CN120363006A

CN120363006A - Machining apparatus, tool recognition method, and readable storage medium

Info

Publication number: CN120363006A
Application number: CN202410466585.XA
Authority: CN
Inventors: 王建军
Original assignee: Makeblock Co Ltd
Current assignee: Makeblock Co Ltd
Priority date: 2024-01-25
Filing date: 2024-04-18
Publication date: 2025-07-25
Also published as: CN222985964U; CN120362974A; CN120363017A; WO2025157052A1; CN118768721A; CN222985967U; CN120362949A; CN222134269U; CN120362981A

Abstract

The application provides processing equipment, a cutter identification method and a readable storage medium, wherein the processing equipment comprises a frame, at least two cutters and a Hall sensor, wherein the frame is provided with a driving mechanism, at least two cutters can be alternatively and directionally connected to the driving mechanism and can be driven to rotate by the driving mechanism, each cutter is provided with at least one magnet, the arrangement modes of the magnets arranged on the at least two cutters on the cutters are different, and the Hall sensor is arranged on the frame and is used for sensing the magnetic field intensity change in the rotation process of the cutters and outputting Hall signals. The method comprises the steps of acquiring Hall signals of a cutter in the rotation process, and acquiring the type of the cutter currently connected according to the Hall signals. The technical scheme of the application can realize automatic and reliable identification of the cutter type and improve the degree of automation of processing equipment.

Description

Machining apparatus, tool recognition method, and readable storage medium

Technical Field

The invention relates to the technical field of machining, in particular to machining equipment, a tool recognition method and a readable storage medium.

Background

With the development of manufacturing industry, processing equipment is widely used in production factories, and different cutters are required to be installed in the processing equipment according to different processing requirements. In the related art, a photoelectric sensor, a Radio Frequency Identification (RFID) technology, a tact switch, or the like may be used to identify the tool.

The identification method has the advantages that the identification speed is low, the accuracy is not high, if the reflection area is dirty, the error identification is caused, the radio frequency identification technology is adopted, the areas of an electronic tag and an identification antenna which are required to be arranged are too large, the signal quality is weakened by metal objects, the size of the cutter is small, the structure is compact, mechanical fatigue exists when the switch is touched for a long time, the switch damage cannot be identified, the service life is short, if the type of the installed cutter is judged to be correct by people, the corresponding processing parameters are set for processing, and the use is inconvenient.

Disclosure of Invention

The main object of the present invention is to provide a machining apparatus, a tool recognition method and a readable storage medium, which aim to realize automatic and reliable recognition of the tool type and to improve the degree of automation of the machining apparatus.

In order to achieve the above object, the present invention provides a processing apparatus comprising:

the rack is provided with a driving mechanism;

at least two cutters, at least two cutters can be alternatively and directionally connected with the driving mechanism and can be driven by the driving mechanism to rotate, each cutter is provided with at least one magnet, the arrangement modes of the magnets arranged on the at least two cutters on the cutters are different, and

The Hall sensor is arranged on the frame and used for sensing the magnetic field intensity change in the rotation process of the cutter and outputting a Hall signal.

In one embodiment of the application, the driving mechanism is provided with a first positioning part, the cutter is provided with a second positioning part, and when the cutter is connected to the driving mechanism, the first positioning part and the second positioning part are matched so as to ensure that the cutter is positioned and connected to the driving mechanism;

and/or the processing equipment further comprises an origin positioning mechanism, wherein the origin positioning mechanism is arranged on the frame and can send out an induction signal when the cutter is driven to rotate to a preset origin position.

The application also provides a tool recognition method applied to the processing equipment in any embodiment, which comprises the following steps:

Driving the cutter to rotate, and collecting Hall signals in the rotation process of the cutter;

And acquiring the type of the currently connected cutter according to the Hall signal.

In an embodiment of the present application, the step of driving the tool to rotate and collecting the hall signal during the rotation of the tool includes:

Driving the cutter to rotate;

And acquiring Hall signals of the cutter in the process of uniform rotation under the condition of confirming the uniform rotation of the cutter.

In an embodiment of the present application, before the step of collecting the hall signal during the uniform rotation of the cutter under the condition of confirming the uniform rotation of the cutter, the method includes:

After the first preset number of turns of the cutter, the cutter is confirmed to start to rotate at a constant speed.

In an embodiment of the present application, in the step of collecting the hall signal during the uniform rotation of the cutter under the condition of confirming the uniform rotation of the cutter, the cutter is rotated at a uniform speed for at least one turn.

In an embodiment of the application, the step of determining the type of currently connected tool from the hall signal comprises:

determining the arrangement mode of the magnets on the cutter according to the Hall signal, wherein the arrangement mode at least comprises the number of the magnets and the arrangement direction of the magnets in the circumferential direction of the cutter;

And acquiring the type of the currently connected cutter according to the determined arrangement mode of the magnets.

In an embodiment of the present application, the step of obtaining the arrangement mode of the magnets on the cutter according to the hall signal includes:

obtaining a magnetic field strength-time curve according to the Hall signal;

And determining the arrangement mode of the magnets on the cutter according to the time of the wave crest and/or the wave trough on the curve.

In an embodiment of the present application, before the step of driving the tool to rotate, the method further includes:

and driving the cutter to rotate to a preset origin position.

The present application also proposes a readable storage medium storing program instructions which, when executed by a processor, implement a tool recognition method as described in any of the previous embodiments.

In addition, the magnet and the rotation center of the cutter are eccentrically arranged, so that when the driving mechanism drives the cutter to rotate, the relative position between the magnet and the Hall sensor changes, the intensity of the magnetic field sensed by the Hall sensor changes, and the Hall sensor outputs a Hall signal. In addition, as the arrangement modes of the magnets on different cutters on the cutters are different, for example, the number of the magnets arranged on the cutters is different, or the arrangement positions of the magnets are different when the cutters are positioned and mounted on the driving mechanism, different Hall signals can be output due to different magnetic field intensity change modes sensed by the Hall sensors when the different cutters are rotated after being mounted on the driving mechanism, and the type of the currently mounted cutter can be correspondingly confirmed according to the Hall signals output by the Hall sensors. That is, the cutter installed on the processing equipment is automatically identified through the mode that the magnetic field intensity is changed by the Hall sensor, the degree of automation of the processing equipment is improved, the detection structure is simple to set, the non-contact detection is adopted, the damage risk of the Hall sensor and the cutter is low, the Hall sensor and the cutter are not easy to interfere, and the system reliability is high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of one embodiment of a processing apparatus of the present application;

FIG. 2 is a block diagram of the tool of the processing apparatus of FIG. 1 shown disengaged from the drive mechanism;

FIG. 3 is a block diagram of the removal tool of the processing apparatus of FIG. 1;

FIG. 4 is a block diagram of another view of the processing apparatus of FIG. 3;

FIG. 5 is a block diagram of one embodiment of a tool in a machining apparatus of the present application;

FIG. 6 is a cross-sectional view of one embodiment of a tool in a machining apparatus of the present application;

FIG. 7 is a cross-sectional view of another embodiment of a tool in a machining apparatus of the present application;

FIG. 8 is a cross-sectional view of yet another embodiment of a tool in a machining apparatus of the present application;

FIG. 9 is a flowchart of a first embodiment of a tool recognition method of the present application;

FIG. 10 is a flowchart of a second embodiment of the tool recognition method of the present application;

FIG. 11 is a flowchart of a third embodiment of a tool recognition method of the present application;

FIG. 12 is a flowchart of a fourth embodiment of a tool recognition method of the present application;

FIG. 13 is a flowchart of a fifth embodiment of a tool recognition method of the present application;

FIG. 14 is a flowchart of a sixth embodiment of a tool recognition method of the present application;

FIG. 15 is a flowchart of a seventh embodiment of a tool recognition method of the present application;

FIG. 16 is a schematic diagram of an embodiment in which the Hall sensor senses the change in magnetic field strength as the tool rotates.

Reference numerals illustrate:

Reference numerals	Name of the name	Reference numerals	Name of the name
				100	Processing equipment	50	Hall sensor
10	Rack	70	Origin positioning mechanism
				11	Driving mechanism	71	Induction structure
111	First positioning part	711	Light emitter
				30	Cutting tool	713	Optical receiver
31	Magnet	73	Light blocking member
				33	Second positioning part	731	Light-passing port

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present invention) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.

In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "fixed," and the like are to be construed broadly, and for example, "fixed" may be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The present invention proposes a processing apparatus 100.

Referring to fig. 1 to 8 in combination, in some embodiments of the present application, the processing apparatus 100 includes:

a frame 10, wherein the frame 10 is provided with a driving mechanism 11;

At least two cutters 30, at least two cutters 30 are alternatively and directionally connected with 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, the arrangement modes of the magnets 31 arranged on the at least two cutters 30 on the cutters 30 are different, and

The Hall sensor 50 is arranged on the frame 10, and is used for sensing the magnetic field intensity change in the rotation process of the cutter 30 and outputting a Hall signal.

In the embodiment of the present application, the processing device 100 may be a device for driving the tool 30 to process a processing material, or may be a tool 30 maintenance device for maintaining and overhauling the tool 30, or may be a storage device for storing the tool 30. And the type of the cutter 30 is identified, so that the machining equipment 100 can be conveniently matched with machining parameters, maintenance programs, storage positions and the like automatically, and the degree of automation is improved.

The frame 10 may be a main structure of the processing apparatus 100, or may be a mounting bracket provided for a processing head in the processing apparatus 100, and functions to mount and support components (such as the driving mechanism 11, the hall sensor 50, etc.). The driving mechanism 11 refers to a mechanism for supplying power to drive the cutter 30 to rotate. The driving mechanism 11 may be a combination of a driving member and a transmission assembly, for example, a motor is set as the driving member, the motor is in transmission fit with at least one transmission assembly of a gear transmission assembly, a belt transmission assembly, a link transmission assembly, etc., and the driving mechanism 11 may also be a combination of only a driving member, for example, the cutter 30 may be directly connected to an output shaft of the motor. The present application is not limited to a specific manner of installing the driving mechanism 11, and may be used to provide power to drive the cutter 30 to rotate. In addition, the driving mechanism 11 may be a translation assembly (may be a combination of a motor and a pulley, or may be a linear module) installed in the processing apparatus 100, so that the driving mechanism 11 is driven by the translation assembly to translate the tool 30 to process at different processing positions.

The driving mechanism 11 is provided with a connecting structure for installing the cutter 30, which may be provided with a mounting hole, a clamping mechanism, a connecting shaft or other implementable structures, the cutter 30 may be installed on the connecting structure, and in the embodiment of the present application, the cutter 30 needs to be installed on the driving mechanism 11 in a positioning manner in a preset direction, a positioning mark may be provided on the cutter 30, the installation direction of the cutter 30 is determined by using the positioning mark, or in the following embodiment, the driving mechanism 11 and the cutter 30 are respectively provided with a first positioning portion 111 and a second positioning portion 33 for foolproof matching installation, so as to improve the installation convenience of the cutter 30.

In the machining apparatus 100, it may be necessary to perform machining with different tools 30 for different machining requirements, and at this time, the tools 30 provided in the machining apparatus 100 may be two, three or more, in which at least two tools 30 are different in type. Specifically, the tool 30 provided in the processing apparatus 100 may be a cutting tool for cutting a workpiece, may further include an indentation tool for indentation a workpiece, or the tool 30 may be a painting brush for drawing a processing indication line or other pattern on a workpiece.

In the embodiment of the present application, at least the magnets 31 are provided on at least two kinds of tools 30 that can be applied to the processing apparatus 100, and the arrangement of the magnets 31 on the at least two kinds of tools 30 is made different. The magnet 31 may be provided on the cutter 30 by at least one of attachment such as insertion, adhesion, binding, and the like, and is not limited thereto. Specifically, the different cutters 30 are all required to be installed on the driving mechanism 11 in a specific angular positioning manner and can be driven by the driving mechanism 11 to rotate, the identifiers set at a certain position in the circumferential direction of rotation are assumed to be arranged on the cutters 30, the identifiers can be virtual, patterns, bulges, pits, other visible structures and the like, and when the cutters 30 are installed on the driving mechanism 11 in a positioning manner and do not rotate, the identifiers of the different cutters 30 are positioned at the same position in the driving mechanism 11. Based on the marks, the arrangement of the magnets 31 on at least two kinds of tools 30 provided in the processing apparatus 100 with respect to the marks on the tools 30 is different, for example, referring to fig. 6 to 8, it is assumed that the magnets 31 on one of the tools 30 and the marks on the tool 30 are offset 45 ° from each other around the rotation axis of the tool 30, the magnets 31 on the other tool 30 and the marks on the tool 30 are offset 60 ° from each other around the rotation axis of the tool 30, two magnets 31 may be provided on one tool 30, the two magnets 31 are symmetrically arranged around the rotation axis of the tool 30, three magnets 31 are provided on the other tool 30 at equal intervals in the rotation circumferential direction of the tool 30, and the arrangement of the magnets 31 on the tool 30 is not particularly limited herein. When the different cutters 30 are positioned and mounted on the driving mechanism 11, the relative positions of the magnet 31 on the cutter 30 and the hall sensor 50 arranged on the frame 10 are also different, and when the driving mechanism 11 drives the cutters 30 to rotate, the magnetic field intensity sensed by the hall sensor 50 is also changed, and the magnetic field change modes sensed by the hall sensor 50 are also different when the different cutters 30 rotate, for example, when the distance between the magnet 31 on the cutter 30 and the hall sensor 50 is different at the same rotation speed, the time and the change value of the magnetic field sensed by the hall sensor 50 to gradually increase to the maximum magnetic field intensity or decrease to the minimum magnetic field intensity are also different, so that the hall sensor 50 can output different hall signals according to the sensed different magnetic field intensity change modes, and the processing equipment 100 can automatically identify the type of the currently mounted cutter 30 directly according to the hall signals output by the hall sensor 50. And the Hall sensor 50 is adopted to sense the magnetic field change to be non-contact detection, the cutter 30 and the Hall sensor 50 are not in direct contact, the damage risk of the Hall sensor 50 and the cutter 30 is low, and the system reliability is high.

In the embodiment of the present application, one of the various tools 30 provided in the machining apparatus 100 may be provided with no magnet 31, so that the hall sensor 50 does not sense a magnetic field and is also different from the recognition states of the other tools 30, and in this case, when the tool 30 is confirmed to be mounted and the hall sensor 50 does not detect a magnetic field, the type of the currently mounted tool 30 may be confirmed.

It can be understood that, in the technical solution of the present application, after the cutter 30 is mounted on the driving mechanism 11 of the processing apparatus 100, since the magnet 31 is disposed on the cutter 30, the hall sensor 50 on the frame 10 senses the magnetic field, and in addition, the magnet 31 is eccentrically disposed with respect to the rotation center of the cutter 30, so that when the driving mechanism 11 drives the cutter 30 to rotate, the relative position between the magnet 31 and the hall sensor 50 is changed, thereby causing the intensity of the magnetic field sensed by the hall sensor 50 to be changed, so that the hall sensor 50 outputs the hall signal. Moreover, because the arrangement modes of the magnets 31 on the different cutters 30 on the cutters 30 are different, for example, the number of the magnets 31 circumferentially arranged on the magnets 31 is different, or the arrangement positions of the magnets 31 are different when the cutters 30 are positioned and mounted on the driving mechanism 11, the different cutters 30 are mounted on the driving mechanism 11, and then the different hall signals can be output due to different magnetic field intensity change modes sensed by the hall sensor 50 when the different cutters are rotated, and the type of the currently mounted cutter 30 can be correspondingly confirmed according to the hall signals output by the hall sensor 50. That is, the cutter 30 mounted on the processing apparatus 100 is automatically identified by the manner of sensing the magnetic field intensity change by the hall sensor 50, so that the automation degree of the processing apparatus 100 is improved, the detection structure is simple, the risk of damage of the hall sensor 50 and the cutter 30 is low by adopting non-contact detection, the interference is not easy, and the system reliability is high.

Referring to fig. 2 and 5, in some embodiments of the present application, the driving mechanism 11 is provided with a first positioning portion 111, the cutter 30 is provided with a second positioning portion 33, and when the cutter 30 is connected to the driving mechanism 11, the first positioning portion 111 and the second positioning portion 33 cooperate to enable the cutter 30 to be positioned and connected to the driving mechanism 11.

In the present embodiment, the first positioning portion 111 and the second positioning portion 33 may be provided by, but not limited to, the following examples. The positioning hole may be formed in the side surface of the cutter 30, the positioning portion may be set to be convex in the substantially horizontal direction on the driving mechanism 11, and the cutter 30 may be fitted over the positioning portion through the positioning hole, or the positioning hole may be formed in the driving mechanism 11, and the positioning portion may be set to be convex in the side surface of the cutter 30. In some embodiments, a mounting hole may be further formed in the driving mechanism 11, a mounting portion matching the contour of the mounting hole is formed at an end of the cutter 30 facing away from the cutter head, the mounting hole may be a non-circular hole, for example, an irregular hole, or the contour of the mounting hole may include an arc section and a straight line section connected to each other, at this time, the mounting portion of the cutter 30 may only be inserted into the mounting hole in a unique direction, and of course, the mounting hole may also be a square hole, a rectangular hole or other polygonal holes, and the cutter 30 may be accurately positioned and mounted in the driving mechanism 11 only by simply distinguishing the direction. Likewise, a mounting hole may be provided at an end of the cutter 30 facing away from the cutter head, and a connection shaft may be provided at the driving mechanism 11, which will not be described herein.

So that the cutter 30 can be mounted in a foolproof fit by the fit between the second positioning portion 33 and the first positioning portion 111 on the driving mechanism 11, so that the cutter 30 is mounted on the driving mechanism 11 in an accurate angle, and the mounting convenience of the cutter 30 is improved.

Referring to fig. 1 and 3, in some embodiments of the present application, the processing apparatus 100 further includes an origin positioning mechanism 70, wherein the origin positioning mechanism 70 is disposed on the frame 10 and can send out a sensing signal when the tool 30 is driven to rotate to a preset origin position.

In the present embodiment, the origin positioning mechanism 70 may detect whether the cutter 30 is reset to a preset origin position. It can be appreciated that in the embodiment of the present application, the hall sensor 50 can sense the magnetic field change and output the hall signal by driving the cutter 30 to rotate, wherein different hall signals can be collected to identify the type of the cutter 30 according to different arrangements of the magnets 31 on different cutters 30. The cutter 30 needs to be reset before being driven to rotate so that the hall sensor 50 senses the magnetic field intensity, so that different cutters 30 start to rotate in a preset uniform direction, as described above, the cutter 30 is provided with a mark set at a certain position in the circumferential direction of rotation, and the mark can be virtual, a pattern, a solid structure and the like, while the cutter 30 resets before being rotated, that is, the marks of different cutters 30 are all at the same position before being rotated, the variables are reduced, so that the hall sensor 50 accurately senses the change of the magnetic field intensity when the cutter 30 rotates, and different hall signals are output according to the different cutters 30, so that the type of the cutter 30 can be accurately distinguished by analyzing and calculating the hall signals, confusion is reduced, the identification accuracy of the cutter 30 is improved, and the signal analysis difficulty is reduced.

The origin positioning mechanism 70 may include a light emitter 711, a light receiver 713, and a light blocking member 73 as described below. Of course, the origin positioning mechanism 70 may be a touch switch, and the position of the origin positioning mechanism 70 is not limited in the present application. In addition, after each time the cutter 30 is mounted, the driving mechanism 11 may be controlled to drive the cutter 30 to rotate and reset to the origin position, and when the origin positioning mechanism 70 sends out the sensing signal, it may be confirmed that the cutter 30 has rotated to the preset origin position, so that each cutter 30 is at the same initial position to detect the type of the cutter 30.

Referring to fig. 1 and 3, in some embodiments of the present application, the origin positioning mechanism 70 includes a sensing structure 71 and a light blocking member 73, the sensing structure 71 includes a light emitter 711 and a light receiver 713, the light emitter 711 and the light receiver 713 are disposed opposite to each other, the light blocking member 73 is connected to the cutter 30 or a connection structure for fixing the cutter 30 and can rotate synchronously with the cutter 30, when the cutter 30 rotates to the origin position, the light blocking member 73 can conduct or block the light path between the light emitter 711 and the light receiver 713, so that the light blocking member 73 conducts or blocks the light path between the light emitter 711 and the light receiver 713 to trigger the sensing structure 71 to enable the sensing structure 71 to send a signal for resetting the cutter 30 to the origin position, thereby realizing non-contact detection for resetting the cutter 30 to the origin position, and reducing the influence on the cutter 30. The light blocking member 73 may be a disc-shaped structure as described below, and is provided with a light passing hole 731 at the periphery to conduct the light path between the light emitter 711 and the light receiver 713 through the light passing hole 731, so as to trigger the sensing structure 71 to enable the sensing structure 71 to send out an in-place signal for resetting the cutter 30 to the original position. Of course, the light blocking member 73 may also be a strip structure, so as to trigger the sensing structure 71 to send out a signal that the cutter 30 is reset to the original position by blocking the light path between the light emitter 711 and the light receiver 713.

Referring to fig. 1 and 3, in some embodiments of the present application, the light blocking member 73 has a disc-shaped structure, and a light passing opening 731 is formed at an edge of the light blocking member 73, and 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, so as to conduct a light path between the light emitter 711 and the light receiver 713.

In this embodiment, the light blocking member 73 is configured as a disc-shaped structure, so that the shape of the light blocking member is regular, and the light blocking member is convenient to mold. Meanwhile, on the other hand, the stress of the cutter 30 and the light blocking member 73 can be balanced, so that the stability of the cutter 30 driving the light blocking member 73 to rotate is improved. The light blocking member 73 may be fitted over the cutter 30, or may be fitted to a connection structure provided in the driving mechanism 11 for fixing the cutter 30.

Referring to fig. 9, based on the hardware architecture of any of the foregoing embodiments, the present application further provides a tool recognition method, where the tool recognition method includes the following steps:

Step S10, driving the cutter 30 to rotate, and collecting Hall signals in the rotation process of the cutter 30;

and step S20, acquiring the type of the currently connected cutter 30 according to the Hall signal.

The tool recognition method provided in the embodiment of the present application may be applied to the processing apparatus 100 provided in any of the foregoing embodiments, and the specific structure of the processing apparatus 100 refers to the foregoing embodiments and is not described herein.

When the type of the cutter 30 needs to be identified, the cutter 30 can be driven to rotate by a driving mechanism 11 arranged on the processing equipment 100, the cutter 30 can be rotated for a preset number of turns and/or a preset duration, and the hall sensor 50 senses the magnetic field intensity change in the rotation process of the cutter 30 so as to output hall signals. The hall signal may be a signal directly outputting the sensed magnetic field strength, or may be a voltage signal generated by sensing the change of the magnetic field strength by the hall sensor 50.

It will be appreciated that when different cutters 30 are positioned and mounted on the driving mechanism 11, the relative positions of the magnet 31 on the cutter 30 and the hall sensor 50 disposed on the frame 10 are also different, and when the driving mechanism 11 drives the cutter 30 to rotate, the magnetic field change modes sensed by the hall sensor 50 are also different when the different cutters 30 rotate, for example, if the distances between the magnet 31 on the cutter 30 and the hall sensor 50 are far and near different, the time and change values of the hall sensor 50 for sensing the magnetic field gradually increasing to the maximum magnetic field intensity or decreasing to the minimum magnetic field intensity are also different, if the number of the magnets 31 disposed on the cutter 30 is different, the number of times of sensing the maximum magnetic field intensity by the hall sensor 50 is also different when the cutter 30 rotates the same number of times, and the time interval for sensing the maximum magnetic field intensity twice is also different, in some embodiments, the hall sensor 50 can sense the maximum magnetic field intensity and the minimum magnetic field intensity of the different cutters 30 are also different, so that the hall sensor 50 can output the current hall signal according to the sensed different hall intensity change modes, and the current type of the cutter 30 can be identified.

In this embodiment, the driving mechanism 11 may drive the cutter 30 to rotate, or may rotate less than one turn, or may rotate one or more turns, which may be set according to the arrangement mode of the magnet 31 on the actual cutter 30, the type of the cutter 30 to be identified, and the like. In addition, in the process of outputting the hall signal by the hall sensor 50 sensing the change of the magnetic field intensity, the driving mechanism 11 may drive the cutter 30 to rotate at a constant speed, or may drive the cutter 30 to rotate at a non-constant speed, which is not limited herein. The driving mechanism 11 can adopt the same rotation mode when driving different cutters 30 to rotate, and can also adopt different rotation modes, in a preferred embodiment, different cutters 30 are rotated in the same rotation mode, so that variables affecting hall signals can be reduced, and the difficulty in analyzing and calculating the hall signals can be reduced, so that the types of the cutters 30 can be distinguished through the hall signals more quickly and simply.

Referring to fig. 10, in some embodiments of the present application, the step of driving the tool 30 to rotate and collecting the hall signal during the rotation of the tool 30 includes:

Step S11, driving the cutter 30 to rotate;

Step S13, collecting Hall signals of the cutter 30 in the uniform rotation process under the condition of confirming the uniform rotation of the cutter 30.

In this embodiment, the hall signal output by the hall sensor 50 is analyzed and calculated after the cutter 30 rotates at a constant speed, and it can be understood that if the cutter 30 rotates at a non-constant speed, the rotation speed and rotation angle of the cutter 30 are difficult to control, and the relationship between the rotation angle of the cutter 30 and the change of the magnetic field intensity is difficult to accurately reflect at this time because the speed of the cutter 30 is always changed, so that the difficulty in analyzing the type of the cutter 30 is increased, the reliability and the universality are easily reduced, and the recognition time is increased. The cutter 30 is controlled to rotate at a constant speed, then, the Hall signal of the cutter 30 in the process of rotating at a constant speed is collected, at this time, the time spent by the cutter 30 rotating at the same angle is consistent, when the cutter 30 is driven to rotate at a preset angle, the overall trend of the magnetic field change intensity sensed by the Hall sensor 50 along with the time and the change of the rotation angle of the cutter 30 can be known, and the type of the cutter 30 corresponding to the Hall signal is clearly fed back.

Referring to fig. 11, in some embodiments of the present application, the step of collecting the hall signal of the constant rotation process of the cutter 30 under the condition of confirming the constant rotation of the cutter 30 includes:

In step S12, after the cutter 30 rotates a first preset number of turns, it is confirmed that the cutter 30 starts to rotate at a constant speed.

It will be appreciated that the drive mechanism 11 typically drives the tool 30 in a constant speed, and that during the initial period of rotation of the tool 30, the tool 30 may need to be accelerated to rotate in a non-constant speed. In this embodiment, the number of turns of the cutter 30 after the cutter 30 is driven to rotate by the driving mechanism 11 can be predetermined to be used as the first preset number of turns according to the test means, experience, performance parameters of the driving mechanism 11, etc., and the determination method is more convenient and simpler than the method of directly monitoring the rotation speed of the cutter 30. The type of the cutter 30 can be distinguished according to the hall signal collected after the cutter 30 rotates at a constant speed, and it should be noted that the hall signal collected after the cutter 30 rotates at a constant speed is used for distinguishing the type of the cutter 30, or the hall signal after the cutter 30 rotates a first preset number of turns, or the hall signal after a period of time after the cutter 30 rotates a first preset number of turns, for example, if the cutter 30 enters a constant speed rotation stage after rotating 0.5 turn according to test means, experience, performance parameters of the driving mechanism 11, and the like, the hall signal after collecting one turn or other turns of the cutter 30 returns to the original position is used for distinguishing the type of the cutter 30, or the hall signal after directly collecting 0.5 turn of the cutter 30 is used for distinguishing the type of the cutter 30, which is not limited herein.

In addition, during a braking period when the cutter 30 is about to stop rotating, the cutter 30 needs to be decelerated to perform non-uniform rotation. If the type of the cutter 30 is directly identified by adopting the hall signals collected in the process of rotating at a constant speed to completely stop, the hall signals in the braking time period also easily cause interference to the cutter 30 type identification process. In this embodiment, the number of turns required for the cutter 30 to decelerate from the constant rotation stage until completely stopping can be predetermined according to the test means, experience, performance parameters of the driving mechanism 11, etc., and written into the control program as the second preset number of turns, then when the hall signal is analyzed, the hall signal collected in the last turn may not be analyzed, or the hall signal of the turn may not be directly collected, so that interference in analyzing the hall signal is reduced, and speed, reliability and accuracy of type identification of the cutter 30 are improved.

In some embodiments of the present application, in the step of collecting the hall signal during the uniform rotation of the cutter 30 under the condition of confirming the uniform rotation of the cutter 30, the cutter 30 is rotated at least one turn at a uniform speed.

In this embodiment, the cutter 30 is rotated at least once at a constant speed, which may be 1.5, two, three or more. By the arrangement, the Hall sensor 50 can change the magnetic field intensity in the whole period when the cutter 30 rotates for one circle, so that the distribution information of all the magnets 31 arranged in the rotation circumference of the cutter 30 is obtained, and the accuracy and the reliability of the type identification of the cutter 30 are improved.

For example, if it is confirmed in advance that the driving mechanism 11 rotates the cutter 30 by no more than 1 turn until the cutter 30 is rotated at a constant speed, the driving mechanism 11 brakes the cutter 30 from the constant speed to completely stop the rotation by approximately 0.5 turn, at this time, it may be preset that the driving mechanism 11 rotates the cutter 30 by 2.5 turns, and only the hall signal of the cutter 30 during the 2 nd turn is collected, so that the type of the mounted cutter 30 can be accurately, reliably and quickly identified according to the hall signal.

Referring to fig. 12, in some embodiments of the present application, the determining the type of the currently connected tool 30 according to the hall signal includes:

step S21, determining the arrangement mode of the magnets 31 on the cutter 30 according to the Hall signals, wherein the arrangement mode at least comprises the number of the magnets 31 and the arrangement direction of the magnets 31 in the circumferential direction of the cutter 30;

step S22, the type of the currently connected tool 30 is acquired according to the determined arrangement of the magnets 31.

It can be appreciated that in the embodiment of the present application, the arrangement of the magnets 31 on different tools 30 is different, so that the hall sensor 50 can sense different magnetic field intensity variation modes by driving the tools 30 to rotate to output hall signals, so as to identify the type of the currently installed tools 30 on the processing apparatus 100. For example, if the distance between magnet 31 on tool 30 and hall sensor 50 is different, hall sensor 50 senses that the time and the change in magnetic field gradually increases to the maximum magnetic field strength or decreases to the minimum magnetic field strength are also different. In this way, according to the rotation speed of the cutter 30 and the time when the hall sensor 50 senses the maximum magnetic field intensity, the rotation angle of the magnet 31 relative to the initial position can be confirmed, so that the installation position of the magnet 31 in the circumferential direction of the cutter 30 can be known, if at least two magnets 31 are arranged in the circumferential direction of the cutter 30, according to the time interval when the maximum magnetic field intensity is sensed twice and the rotation speed of the cutter 30, the installation interval between the two magnets 31 on the cutter 30 can be confirmed, so that the arrangement mode of the magnets 31 on the cutter 30 can be confirmed, and then the type of the installed cutter 30 can be confirmed according to the arrangement mode of the magnets 31.

Referring to fig. 13, in some embodiments of the present application, the step of obtaining the arrangement of the magnets 31 on the cutter 30 according to the hall signal includes:

Step S211, a magnetic field intensity-time curve is obtained according to the Hall signal;

step S212, determining the arrangement mode of the magnets 31 on the cutter 30 according to the time of the wave crest and/or the wave trough on the curve.

In this embodiment, a magnetic field strength-time relationship can be established from the acquired hall signal, and then the type of tool 30 can be identified by analyzing the relationship. As shown in FIG. 16, a curve is shown by taking a cutter 30 as an example, wherein a-d indicates that the cutter 30 is driven to rotate one turn, the cutter 30 starts to rotate from the point a, the magnet 31 on the cutter 30 gradually approaches the Hall sensor 50, the magnetic field strength sensed by the Hall sensor 50 gradually increases until the magnetic field strength reaches a peak value when the magnet 31 is closest to the Hall sensor 50 in the section a-b, the cutter 30 continues to rotate, the magnet 31 gradually moves away from the Hall sensor 50 in the section b-c, at this time, the magnetic field strength sensed by the Hall sensor 50 gradually decreases until the magnetic field strength reaches the valley value when the magnet 31 is furthest from the Hall sensor 50, the cutter 30 continues to rotate, and the magnet 31 gradually approaches the Hall sensor 50 again in the section c-d until the cutter 30 rotates one circle and the magnet 31 returns to the original position. It will be appreciated that the change in magnetic field intensity sensed by the hall sensor 50 is more clearly reflected in accordance with the curve pattern, which is advantageous for faster analysis of the arrangement of the magnets 31 on the cutter 30, and for improving the speed and accuracy of the recognition of the cutter 30.

It can be understood that in this embodiment, the arrangement position of the magnet 31 on the cutter 30 can be determined by the curve peak value and the corresponding time point value, the peak value corresponds to the closest distance between the magnet 31 and the hall sensor 50, and the position of the magnet 31 on the cutter 30 can be obtained by combining the arrangement position of the hall sensor 50 on the frame 10 and the relative position of the cutter 30 and the hall sensor 50.

Of course, the arrangement position of magnet 31 on cutter 30 may be determined by using the curve trough value and the corresponding time point value, the trough value corresponds to the furthest distance between magnet 31 and hall sensor 50, and the position of magnet 31 on cutter 30 may be converted by combining the arrangement position of hall sensor 50 on frame 10 and the relative positions of cutter 30 and hall sensor 50.

Referring to fig. 14 and 15, in some embodiments of the present application, before the step of driving the cutter 30 to rotate, the method further includes:

in step S01, the tool 30 is driven to rotate to the preset origin position.

In the embodiment of the application, the hall sensor 50 can sense the magnetic field change and output hall signals by driving the cutter 30 to rotate, wherein different hall signals can be acquired according to different arrangement modes of the magnets 31 on different cutters 30 to identify the types of the cutters 30. In this embodiment, the cutter 30 is reset before being driven to rotate to make the hall sensor 50 sense the magnetic field intensity, so as to ensure that different cutters 30 start rotating in a preset uniform direction, as described above, it is assumed that a mark set at a certain position in the rotation circumferential direction is provided on the cutter 30, and the mark can be virtual, also can be a pattern, a solid structure, etc., while the cutter 30 is reset before being rotated, that is, the marks of different cutters 30 are all at the same position before being rotated, so as to reduce variables, accurately sense the change of the magnetic field intensity when the cutter 30 rotates by the hall sensor 50, and output different hall signals according to the different cutters 30, so as to accurately distinguish the cutter 30 type by analyzing and calculating the hall signals, reduce confusion, improve the identification accuracy of the cutter 30, and reduce the difficulty of signal analysis.

In which the origin positioning mechanism 70 may be provided in the processing apparatus 100 as in the foregoing embodiment to detect whether the tool 30 has been rotationally reset to a preset origin position.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a readable storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above for enabling a terminal device to perform the tool recognition method according to the embodiments of the present application.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A processing apparatus, comprising:

the rack is provided with a driving mechanism;

2. The processing apparatus according to claim 1, wherein the driving mechanism is provided with a first positioning portion, and the tool is provided with a second positioning portion, and wherein when the tool is connected to the driving mechanism, the first positioning portion and the second positioning portion cooperate to position and connect the tool to the driving mechanism;

3. A tool recognition method applied to the processing apparatus according to claim 1 or 2, characterized in that the tool recognition method comprises the steps of:

4. The method of claim 3, wherein the step of driving the tool to rotate and collecting hall signals during the rotation of the tool comprises:

Driving the cutter to rotate;

5. The method of identifying a tool as claimed in claim 4, wherein the step of collecting hall signals of the process of rotating the tool at a constant speed under the condition of confirming the rotation of the tool at the constant speed comprises:

6. The method of claim 4, wherein in the step of collecting hall signals during the uniform rotation of the tool under the condition of confirming the uniform rotation of the tool, the tool is rotated at a uniform speed for at least one turn.

7. A tool recognition method according to claim 3, wherein the step of determining the type of currently connected tool from the hall signal comprises:

8. The method of claim 7, wherein the step of obtaining the arrangement of the magnets on the tool based on the hall signal comprises:

obtaining a magnetic field strength-time curve according to the Hall signal;

9. The method of identifying a tool as claimed in any one of claims 3 to 8, further comprising, prior to the step of urging the tool to rotate:

and driving the cutter to rotate to a preset origin position.

10. A readable storage medium, characterized in that the readable storage medium stores program instructions, which when executed by a processor, implement the tool recognition method according to any one of claims 3 to 9.