parameter of 00010 is transferred to the tool change position, the value formed by all detection disks should be 01000. In this way, it is possible to determine whether the tool chain segment No. 00010 has been transferred to the tool change position by detecting whether the value formed by the detection disk is directly equal to the processing segment parameter.

[0058] When the tool needs to be changed during the processing, the processing segment parameters of the corresponding tool chain segment are first determined according to the target tool, and then the drive wheel 02 is rotated to move the tool chain structure. During movement, each time the drive wheel 02 reaches a basic position, the values ​​formed by all detection disks are read as detection segment parameters. If the detection segment parameters are equal to the processing segment parameters where the target tool is located, it means that the tool chain segment where the target tool is located is already at the tool change position.

[0059] Then, according to the corresponding position of the target tool in the corresponding tool chain segment, the tool chain structure is moved again so that the tool pocket 01 corresponding to the target tool is aligned with the tool changing position, and the robot can complete the tool removal.

[0060] For example, the following corresponding information is now recorded in the comparison table:

[0061] Tool placement segment parameter: 00010, machining segment parameter: 01000, tool position parameter: 1001001, tool number: 1, 2, 3;

[0062] Now during the processing, if you want to use tool No. 2, then turn the drive wheel 02 to rotate the tool chain structure until the detection segment parameters formed by all detection disks = processing segment parameters = 01000. At this time, the tool chain segment with tool No. 2 will stop at the tool change position, and then move the 4th tool pocket of the tool chain segment to the tool change position.

[0063] As can be seen, this tool detection method transforms direct detection of tool numbers into detection of the drive wheel 02 and steering wheel 03 in the tool magazine. The drive wheel 02 and steering wheel 03 rotate at a slower speed and have a fixed working state. Compared to tool identifiers that are easily deflected, this detection method can ensure that all detection components can continue to work normally, and the detection reliability is higher. At the same time, this detection method avoids direct detection of the rapidly moving tool chain structure. Instead, it detects the angles of the drive wheel 02 and steering wheel 03, which have relatively small fluctuations, and combines this with the segmented management of the tool sleeve 01. This allows for accurate detection even during the rapid movement of the tool chain structure, thereby improving detection accuracy without affecting the tool magazine's operating speed and preventing tool misuse.

[0064] Detecting the angle between the drive wheel 02 and the detection disk can be achieved in a variety of ways. Since the main purpose of this method is to detect whether the drive wheel 02 and the detection disk are in their respective base positions, the detection structure can be simplified: a sensing structure is provided on each of the drive wheel 02 and the detection disk, and a corresponding sensor is provided. When the sensing structure aligns with the sensor, the sensor generates a signal; the sensing structures and sensors of the drive wheel and the detection disk are aligned with their respective base positions. For example, a bump can be provided at the base position of the drive wheel 02 and the detection disk as a sensing structure, and a proximity switch can be used as a sensor to sense the bump; or a hole can be opened at the base position of the drive wheel 02 and the detection disk, and detection can be performed using a laser.

[0065] When installing the test disk, please pay attention to the following installation method:

[0066] The test trays are numbered in sequence of 1, 2, ..., N. There is no special requirement for the numbering direction of the test trays, and they can be adjusted according to actual needs;

[0067] When starting installation, first stop the driving wheel 02 at the base position and align the sensing structure of the No. 1 detection plate with the sensor;

[0068] Then make the driving wheel 02 rotate one circle and stop at the base position, and align the sensing structure of the No. 2 detection plate with the sensor;

[0069] Then make the driving wheel 02 rotate one circle and stop at the basic position, and align the sensing structure of the No. 3 detection plate with the sensor;

[0070] …

[0071] Continue in this manner until all test discs are installed.

[0072] Through this installation method, since the ratio of the radius of the steering wheel 03 and the radius of the driving wheel 02 in this method is (N+1) / N, the rotation angle of each two adjacent numbered detection disks can differ by 360°·(N+1) / N. That is, in the cycle of the steering wheel 03 rotating N times, each time the steering wheel 03 rotates to the basic position, only one detection disk among all the detection disks will rotate to the basic position, and the 1st to Nth rotations of the steering wheel 03 will correspond to the 1st to Nth detection disks rotating to the basic position, respectively, so that the knife release segment parameters formed by all the detection disks can correspond one-to-one to the N knife chain segments.

[0073] A preferred specific setting form of the knife release segmentation parameter is as follows: the detection disks are numbered in sequence from 1, 2...N, and whether the sensor has a signal is recorded. If there is a signal, it is recorded as 1, and if there is no signal, it is recorded as 0. Then, all the numbers are combined in the numbering sequence to form a binary number. This number is the knife release segmentation parameter. For example, if there are 5 knife chain segments, then the 5 knife release segmentation parameters formed are: 00001, 00010, 00100, 01000, 10000;

[0074] The tool position parameters specifically include: recording whether there is a signal in each detector in the detection array, if so, it is recorded as 1, if not, it is recorded as 0, and then all the numbers are combined according to the array direction to form a binary number, which is the tool position parameter. For example, 1001001 means that there are tools in the 1st, 4th and 7th tool pockets in this tool chain segment.

[0075] Based on the form of the tool placement segmentation parameters formed by the detection disk, this method can easily form the processing segmentation parameters. The specific steps are:

[0076] According to the rotation direction of the tool chain structure, the difference between the tool placement position and the tool change position is d tool chain segments. That is, after the tool chain structure rotates a distance of d tool chain segments, one tool chain segment can be moved from the tool placement position to the tool change position. After determining the value of d, each tool placement segment parameter is circularly shifted right by d bits to form a processing segment parameter. Circular right shift is an existing processing method for binary numbers. 00010 circularly shifted right by 1 bit is 00001, 00010 circularly shifted right by 2 bits is 10000, and so on.

[0077] Preferably, during processing, each time the driving wheel 02 rotates to the basic position, the sensing structure signals of all detection disks are checked. If the signal of only one sensing structure is triggered, it means that a detection disk may be loose or offset due to long-term work, which will affect the subsequent detection function. In this case, it is necessary to stop the machine in time and issue an alarm to remind personnel to carry out maintenance.

[0078] When the tool magazine is restarted due to an unexpected power outage or manual operation, a self-test is required to ensure that the tools in the tool magazine are the same as the data stored in the comparison table. During the self-test, the drive wheel 02 is rotated to the basic position, and then the segmented self-test parameters formed by all the detection disks and the tool position self-test parameters formed by the detection array are read. Then, the tool placement segment parameters that are equal to the segmented self-test parameters are found, and it is determined whether the tool position parameters corresponding to the tool placement segment parameters are equal to the tool position self-test parameters. If they are not equal, it means that there is a shortage of tools in the tool chain segment, and it is necessary to stop the machine immediately and issue an alarm, and stop the tool chain segment at the tool placement position for inspection by personnel. Of course, in addition to self-testing during restart, self-tests can also be performed at regular intervals during processing to avoid tool drop problems in the tool chain structure.

[0079] Preferably, a proximity switch can be installed at the tool changer. When the tool holder 01 corresponding to the target tool is aligned with the tool changer, the proximity switch is read to see if it is activated. If it is activated, processing proceeds normally. If it is not activated, it means that the tool is missing or misaligned, and the machine stops and an alarm is sounded. In addition, the proximity switch can also help control the stopping of the drive wheel 02. That is, when the tool is in place, the proximity switch will be triggered, and the rotation of the drive wheel 02 will be stopped immediately, ensuring the accuracy of the tool stop position.

[0080] The present invention also relates to a tool detection system for a chain-type composite tool magazine, comprising:

[0081] The first angle measuring device is used to detect the rotation angle of the driving wheel 02, mainly used to confirm whether the driving wheel 02 has turned to the basic position;

[0082] Multiple detectors are distributed along the length of the knife chain structure to form a detection array, and each detector is aligned with a knife sleeve 01 to detect whether there is a knife on the knife sleeve 01;

[0083] Multiple detection discs rotate synchronously with the steering wheel 03;

[0084] Multiple second angle measuring devices, respectively used to detect the rotation angle of each detection plate, mainly used to confirm whether the detection plate has been rotated to the basic position;

[0085] The processor is used to implement the above-mentioned chain compound tool magazine tool detection method.

[0086] Multiple detection discs can be connected to one steering wheel 03 at the same time, as long as there is an angle difference between the multiple detection discs. However, this installation method is prone to affect all detection discs due to a small error, and it is easy to cause signal interference between each other. Therefore, it is preferred to distribute multiple detection discs evenly on all steering wheels 03. When there are too few steering wheels 03 and multiple detection discs need to be installed on one steering wheel 03, multiple detection discs can be installed on both sides of each steering wheel 03 to spread the detection discs as much as possible.

[0087] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A chain type compound tool magazine tool detection method, characterized in that the steps include: The knife chain structure is divided into N knife chain segments, so that each rotation of the driving wheel just pushes the knife chain structure to move the distance of one knife chain segment; The basic position of the driving wheel is set; the ratio of the steering wheel radius to the driving wheel radius is set to (N+1) / N; N detection disks are provided to rotate synchronously with the steering wheel, and the basic positions of the detection disks are set; multiple detectors are combined to form a detection array, the detection length of the detection array is the distance of one knife chain segment, and each detector detects one knife sleeve; When placing a tool, first rotate the drive wheel to the base position, then detect the angles of all detection discs at this time and form the tool placement segmentation parameters; record the values ​​of each detector in the detection array at this time and form the tool position parameters; record the combination of the tool placement segmentation parameters, tool position parameters and the corresponding tool number; According to the number of tool chain segments between the tool placement position and the tool change position, the parameters of each tool placement segment are adjusted to form the corresponding processing segment parameters; During processing, the tool chain structure is moved so that the detection segment parameters formed by all detection disks are equal to the processing segment parameters where the target tool is located. Then, the tool chain structure is moved again according to the corresponding position of the target tool in the corresponding tool chain segment so that the tool holder corresponding to the target tool is aligned with the tool changing position.

2. The tool detection method of the chain type compound tool magazine according to claim 1, characterized in that: A sensing structure is provided on each of the driving wheel and the detection disk, and a corresponding sensor is provided. When the sensing structure is aligned with the sensor, the sensor generates a signal. The sensing structures and sensors of the driving wheel and the detection disk are aligned with their respective basic positions.

3. The tool detection method of the chain type compound tool magazine according to claim 2, characterized in that: When installing the test disk, number the test disk in sequence 1, 2...N; First, stop the driving wheel at the basic position and align the sensing structure of the No. 1 detection plate with the sensor; Then make the driving wheel rotate one circle and stop at the basic position, and align the sensing structure of the No. 2 detection plate with the sensor; …… Continue in this manner until all test discs are installed.

4. The tool detection method of the chain type compound tool magazine according to claim 2, characterized in that: The knife placement segmentation parameters specifically include: numbering the detection disks in sequence of 1, 2...N, recording whether the sensor has a signal, if yes, it is recorded as 1, if no, it is recorded as 0, and then combining all the numbers in the numbering sequence to form a binary number, which is the knife placement segmentation parameter; The tool position parameters specifically include: recording whether each detector in the detection array has a signal, if yes, it is recorded as 1, if not, it is recorded as 0, and then all the numbers are combined according to the array direction to form a binary number, which is the tool position parameter.

5. The tool detection method of the chain type compound tool magazine according to claim 4, characterized in that: The specific steps to form the processing segmentation parameters are: According to the rotation direction of the tool chain structure, there is a difference of d tool chain segments between the tool placement position and the tool change position. Then, each tool placement segment parameter is cyclically shifted right by d positions to form the processing segment parameter.

6. The tool detection method of the chain type compound tool magazine according to claim 2, characterized in that: During processing, each time the driving wheel rotates to the basic position, the induction structure signals of all detection disks are checked. If the signal of only one induction structure is not triggered, the machine will be stopped and an alarm will be issued.

7. The tool detection method of the chain type compound tool magazine according to claim 1, characterized in that: The steps also include: After restarting, perform self-test, rotate the drive wheel to the basic position, and then read the segmented self-test parameters formed by all the detection disks at this time, as well as the tool position self-test parameters formed by the detection array, and then find the corresponding tool placement segmentation parameters, and then find the tool placement segmentation parameters that are equal to the segmented self-test parameters, and determine whether the tool position parameters corresponding to the tool placement segmentation parameters are equal to the tool position self-test parameters. If they are not equal, the machine will stop and issue an alarm.

8. The tool detection method of the chain type compound tool magazine according to claim 1, characterized in that: A proximity switch is set at the tool change position. When the tool holder corresponding to the target tool is aligned with the tool change position, the proximity switch is read to see whether it is activated. If it is activated, processing is carried out normally. If it is not activated, the machine is stopped and an alarm is issued.

9. A chain type compound tool magazine tool detection system, characterized in that: include: a first angle measuring device for detecting the rotation angle of the driving wheel; Multiple detectors are distributed along the length of the knife chain structure, and each detector is aligned with a knife pocket; Multiple detection discs, rotating synchronously with the steering wheel; A plurality of second angle measuring devices, used for detecting the rotation angle of the detection disk; A processor, configured to implement the tool detection method for a chain-type composite tool magazine as described in any one of claims 1 to 8.

10. The tool detection system of the chain type compound tool magazine according to claim 9, characterized in that: Multiple detection discs are installed on both sides of each steering wheel and are evenly distributed on all steering wheels.

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