CN111268418A - Method for interpreting blanking position of mechanical arm from machining file of cutting machine - Google Patents

Abstract

The invention discloses a method for interpreting the blanking position of a mechanical arm from a processing file of a cutting machine, which comprises the following steps: (a) traversing the NC file line by line, and extracting all moving instructions; (b) determining the coordinates of end points of all the cutting line segments by using a characteristic method according to the moving instruction, wherein the end points comprise a starting point and an end point; (c) forming the end points into non-repetitive rectangles by using a vertex method; (d) and calculating the center position of each rectangle according to the four vertexes of the rectangle, and outputting a blanking position result to the mechanical arm. Therefore, the numerical control system can be embedded in the numerical control system of the cutting machine without the intervention of external computer software; the specific position of the processed small plate can be directly calculated through the current commonly used NC file, the NC file content does not need to be specially changed, and seamless upgrade is realized for furniture factories; the position of the plate is calculated through the file used by the machine table in real time and is sent to the mechanical arm, the accuracy is high, and compared with a method that a coordinate file is sent to the arm by software, the method is higher in matching degree and safer.

Description

Method for interpreting blanking position of mechanical arm from machining file of cutting machine

Technical Field

The invention belongs to the field of computer file interpretation, relates to a control method of a mechanical arm, and particularly relates to a method for interpreting the blanking position of the mechanical arm from a machining file of a cutting machine.

Background

A woodworking cutting machine is a numerical control device specially used for cutting plates. The raw material plates for manufacturing cabinets such as wardrobes and the like are cut by a cutting machine to form rectangular plates with different sizes, and the rectangular plates are processed by subsequent equipment to form the assembly parts of the cabinets. The processing file NC file is a numerical control processing program used for the woodworking cutting machine; since most of the cutting machines on the market currently have no complicated process for cutting the plate, such NC files are all composed of simple G codes such as G01 cutting.

The blanking refers to a process of taking down a small plate cut by a cutting machine from a machine table of the cutting machine and placing the small plate elsewhere. At present, manual carrying in a manual mode consumes manpower and is low in efficiency. With the trend of replacing manpower by machines, more and more large-scale furniture factories consider using robot arms to replace workers to perform repeated and tedious blanking actions. Utilize the sucking disc of robotic arm anterior segment to snatch the panel of opening on the material machine mesa and move the assigned position and place, need not manual intervention.

At present, a method for blanking by using a mechanical arm of a blanking machine is a method for using software to obtain another coordinate file, and specifically comprises the following steps: the furniture factory communicates with a list splitting software developer of a design cabinet body in advance, the list splitting software calculates the specific position of the cut small plate while generating an NC file, and then another file containing the position information of the small plate is generated and independently provided for the mechanical arm for blanking. The method needs to communicate with a software developer again for development, so that financial time is consumed, and meanwhile, multiple files generated are imported for multiple times, which easily causes confusion and unexpected errors; there is even a risk of crash if the material cutter does not match the document loaded by the arm system.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a method for interpreting the blanking position of a mechanical arm from a processing file of a cutting machine.

In order to achieve the purpose, the invention adopts the technical scheme that: a method for interpreting the blanking position of a mechanical arm from a processing file of a cutting machine comprises the following steps:

(a) traversing the NC file line by line, and extracting all moving instructions;

(b) determining the coordinates of end points of all the cutting line segments by using a characteristic method according to the moving instruction, wherein the end points comprise a starting point and an end point;

(c) forming the end points into non-repetitive rectangles by using a vertex method;

(d) and calculating the center position of each rectangle according to the four vertexes of the rectangle, and outputting a blanking position result to the mechanical arm.

Optimally, in step (a), all the move instructions are fetched and stored in the set L { L } in the execution order₀,L₁,L₂,L₃,L₄…L_n}; the move instruction is a G00, G01 move single section instruction.

Further, in the step (a), after the NC file is loaded into the cutting machine for processing, the NC file is traversed line by line.

Further, in the step (a), when any one line does not identify the G00 or G01 move single section command, the line inherits the G00 or G01 move single section command of the previous line.

Further, in step (b), from L₁To L_nTraversing all elements in the set L, and defining the currently traversed moving single-section instruction as L_i，

The starting point satisfies the following condition: (1) l is_iA G01 movement single-section command with Z-axis coordinate change, (2) L_i-1For G00 move Single section instruction, (3) L_i+1A movement single-section command G01 with coordinate changes of an X axis or/and a Y axis; mixing L with_i-1With X-axis and Y-axis coordinate values assigned to point P_j(x,y)；

The endpoint satisfies the following condition: (1) l is_iA movement single-section command with X-axis or Y-axis coordinate change for G01, (2) L_iA move single-section command without Z-axis coordinate change of G01; mixing L with_iWith X-axis and Y-axis coordinate values assigned to point P_j+1(x,y)；

Obtain a set of points P { P }₁,P₂,P₃…P_N}。

Further, in step (b), when L is in the starting point_i-1Without x or y, continue to find L_i-2Until the values of x and y are found; when L is in the end point_iWithout x or y, continue to find L_i-1Until the x and y values are aligned.

Further, in the step (c), the point sets P are compared one by one, and points with the same coordinates are removed to obtain a final point set P_new{P₁,P₂,P₃…P_N}; sequentially traversing the final point set P_newDefining the currently traversed point as P_i(x_i,y_i) And it is any vertex of any rectangle, then the other three vertices of the rectangle satisfy rectangle { (x)_i,y_i), (x_i+a,y_i), (x_i,y_i+b), (x_i+a,y_i+ b), a and b are the length and width of the rectangle and are arbitrary constants; storing the four vertexes of the rectangle into a rectangle set R { R }₁,R₂,R₃…..R_n}，R={P_a,P_b,P_c,P_d}; eliminating the same rectangle R_iObtaining a final rectangle set R_new。

Specifically, in step (c), all rectangles R in the rectangle set R are calculated_iCentral point P of_o=(P_a+P_d) (iii) sequentially aligning the rectangles R_iComparing the central point with the central points of the rest rectangles in the rectangle set R when the rectangle R is used_iWhen the central point is the same as any central point of the rest rectangles of the rectangle set R, the rest rectangles of the rectangle set R and the rectangle R are removed_iRectangles with the same central pointTo obtain a middle rectangle set R_mid(ii) a Then the middle rectangle set R_midIn the selection of rectangle R_i+1The central point of (2) performs the above steps, and the process is circulated to the end to obtain the final rectangular set R_new。

Specifically, in step (d), the final set of rectangles R_newCenter point P of all rectangles_oAnd outputting the result of the blanking position to the mechanical arm.

Specifically, in step (d), the final rectangle set R is also obtained_newThe vertices of all rectangles delineate the platelet profile to be cut from the NC file.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: according to the method for interpreting the blanking position of the mechanical arm from the processing file of the cutting machine, the NC file is traversed to extract the moving instruction, and the central position of the rectangle can be finally determined according to the moving instruction to output the blanking position result, so that the method can be embedded in the numerical control system of the cutting machine without the intervention of external computer software; the specific position of the processed small plate can be directly calculated through the current commonly used NC file, the NC file content does not need to be specially changed, and seamless upgrade is realized for furniture factories; the position of the plate is calculated through the file used by the machine table in real time and is sent to the mechanical arm, the accuracy is high, and compared with a method that a coordinate file is sent to the arm by software, the method is higher in matching degree and safer.

Drawings

Fig. 1 is a schematic flow chart of a method for interpreting a blanking position of a mechanical arm from a processing file of a cutting machine according to the present invention.

Detailed Description

The following detailed description of preferred embodiments of the invention will be made.

The method for interpreting the blanking position of the mechanical arm from the processing file of the cutting machine as shown in figure 1 comprises the following steps:

(a) and traversing the NC file line by line, and extracting all the moving instructions (the moving instructions are G00 and G01 moving single-section instructions). When any row (i.e. pass through)Current row of the calendar) does not identify a G00 or G01 move single section instruction, then the current row inherits the G00 or G01 move single section instruction of the previous row. In this embodiment, after the NC file is loaded into the material cutting machine for processing, the NC file is traversed line by line; and all the move instructions are fetched and stored in the set L { L } according to the execution sequence₀,L₁,L₂,L₃,L₄…L_n}。

(b) And determining the coordinates of the end points of all the cutting line segments by using a feature method according to the moving instruction, wherein the end points comprise a starting point and an end point. In the process of cutting the plate material, the cutting starting point has a fixed characteristic, namely the following actions are required to be completed: (1) rapidly moving to a designated position (G00), (2) lowering a knife (G01) at a designated speed, (3) cutting the sheet material to the end of the segment (G01) at a designated speed; and all the moving instructions (idle running and cutting) in the NC file are extracted into the set L through the operation of the step (a), so that the end points of all the cutting line segments can be extracted according to the feature method.

In this embodiment, a slave L is required₁To L_nTraversing all elements in the set L, and defining the currently traversed moving single-section instruction as L_iAnd judging the starting point and the end point of the cutting.

The starting point satisfies the following condition: (1) l is_iA G01 movement single-section command with Z-axis coordinate change, (2) L_i-1For G00 move Single section instruction, (3) L_i+1A movement single-section command G01 with coordinate changes of an X axis or/and a Y axis; mixing L with_i-1With X-axis and Y-axis coordinate values assigned to point P_j(x, y); when L is in the starting point_i-1Without x or y, continue to find L_i-2Until the values of x and y are found;

the endpoint satisfies the following condition: (1) l is_iA movement single-section command with X-axis or Y-axis coordinate change for G01, (2) L_iA move single-section command without Z-axis coordinate change of G01; mixing L with_iWith X-axis and Y-axis coordinate values assigned to point P_j+1(x, y); when L is in the end point_iWithout x or y, continue to find L_i-1Straight, straightAligning the x and y values;

all elements in the set L are traversed in sequence in this way to obtain a point set P { P }₁,P₂,P₃…P_N}。

(c) And forming the end points into non-repeating rectangles by using a vertex method. Obtaining the starting points and the end points of all the cutting line segments through the step (b), but the repeated points are inevitably existed, so the point sets P are compared one by one, the points with the same coordinates are removed, and the final point set P is obtained_new{P₁,P₂,P₃…P_N}; then traverse the final point set P_newDefining the currently traversed point as P_i(x_i,y_i) And define a point P_i(x_i,y_i) Is any vertex of any rectangle (or a certain rectangle), then the other three vertices of the rectangle satisfy: rectangle { (x)_i,y_i), (x_i+a,y_i), (x_i,y_i+b), (x_i+a,y_i+ b), where a, b are the length and width of the rectangle, respectively, and a, b are arbitrary constants. After finding four vertexes meeting the condition, storing the four vertexes of the rectangle into a group in a rectangle set R { R }₁,R₂,R₃…..R_n}，R={P_a,P_b,P_c,P_d}。

As known from geometric knowledge, one rectangle has four vertices, and at most one vertex can be shared by four rectangles, so that the rectangle set R must contain repeated rectangles; all rectangles R in the set of rectangles R can be calculated_iCenter point P_o=(P_a+P_d) /2, and sequentially adding the rectangles R_iThe center point is compared with the center points of the rest rectangles in the rectangle set R when the rectangle R is used_iWhen the central point is the same as any central point of the rest rectangles of the rectangle set R, the rest rectangles of the rectangle set R and the rectangle R are removed_iRectangles with the same central point to obtain middle rectangle set R_mid(ii) a Then the middle rectangle set R_midIn the selection of rectangle R_i+1Is subjected to the aforementioned steps (i.e. with the middle set of rectangles R)_midComparing any central point of the rest rectangles; if it isRectangle R_i+1Central point of (3) and middle rectangle set R_midAny central point of the residual rectangles is the same, and a middle rectangle set R is removed_midThe remaining rectangle is middle and rectangle R_i+1The rectangles with the same central point obtain a second middle rectangle set R_mid2) The above steps are repeated until the end to obtain the final rectangle set R_new。

(d) And calculating the center position of each rectangle according to the four vertexes of the rectangle, and outputting a blanking position result to the mechanical arm. In the present embodiment, the set R is based on a rectangle_newThe vertices of all rectangles can depict the small plate distribution map to be cut out of the NC file (the operator can conveniently and visually know the cutting result), and the central points P of the small plate distribution map are simultaneously used_oAnd outputting the small plate rectangle to the mechanical arm (the cutting machine is communicated with the mechanical arm system in modes of RS232/RS485/TCPIP/MODBUS and the like) to obtain the central positions of all small plate rectangles, namely informing the mechanical arm of the small plate grabbing point during automatic blanking. Therefore, the method can be embedded in the numerical control system of the cutting machine without the intervention of external computer software. The obtained small plate distribution diagram can also be used for the situation that the small plate is damaged in the subsequent processing process and needs to be repaired: determining the location of the damaged platelet from the platelet map, from the set R_newAnd (4) calling the top point of the small plate to determine the length and width dimensions, and re-cutting a new raw material plate according to the obtained length and width dimensions to obtain a new small plate so as to fulfill the aim of plate supplement.

The method of the invention normally collects a piece of NC processing file which is not specially modified into the woodworking cutting machine, then the position of the cut rectangular small plate is interpreted from the NC processing file, and the mechanical arm is informed to carry out automatic blanking, and the coordinate position file produced by a software manufacturer does not need to be separately collected into the mechanical arm, so that the operation is simpler and more convenient. The method of the invention is to interpret the position information of the cut small rectangular plate from the NC file processed on site, compared with the method that the coordinate position file is obtained by software and then is imported into the manipulator controller, the instantaneity is stronger, the field matching degree is higher, the risk of material taking mistake and machine collision caused by the wrong file is eliminated, and the safety is stronger.

The above-mentioned embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims (10)

1. A method for interpreting the blanking position of a mechanical arm from a processing file of a cutting machine is characterized by comprising the following steps of:

(a) traversing the NC file line by line, and extracting all moving instructions;

(b) determining the coordinates of end points of all the cutting line segments by using a characteristic method according to the moving instruction, wherein the end points comprise a starting point and an end point;

(c) forming the end points into non-repetitive rectangles by using a vertex method;

(d) and calculating the center position of each rectangle according to the four vertexes of the rectangle, and outputting a blanking position result to the mechanical arm.

2. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 1, wherein: in step (a), all the move instructions are fetched and stored in the set L { L } according to the execution sequence₀,L₁,L₂,L₃,L₄…L_n}; the move instruction is a G00, G01 move single section instruction.

3. The method for interpreting the blanking position of a robot arm from a cutting machine processing file according to claim 1 or 2, characterized in that: in the step (a), after the NC file is loaded into the cutting machine for processing, the NC file is traversed line by line.

4. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 2, wherein: in the step (a), when any one line does not identify the G00 or G01 move single section command, the line inherits the G00 or G01 move single section command of the previous line.

5. The method for interpreting robot arm blanking position from blanking machine processing file as recited in claim 2, wherein in step (b), L is selected from L₁To L_nTraversing all elements in the set L, and defining the currently traversed moving single-section instruction as L_i，

The starting point satisfies the following condition: (1) l is_iA G01 movement single-section command with Z-axis coordinate change, (2) L_i-1For G00 move Single section instruction, (3) L_i+1A movement single-section command G01 with coordinate changes of an X axis or/and a Y axis; mixing L with_i-1With X-axis and Y-axis coordinate values assigned to point P_j(x,y)；

The endpoint satisfies the following condition: (1) l is_iA movement single-section command with X-axis or Y-axis coordinate change for G01, (2) L_iA move single-section command without Z-axis coordinate change of G01; mixing L with_iWith X-axis and Y-axis coordinate values assigned to point P_j+1(x,y)；

Obtain a set of points P { P }₁,P₂,P₃…P_N}。

6. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 5, wherein: in step (b), when L is in the starting point_i-1Without x or y, continue to find L_i-2Until the values of x and y are found; when L is in the end point_iWithout x or y, continue to find L_i-1Until the x and y values are aligned.

7. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 5, wherein: in the step (c), the point sets P are compared one by one, and points with the same coordinates are removed to obtain a final point set P_new{ P₁,P₂,P₃…P_N}; sequentially traversing the final point set P_newDefining the currently traversed point as P_i(x_i,y_i) And it is any vertex of any rectangle, then the other three vertices of the rectangle satisfy rectangle { (x)_i,y_i), (x_i+a,y_i), (x_i,y_i+b), (x_i+a,y_i+ b), a and b are the length and width of the rectangle and are arbitrary constants; storing the four vertexes of the rectangle into a rectangle set R { R }₁,R₂,R₃…..R_n}，R={P_a,P_b,P_c,P_d}; eliminating the same rectangle R_iObtaining a final rectangle set R_new。

8. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 7, wherein: in step (c), all rectangles R in the rectangle set R are calculated_iCentral point P of_o=(P_a+P_d) (iii) sequentially aligning the rectangles R_iComparing the central point with the central points of the rest rectangles in the rectangle set R when the rectangle R is used_iWhen the central point is the same as any central point of the rest rectangles of the rectangle set R, the rest rectangles of the rectangle set R and the rectangle R are removed_iRectangles with the same central point to obtain middle rectangle set R_mid(ii) a Then the middle rectangle set R_midIn the selection of rectangle R_i+1The central point of (2) performs the above steps, and the process is circulated to the end to obtain the final rectangular set R_new。

9. The method of interpreting robotic arm blanking positions from a blanking machine tooling file of claim 8, wherein: in step (d), the final set of rectangles R_newCenter point P of all rectangles_oAnd outputting the result of the blanking position to the mechanical arm.

10. The method of interpreting robotic arm blanking positions from a cutting machine tooling file according to claim 8 or 9, wherein: in step (d), further according to the final rectangle set R_newZhongshiThe vertices with rectangles delineate the platelet profile of the NC file to be cut.

Images