CN105631424B - Workpiece identification method - Google Patents

Abstract

The invention discloses a kind of workpiece identification methods, choose the primitive character point of the workpiece profile shape of predetermined quantity, and the relation table for generating workpiece and primitive character point deposits in database；It is adapted to a workpiece sensing device, the tool heads of the workpiece sensing device have flexible and rotation freedom degree, and configured with the device to tool heads rotation and flexible detection, while the workpiece sensing device has the shank of tool and is configured at tool magazine；When replacing workpiece, the workpiece sensing device is called to detect the profile of the workpiece, the rotation of extracting tool head and flexible variation generate workpiece features point；Workpiece features point generated and primitive character point are matched, determines workpiece.Workpiece type according to the present invention determines accuracy rate height.

Description

Workpiece identification method

Technical field

The present invention relates to it is a kind of processed for such as machining center when detect workpiece type workpiece identification method.

Background technique

With the development of NC technology application, the degree of automation of machining is higher and higher, especially unmanned workshop, number Word workshop, if replacement workpiece kind, specification, it is desired nonetheless to artificial to carry out processing program transformation, debugging.Not only increase people Work labour, and reduce the efficiency of automatic assembly line.

In some implementations, such as Chinese patent literature CN104778439A discloses a kind of ultrasound inspection based on two dimensional code Clamp types recognition methods is surveyed, will be used to identify that the two-dimensional barcode information of workpiece type is stored into scheduled server in advance, And corresponding two-dimension code label is attached on workpiece, by scanning workpiece on two-dimension code label, and with prestoring in server Information comparison obtains workpiece information.But due to workpiece surface, the especially surface towards two-dimensional code reader may not have properly Two dimensional code post position, the use of this method made is by bigger limitation.

In some implementations, the determination of workpiece type is realized based on robotic vision detection method, this method is based on view The image processing algorithm of frequency stream, obtains position and the posture of the workpiece detected in video.Nominally this method is feasible, but real Since image processing algorithm first has to extract workpiece from video flowing in matter, it is partitioned into accurate workpiece boundary, then carries out side The determination of boundary's parameter matches workpiece type by boundary parameter again.Due to the workpiece of workpiece, such as metal material, background is basic On be also all such as machining center equipment profile, differ smaller in material color, it is easy to cause workpiece and background can not area The case where dividing occurs, and existing visible detection method is often unable to satisfy the accurate extraction of workpiece profile.

In some implementations, it by the way of presetting identification card on workpiece, is identified so as to be read by card reader Information on card, and determine workpiece type.However, for machining, identification card and workpiece are matched one by one have it is bigger Investment, also, the presence of identification card will affect being normally carried out for processing, if the identification card identification after special setting identification workpiece Recyclable device is then needed to be transformed machining center, be lost more than gain.

Summary of the invention

It is an object of the invention to propose a kind of workpiece identification method, can provide through straight line caused by contact workpiece Displacement and angular displacement determine workpiece type, and accuracy rate is high.

The invention adopts the following technical scheme:

A kind of workpiece identification method chooses the primitive character point of the workpiece profile shape of predetermined quantity, generates workpiece and original The relation table of beginning characteristic point deposits in database；

It is adapted to a workpiece sensing device, the tool heads of the workpiece sensing device have flexible and rotation freedom degree, and are configured with To the device of tool heads rotation and flexible detection, while the workpiece sensing device has the shank of tool and is configured at tool magazine；

When replacing workpiece, the workpiece sensing device is called to detect the profile of the workpiece, extracting tool head Rotation and flexible variation generate workpiece features point；

Workpiece features point generated and primitive character point are matched, determines workpiece.

Above-mentioned workpiece identification method, optionally, primitive character point are obtained by the workpiece sensing device: clamping is to be obtained After workpiece, workpiece sensing device is called to scan workpiece according to scheduled profile scan path, obtains tool heads during the scanning process Several rotations and flexible variation.

Optionally, stage of the workpiece sensing device when detecting workpiece is linear movement.

Optionally, workpiece sensing device is slowed down based on colliding with the first time of workpiece, and the point for generating collision for the first time is institute State the starting point of linear movement, as the first coding site.

Optionally, it is selected as the second coding site in an intermediate point of linear movement, the end of linear movement is selected as Third coding site；

When workpiece sensing device moves to the second coding site from the first coding site, record current tool heads rotation and Stroke obtains first characteristic point；The direction of motion of sequentially linear conversion movement obtains multiple characteristic points；

If workpiece sensing device crosses the second coding site and reaches third coding site during acquisition characteristics point When, then it return back to the acquisition that the second coding site carries out the characteristic point of subsequent predetermined quantity.

Optionally, the rotational freedom of the workpiece sensing device is assemblied in the reality of the swing component on the shank of tool by spherical hinge Existing, one end opposite with spherical hinge is provided with receiving hole on swing component, forms flexible freedom degree for guiding a feeler lever.

Optionally, it is equipped with black and white strip on swing component and feeler lever, forms striped coding, passes through the identification of photoelectric sensor Head identifies that striped coding therethrough generates detection signal；

Wherein, it is formed with the evenly spaced ring-shaped stripe to accommodate axially bored line as axis on swing component, and feeler lever direction The side of corresponding identification head is formed with the bar shaped striped along the distribution of feeler lever extending direction.

Optionally, the communication of workpiece sensing device mode and applied digital control system by wireless communication.

Optionally, the communication of workpiece sensing device and digital control system is based on wireless answering signal and connects；

A switch with normally opened contact is equipped on the shank of tool, when the main shaft of digital control system grabs the shank of tool, often Contact closure is opened, corresponding answer signal is triggered.

Optionally, wireless answering determines workpiece sensing device based on matched marriage algorithm.

According to the present invention, a kind of workpiece identification method based on workpiece sensing device is provided, the cutter in tool magazine is adapted to, And can be used as the cutter in tool magazine, using the inconsistent feature of the appearance profile of different workpieces, i.e. workpiece is advised Lattice and shape all have its specificity, and referred to as workpiece features point works as workpiece sensing different from the optical scanner of background technology part Device can be taken as cutter in use, perception therein part can be used as cutterhead, and realizes Mechanical Contact, samples it because connecing Workpiece gabarit and the straight-line displacement occurred and corner are touched, the characteristic point of workpiece configurations can be extracted.In contrast, it is connect by machinery The extraction of realized workpiece configurations feature is touched, strong antijamming capability, accuracy rate is high, and workpiece sensing device makes as cutter With very easy to use.

Detailed description of the invention

Fig. 1 is a kind of mechanics structural schematic diagram of workpiece sensing device according to the present invention.

Fig. 2 is straight-line code structure configuration schematic diagram.

Fig. 3 is to swing coding structure configuration schematic diagram.

Fig. 4 is the electrical schematic diagram of workpiece sensing system according to the present invention.

Fig. 5 is workpiece identification flow chart.

1. feeler lever, 2. strip encodings, 3. receiving holes, 4. multi-directional ball axis, 5. spherical hinges, 6. shank of tools, 7. shells, 8. swing Photoelectric sensor, 9. strip encodings, 10. springs, 11. attachment bases, 12. straight-line displacement encoders, 13. probes, the identification of 14. photoelectricity Head, 15. photoelectricity identify head.

Specific embodiment

With the development of technology, tool magazine system is more and more applied in automatic processing technology, it is intended that logical It crosses and cutter required for work pieces process is stored in tool magazine, and associated cutter is called to complete to add according to a pre-set procedure Work.

Wherein, tool magazine is mainly to provide storage cutter position, and can be correct that cutter is selected to be positioned according to the control of formula, with Carry out Tool changeover；Cutter-exchange mechanism is then the movement for executing Tool changeover.Tool magazine must be existed simultaneously with cutter-exchange mechanism, if without knife Cutter needed for library then processes can not pre-position；If cutter needed for processing can not sequentially be replaced from tool magazine without cutter-exchange mechanism, and Lose the purpose for reducing the non-cutting time.Both this above complements each other indispensable in function and utilization.

It needs to be equipped with a set of processing program for it generally, for different workpiece, such as machining center, when workpiece is true Periodically, processing of the relative program completion to the workpiece can be called directly, tool changing number can be needed in whole process It is secondary, it is even more.

Tool changing is the necessary program of the processing technology based on tool magazine system, thus, when the workpiece sensing device in the present invention Come the used time as cutter, realizes there can't be difficulty.At this point, using workpiece sensing device as dummy tool, it can be empty for it If a set of processing program, that is, it is allowed to do primary empty processing to workpiece, due to fabricating for cutterhead such as swing component, feeler lever, It not being rigid cutterhead, thus, when the blocking by workpiece profile, workpiece profile will not be cut as universal cutter Fall, but shift in position occurs, shows as straight-line displacement and angular displacement.

As long as it follows that can accurately know the straight-line displacement and angular displacement, it will be able to according to predetermined Workpiece configurations parameter, the specifically resemblance of workpiece, to determine workpiece type.

Thus, workpiece configurations parameter is deposited in advance in database, when replacing workpiece, is acquired by workpiece sensing device To after workpiece configurations parameter, for the formal parameter in matching database, corresponding workpiece type can be matched.

Also, for process equipment as such as machining center, it is different from batch machining, probability existing for similar work piece It is smaller, then not needing too much, often only to need several workpiece parameters can for the matching of workpiece configurations number of parameters Distinguish different workpiece.

In addition, workpiece configurations parameter is not necessarily determining chamfered shape, but stretching for such as feeler lever can be directly translated into Contracting amount (straight-line displacement)+other two corner component (two angular displacement components of swing) constitutes a three-dimensional array, thus Excessive calculating need not be carried out, only the matching between array.Stroke and both the rotation of corner component, that is, tool heads and Flexible variation, changes and is displaced.

Referring to Figure of description 1, visible a kind of workpiece sensing device in figure, matrix is the knife being consistent be adapted to tool magazine Have handle 6, that is, which type of tool magazine be applied to, what kind of shank of tool 6 be just adapted to, the matrix of dummy tool is constituted.

Here is the part about dummy tool head, it should be understood that cutterhead is mounted in the tool heads on the shank of tool 6, Cutter can thus be used as one in tool magazine with the shank of tool 6.

On the one hand, in order to avoid damage caused by rigid shock, cutterhead part should avoid generating cutter to workpiece Rigid shock；On the other hand, the contact due to cutterhead with workpiece, the generated reaction to cutterhead of interference, makes knife Have head and generate shift in position, is i.e. generation straight-line displacement or angular displacement.

Wherein, it under this technical conditions, about angular displacement, does not need to generate turnover, but only generates to swing and fit The angular displacement matched.

For this purpose, a swing component is arranged on the shank of tool 6, as shown in Figure 1, the first strip encoding is arranged on its surface, that is, compile Code-bar line 9.The swing component, multi-directional ball axis 4 as shown in Figure 1, one end are installed in the shank of tool 6 by spherical hinge 5 Head end, the other end are provided with a receiving hole 3.

It should be appreciated that for cutter, one end where tool apron or the shank of tool is commonly referred to as tail end, and cutterhead institute One end be head end, as reference, about spherical hinge 5 the head end of the shank of tool 6 can be by accurate understanding.

In Fig. 1, swing component is configured to a multi-directional ball axis 4, belongs to spherical structure, however, by 5 assembling structure of spherical hinge Constraint, swing component even constitute spherical shape, still are able to distinguish one end and the other end.

According to rational mechanics and the theory of spatial degrees of freedom constraint it is found that spherical hinge 5 loses three mobile freedom degrees, And the freedom degree rotated there are three gathering around, wherein the rotational freedom in horizontal plane in the freedom degrees of three rotations is no valence Value, the rotational freedom in two orthogonal vertical planes is to need to be collected, to adapt to two angular displacements.To, when When swing component is swung based on spherical hinge 5, with two angular displacement components in space.

In Fig. 1, expression be shank of tool axis vertical state, referred to as original state, the multi-directional ball constrained by spherical hinge 5 The vertical axis of axis 4 is basic axis, and the vertical rotational freedom of the basis axis is redundant degree of freedom.With this condition, Strip encoding 9 forms ring-shaped stripe on multi-directional ball axis 4, and annular axis is the basic axis.In other words, basic axis or Person says that the axis of receiving hole 3 above-mentioned is vertical with strip encoding 9.

When multi-directional ball axis 4 is rotated around basic axis (in practical application, which can not substantially occur), axis position Any variation does not occur in terms of the identification of photoelectric sensor for the annular of basic axis.And the rotation is in practical applications Will not occur, thus can be ignored.

Photoelectric sensor is used to the acquisition of strip encoding 9, swings photoelectric sensor 8 as shown in Figure 1, relative to can Dynamic multi-directional ball axis 4 swings photoelectric sensor 8 and is configured to a pair, the orthogonal setting in the horizontal plane on the head of the shank of tool 6, from And when multi-directional ball axis 4 generates angular displacement, two signals can be sampled to swing photoelectric sensor 8.

The item number of strip encoding 9 determines the maximum number of digits of generated electric signal when sampling, as previously described, because workpiece Quantity is relatively limited, thus, it in the regular period, is also limited in preset processing program quantity, for strip encoding 9 Item number, be advisable with 2 ~ 5, be not of practical significance excessively, if only one strip encoding, effective phase can not be formed The piece count matched.

About photoelectric sensor 8 is swung, it is intended merely to distinguish following straight-line displacement encoder 12 here, without Immediate constraint to photoelectric sensor type.

As previously mentioned, swinging photoelectric sensor 8 is configured to a pair, and it is configured to a clock synchronization, is set as orthogonal, to realize The sampling of swing angle in two orthogonal vertical planes.

It should be appreciated that above-mentioned sampling not necessarily needs continuous stepless sampling, as previously mentioned, can be only black The sampling of informal voucher line, to form the sampled signal with certain digit.

It should be appreciated that the black and white strip being arranged within a certain area in other words strip encoding 9 item number read, then sample essence Degree is higher, but in most of application, has no essential meaning, under conditions of sampling resolution is certain, can satisfy certain The adaptation to the processing program of workpiece in the period that period memory is put.

As shown in figure 3, swinging the photoelectricity identification head 15 of photoelectric sensor 8 towards swing component, specifically towards on swing component Strip encoding 9, for use strip encoding 9.

One end opposite with spherical hinge 5 on multi-directional ball axis 4 is provided with a receiving hole 3, is subject to matched, one spy of setting Bar 1, one end of the feeler lever 1 accommodate by resetting structure and are guided on the receiving hole 3, thus, when the overhanging end of feeler lever 1 It when reaction force by workpiece, can generate in the flexible of receiving hole 3, and generate the straight-line displacement of feeler lever 1.

In turn, strip encoding 2 is set on feeler lever 1, and the sampling to the strip encoding 2 can be obtained the thick of straight-line displacement It surveys.

Bigness scale to strip encoding 2 then uses straight-line displacement encoder 12 as shown in Figure 1, relative to stretching for feeler lever 1 Contracting, position be it is fixed, thus, by the straight-line displacement encoder 12 be arranged on the swing component, i.e., shown in figure ten thousand To ball axis 4.It will be appreciated that identifying that the position of head 14 and strip encoding 2 is suitable by its photoelectricity by the straight-line displacement encoder 12 Match, so that it may which strip encoding 2 is sampled.

Workpiece sensing device defined by as previously mentioned, as a device, for the detection of workpiece configurations profile, thus The essential characteristic of workpiece configurations is obtained, the aspect ratio pair for the feature stored in advance is matched, determines workpiece type.This kind of mode is anti-dry Immunity is strong, and can be adapted to the processing of the certain workpiece of quantity.

It should be appreciated that the workpiece sensing device in the even not applicable present invention, workpiece and prestores between processing program and be also There are corresponding relationship, key is to replace the workpiece identification after workpiece, usually by manual identified, partially uses machine recognition, Such as several identification methods that background technology part is addressed.

It follows that the processing program of associated workpiece is all housed in advance in the memory of such as machining center, to this The processing of workpiece is the processing that corresponding processing program is called directly on the basis of identification is in workpiece.

And for the calling of workpiece sensing device, then can as call cutter call, in place after movement, can be set Several basic feed movements, obtain the exterior contour of part.

It is initial as a result, to pass through scheduled " the void processing journey in other words that walks by manually or automatically controlling workpiece sensing device Sequence " first carries out feature point extraction to workpiece, and for the workpiece of different size, kind, used workpiece sensing device has walked It is complete the same, triggering feature starting point is collided by the first time of workpiece sensing device and workpiece and is extracted.

It should be understood that the situation that the characteristic point of extracted different workpieces is identical there may be part, but cannot exist The all identical situation of all characteristic points of different workpieces, for distinguishing workpiece.The feature for each workpiece being extracted Point forms the feature point set of the workpiece, thus, it is established that the corresponding relationship of workpiece and feature point set.

Since there are matching relationships, when workpiece sensing device is again according to identical " empty processing program " progress " processing ", Characteristic point obtained, it is inevitable with the characteristic point stored in advance be it is identical, so as to realize the identification to workpiece.

This kind of mode is the primary calling to cutter, and required " empty processing program " and uncomplicated, thus real Now get up and is relatively easy.And it is easy to be disturbed unlike being similar to optical extracting method, also unlike for example labelling Label will affect being normally carried out for processing like that.

Due to specification of workpieces may differ by it is bigger, thus, other processing methods can also be assisted, such as first determine work Then the specification size of part is being called corresponding " empty processing program ", is being touched to avoid the rigidity between workpiece sensing device and workpiece It hits.

When having replaced workpiece kind or specification, such as the digital control system of machining center issues instruction, calls and is assumed to be As the workpiece sensing device of No. zero cutter, it is moved to the clamping workpiece band of position, then the corresponding empty processing program of starting carries out " processing " identifies that head 14, photoelectricity identify that head 15 generates corresponding electric signal by photoelectricity, matches phase by analyzing the electric signal The workpiece features point answered matches the workpiece features point of acquisition and the workpiece features point set prestored, determines specification of workpieces or kind Afterwards, workpiece sensing device returns to tool magazine, and corresponding work pieces process program is called to process workpiece.

In addition, even specification of workpieces is different, size is different in other words, but for workpiece sensing device, when it is being moved It collides during dynamic, the flexible of such as swing of multi-directional ball axis 4 or feeler lever 1 can be generated, so as to determine work whereby The home position and essential characteristic of part.

In addition, being damaged in order to avoid the collision of rigidity occurs, deceleration point can be preset, deceleration point can be by Software directly controls, and for digital control system, cutter is controlled by digital control system, for example, by five-axle numerical control system In the step number control of five axis realize processing.After quickly calling associated cutter, first to slow down before reaching workpiece, to obtain Suitable deceleration distance is obtained, thus soft limit can be carried out by step number control.

In some embodiments, using hard limit, such as sensor is set on the path of cutter operation, such as approaches and opens It closes.

In some embodiments, three coding sites are set on the operating path of No. zero cutter for example above-mentioned, work as receipts When to first touch points signal (first coding site), the jogging speed of setting is decelerated to immediately, receives second touch points When signal (second coding site), current workpiece features point value is recorded, and be compared with the workpiece features point prestored.Class As, after measuring multiple characteristic points, the comprehensive type or specification for obtaining workpiece.

During detecting characteristic point, if the motion of main shaft of digital control system has been more than preset second bits of coded When setting, and reaching third coding site, that is, the acquisition of characteristic point is completed, workpiece sensing device return back to tool magazine, calls relevant Processing program processes workpiece.In the characteristic point deficiency of detection, scheduled characteristic point quantity is not reached in other words, more When journey is to third coding site, need to return back to the second coding site.

, can be with reference to linear slide rail mechanically about linear movement, represented is a kind of linear motion, however can be with Understand, is not whole linear movement about linear movement, but main motion is linear movement, can be multiple linear motions It is compound.In addition, being not unidirectional movement, can also be the reciprocating motion on such as sliding rail about linear movement.

It, can be with reference book attached drawing 5 about the extraction of characteristic point.

In Fig. 1, multi-directional ball axis 4 constitutes the swing component, and spherical structure is in the feature extraction caused by swinging to corner Responsiveness it is stronger, but be not excluded for the swing component using such as bar.The swing component structure of bar is simple, by photoelectric sensor Photoelectricity identification 15 crevice projection angle of head limitation, it is weaker to the responsiveness of corner.

When using multi-directional ball axis 4, what the basic axis of the multi-directional ball axis 4 was constrained by spherical hinge 5 and 3 axis of receiving hole The axis of multi-directional ball axis 4, the i.e. axis of receiving hole 3.

The concept of multi-directional ball axis 4 is derived from spherical hinge 5, and spherical hinge 5 is capable of providing foregoing three and constrains with three certainly By spending, three degree of freedom therein is entirely rotational freedom, thus referred to as universal.

It further include the shell 7 for being installed in 6 head end of the shank of tool to form effective protection to the component for being included, For accommodating the multi-directional ball axis 4, swinging photoelectric sensor 8, straight-line displacement encoder 12.Shell 7 can also limit, in other words Constrain the hard-over of multi-directional ball axis 4.

In some embodiments, it is also provided with sensor on shell 7, before for example feeler lever 1 encounters shell 7, that is, to generate Alarm.Certainly, due to as previously mentioned, the extraction of workpiece features point can extract under conditions of manual control, thus it is logical Often it will not relate to directly collide and impaired problem with workpiece in use to workpiece sensing device.

About feeler lever 1, often it directly collides with workpiece, especially for the item that workpiece type, specification are unknown Under part, feeler lever 1 be can choose as long rod piece, with this condition, as previously mentioned, before first encoded point arrives, it can It to guarantee that the shank of tool 6 or shell 7 do not collide with workpiece first, but is collided first by feeler lever 1, no matter is the collision It is the collision of the axial collision or radial direction of feeler lever 1, all because there are movable joints, i.e. spherical hinge 5 and receiving hole leading to feeler lever 1 To, and will not feeler lever 1 damage.

Further, in order to improve the responsiveness of feeler lever 1, the end that leans out of feeler lever is equipped with spherical probe 13, spherical spy First 13 pairs of contoured surfaces have relatively good responsiveness, will not usually generate the end of feeler lever 1 and the direct collision of contoured surface.

Further, the surface of the probe 13 is equipped with hardened layer, with protection probe 13, it is avoided to deform and generate Accidentally acquire.

It,, can be using at such as nitriding for probe 13 if feeler lever 1 directlys adopt the rod piece of steel about hardened layer Reason generates nitriding layer, to improve wearability and surface hardness.In some applications, at can also be using other surfaces such as carburizings Science and engineering skill is to generate hardened layer.

In some applications, if feeler lever 1 is made of other materials, when meeting heat treatment or adulterate other substances When condition, the surface hardness of probe 13 can be improved for example, by heat treatment.

In other applications, for 13 production surface covering of probe, such as hard alloy layer, jewel (aluminium oxide) layer, produce Raw wear-resisting hardened layer.

In Fig. 2, the side of strip encoding 2 is arranged in photoelectricity identification head 14, when feeler lever 13 is due to axial force or axial point It pushes and moves to when the retraction of receiving hole 3, relatively-stationary photoelectricity identification head 14 just can recognize that the coding by its incident point Striped quantity, to generate such as 0,1 sequence.Wherein, using in the application of strip encoding, black streaking generates 0, and informal voucher line generates 1, it is analogous to the signal of pulse signal, deals with and is relatively easy, calculation amount is also smaller, so that response speed compares Fastly.

About strip encoding 9, as shown in figures 1 and 3, the sampling of strip encoding 9 is completed by photoelectricity identification head 15, by photoelectricity The side of spherical hinge 5 is arranged in identification head 15, or in order to be conducive to detection, and is disposed on shell 7, annular encoding strip Line 9 can be sampled during multi-directional ball axis 4 rotates, to generate 0,1 pulse train.

Photoelectricity identification head 15 is configured to a pair, is arranged in orthogonal both direction in the horizontal plane, is adapted to multi-directional ball just The characteristics of motion of axis 4.

Based on content above-mentioned, workpiece sensing device, which can read workpiece, vertically to be believed with the position of two orthogonal swaying directions Breath, it is relatively abundant, it can be good at the identification applied to workpiece.

Different from conventional knife, a switch with normally opened contact is equipped on the shank of tool 6, in the shank of tool 6 trigger when being taken out from tool magazine, for opening empty processing program.

About the transmission of data, i.e., the data between workpiece sensing device and digital control system are transmitted, since the base of tool usually has Therefore the route connecting with digital control system in some embodiments, corresponding contact can be arranged on the shank of tool 6, use touching Access of the point carry out shank of tool 6 to digital control system.

In some embodiments, referring to Figure of description 4, the shank of tool 6 is additionally provided with connection first photoelectric sensing The wireless sending module of device, the second photoelectric sensor establishes the wireless communication of workpiece sensing device and digital control system.To two photoelectricity The collected characteristic point of sensor is arranged, is packaged, and by wireless receiving and dispatching answering circuit, is sent out in the form of wireless signal It goes, the wireless receiver at digital control system end is transferred to digital control system after receiving respective wireless signal.

In turn, the sensory perceptual system about compatible workpiece sensing device, referring to Figure of description 4, the workpiece sensing device The knife unit in tool magazine is constituted, and the sensory perceptual system further comprises:

Controller establishes the controller of communication connection, with first photoelectric sensor and the second photoelectric sensor with root Workpiece features point is determined according to the signal operation sampled；

Memory connects the controller, stores workpiece and individual features point in advance, is called with preparation controller.

In addition, be subject to it is attached match, power supply conversion portion is main to realize charging and discharging lithium battery management and protection, by battery electricity Buckling changes 5V, 3.3V into, respectively by the electronic switch that is controlled by the controller (such as embedded controller) to embedded Controller, code identification unit, communicating portion power supply.

Embedded controller part mainly realizes that suspend mode, the control of each section power switch, coding read and analyze, is wireless Communication and agreement interpretation etc..

Realize that the touching to workpiece perceives, shape by electro-optically reading the coding being linked on probe 13 in code identification part At 2 binary codings, i.e., do not touch 00, just touched 01, touched 10, the touching status signals such as too deep 11 give Embedded controller goes analysis, decoding, identification.

Communicating portion is realized first with the pairing of wireless receiving analyzer (by " connection in embedded controller software Relation by marriage " algorithm avoids multimachine from working at the same time and interferes with each other), find and identify opposite wireless receiving analyzer, after finding jointly, Mutually send and receive data.

Circuit operation principle: with clamping switch (there is normally opened contact) on the knife handle of wireless workpiece sensing device, locate usually In standby mode, power supply is disconnected；When needing to detect and identifying workpiece (needing to work on power), numerically-controlled machine tool is changed automatically works as Preceding cutter changes wireless workpiece sensing device, and clamping switch movement (normally opened contact closure), powers on, be embedded in first on knife handle The work of formula controller, then the power supply electrifying of code identification part is controlled, wireless communication section independent power source is opened, carries out each section certainly Inspection, diagnosis and initialization (relevant information is wirelessly sent to digital control system) wait code identification part to read after normal Take encoded radio.

CPU reads whether encoded radio post analysis sense of touch probe touches workpiece or cross boundary, code data is formed, by the code Data encryption is sent after being packaged, and waits the reply of wireless receiving analyzer (forwarding numerical control system command).

Simultaneously as needed, embedded controller shutdown or unlatching relevant portion power supply, realizing neither influences to work normally, Power consumption is utmostly reduced again, extends service time of battery.

Since wireless workpiece sensing device is being moved with the main shaft of digital control system, the characteristic point position detected, it is necessary to send Digital control system is transmitted to onto the wireless receiving analyzer to link together with digital control system, then through communication or I/O point.

So wireless receiving analyzer is the communication module of a wireless routing property, radio channel, frequency point, identification Code, it is necessary to corresponding with wireless workpiece sensing device.As wireless workpiece sensing device, built-in embedded software program is counted According to communication and conversion.

About wireless receiver, similar with wireless workpiece sensing device circuit, only by code identification part, this changes number into Control interface (various ways and the numerical control systematic connections such as switching value, serial ports, network are provided)

Embedded controller is by being decoded and (decrypting, unpack), be forwarded to by numerical control interface after wirelessly receiving information Digital control system waits digital control system instruction, and replys wireless workpiece sensing device.

It is adapted to embedded software, embedded software has three pieces, and one is embedded in the workpiece identification program in " digital control system ", Similar macroprogram, can call, or call in numerical control processing management program in part program.

Two are embedded in " wireless workpiece sensing device ", can read photoelectricity identification head 14, photoelectricity identification head 15 detects Encoded information, analysis is when which section bar code first three direction be respectively, control wireless communication line and wireless receiving analyzer It communicates wirelessly.Meanwhile auto sleep circuit is also controlled, when not needing workpiece identification, automatically into suspend mode, utmostly Extend battery working time.

Three are embedded in " wireless receiving analyzer ", mainly by wireless telecommunications, handle and " wireless workpiece sensing device " Pairing receives the information by having matched " wireless workpiece sensing device " transmission, is sent in digital control system after transformation.

Referring to the identification process figure of Figure of description 5, the principle and basic skills of workpiece identification are described as follows:

First according to different workpieces, the different phase of workpiece, such as blank, preliminary working, roughing, finishing, work is formed Part type, specification of workpieces inventory.The different size of different workpiece, same class workpiece, is referred to as workpiece.

Position after clamping workpiece with respect to numerically-controlled machine tool is fixed, and every kind of workpiece, per pass work can be distinguished by finding out on workpiece (including one or more preliminary examination measuring points and test point, logical relation etc., is multiple inspections to the characteristic point of sequence between multiple test points There is the empty processing of sequence in measuring point), a feature knowledge library is formed, is mounted in " wireless receiving analyzer " or digital control system in advance Interior and automatic identification workpiece algorithm matches.

As previously mentioned, the acquisition of these characteristic points, is on the one hand adapted to out a void for the different series of a workpiece and adds Engineering sequence, so as to automatically obtain, can also taking human as first determine relevant characteristic point, then manual operation digital control system Carry out the sampling of empty processing.

For example, there is 10 kinds of workpiece needs to produce on the numerically-controlled machine tool or machining center, every kind of workpiece has blank, just adds Work, roughing, finishing, then must have 30 mark sheets, and there may be multiple characteristic points and its logic to close in every mark sheet System eventually forms the feature knowledge library comprising 10 kinds of workpiece.

Workpiece identification principle: after clamping workpiece is good, numerically-controlled machine tool or machining center start " automatic workpiece identification " program, Start corresponding processing program or stopping alarm further according to recognition result.Detailed process is as follows:

1) replacing current cutter is wireless workpiece sensing device, so that the normally opened contact is closed.

2) starting wireless receiving analyzer work is mutually paired identification with wireless workpiece sensing device, progress self-test, diagnosis, Identification and initialization, 3) and follow-up work by rear execution；Otherwise, it issues relative alarm and shuts down, wait manual maintenance.

3) wireless workpiece sensing device " returning to zero ", is equivalent to automatic tool preset.

4) according to predefined workpiece type, known features information and feature knowledge library, start decision making algorithm, determine next 5) characteristic point (preliminary examination measuring point and test point) for needing to find out turns if there is characteristic point；Otherwise, turn 7).

5) wireless workpiece sensing device sends the result to wireless receiving analyzer, controls digital control system, cooperation reference axis fortune Dynamic (rapidly moving to preliminary examination measuring point, touching workpiece is then gone with direction initialization, setting speed).According to three photoelectricity identifications of tripartite The coding that device is found out, once workpiece is touched, stop motion, it may be assumed that read 00 and moved with direction initialization, setting speed, read 01 With direction initialization microinching, read 10 stoppings and turn 6), read 11 with the movement of opposite direction at a slow speed (touching excessive).

6) digital control system feeds back present coordinate values to wireless receiving analyzer by numerical control interface.Pass through embedded " spy Levy parser " program progress feature identification, if it is possible to it identifies known workpiece, turns 7)；Otherwise, turn 4).

7) by the workpiece number identified+operation number (or unique identifier) or error number by sending number on numerical control interface Control system.

8) replacing wireless workpiece sensing device is former cutter or specified cutter；Complete workpiece automatic identification.

Claims (9)

1. a kind of workpiece identification method, which is characterized in that choose the primitive character point of the workpiece profile shape of predetermined quantity, generate The relation table of workpiece and primitive character point deposits in database；

It is adapted to a workpiece sensing device, the tool heads of the workpiece sensing device have flexible and rotation freedom degree, and configured with to work Has the device of head rotation and flexible detection, while the workpiece sensing device has the shank of tool and is configured at tool magazine；

When replacing workpiece, the workpiece sensing device is called to detect the profile of the workpiece, the rotation of extracting tool head With flexible variation, workpiece features point is generated；

Workpiece features point generated and primitive character point are matched, determines workpiece；

The rotational freedom of the workpiece sensing device is assemblied in the swing component on the shank of tool by spherical hinge and realizes, on swing component with The opposite one end of spherical hinge is provided with receiving hole, forms flexible freedom degree for guiding a feeler lever.

2. workpiece identification method according to claim 1, which is characterized in that primitive character point passes through the workpiece sensing device It obtains: after clamping workpiece to be obtained, workpiece sensing device being called to scan workpiece according to scheduled profile scan path, obtain tool Several rotations and flexible variation of head during the scanning process.

3. workpiece identification method according to claim 1 or 2, which is characterized in that workpiece sensing device is when detecting workpiece Stage is linear movement.

4. workpiece identification method according to claim 3, which is characterized in that workpiece sensing device is based on the first time with workpiece It collides and slows down, the point for generating collision for the first time is the starting point of the linear movement, as the first coding site.

5. workpiece identification method according to claim 4, which is characterized in that be selected as in an intermediate point of linear movement Second coding site, the end of linear movement are selected as third coding site；

When workpiece sensing device moves to the second coding site from the first coding site, records current tool heads rotation and stretch Amount, obtains first characteristic point；The direction of motion of sequentially linear conversion movement obtains multiple characteristic points；

If during acquisition characteristics point, when workpiece sensing device crosses the second coding site and reaches third coding site, then It return back to the acquisition that the second coding site carries out the characteristic point of subsequent predetermined quantity.

6. workpiece identification method according to claim 1, which is characterized in that be equipped with black and white item on swing component and feeler lever Line forms striped coding, identifies that striped coding therethrough generates detection signal by the identification head of photoelectric sensor；

Wherein, the evenly spaced ring-shaped stripe to accommodate axially bored line as axis is formed on swing component, and feeler lever is towards accordingly The side of identification head is formed with the bar shaped striped along the distribution of feeler lever extending direction.

7. workpiece identification method according to claim 1 or 6, which is characterized in that workpiece sensing device is square by wireless communication The communication of formula and applied digital control system.

8. workpiece identification method according to claim 7, which is characterized in that the communication base of workpiece sensing device and digital control system It is connected in wireless answering signal；

A switch with normally opened contact, when the main shaft of digital control system grabs the shank of tool, normally opened touching are equipped on the shank of tool Point closure, triggers corresponding answer signal.

9. workpiece identification method according to claim 8, which is characterized in that it is true that wireless answering is based on matched marriage algorithm Determine workpiece sensing device.