Control method and system for preventing accidental dropping of tool-side quick-change disc

Abstract

The present application relates to a kind of control methods for preventing tool side quick-change disc from falling accidentally.It includes setting a two-position two normally closed mechanical valve with mechanical coding function at each tool parking station of robot, and configuring in-place sensor for detecting whether tool is attached, under-position sensor for detecting under-position state of valve core and over-position sensor for detecting over-position state of valve core. Through logic judgment module, sensor signals of all parking stations are operated with, and a total enable signal is generated;Only when all tools are correctly parked in their corresponding parking stations, and the electromagnetic valve of robot side quick-change disc sends loose signal, the total enable signal is turned on, to control the air supply valve set on total loose air path to open, so that loose gas can enter quick-change disc to perform loose action. The present application fundamentally eliminates the problem of tool accidental falling caused by electromagnetic valve single-point failure, interference or misoperation by combining hardware interlocking and logic judgment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation, in particular to a tool quick-change system for a robot, and more particularly to a control method and system for preventing accidental falling of a tool-side quick-change disc under unexpected conditions. BACKGROUND

[0002] In the field of industrial automation, quick-change discs are commonly used to achieve rapid switching of tools. However, when controlling the loosening and locking of the quick-change disc, only a single solenoid valve is used to implement the control logic. Common quick-change disc control methods are as shown in the following figure: Figure 1

[0003] A two-position five-way solenoid valve (V1) is usually used to control the switching of the locking gas path and the loosening gas path. In the default state, the solenoid valve is not powered, supplying locking gas to the quick-change disc to maintain the locked state. When the tool needs to be replaced, the solenoid valve is powered, switching the gas path, and supplying loosening gas to the quick-change disc to make the tool-side quick-change disc disengage. A position sensor (such as B3, B4) is usually installed on the quick-change disc to detect the piston position and then feedback the locked or loosened state.

[0004] Such a logic control method relying on a single solenoid valve has the following disadvantages:

[0005] 1) The solenoid valve is easily affected by external electromagnetic interference and can short circuit. When unexpected situations occur, the quick-change disc can be accidentally loosened, causing the tool to fall and resulting in property damage and personal injury.

[0006] 2) The operation of the solenoid valve is prone to human error. When human error occurs, the quick-change disc can also be accidentally loosened, causing the tool to fall and resulting in property damage and personal injury.

[0007] 3) The state of the solenoid valve is difficult to monitor. Once the solenoid valve fails, the abnormal state of the solenoid valve can only be identified after an accident occurs, and the loss cannot be avoided.

[0008] Therefore, there is an urgent need for a solution that can fundamentally avoid the above-mentioned single-point failure risk and improve the safety of the tool quick-change system. SUMMARY

[0009] The purpose of the present application is to overcome the above-mentioned shortcomings of the prior art and provide a control method and system for preventing accidental falling of a tool-side quick-change disc.

[0010] The present application adds control logic to the entire tool switching circuit of the robot to ensure that the quick-change disc does not accidentally fall off.

[0011] ​In practical applications, the robot needing to switch tools is certainly not used for a single station, and in the working state, the robot is connected with only one tool, and the rest of the tools are certainly parked on the parking stations of the rest of the tools; in the switching state, all the tools are certainly parked on the corresponding parking stations. Therefore, the present application gives a logical judgment for whether the tools of each parking station of a single robot are in place in the whole working cycle of the robot, and realizes the control of the loosening of the quick-change disc. If a tool is correctly parked on its corresponding parking station, the tool-in-place signal of the corresponding parking station is "1", if a tool is not in place or is not correctly parked, the tool-in-place signal of the corresponding parking station is "0", and only when the tool-in-place signals of all the parking stations of the robot are "1", the whole loosening gas circuit is connected, the loosening gas is allowed to enter the quick-change disc, so that the quick-change disc can make a loosening action; if the tool-in-place signals are not all "1", the loosening gas circuit is disconnected, even if the electromagnetic valve on the quick-change disc controls the loosening gas valve in the quick-change disc to open, the gas source valve of the whole loosening gas circuit of the quick-change disc will be closed, the loosening gas is not allowed to enter the quick-change disc, so that the quick-change disc cannot make a loosening action, and the tool-side quick-change disc will be locked on the robot-side quick-change disc.

[0012] In order to achieve the above purpose, the control method and system for preventing the tool-side quick-change disc from falling accidentally according to the present application are as follows:

[0013] The control method for preventing the tool-side quick-change disc from falling accidentally, and its main feature is that the method comprises the following steps:

[0014] (1) A mechanical valve and a matching gas circuit detection sensor are arranged at each tool parking station of the robot, for obtaining a tool state signal of the robot at each tool parking station;

[0015] (2) Based on the tool state signals of all the parking stations, a logical operation is performed to generate a total permission signal, wherein only when all the tools of all the parking stations are correctly judged to be in place, the total permission signal is in an effective state;

[0016] (3) A control loop receives the total permission signal and a loosening command signal from the electromagnetic valve of the robot-side quick-change disc; only when the total permission signal is in the effective state and the loosening command signal is received at the same time, the gas source valve arranged on the total loosening gas circuit of the quick-change disc is controlled to be opened, allowing the loosening gas to flow into the quick-change disc.

[0017] Preferably, the gas circuit detection sensor comprises a mechanical valve tool-in-place sensor, a mechanical valve tool-under-place sensor and a mechanical valve tool-over-place sensor, and the tool state signal at least comprises an in-place signal, an under-place signal and an over-place signal from each parking station.

[0018] Preferably, the total enable signal is generated according to the following logic:

[0019] For any parking station, the condition for its tool to be judged as correctly parked is that its in-position signal indicates that the tool is in contact, its out-of-position signal indicates that no out-of-position has occurred, and its over-position signal indicates that no over-position has occurred; the total enable signal is the result of a logical AND operation of the single parking station in-position signals of all parking stations, and the judgment logic is OP = Sa·Sb·...·Sn; wherein OP is the total enable signal, S i is the single parking station in-position signal, and there are n tool parking stations; F i is the in-position signal of the current ith parking station, L i is the out-of-position signal of the current ith parking station, and W i is the over-position signal of the current ith parking station.

[0020] Preferably, each tool parking station is provided with a mechanical valve having a mechanical coding function, and the mechanical coding is achieved by setting a slot on the upper valve core of the mechanical valve, the depth of the slot matching the mechanical valve trigger block on the corresponding tool side quick-change disc; the slot depths of the mechanical valves of different parking stations are different from each other, so as to ensure that only the correct tool can trigger the correct in-position state of the parking station.

[0021] The control system for preventing the tool side quick-change disc from falling accidentally, which is used to implement the above-mentioned method, mainly has the following characteristics: the system comprises:

[0022] a detection device provided at each tool parking station, for generating the tool state signals;

[0023] a logic judgment module, for receiving all the tool state signals and outputting the total enable signal;

[0024] a gas path control module, provided on the total loosening gas path of the quick-change disc, controlled by the total enable signal and the loosening command signal, for opening and closing the loosening gas path of the current system.

[0025] Preferably, the detection device comprises:

[0026] a two-position two-normal-closed mechanical valve, the position of the valve core of which changes with whether the corresponding tool is correctly parked;

[0027] a mechanical valve tool in-position sensor, for detecting whether the bottom surface of the tool is in contact with the surface of the two-position two-normal-closed mechanical valve, and outputting the corresponding in-position signal;

[0028] a mechanical valve tool out-of-position sensor, for detecting whether the valve core of the two-position two-normal-closed mechanical valve is in an out-of-position state, and outputting the corresponding out-of-position signal.

[0029] A mechanical valve tool over-position sensor is used to detect whether the spool of the two-position two-normal-closed mechanical valve is in an over-position state, and outputs a corresponding over-position signal.

[0030] Preferably, the two-position two-normal-closed mechanical valve comprises:

[0031] A mechanical valve seat and a mechanical valve base jointly form a sealed cavity;

[0032] A mechanical valve upper spool and a mechanical valve lower spool are rigidly connected and can move synchronously along a channel in the mechanical valve seat;

[0033] A spool spring provides a restoring force for the mechanical valve upper spool and the mechanical valve lower spool;

[0034] Preferably, the top end of the mechanical valve upper spool is provided with a notch, which is used to engage with a mechanical valve trigger block fixed on the tool side quick change disc.

[0035] Preferably, the notch depth of the mechanical valve upper spool is uniquely set for a specific parking station, so as to realize the mechanical coding function of the two-position two-normal-closed mechanical valve.

[0036] Preferably, the mechanical valve tool under-position sensor and the mechanical valve tool over-position sensor are fixedly installed on the side wall of the mechanical valve seat, and are used to detect the current position of the mechanical valve lower spool, so as to determine whether the spool is in a correct position, an under-position or an over-position.

[0037] Preferably, the air path control module is a pneumatic on-off valve (i.e. a two-position two-normal-closed electromagnetic valve) controlled by an electric signal, and the control end thereof receives the final execution signal obtained by logically AND processing the total permission signal and the release command signal.

[0038] The robot tool quick change system comprises a robot side quick change disc, a tool side quick change disc, a plurality of tool parking stations and a pneumatic control system, wherein the pneumatic control system adopts the control system as described above.

[0039] The control method and system for preventing the tool side quick change disc from accidentally falling, which are adopted in the application, effectively avoid the problem of accidental tool falling caused by the misoperation of the electromagnetic valve when the quick change disc is used to switch tools, improve the production safety, and solve the problem of poor reliability of the quick change disc operation controlled by a single electromagnetic valve. Compared with the prior art, the application has the following technical effects:

[0040] High safety: By taking the hard safety condition of "all tools must be in the right position" as a prerequisite, a redundant safety loop is constructed. Even if the master solenoid valve malfunctions in any form, it cannot release the tool in a dangerous scenario, fundamentally eliminating the risk of accidental tool drop.

[0041] Error-proof function: Through the physical coding of the mechanical valve, the "foolproof" design of the tool is realized, preventing the risk of the tool being mistakenly placed in the wrong parking station which cannot be identified by the system.

[0042] Reliability improvement: The system does not rely on complex software algorithms, mainly based on hardware sensors and logic circuits, with fast response, strong anti-interference ability and high reliability.

[0043] State visualization: The system can monitor and distinguish the "correct position", "under position", "over position" and "completely out of position" of the tool in real time, providing convenience for equipment maintenance and fault diagnosis. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 The figure is the schematic diagram of the pneumatic control principle of the quick-change disc commonly used in the prior art.

[0045] Figure 2 The figure is the schematic diagram of the overall control system of one embodiment of the present application.

[0046] Figure 3 The figure is a layout schematic diagram of one application scenario of the control loop designed by the present application.

[0047] Figure 4 The figure is a specific structure sectional view of the mechanical valve of a single parking station of the present application.

[0048] Figure 5 The figures (a), (b) and (c) are schematic diagrams of the mechanical valve in three different trigger states. Figure 4

[0049] REFERENCE NUMERALS

[0050] 1 robot

[0051] 2 parking station a

[0052] 3 parking station b

[0053] 4 parking station c

[0054] 2-1 mechanical valve tool under position sensor

[0055] 2-2 mechanical valve valve seat

[0056] 2-3 mechanical valve tool over position sensor

[0057] 2-4 mechanical valve base​

[0058] 2-5 Valve core spring

[0059] 2-6 Lower valve core of mechanical valve

[0060] 2-7 Upper valve core of mechanical valve

[0061] 2-8 Mechanical valve trigger block

[0062] 2-9 Tool Side Quick Change Disk

[0063] 2-10 Mechanical valve tool position sensor

[0064] 2-11 Stomata

[0065] 2-12 Sealing ring Detailed Implementation

[0066] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0067] Before describing the embodiments of the present invention in detail, it should be noted that, in the following, the terms “comprising,” “including,” or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0068] like Figure 2 As shown, the control system of this invention has made key improvements based on the traditional pneumatic circuit. A two-position five-way solenoid valve V1 controls the opening and closing of the quick-change disc. Normally, valve V1 supplies closing air to the quick-change disc; when energized, it changes position to supply opening air. Position sensors B3 and B4 are installed on the quick-change disc to detect the piston position, reflecting its opening and closing status. B3 detects the closing status, and B4 detects the opening status. UA and LA are the opening pressure sensor and closing pressure sensor, respectively, used to detect whether the solenoid valve on the quick-change disc has issued an opening or closing command. Based on this, this technical solution connects a two-position two-way normally closed solenoid valve as a safety isolation valve in series in the upstream pneumatic circuit of the two-position five-way solenoid valve V1. Each safety valve is controlled by the overall allowable signal OP, allowing air to pass through the main-controlled two-position five-way solenoid valve V1 only when the system is safe.

[0069] The control method for preventing accidental drop of the tool-side quick-change disc of the present invention includes:

[0070] Detection step: Obtain the tool status signals of each tool parking station of the robot, which at least include the in-position signal F, the under-position signal L and the over-position signal W from each parking station.

[0071] Logical judgment step: Perform logical operation based on the tool status signals of all parking stations. For a parking station, only when its in-position signal is valid F=1, under-position signal is invalid L=0 and over-position signal is invalid W=0, it is determined that the tool is correctly positioned at the station. After logical AND operation of the single in-position signals Si of all parking stations, a total permission signal OP is generated. That is, OP = Sa·Sb·...·Sn.

[0072] Air path control step: The total permission signal OP and the loosening command signal U from the quick-change disc electromagnetic valve perform the final AND logic judgment. Only when OP=1 and U=1, the opening instruction is sent to the air source valve on the total loosening air path to allow the loosening gas to flow.

[0073] As a preferred embodiment of the present application, the present application also includes a control system for implementing the above-mentioned method, which comprises:

[0074] Detection device: Distributed in each parking station, the core is a two-position two-normal-closed mechanical valve with mechanical coding function, and a set of in-position, under-position and over-position sensors.

[0075] Logical judgment module: It can be a programmable logic controller (PLC) or a special safety relay, which is used to process all sensor signals and output a total permission signal.

[0076] Air path control module: It is usually an electrically controlled pneumatic on-off valve, and the two-position two-normal-closed electromagnetic valve is actually used in the technical solution, which is connected in series between the total loosening gas source and the quick-change disc electromagnetic valve as the final actuator.

[0077] In a specific embodiment of the present application, it is assumed that the robot has n tool parking stations (a, b,..., n). Each parking station is installed with a detection device, the core of which is a two-position two-normal-closed mechanical valve (Va, Vb,..., Vn) and three sensors: mechanical valve tool in-position sensor F (Fa, Fb,..., Fn), mechanical valve tool under-position sensor L (La, Lb,..., Ln) and mechanical valve tool over-position sensor W (Wa, Wb,..., Wn). The above three sensors send different signals according to the following conditions:

[0078] When the mechanical valve tool in-position sensor F detects the face fitting, it sends a signal "F=1", and if the tool face is not fitted, it sends a signal "F=0";

[0079] When the mechanical valve tool in place sensor L detects that the valve core reaches its position, it sends a signal "L=1", if the valve core does not reach its position, it sends a signal "L=0";

[0080] When the mechanical valve tool out of position sensor W detects that the valve core reaches its position, it sends a signal "W=1", if the valve core does not reach its position, it sends a signal "W=0".

[0081] Take the parking station a as an example:

[0082] When the tool is correctly placed, the mechanical valve trigger block 2-8 on the tool side quick change disc 2-9 is completely pressed into the slot of the upper mechanical valve core 2-7 of the two-position two-normal-closed mechanical valve Va, so that the valve core moves to the accurate "correct position". At this time:

[0083] The mechanical valve tool in place sensor Fa detects that the tool bottom surface is in contact, and outputs Fa=1.

[0084] The mechanical valve tool under-position sensor La does not detect the lower mechanical valve core 2-6, and outputs La=0.

[0085] The mechanical valve tool out of position sensor Wa does not detect the lower mechanical valve core 2-6, and outputs Wa=0.

[0086] Therefore, the single in-place signal of the station .

[0087] The logic judgment module (such as PLC) continuously collects the F, L, W signals of all parking stations, and calculates the single parking station in-place signal S of each station i . Finally, the total permission signal OP = Sa·Sb·...·Sn. This means that only when all the tools are correctly in place like the tool in parking station a, OP equals 1.

[0088] In another embodiment of the present application, when the robot needs to change tools, the control system energizes the two-position five-way solenoid valve V1 (U=1). If OP=1 at this time, the air path control module (such as a pilot solenoid valve) is opened, the total release air path is turned on, and the quick change disc normally performs the release action. If at this time any tool is not correctly in place (for example, S i =0 of a certain station leads to OP=0), even if U=1, the air path control module will remain closed, the release air path is cut off, the quick change disc cannot release, and the tool is firmly locked.

[0089] Please refer to Figure 3 for the control circuit structure of the present application, wherein 1 is a certain robot, 2 is a parking station a of a certain station of the robot, 3 is a parking station b of a certain station of the robot, and 4 is a parking station c of a certain station of the robot.

[0090] Referring to Figure 4 As a preferred embodiment of the present application, the present application also relates to a key mechanical valve structure for realizing the above-mentioned detection function. The mechanical valve includes a mechanical valve tool under-position sensor 2-1, a mechanical valve valve seat 2-2, a mechanical valve tool over-position sensor 2-3, a mechanical valve base 2-4, a valve core spring 2-5, a mechanical valve lower valve core 2-6, a mechanical valve upper valve core 2-7, a mechanical valve trigger block 2-8, a tool-side quick-change disc 2-9 corresponding to the parking station, and a mechanical valve tool in-position sensor 2-10.

[0091] The connection part of the mechanical valve valve seat 2-2 and the mechanical valve base 2-4 is provided with a 2-12 sealing ring for ensuring the sealing of the internal cavity. The upper opening of the mechanical valve structure is used for the movement of the mechanical valve upper valve core 2-7. The side opening is used for installing the mechanical valve tool under-position sensor 2-1 and the mechanical valve tool over-position sensor 2-3. In addition, two pairs of side faces are provided with air holes 2-11 for the passage of airflow. The mechanical valve tool under-position sensor 2-1 and the mechanical valve tool over-position sensor 2-3 are sealed by 2-12 sealing rings at the installation positions of the mechanical valve valve seat 2-2. The positions of the two are fixed and used for detecting the position of the mechanical valve lower valve core 2-6. The valve core spring 2-5 is clamped on the circular groove in the middle of the mechanical valve base 2-4 and on the circular groove in the bottom center of the mechanical valve lower valve core 2-6. The mechanical valve lower valve core 2-6 is rigidly connected with the mechanical valve upper valve core 2-7. The upper part of the mechanical valve upper valve core 2-7 is provided with a slot into which the trigger block of the tool-side quick-change disc is clamped. The slot is used for the slots on different parking stations of the same robot. Since the depths of the slots are inconsistent, the slot can be used to distinguish the over-position of the tools parked on different parking stations. When the tool parked on the parking station is incorrect or misoperated, the mechanical valve upper valve core 2-7 will not be in position or will be over-positioned, so that the mechanical valve lower valve core 2-6 rigidly connected with the mechanical valve upper valve core 2-7 will also not be in position or will be over-positioned. The state will be detected by the mechanical valve tool under-position sensor 2-1 and the mechanical valve tool over-position sensor 2-3. The mechanical valve trigger block 2-8 is rigidly connected with the tool-side quick-change disc 2-9 and corresponds to the depth of the slot of the mechanical valve upper valve core 2-7. The mechanical valve tool in-position sensor 2-10 is used for detecting whether the bottom surface of the tool is in contact with the surface of the mechanical valve, that is, whether the tool is in position.

[0092] The innovation of the structure lies in that:

[0093] - Mechanical coding: The depth of the slot at the top of the upper valve core is customized for each parking station. Only the correct tool with a trigger block of matching thickness can move the valve core to the “correct position”.

[0094] - State detection: the position of the lower valve core is detected by the under-position and over-position sensors fixed on the valve seat side wall, so as to accurately determine whether the tool is "correctly positioned", "under-positioned" or "over-positioned".

[0095] - Gas path interlocking: the mechanical valve itself is connected in series in the loosening gas path, and the gas path can only be conducted when the valve core is in the correct position (combined with the electrical signal of the sensor), which provides another physical barrier.

[0096] In a specific embodiment of the present application, Figure 5 (a), (b), (c) in the above clearly show three states:

[0097] Figure 5 (a) (correctly positioned) in the above: the trigger block is completely embedded in the notch, the valve core is in the middle position, Fa=1, La=0, Wa=0.

[0098] Figure 5 (b) (under-positioned) in the above: the tool is not placed in position or the trigger block is too thin, the valve core is not raised to a sufficient height, the La sensor is triggered (La=1), Si=0.

[0099] Figure 5 (c) (over-positioned) in the above: the tool is placed too deep or the trigger block is too thick, the valve core is excessively pressed down, the Wa sensor is triggered, Wa=1, S i =0.

[0100] Through the above logical control, it can be ensured that when all the stations where the robot is located are correctly placed with the corresponding tools, the loosening gas supply is provided, so that the robot side quick change disc can make a loosening action to make the tool side quick change disc disengage, avoiding the accidental falling of the tool caused by the fault of the electromagnetic valve during work.

[0101] Any process or method descriptions or any other information outlined in the flow charts or described elsewhere herein can be understood as representing one or more modules, segments, or portions of code that include executable instructions for implementing specific logical functions or steps of a process, and alternate implementations are possible. In this regard, the preferred embodiments of the present application encompass other implementations that can not be described in detail herein, but that can include, for example, the use of a different sequence of steps, a different order of steps, a different grouping of steps, or a different combination of steps, and that can be implemented in software, hardware, firmware, or a combination thereof, as will be understood by skilled artisans.

[0102] It should be understood that various parts of the present application can be realized by hardware, software, firmware, or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution device.

[0103] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be instructed by a program to relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0104] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0105] In the description of the present specification, the description of the terms "an embodiment", "some embodiments", "an example", "a specific example" or "embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0106] Although the embodiments of the present application have been shown and described above, it is understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

[0107] The control method and system for preventing accidental falling of the tool side quick change disc effectively avoid the problem of accidental falling of the tool due to the misoperation of the electromagnetic valve when the quick change disc is used to switch the tool, improve the production safety, and solve the problem of poor reliability of the single electromagnetic valve control quick change disc action.

[0108] In this specification, the present application has been described with reference to its specific embodiments. However, it is obvious that various modifications and changes can be made without departing from the spirit and scope of the present application. Therefore, the specification and drawings should be considered as illustrative rather than limiting.

Claims

1. A control method for preventing an accidental drop of a tool side quick change disc, characterized by, The method comprises the following steps: (1) A mechanical valve and a matched air path detection sensor are arranged at each tool parking station of the robot, which are used to obtain a tool state signal of the robot at each tool parking station; (2) Based on the tool state signals of all the parking stations, logical operation is performed to generate a total permission signal, wherein the total permission signal is in an effective state only when all the tools of the parking stations are determined to be correctly positioned; (3) A control loop receives the total permission signal and a loosening command signal from a robot-side quick-change disc electromagnetic valve; only when the total permission signal is in the effective state and the loosening command signal is simultaneously received, a gas source valve arranged on a quick-change disc total loosening air path is controlled to be opened to allow loosening gas to flow into the quick-change disc; The air path detection sensor comprises a mechanical valve tool-in-position sensor, a mechanical valve tool-under-position sensor and a mechanical valve tool-over-position sensor, and the tool state signal at least comprises an in-position signal, an under-position signal and an over-position signal from each parking station; The total permission signal is generated according to the following logic: For any parking station, the condition for its tool to be judged as correctly positioned is that its in-position signal indicates that the tool has been attached, its under-position signal indicates that no under-position has occurred, and its over-position signal indicates that no over-position has occurred; the total permission signal is the result of a logical AND operation of the single parking station in-position signals of all parking stations, and its judgment logic is OP = Sa · Sb ·... · Sn; S i = F i · i · i = 1, wherein OP is the total permission signal, S i is the single parking station in-position signal, and there are n tool parking stations; F i is the in-position signal of the current i-th parking station, L i is the under-position signal of the current i-th parking station, W i is the over-position signal of the current i-th parking station. Each tool parking station is provided with a mechanical valve with a mechanical coding function, and the mechanical coding is realized by a slot with a depth matched with a mechanical valve trigger block on the tool-side quick-change disc arranged on the upper valve core of the mechanical valve; the slot depths of the mechanical valves of different parking stations are different from each other to ensure that only the correct tool can trigger the correct positioning state of the parking station.

2. A control system for preventing accidental dropping of a tool side quick change disc for implementing the method of claim 1, characterized by, The system comprises: a detection device arranged at each tool parking station, which is used to generate the tool state signal; a logic judgment module, which is used to receive all the tool state signals and output the total permission signal; an air path control module, which is arranged on the total loosening air path of the quick-change disc and is controlled by the total permission signal and the loosening command signal, and is used to open and close the loosening air path of the current system.

3. The control system to prevent accidental dropping of a tool side quick change disc of claim 2, wherein, The detection device comprises: a two-position two-way normally closed mechanical valve, the position of the valve core of which is changed according to whether the corresponding tool is correctly parked; a mechanical valve tool-in-position sensor, which is used to detect whether the bottom surface of the tool is in contact with the surface of the two-position two-way mechanical valve and output a corresponding in-position signal; a mechanical valve tool-under-position sensor, which is used to detect whether the valve core of the two-position two-way normally closed mechanical valve is in an under-position state and output a corresponding under-position signal; a mechanical valve tool-over-position sensor, which is used to detect whether the valve core of the two-position two-way normally closed mechanical valve is in an over-position state and output a corresponding over-position signal.

4. The control system to prevent accidental dropping of a tool side quick change disc of claim 3, wherein, The two-position two-way normally closed mechanical valve comprises: a mechanical valve seat and a mechanical valve base, which form a sealed cavity together; a mechanical valve upper valve core and a mechanical valve lower valve core, which are rigidly connected and can move synchronously along the channel in the mechanical valve seat; a valve core spring, which provides a restoring force for the mechanical valve upper valve core and the mechanical valve lower valve core; wherein the top end of the mechanical valve upper valve core is provided with a slot, which is used to engage with the mechanical valve trigger block fixed on the tool-side quick-change disc.

5. The control system to prevent accidental dropping of a tool side quick change disc of claim 4, wherein, The notch depth of the upper valve core of the mechanical valve is uniquely set for a specific parking station to realize the mechanical coding function of the two-position two-common-closed mechanical valve.

6. The control system to prevent accidental dropping of a tool side quick change disc of claim 4, wherein, The mechanical valve tool under-position sensor and the mechanical valve tool over-position sensor are fixedly installed on the side wall of the mechanical valve valve seat to detect the current position of the lower valve core of the mechanical valve, so as to determine whether the valve core is in a correct position, an under-position or an over-position.

7. The control system to prevent accidental dropping of a tool side quick change disc of claim 2, wherein, The gas path control module is a pneumatic on-off valve, the gas inlet of which is connected to a total loosening gas source, the gas outlet of which is connected to the loosening gas path inlet of the quick-change disc, and the control end of which receives the final execution signal after logical processing of the total permission signal and the loosening command signal.

8. A robotic tool quick change system comprising a robot side quick change plate, a tool side quick change plate, a plurality of tool parking stations, and a pneumatic control system, characterized in that, The pneumatic control system adopts the control system according to any one of claims 2 to 7.

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