CN111843143A - Workpiece surface shaping method and system based on plasma air gouging - Google Patents
Workpiece surface shaping method and system based on plasma air gouging Download PDFInfo
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- CN111843143A CN111843143A CN202010803533.9A CN202010803533A CN111843143A CN 111843143 A CN111843143 A CN 111843143A CN 202010803533 A CN202010803533 A CN 202010803533A CN 111843143 A CN111843143 A CN 111843143A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000007493 shaping process Methods 0.000 title claims abstract description 23
- 230000004048 modification Effects 0.000 claims abstract description 22
- 238000012986 modification Methods 0.000 claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 238000002715 modification method Methods 0.000 claims abstract description 5
- 238000003754 machining Methods 0.000 claims description 29
- 230000008569 process Effects 0.000 claims description 17
- 238000009826 distribution Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 238000005242 forging Methods 0.000 abstract description 18
- 238000004381 surface treatment Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005266 casting Methods 0.000 description 14
- 238000005520 cutting process Methods 0.000 description 9
- 239000002699 waste material Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- 230000007115 recruitment Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
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Abstract
The invention discloses a workpiece surface modification method and a workpiece surface modification system based on a plasma air gouging, wherein a visual scanning system is used for scanning to obtain three-dimensional model data of the surface of a workpiece to obtain an actual model of the workpiece; acquiring a workpiece target model; comparing the actual workpiece model with the target workpiece model to obtain workpiece modification data; then setting a plasma gouging area for workpiece surface shaping according to the workpiece shaping data; generating workpiece gouging path data according to the workpiece shaping data and the plasma gouging area; transmitting the generated gouging path data to the robot; finally, setting and starting plasma gouging equipment; and performing gas planing on the surface of the workpiece in the plasma gouging area by using plasma gouging equipment. The system and the method can automatically perform surface treatment on the large forging to meet the design requirement of the large forging, and an operator does not need to work in a field environment, so that the working environment of the operator is improved, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of processing of casting and forging pieces, in particular to a workpiece surface shaping method and system based on a plasma air gouging.
Background
The large-scale casting and forging piece is formed by casting and forging, various defects are often generated on the surface of the large-scale casting and forging piece, the large-scale casting and forging piece needs to be subjected to surface treatment, the large-scale casting and forging piece meets the design requirement of the large-scale casting and forging piece, the existing surface treatment is often carried out manually, the working site environment is very severe, a plurality of technical, economic and social problems are brought, particularly, the phenomena of high pollution, difficult recruitment and the like are caused, deviation is easily generated in the manual treatment process, the casting and forging piece needs to be repaired again, sometimes even the casting and forging piece can be damaged, the casting and forging piece cannot be repaired, huge.
Disclosure of Invention
In view of the above, the present invention is directed to a method and a system for modifying a surface of a workpiece by plasma gouging, which has high automation and is easy to operate.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a workpiece surface modification method based on a plasma air gouging, which comprises the following steps of:
scanning and acquiring three-dimensional model data of the surface of the workpiece by using a visual scanning system to obtain an actual model of the workpiece;
acquiring a workpiece target model;
comparing the actual workpiece model with the target workpiece model to obtain workpiece modification data;
setting a plasma gouging area for workpiece surface profiling according to the workpiece profiling data;
generating workpiece gouging path data according to the workpiece shaping data and the plasma gouging area;
transmitting the generated gouging path data to the robot;
setting and starting plasma gouging equipment;
and performing gas planing on the surface of the workpiece in the plasma gouging area by using plasma gouging equipment.
Further, the plasma gouging area is a plasma gouging area required by the workpiece surface selected according to the workpiece surface model data.
Further, the generation of the gouging path data is set according to preset gouging parameters.
Further, the setting and starting of the plasma air gouging device configures the process parameters and the working current curve of the plasma air gouging according to the material of the workpiece.
Further, the vision scanning system adopts a laser scanning system.
Further, the plasma gouging region is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
and connecting the track processing points according to the distribution of the track processing points on the three-dimensional model of the surface of the workpiece to form a plasma gouging area.
Further, the step of arranging the processing identification device on a processing point at the edge of a processing area required by the workpiece specifically comprises the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
Further, the processing identification device is a laser emitting device arranged on the robot, the laser emitting device is used for emitting laser points to the processed workpiece, the positions of the laser points on the workpiece are adjusted by moving the laser emitting device, and the above operation process is repeated until the laser points coincide with the points to be processed.
The invention provides a workpiece surface modification system based on a plasma gouging machine, which comprises a workpiece actual model acquisition unit, a workpiece modification data generation unit, a plasma gouging area determination unit, a plasma gouging area generation unit and a plasma gouging control unit, wherein the workpiece actual model acquisition unit is used for acquiring a workpiece modification data;
the workpiece actual model acquisition unit acquires three-dimensional model data of the surface of the workpiece through scanning of a visual scanning system to obtain a workpiece actual model;
the workpiece modification data generation unit is used for acquiring a workpiece target model from a database stored in the workpiece target model and comparing the workpiece target model with a workpiece actual model to obtain workpiece modification data;
the plasma gouging area determining unit is used for setting a plasma gouging area of the surface of the workpiece needing to be shaped through workpiece shaping data;
the plasma gouging area generating unit is used for generating workpiece gouging path data through the workpiece shaping data and the plasma gouging area;
and the plasma gouging control unit is used for sending the generated gouging path data to the robot, starting the plasma gouging equipment and performing gouging and shaping on the surface in the plasma gouging area of the surface of the workpiece.
Further, the plasma gouging region is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
connecting all the track processing points according to the distribution condition of the three-dimensional models of the track processing points on the surface of the workpiece to form a plasma gouging area;
the machining recognition device is arranged at a machining point at the edge of a machining area required by a workpiece, and the machining recognition device is specifically carried out according to the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
The invention has the beneficial effects that:
the invention provides a workpiece surface modification method based on plasma gouging, which comprises the steps of firstly, scanning and acquiring three-dimensional model data of the surface of a workpiece by using a visual scanning system to obtain an actual model of the workpiece; acquiring a workpiece target model; comparing the actual workpiece model with the target workpiece model to obtain workpiece modification data; then setting a plasma gouging area for workpiece surface shaping according to the workpiece shaping data; generating workpiece gouging path data according to the workpiece shaping data and the plasma gouging area; transmitting the generated gouging path data to the robot; finally, setting and starting plasma gouging equipment; and performing gas planing on the surface of the workpiece in the plasma gouging area by using plasma gouging equipment.
The system and the method can automatically perform surface treatment on the large forging to meet the design requirement of the large forging, and an operator does not need to work in a field environment, so that the working environment of the operator is improved, and the production efficiency is improved.
The plasma gouging area provided by the invention is used for determining the gouging area by selecting processing points based on object positioning, acquiring points to be processed at the edge of a processing area required by a processing workpiece from a processing workpiece object through a key processing identification device, and calculating corresponding track processing points of the points to be processed in a processing three-dimensional model according to coordinate values of the processing workpiece and the position of the key processing identification device; marking the calculated track processing points in the processing three-dimensional model; finally forming a machining track model; the method solves the problem that the machining area is difficult to determine through the three-dimensional model of the machined workpiece in the actual machining process, the actual machining area of the machined workpiece is difficult to determine due to the fact that the machined workpiece is large in size and irregular in surface and a shielded machining position exists in the three-dimensional model, the shielded machining point is determined on the machined workpiece, and the corresponding position of the shielded machining point in the three-dimensional model is calculated according to the coordinate position of the machined workpiece in a machining site, so that the selection of the machining area of the three-dimensional model can be accurately determined, and the machining efficiency is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a flow chart of forging and casting part shaping work based on plasma air gouging.
FIG. 2 is a schematic diagram of a plasma gouging-based system for removing an oxide layer from a surface of a workpiece.
Description of the labeling: 1: a robot control cabinet; 2: a robot body; 3: a moving guide rail; 4: a guide rail locking mechanism; 5: mounting a platform; 6: electric control cabinet, 7: gouging the workpiece; 81: a plasma gun power supply; 82: a plasma gun cable; 83: plasma gouging gun; 9: auxiliary slag discharge nozzles.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Example 1
As shown in fig. 1, fig. 1 is a flow chart of a forging and casting modification work based on a plasma gouging, and the workpiece modification method based on the plasma gouging provided in this embodiment includes the following steps:
hoisting the casting and forging piece to a workbench for fixing;
acquiring a three-dimensional image of a workpiece by using machine vision;
generating a workpiece actual model by using graphic processing software on a PC (personal computer);
loading a theoretical model of a target workpiece, and carrying out matched die of an actual model and the theoretical model by PC software;
according to the matched mould result, PC software generates the modification data of the workpiece;
the shaping data in this embodiment refers to a part of the surface layer to be removed, which is obtained by comparing an actual model with a theoretical model (i.e., a target model), and because different parts have different sizes, the thicknesses of the parts to be removed at different parts are also different, so that the parameters of the plasma gouging machine required are also different, and the shaping process is realized by controlling the plasma gouging machine to adjust the working current and the working time of the plasma gouging machine, so that the surface of the workpiece to be processed meets the design target.
Generating a robot gouging operation path according to the material and the modification data of the workpiece;
plasma arc starting, starting an industrial robot, and operating a plasma automatic height adjusting device;
and the industrial robot runs, receives the generated gouging path and automatically runs the gouging.
The plasma gouging area provided by this embodiment is a plasma gouging area required for selecting the workpiece surface according to the workpiece surface model data. And the generation of the gouging path data is set according to preset technological parameters of the gouging.
In the setting and starting of the plasma gouging apparatus provided by this embodiment, the plasma gouging process parameters and the working current curve are configured according to the material of the workpiece.
The vision scanning system provided by the embodiment adopts a laser scanning system or a machine vision scanning system.
The workpiece provided by the embodiment is a large-scale casting and forging piece, the surface structure of the large-scale workpiece is complex, the machining operation cannot be carried out according to a single mode in actual machining, therefore, the surface of a large workpiece needing to be processed can be processed by regions, and the surface processing region of the large workpiece is usually realized by constructing a three-dimensional model, the area to be processed is selected from the three-dimensional model, therefore, the system is also provided with a processing area selection unit based on the three-dimensional model to avoid the deviation of area selection, the processing area selection unit provided by the embodiment is arranged in the robot control cabinet, the processing area selection unit is connected with a scanning processing device in the visual scanning system, obtains an actual processing area from a three-dimensional model generated by the scanning processing device, and then processes a processing workpiece through the robot body.
The plasma gouging region provided by the embodiment is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
and connecting the track processing points according to the distribution of the track processing points on the three-dimensional model of the surface of the workpiece to form a plasma gouging area.
The processing identification device provided by this embodiment is disposed at a processing point at the edge of a processing area required by a workpiece, and specifically includes the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
The processing identification device provided by the embodiment is a laser emitting device arranged on a robot, the laser emitting device is used for emitting a laser spot to a processed workpiece, the position of the laser spot on the workpiece is adjusted by moving the laser emitting device, and the above operation process is repeated until the laser spot coincides with a point to be processed.
Example 2
As shown in fig. 2, the workpiece surface modification system based on plasma gouging provided in this embodiment includes a workpiece actual model acquisition unit, a workpiece modification data generation unit, a plasma gouging region determination unit, a plasma gouging region generation unit, and a plasma gouging control unit;
the workpiece actual model acquisition unit acquires three-dimensional model data of the surface of the workpiece through scanning of a visual scanning system to obtain a workpiece actual model;
the workpiece modification data generation unit is used for acquiring a workpiece target model from a database stored in the workpiece target model and comparing the workpiece target model with a workpiece actual model to obtain workpiece modification data;
the plasma gouging area determining unit is used for setting a plasma gouging area of the surface of the workpiece needing to be shaped through workpiece shaping data;
the plasma gouging area generating unit is used for generating workpiece gouging path data through the workpiece shaping data and the plasma gouging area;
and the plasma gouging control unit is used for sending the generated gouging path data to the robot, starting the plasma gouging equipment and performing gouging and shaping on the surface in the plasma gouging area of the surface of the workpiece.
The plasma gouging region is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
connecting all the track processing points according to the distribution condition of the three-dimensional models of the track processing points on the surface of the workpiece to form a plasma gouging area;
the machining recognition device is arranged at a machining point at the edge of a machining area required by a workpiece, and the machining recognition device is specifically carried out according to the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
The workpiece actual model acquisition unit, the workpiece modification data generation unit, the plasma gouging area determination unit and the plasma gouging area generation unit in the embodiment are realized through a central control system arranged in a robot control cabinet, and are connected with the robot body through the central control system of the robot control cabinet to control the machining process of the robot body.
The plasma gouging control unit in the embodiment comprises a movable guide rail, a guide rail locking mechanism, an installation platform, an electric control cabinet, a gouging workpiece, a plasma gun power supply, a plasma gun cable and a plasma gouging gun;
the robot body is arranged on an installation platform, the installation platform is arranged on a movable guide rail, a guide rail locking mechanism is arranged on the movable guide rail, and the guide rail locking mechanism is used for fixing the installation platform;
the robot body is connected with the robot control cabinet, and the robot control cabinet is used for controlling the motion state of the robot body;
the plasma air gouging gun is arranged at the front end of a robot arm on the robot body and used for spraying plasma air flow to a preset area for air gouging workpiece processing so as to be suitable for removing an oxide layer on the surface of the workpiece;
the plasma gouging gun is connected with a plasma gun power supply through a plasma gun cable;
the electric control cabinet is respectively connected with the movable guide rail, the guide rail locking mechanism and the plasma gouging gun, and is provided with an operating button for controlling the mounting platform to move on the movable guide rail and an operating button for controlling the plasma gouging gun to generate plasma arcing;
an external I/O controller and an industrial control computer are arranged on the electric control cabinet, and the external I/O controller is used for controlling input and output signals of each part of the system and coordinating the operation of each part; and the industrial control computer is used for processing pictures shot by the visual scanning system to obtain workpiece model information, and outputting track data of the robot for plasma electric planing through a set path planning algorithm.
The vision scanning system is used for acquiring surface model data of the gouging workpiece and determining a preset area of the gouging workpiece according to the surface model data;
the vision scanning system that this embodiment provided is including setting up camera and scanning processing apparatus on the robot, the camera sets up in the front portion of the robot arm of robot, the camera can be dismantled the camera after the surface model data of scanning gouging work piece to prevent that the camera from being destroyed by the plasma air current when the gouging. And the camera transmits the acquired surface model data of the gouging workpiece to a scanning processing device for analysis processing.
The air gouging workpiece that this embodiment provided is the forge piece, and this forge piece is large-scale work piece, and the surface structure of this work piece is more complicated, can't process the operation according to single mode.
The surface model data provided by this embodiment is a three-dimensional model of the gouging workpiece's spatial geometry.
The system that this embodiment provided still is provided with waste residue remove device on, waste residue remove device sets up in plasma gouging torch side upwards, waste residue remove device is used for blowing away plasma gas in the plasma air gun and sprays produced waste residue when work piece processing predetermines the region, waste residue remove device is the high pressure air cock, waste residue remove device is the gas outlet of high pressure air cock for the platykurtic gas outlet.
The difference between the plasma gouging gun and the plasma cutting gun provided by the embodiment mainly lies in: the plasma cutting gun is used for cutting the metal plate, and the process requires that the plasma cutting gun has small radius, small energy convergence, small cutting seam, large cutting depth and regular cutting section; the plasma electric planer is used for removing amount of the metal surface, and the process requires that the plasma cutting torch has large radius, dispersive capability, large surface removing width and shallow thickness. Therefore, the plasma electric planer is greatly different from the cutting torch.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. The workpiece surface modification method based on the plasma air gouging is characterized by comprising the following steps of: the method comprises the following steps:
scanning and acquiring three-dimensional model data of the surface of the workpiece by using a visual scanning system to obtain an actual model of the workpiece;
acquiring a workpiece target model;
comparing the actual workpiece model with the target workpiece model to obtain workpiece modification data;
setting a plasma gouging area for workpiece surface profiling according to the workpiece profiling data;
generating workpiece gouging path data according to the workpiece shaping data and the plasma gouging area;
transmitting the generated gouging path data to the robot;
setting and starting plasma gouging equipment;
and performing gas planing on the surface of the workpiece in the plasma gouging area by using plasma gouging equipment.
2. The method of claim 1, wherein: and the plasma gouging area is a plasma gouging area required by the surface of the workpiece selected according to the workpiece surface model data.
3. The method of claim 1, wherein: and the generation of the gouging path data is set according to preset technological parameters of the gouging.
4. The method of claim 1, wherein: the setting and starting of the plasma air gouging device is to configure the plasma air gouging process parameters and the working current curve according to the material of the workpiece.
5. The method of claim 1, wherein: the visual scanning system adopts a laser scanning system.
6. The method of claim 1, wherein: the plasma gouging region is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
and connecting the track processing points according to the distribution of the track processing points on the three-dimensional model of the surface of the workpiece to form a plasma gouging area.
7. The method of claim 7, wherein: the machining recognition device is arranged at a machining point at the edge of a machining area required by a workpiece, and the machining recognition device is specifically carried out according to the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
8. The method of claim 7, wherein: the processing identification device is a laser emitting device arranged on the robot, the laser emitting device is used for emitting laser points to a processed workpiece, the positions of the laser points on the workpiece are adjusted by moving the laser emitting device, and the above operation process is repeated until the laser points coincide with the points to be processed.
9. Workpiece surface modification system based on plasma gouging, its characterized in that: the plasma gouging device comprises a workpiece actual model acquisition unit, a workpiece modification data generation unit, a plasma gouging region determination unit, a plasma gouging region generation unit and a plasma gouging control unit;
the workpiece actual model acquisition unit acquires three-dimensional model data of the surface of the workpiece through scanning of a visual scanning system to obtain a workpiece actual model;
the workpiece modification data generation unit is used for acquiring a workpiece target model from a database stored in the workpiece target model and comparing the workpiece target model with a workpiece actual model to obtain workpiece modification data;
the plasma gouging area determining unit is used for setting a plasma gouging area of the surface of the workpiece needing to be shaped through workpiece shaping data;
the plasma gouging area generating unit is used for generating workpiece gouging path data through the workpiece shaping data and the plasma gouging area;
and the plasma gouging control unit is used for sending the generated gouging path data to the robot, starting the plasma gouging equipment and performing gouging and shaping on the surface in the plasma gouging area of the surface of the workpiece.
10. The system of claim 9, wherein: the plasma gouging region is formed in the following manner:
moving the robot to the workpiece;
moving a processing recognition device arranged on the robot to a processing point of the workpiece to be processed;
acquiring the current coordinate value of the robot and the position of the processing recognition device, and calculating a track processing point corresponding to the processing point in the three-dimensional model of the surface of the workpiece;
marking the calculated track processing points in the three-dimensional model of the surface of the workpiece;
connecting all the track processing points according to the distribution condition of the three-dimensional models of the track processing points on the surface of the workpiece to form a plasma gouging area;
the machining recognition device is arranged at a machining point at the edge of a machining area required by a workpiece, and the machining recognition device is specifically carried out according to the following steps:
the processing identification device moves to a point to be processed, whether the processing identification device can be matched with the processing point is judged, and if the processing identification device is matched with the processing point, the point is the processing point; if the matching is not available, the position of the processing identification device on the processing workpiece is adjusted, and the above operation process is repeated until the processing identification device is matched with the point to be processed.
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Application publication date: 20201030 |