CN117055466A - Positioning method, device and equipment for machined workpiece and storage medium - Google Patents
Positioning method, device and equipment for machined workpiece and storage medium Download PDFInfo
- Publication number
- CN117055466A CN117055466A CN202311051965.9A CN202311051965A CN117055466A CN 117055466 A CN117055466 A CN 117055466A CN 202311051965 A CN202311051965 A CN 202311051965A CN 117055466 A CN117055466 A CN 117055466A
- Authority
- CN
- China
- Prior art keywords
- positioning
- coordinates
- coordinate
- workpiece
- cutting head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000003860 storage Methods 0.000 title claims abstract description 21
- 238000005520 cutting process Methods 0.000 claims abstract description 69
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000003754 machining Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37404—Orientation of workpiece or tool, surface sensor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The embodiment of the disclosure provides a method, a device, equipment and a storage medium for positioning a processing workpiece. Comprising the following steps: obtaining positioning holes of a machined workpiece, wherein the number of the positioning holes is three; acquiring cutting head coordinates based on each positioning hole, and determining each edge point coordinate corresponding to each cutting head coordinate; and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate. Each point location is positioned by searching edges for multiple times, and then the whole workpiece is positioned by a plurality of circle centers, so that the method has extremely high accuracy. The manual positioning is replaced, so that the space positioning efficiency and the space positioning precision are improved, and the error is reduced. The cutting precision is improved, good control of each point position during cutting is guaranteed, and good promotion effect on the production process is achieved.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a method, a device, equipment and a storage medium for positioning a machined workpiece.
Background
In a three-dimensional five-axis application scenario, a positioning mode is required for a workpiece to be processed, and since the workpiece is three-dimensional, and the cutting motion track is written according to the workpiece, an accurate mode is required to position the workpiece in space.
In the prior art, the position of the work piece is usually confirmed from three points in space. The confirmation of each of the three points is usually performed by an operator firstly fixing the workpiece in the working range of the machine tool, then operating the movable cutting head to record coordinates of the three points on the three confirmed points of the workpiece, and reading the XYZ coordinates of the three points by the controller to shift the path to the origin calculated by the three points.
However, in the determining mode in the prior art, as the three points are recorded by manually moving the cutting head to three positions to fix the points, errors exist more or less, so that the processed workpiece also has errors, the processed workpiece is inaccurate, further secondary processing is needed, and the processing efficiency of the workpiece is reduced.
Disclosure of Invention
The invention aims to solve the problems of inaccurate workpiece machining and low workpiece machining efficiency in the prior art, and provides a workpiece machining positioning method, device, equipment and storage medium, which can eliminate errors of positioning points, more accurately and well position three positioning points and the whole workpiece, and improve the machining accuracy.
In a first aspect, embodiments of the present disclosure provide a method for positioning a machined workpiece, the method comprising:
obtaining positioning holes of a machined workpiece, wherein the number of the positioning holes is three;
acquiring cutting head coordinates based on each positioning hole, and determining each edge point coordinate corresponding to each cutting head coordinate;
and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate.
Optionally, obtaining each positioning hole of the machined workpiece includes: constructing an initial model according to the processed workpiece, and displaying the initial model to a user; acquiring a mark position and a designated diameter set by a user based on an initial model; and generating each positioning hole according to each marking position and the designated diameter.
Optionally, acquiring the coordinates of the cutting head based on each positioning hole includes: establishing a coordinate system based on the processed workpiece; the cutting head is moved to each positioning hole in the coordinate system to obtain each cutting head coordinate.
Optionally, determining coordinates of each edge point corresponding to the coordinates of each cutting head includes: acquiring a preset positioning program, wherein the positioning program comprises a designated edge searching speed; sequentially taking the coordinates of each cutting head as target coordinates; moving the cutting head a specified distance in a specified reverse direction to a first position based on the target coordinates, wherein the specified distance is greater than a specified diameter; moving the cutting head along the reverse direction of the designated reverse direction to the target coordinate based on the first position and acquiring a sensor feedback height; and determining the coordinates of the edge points according to the feedback height of the sensor.
Optionally, determining the edge point coordinates according to the sensor feedback height includes: when the feedback height of the sensor is larger than a preset threshold value, acquiring the current coordinate of the sensor; the current coordinates are taken as edge point coordinates.
Optionally, determining each center coordinate according to each edge point coordinate includes: sequentially determining three edge point coordinates corresponding to each target coordinate; each center coordinate is determined based on each three edge point coordinates.
Optionally, positioning the machined workpiece according to the coordinates of each center of a circle includes: determining a corresponding offset angle and a corresponding rotation angle of the processed workpiece in space based on the circle center coordinates; and positioning the processed workpiece according to the offset angle and the rotation angle.
In a second aspect, embodiments of the present disclosure also provide a positioning device for processing a workpiece, the device including:
the positioning hole acquisition module is used for acquiring all positioning holes of the processed workpiece, wherein the number of the positioning holes is three;
the edge point coordinate determining module is used for acquiring the cutting head coordinates based on the positioning holes and determining the edge point coordinates corresponding to the cutting head coordinates;
and the processing workpiece positioning module is used for determining each circle center coordinate according to each edge point coordinate and positioning the processing workpiece according to each circle center coordinate.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
when the memory stores a computer program executable by the at least one processor, the computer program is executable by the at least one processor to enable the at least one processor to perform a method of positioning a work piece for processing as in any of the embodiments of the present disclosure.
In a fourth aspect, the disclosed embodiments provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method of positioning a work piece as in any of the embodiments of the disclosure.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Therefore, the invention has the following beneficial effects:
1. each point location is positioned by searching edges for multiple times, and then the whole workpiece is positioned by a plurality of circle centers, so that the method has extremely high accuracy.
2. The manual positioning is replaced, so that the space positioning efficiency and the space positioning precision are improved, and the error is reduced.
3. The cutting precision is improved, good control of each point position during cutting is guaranteed, and good promotion effect on the production process is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for positioning a work piece according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a cutting head movement according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of a positioning device for a workpiece to be processed according to a second embodiment of the invention;
fig. 4 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for positioning a machined workpiece according to an embodiment of the present invention, where the embodiment is applicable to positioning a machined workpiece. The method may be performed by a work piece positioning apparatus provided by embodiments of the present disclosure, which may be implemented in software and/or hardware, and which may be generally integrated in a computer device. The method of the embodiment of the disclosure specifically comprises the following steps:
s110, obtaining all positioning holes of the machined workpiece, wherein the number of the positioning holes is three.
The positioning hole is a hole for positioning the fixed part, is mainly used for positioning and connecting the supporting and fixing mechanical parts, and is used for controlling the position and the direction of the part, and is an important step in the machining process.
Optionally, obtaining each positioning hole of the machined workpiece includes: constructing an initial model according to the processed workpiece, and displaying the initial model to a user; acquiring a mark position and a designated diameter set by a user based on an initial model; and generating each positioning hole according to each marking position and the designated diameter.
Specifically, the controller may construct an initial model according to the machined workpiece, and then display the initial model to the user, and the user may set the initial model, that is, set three positioning holes, respectively P1, P2, and P3, on the workpiece initial model, and the user may set a marking position and a specified diameter, and the specified diameter may be 20mm, for example.
And S120, acquiring the coordinates of the cutting head based on each positioning hole, and determining the coordinates of each edge point corresponding to each cutting head coordinate.
Optionally, acquiring the coordinates of the cutting head based on each positioning hole includes: establishing a coordinate system based on the processed workpiece; the cutting head is moved to each positioning hole in the coordinate system to obtain each cutting head coordinate.
For example, fig. 2 is a schematic view of moving a cutting head according to a first embodiment of the present invention, and in fig. 2, an arrow direction indicates a moving direction of the cutting head. The controller may establish a coordinate system based on the work piece to be processed, then move the cutting head to the positions of the positioning holes, respectively, and then store the positions in XYZ registers of p1, p2, and p3, respectively, according to the mark positions.
Specifically, the controller firstly controls the cutting head to move to the vicinity of a P1 positioning point on the numerical control system, and the cutting head is stored in an XYZ register of the P1 positioning hole according to a first marking point on the model in the step one; controlling the cutting head to move to the vicinity of the P2 positioning point, and storing the second marking point on the model into an XYZ register of the P2 positioning hole according to the first step; and controlling the cutting head to move to the vicinity of the P3 positioning point, and storing the third marking point on the model into an XYZ register of the P3 positioning hole according to the step one.
Optionally, determining coordinates of each edge point corresponding to the coordinates of each cutting head includes: acquiring a preset positioning program, wherein the positioning program comprises a designated edge searching speed; sequentially taking the coordinates of each cutting head as target coordinates; moving the cutting head a specified distance in a specified reverse direction to a first position based on the target coordinates, wherein the specified distance is greater than a specified diameter; moving the cutting head along the reverse direction of the designated reverse direction to the target coordinate based on the first position and acquiring a sensor feedback height; and determining the coordinates of the edge points according to the feedback height of the sensor.
Specifically, after the XYZ register is registered, a positioning program is started to perform edge searching operation, and the machine starts to accurately position one by one, so that an accurate circle center is found and stored. The edge-seeking speed is preferably 100mm/min, and specifically, the accuracy of the skipped signal in the 4ms scanning period is about 7um.
In a specific embodiment, the positioning program is first positioned to point P1, where point P1 is the center position point of the first positioning circle, and the movement distance from the center position point of the first positioning circle to the positive direction of the X axis is required to be greater than the set diameter of the positioning hole, that is, greater than 20mm. And then starting the follow-up sensor to calibrate close to the workpiece, and controlling the cutting head to position along the negative direction of the X axis, namely the direction opposite to the direction just coming, to the center of a first positioning circle taking the point P1 as the center of the circle.
Specifically, the controller judges the two found edges, if the error of the two found edges is within 1mm, the average value of the X coordinate values of the two found edges is taken as the edge value, and if the error of the two found edges is greater than 1mm, the value close to the center point is taken as the edge value. After the edge point is found, the position of the P1 point is returned, at the moment, the cutting head is controlled to move for 30mm along the X-axis negative direction, the same edge searching operation is carried out, and the position positioning of the second edge point is completed. The positioning program is positioned to a point P1, wherein the point P1 is the center position point of the first positioning circle, except that the step is that the center position point of the first positioning circle moves 30mm towards the positive direction of the Y axis, the moving distance is required to be larger than the designated diameter, namely 20mm, and then the edge searching operation is performed to find a third edge point. After three edge points of the first positioning hole are found, the accurate center of the first positioning circle is found through a formula of calculating the center of the circle by three points, and the accurate center of the first positioning circle is stored.
Further, after finding the first circle center, go to the p2 point, repeat the above operation, find the second positioning circle center corresponding to the second positioning hole, and store, after finding the second circle center, go to the p3 point, repeat the above operation, find the third positioning circle center corresponding to the third positioning hole, and store.
Optionally, determining the edge point coordinates according to the sensor feedback height includes: when the feedback height of the sensor is larger than a preset threshold value, acquiring the current coordinate of the sensor; the current coordinates are taken as edge point coordinates.
Specifically, the controller detects the height in real time in the process of the edge finding movement of the cutting head according to the height detected and fed back by the capacitance sensor, when the detected height is larger than the set height, the edge is found, the edge is moved back from the edge, namely, the X positive direction moves for 10mm, and then the controller moves forward along the X negative direction again until the edge is found again, at the moment, the edge is determined to be not misjudged, and the edge finding is completed.
And S130, determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate.
Optionally, determining each center coordinate according to each edge point coordinate includes: sequentially determining three edge point coordinates corresponding to each target coordinate; each center coordinate is determined based on each three edge point coordinates.
Optionally, positioning the machined workpiece according to the coordinates of each center of a circle includes: determining a corresponding offset angle and a corresponding rotation angle of the processed workpiece in space based on the circle center coordinates; and positioning the processed workpiece according to the offset angle and the rotation angle.
Specifically, when the circle centers of the first positioning circle, the second positioning circle and the third positioning circle are found, the deviation and the angular rotation of the coordinates of the whole workpiece in space are positioned through the circle centers of the three positioning circles.
According to the technical scheme, all positioning holes of a machined workpiece are obtained, wherein the number of the positioning holes is three; acquiring cutting head coordinates based on each positioning hole, and determining each edge point coordinate corresponding to each cutting head coordinate; and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate. Each point location is positioned by searching edges for multiple times, and then the whole workpiece is positioned by a plurality of circle centers, so that the method has extremely high accuracy. The manual positioning is replaced, so that the space positioning efficiency and the space positioning precision are improved, and the error is reduced. The cutting precision is improved, good control of each point position during cutting is guaranteed, and good promotion effect on the production process is achieved.
Example two
Fig. 3 is a schematic structural diagram of a positioning device for a workpiece to be processed according to a third embodiment of the invention. The apparatus may be implemented in software and/or hardware and may generally be integrated in an electronic device for performing the method. As shown in fig. 3, the apparatus includes:
a positioning hole obtaining module 310, configured to obtain positioning holes of a workpiece, where the number of the positioning holes is three;
the edge point coordinate determining module 320 is configured to obtain the coordinates of the cutting head based on each positioning hole, and determine each edge point coordinate corresponding to each cutting head coordinate;
the workpiece positioning module 330 is configured to determine each center coordinate according to each edge point coordinate, and position the workpiece according to each center coordinate.
Optionally, the positioning hole obtaining module 310 is specifically configured to: constructing an initial model according to the processed workpiece, and displaying the initial model to a user; acquiring a mark position and a designated diameter set by a user based on an initial model; and generating each positioning hole according to each marking position and the designated diameter.
Optionally, the edge point coordinate determining module 320 specifically includes: a cutting head coordinate acquisition unit for: establishing a coordinate system based on the processed workpiece; the cutting head is moved to each positioning hole in the coordinate system to obtain each cutting head coordinate.
Optionally, the edge point coordinate determining module 320 specifically includes: an edge point coordinate determination unit configured to: acquiring a preset positioning program, wherein the positioning program comprises a designated edge searching speed; sequentially taking the coordinates of each cutting head as target coordinates; moving the cutting head a specified distance in a specified reverse direction to a first position based on the target coordinates, wherein the specified distance is greater than a specified diameter; moving the cutting head along the reverse direction of the designated reverse direction to the target coordinate based on the first position and acquiring a sensor feedback height; and determining the coordinates of the edge points according to the feedback height of the sensor.
Optionally, the edge point coordinate determining unit specifically includes: an edge point coordinate determination subunit configured to: when the feedback height of the sensor is larger than a preset threshold value, acquiring the current coordinate of the sensor; the current coordinates are taken as edge point coordinates.
Optionally, the workpiece positioning module 330 specifically includes: the circle center coordinate determining unit is used for: sequentially determining three edge point coordinates corresponding to each target coordinate; each center coordinate is determined based on each three edge point coordinates.
Optionally, the workpiece positioning module 330 specifically includes: a processing workpiece positioning unit for: determining a corresponding offset angle and a corresponding rotation angle of the processed workpiece in space based on the circle center coordinates; and positioning the processed workpiece according to the offset angle and the rotation angle.
According to the technical scheme, all positioning holes of a machined workpiece are obtained, wherein the number of the positioning holes is three; acquiring cutting head coordinates based on each positioning hole, and determining each edge point coordinate corresponding to each cutting head coordinate; and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate. Each point location is positioned by searching edges for multiple times, and then the whole workpiece is positioned by a plurality of circle centers, so that the method has extremely high accuracy. The manual positioning is replaced, so that the space positioning efficiency and the space positioning precision are improved, and the error is reduced. The cutting precision is improved, good control of each point position during cutting is guaranteed, and good promotion effect on the production process is achieved.
The processing workpiece positioning device provided by the embodiment of the invention can execute the processing workpiece positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example III
Fig. 4 is a schematic structural diagram of an electronic device 400 according to a third embodiment of the present invention. The electronic device in the embodiment of the disclosure may be a device corresponding to a back-end service platform of an application program, and may also be a mobile terminal device on which an application program client is installed. In particular, the electronic device may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the electronic device 400 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
In general, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows an electronic device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device internal process to perform: obtaining positioning holes of a machined workpiece, wherein the number of the positioning holes is three; acquiring cutting head coordinates based on each positioning hole, and determining each edge point coordinate corresponding to each cutting head coordinate; and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims. .
Claims (10)
1. A method of positioning a work piece, comprising:
obtaining positioning holes of a machined workpiece, wherein the number of the positioning holes is three;
acquiring cutting head coordinates based on the positioning holes, and determining edge point coordinates corresponding to the cutting head coordinates;
and determining each circle center coordinate according to each edge point coordinate, and positioning the processed workpiece according to each circle center coordinate.
2. The method for positioning a workpiece according to claim 1, wherein the step of obtaining each positioning hole of the workpiece comprises:
constructing an initial model according to the processed workpiece, and displaying the initial model to a user;
acquiring a mark position and a designated diameter set by a user based on the initial model;
and generating each positioning hole according to each marking position and the designated diameter.
3. The method of claim 2, wherein the acquiring the cutting head coordinates based on each of the positioning holes comprises:
establishing a coordinate system based on the processed workpiece;
and moving the cutting head to each positioning hole in the coordinate system to acquire each cutting head coordinate.
4. A method of positioning a workpiece according to claim 3, wherein determining the coordinates of each edge point corresponding to the coordinates of each cutting head comprises:
acquiring a preset positioning program, wherein the positioning program comprises a designated edge searching speed;
sequentially taking the coordinates of each cutting head as target coordinates;
moving the cutting head in a specified reverse direction a specified distance to a first position based on the target coordinates, wherein the specified distance is greater than the specified diameter;
moving the cutting head in a reverse direction of a specified reverse direction to the target coordinate movement based on the first position and obtaining a sensor feedback height;
and determining the coordinates of the edge points according to the feedback height of the sensor.
5. The method of claim 4, wherein determining edge point coordinates based on the sensor feedback height comprises:
when the feedback height of the sensor is larger than a preset threshold value, acquiring the current coordinate of the sensor;
and taking the current coordinate as the edge point coordinate.
6. The method of claim 4, wherein determining center coordinates from each of the edge point coordinates comprises:
sequentially determining three edge point coordinates corresponding to each target coordinate;
and determining the center coordinates based on the three edge point coordinates.
7. The method of claim 1, wherein positioning the workpiece according to each of the center coordinates comprises:
determining a corresponding offset angle and a corresponding rotation angle of the processed workpiece in space based on the circle center coordinates;
and positioning the processed workpiece according to the offset angle and the rotation angle.
8. A workpiece positioning device for processing, comprising:
the positioning hole acquisition module is used for acquiring all positioning holes of the processed workpiece, wherein the number of the positioning holes is three;
the edge point coordinate determining module is used for obtaining cutting head coordinates based on the positioning holes and determining edge point coordinates corresponding to the cutting head coordinates;
and the processing workpiece positioning module is used for determining each circle center coordinate according to each edge point coordinate and positioning the processing workpiece according to each circle center coordinate.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of claims 1-7.
10. A computer storage medium storing computer instructions for causing a processor to perform the method of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311051965.9A CN117055466A (en) | 2023-08-18 | 2023-08-18 | Positioning method, device and equipment for machined workpiece and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311051965.9A CN117055466A (en) | 2023-08-18 | 2023-08-18 | Positioning method, device and equipment for machined workpiece and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117055466A true CN117055466A (en) | 2023-11-14 |
Family
ID=88662294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311051965.9A Pending CN117055466A (en) | 2023-08-18 | 2023-08-18 | Positioning method, device and equipment for machined workpiece and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117055466A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119290085A (en) * | 2024-12-13 | 2025-01-10 | 南昌联达机械有限公司 | Auto parts processing positioning method and equipment |
-
2023
- 2023-08-18 CN CN202311051965.9A patent/CN117055466A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119290085A (en) * | 2024-12-13 | 2025-01-10 | 南昌联达机械有限公司 | Auto parts processing positioning method and equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111442722B (en) | Positioning method, positioning device, storage medium and electronic equipment | |
| CN111209978B (en) | Three-dimensional visual repositioning method and device, computing equipment and storage medium | |
| EP3842820A1 (en) | Power positioning method and power positioning device | |
| CN110849387A (en) | Sensor parameter calibration method and device | |
| CN112643665B (en) | Calibration method and device for installation error of absolute pose sensor | |
| CN116859920B (en) | Accuracy compensation method and device, electronic equipment and drilling system | |
| CN116079697B (en) | Monocular vision servo method, device, equipment and medium based on image | |
| CN117055466A (en) | Positioning method, device and equipment for machined workpiece and storage medium | |
| CN108362310A (en) | Determination method, apparatus, storage medium and the terminal of earth magnetism accuracy | |
| CN112788743B (en) | Positioning method and device based on ultra-wideband technology | |
| CN112478540A (en) | Method and device for controlling tray rotation | |
| CN115194773A (en) | Visual guidance assembling method and device | |
| US20140058704A1 (en) | Method and devices for determining noise variance for gyroscope | |
| CN110487269A (en) | GPS/INS Combinated navigation method, device, storage medium and electronic equipment | |
| US11620846B2 (en) | Data processing method for multi-sensor fusion, positioning apparatus and virtual reality device | |
| CN112667103A (en) | Correction method and device of writing device, terminal and storage medium | |
| CN116974291A (en) | Control error determining method and device for master-slave cooperative navigation agricultural machinery | |
| CN110180185B (en) | Time delay measurement method, device, system and storage medium | |
| CN117953063A (en) | Data processing method, scanning method, device, equipment, storage medium and system | |
| CN112337675B (en) | Spraying control method and device for spraying robot and electronic equipment | |
| CN109978309B (en) | Method and device for determining working efficiency of equipment | |
| CN112598645A (en) | Contour detection method, apparatus, device and storage medium | |
| CN114967593A (en) | A workpiece processing method, device, equipment, lathe and storage medium | |
| CN112880675A (en) | Pose smoothing method and device for visual positioning, terminal and mobile robot | |
| CN112148139A (en) | Gesture recognition method and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |