CN118534839A - Curve planning method and system of electronic cam for punch press - Google Patents
Curve planning method and system of electronic cam for punch press Download PDFInfo
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- CN118534839A CN118534839A CN202410627492.0A CN202410627492A CN118534839A CN 118534839 A CN118534839 A CN 118534839A CN 202410627492 A CN202410627492 A CN 202410627492A CN 118534839 A CN118534839 A CN 118534839A
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- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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Abstract
The application relates to a curve planning method and a system of an electronic cam for a punch press, which belong to the technical field of curve planning of electronic cams, wherein the method comprises the following steps: determining a target formula in a preset motion formula library according to a workpiece to be punched, wherein the target formula comprises the number of motion steps, driven operation parameters of each driven shaft in each motion step and driving operation parameters of a driving shaft; obtaining a motion stroke and a maximum angle threshold corresponding to each motion step according to the driven operation parameter and the driving operation parameter in the target formula; and generating a cam track table based on the motion travel and the maximum angle threshold corresponding to each motion step. The application has the effects of improving the flexibility of the electronic cam, effectively improving the curve planning efficiency and avoiding repeated manual input of a large number of parameters by directly calling the motion formulas corresponding to different products, thereby improving the accuracy of curve planning.
Description
Technical Field
The application relates to the technical field of curve planning of electronic cams, in particular to a curve planning method and system of an electronic cam for a punch.
Background
The mechanical cam is a sliding structure for linking the motion of the cam shaft and the driven shaft in the reciprocating swing or movement so that the driven shaft can regularly move according to the profile curve of the cam; the electronic cam is a software system which simulates a mechanical cam by constructing a cam curve so as to achieve the same control of the relative movement of a driven shaft and a cam shaft as the mechanical cam. In the field of stamping technology, a mechanical cam is connected with a punch press slide block through a driving wheel driven by a motor, and can convert rotary motion into linear motion, thereby realizing the action of the stamping machine. The electronic cam for the punch press is novel equipment for realizing cam transmission by adopting an electronic control technology, and has the advantages of simple structure, convenient operation, high action precision and the like compared with a mechanical cam.
The electronic cam for the punch press is mainly used for generating a cam curve and controlling a motor shaft (driven shaft) of the three-dimensional manipulator on shafts in different directions according to the cam curve, so that the manipulator can perform regular feeding work along with a main shaft (cam main shaft) of the punch press, and the automation degree and the production efficiency of a punching production line can be greatly improved. However, at present, the cam curve of the electronic cam for the punch is usually obtained by manual editing on the Codesys platform by an operator, and because the motion parameters (expected arriving position, instantaneous speed and the like) of the cam main shaft and each driven shaft on the manipulator at each moment need to be manually calculated in manual editing, the related parameter quantity is more, the step is more complex and difficult, and the required preparation time is longer; meanwhile, each time different products are required to be produced, operators are required to edit a plurality of groups of cam curves in advance, and then the cam curves are called through a program, so that the flexibility is poor, and the working efficiency of the electronic cam for the punch press is low when the cam curves are planned.
Disclosure of Invention
In order to improve the working efficiency of an electronic cam for a punch press in planning a cam curve, the application provides a curve planning method and system of the electronic cam for the punch press.
In a first aspect, the present application provides a method for planning a curve of an electronic cam for a punch, which adopts the following technical scheme: a curve planning method of an electronic cam for a punch press, the curve planning method is based on a punch press system, the punch press system comprises a manipulator, and the manipulator is driven by driven shafts in different directions; the curve planning method comprises the following steps:
Determining a target formula in a preset motion formula library according to a workpiece to be punched, wherein the target formula comprises the number of motion steps, driven operation parameters of each driven shaft in each motion step and driving operation parameters of a driving shaft;
obtaining a motion stroke and a maximum angle threshold corresponding to each motion step according to the driven operation parameter and the driving operation parameter in the target formula;
and generating a cam track table based on the motion travel and the maximum angle threshold corresponding to each motion step.
By adopting the technical scheme, the application determines the target formula according to the type of the workpiece to be punched, so that the driven operation parameters of each driven shaft and the driving operation parameters of the driving shaft on the manipulator in each motion step in the workpiece punching process are directly fetched; calculating the motion travel and the maximum angle threshold of each driven shaft of the electronic cam in each motion step according to the driven operation parameters and the driving operation parameters, and finally generating a cam track table based on the motion travel and the maximum angle threshold of the cam corresponding to each motion step;
When different kinds of workpieces to be punched are switched, the application can automatically acquire the parameters such as the cam angle of the electronic cam track, the travel of each moving straight line segment and the like by only calling the corresponding movement formula, so as to realize the punching process of different products, greatly improve the flexibility of the electronic cam, save the preparation steps of manually inputting a large number of parameters before the punching is started, and be difficult to make mistakes and save time, thereby effectively improving the working efficiency and accuracy of the electronic cam for the punching machine when planning the cam curve.
In a specific embodiment, the driven operating parameter comprises a specific position parameter and the driving operating parameter comprises a start angle and an end angle of the cam; the obtaining the motion travel and the maximum angle threshold corresponding to each motion step according to the driven operation parameter and the driving operation parameter in the target formula comprises the following steps:
Establishing a rectangular coordinate system;
Respectively determining motion change initial folding lines corresponding to driven shafts in all directions on the rectangular coordinate system according to the specific position parameters, the starting angle and the ending angle;
obtaining the motion travel of the corresponding driven shaft in each motion step according to the motion change initial folding line corresponding to the driven shaft in each direction;
determining a maximum angular threshold of the cam in each of said moving steps from said start angle and said end angle of the cam.
In a specific implementation, the motion change initial folding line is formed by connecting a plurality of motion straight line segments; the obtaining the motion travel of the corresponding driven shaft in each motion step according to the motion change initial folding line corresponding to the driven shaft in each direction comprises the following steps:
traversing the moving straight line segments in each moving change initial broken line according to the sequence of the moving steps;
Judging whether the current motion straight line segment is a static straight line segment or not;
if the judgment result is that the current motion straight line segment is not a static straight line segment, obtaining a motion stroke corresponding to the current motion straight line segment according to the specific position parameter;
And if the judgment result is that the current motion straight line segment is a stationary straight line segment, the motion travel corresponding to the current motion straight line segment is 0.
In a specific implementation manner, if the determination result is that the current motion straight line segment is not a stationary straight line segment, obtaining the motion stroke corresponding to the current motion straight line segment according to the specific position parameter includes:
judging whether the current motion straight line segment is the last motion straight line segment or not;
If the current motion straight line segment is not the last motion straight line segment, the calculation formula of the motion travel is as follows:
S(i,j)＝A(i,j+1)-A(i,j)；
Wherein S (i,j) represents the motion travel of the driven shaft along the i-axis direction corresponding to the j-th motion step, and A (i,j+1) represents the specific position parameter corresponding to the motion step corresponding to the next motion straight line segment; a (i,j) represents a specific position parameter corresponding to a motion step corresponding to the current motion straight line segment;
If the current motion straight line segment is the last motion straight line segment, the motion travel calculation formula is as follows:
S(i,n)＝A(i,1)-A(i,n)；
Wherein n represents the number of motion steps; s (i,n) represents the motion travel of the driven shaft along the i-axis direction corresponding to the last motion step, and A (i,1) represents the specific position parameter corresponding to the motion step corresponding to the first motion straight line segment; a (i,n) represents a specific position parameter corresponding to a motion step corresponding to a last motion straight line segment.
In a specific embodiment, said determining a maximum angular threshold of the cam in each of said moving steps from said start angle and said end angle of the cam comprises:
traversing the moving straight line segments in each moving change initial broken line according to the sequence of the moving steps;
judging whether the current motion straight line segment is a static straight line segment or not;
if the current moving straight line segment is not a stationary straight line segment, if the starting angle corresponding to the current moving straight line segment is larger than the ending angle, the calculation formula of the maximum angle threshold is as follows:
θmax(j)＝θe(j)+360°－θs(j)；
Wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment; θ s (j) represents the end angle corresponding to the j-th motion straight line segment;
If the current starting angle of the moving straight line segment is smaller than the ending angle, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θe(j)－θs(j)；
judging whether the current stationary straight line segment is the last motion straight line segment under the condition that the current motion straight line segment is the stationary straight line segment;
If the current stationary straight line segment is not the last moving straight line segment, if the starting angle of the next moving straight line segment is smaller than the ending angle of the current stationary straight line segment, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θs(j+1)+360°－θe(j)；
wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ s (j+1) represents the start angle corresponding to the j+1th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment;
If the starting angle of the next moving straight line segment is larger than the ending angle of the current stationary straight line segment, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θs(j+1)－θe(j)；
in the case that the current stationary straight line segment is the last moving straight line segment, the calculation formula of the maximum angle threshold value is as follows:
Wherein, theta max (n) represents the maximum angle threshold corresponding to the last motion straight line segment; θ max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; representing the sum of all maximum angle thresholds corresponding from the 1 st motion straight line segment to the n-1 st motion straight line segment.
In a specific embodiment, the step of determining the maximum angular threshold of the cam in each of said moving steps according to said start angle and said end angle of the cam further comprises:
detecting whether the maximum angle threshold value corresponding to each motion straight line segment is abnormal or not;
if the judgment result is that the abnormality exists, reporting an error.
1. In a specific embodiment, said generating a cam track table based on said motion strokes and said maximum angle threshold value for each said motion step comprises:
Determining an initialization angle, and obtaining an offset angle of each motion change initial folding line according to the initialization angle; adjusting the starting angles and the ending angles corresponding to all the motion straight line segments in the corresponding motion change initial folding line according to the offset angles to obtain standard angles;
Calculating theoretical position parameters of the corresponding driven shafts according to the standard angles and the maximum angle threshold corresponding to all the motion straight line segments in each motion change initial broken line, wherein the calculation formula of the theoretical position parameters is as follows:
Wherein θ standard of (i, j) represents a standard angle; b (i,j) represents a theoretical position parameter, namely the distance between the driven shaft and the origin in the i-axis direction when the angle of the cam is a standard angle, and the distance unit is taken as an example in millimeters; θ max (i, j) represents a maximum angle threshold; s (i,j) represents the motion travel of the driven shaft in the i-axis direction in the j-th motion step;
And generating a cam track table based on the theoretical position parameter.
In a second aspect, the present application provides a control device, which adopts the following technical scheme:
a control device comprising a memory and a processor, wherein at least one instruction, at least one program, code set or instruction set is stored in the memory, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the curve planning method of the electronic cam for a punch according to the first aspect.
In a third aspect, the present application provides a curve planning system for an electronic cam for a punch, which adopts the following technical scheme: a punch system, comprising:
The punch press is used for punching the workpiece to be punched;
The control device according to the second aspect plans the movement track of the manipulator according to the workpiece to be punched, and obtains a corresponding cam track table;
and the manipulator is used for clamping the workpiece to be punched according to the cam track table and moving the workpiece.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set loaded and executed by a processor to implement the curve planning method of an electronic cam for a punch press according to the first aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. When different types of workpieces to be punched are switched, the parameters such as the cam angle of the electronic cam track, the travel of each moving straight line segment and the like can be automatically obtained only by calling the corresponding movement formula, so that the stamping process of different products is realized, the flexibility of the electronic cam is greatly improved, the preparation step that a large number of parameters are manually input before stamping is started is saved, errors are not easy to occur, the time is saved, and the working efficiency and the accuracy of the electronic cam for the punch in the process of planning a cam curve are effectively improved;
2. According to the application, the distance (theoretical position) between each driven shaft and the original point when different cam rotation angles (standard angles) are calculated through the SIN acceleration curve interpolation mode, as the SIN acceleration has very low jerk, the change of the mechanical arm when starting and decelerating according to the cam track calculated through the mode is very gentle, and the calculation of the cam track is convenient, so that the minimum impact of each movement stroke is facilitated, the shaking of the mechanical arm is reduced to the greatest extent, and the larger running beat can be achieved.
Drawings
Fig. 1 is a schematic diagram of a curve planning system of an electronic cam for a punch according to an embodiment of the present application.
Fig. 2 is a flow chart of a curve planning method of an electronic cam for a punch according to another embodiment of the application.
Reference numerals illustrate: 100. punching machine; 200. a manipulator; 300. a collection frame; 400. a control device; 410. a memory; 420. a processor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in further detail with reference to the accompanying drawings.
Embodiments of a method and a system for planning curves of an electronic cam for a punch press according to the present application are described in further detail below with reference to the accompanying drawings.
An embodiment of the application discloses a punching machine system.
Referring to fig. 1, a punch system includes a punch 100, a robot 200, a collection frame 300, and a control device 400; the punch press is used for punching a workpiece to be punched arranged on a workbench of the punch press through a punch, so as to obtain a standard workpiece after punching, wherein a plurality of workpieces to be punched are sequentially arranged on the workbench of the punch press 100 along the length direction of the workbench; the collecting frame 300 is positioned at one side of the punch 100 in the width direction of the workbench; the control device 400 is configured to plan a movement track of the manipulator 200 according to a workpiece to be punched, so as to obtain a corresponding cam track table, where the cam track table includes a plurality of theoretical positions of the manipulator 200; the mechanical arms 200 are respectively arranged at two sides of the punch 100 along the length direction of the workbench of the punch 100, two ends of each workpiece to be punched on the workbench correspond to one mechanical arm 200, and the mechanical arms 200 are used for clamping the workpiece to be punched on the workbench of the punch 100 and moving the workpiece to be punched according to the theoretical position in the cam track table; the control device 400 includes a memory 410 and a processor 420, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the memory 410, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor 420 to implement a curve planning method of an electronic cam for a punch as described below.
It should be noted that, the punch press 100 of the present embodiment includes a plurality of punches disposed along the length direction of the table, the punches are used for punching a workpiece to be punched on the table, and each punch is located above the table and corresponds to one workpiece to be punched. In this embodiment, each punch is a stamping process, and each workpiece to be stamped on the workbench is moved under the clamping and moving of the two-side manipulators 200 along the length direction of the workbench to the position under the next punch corresponding to the workpiece to be stamped, so as to complete the processing step by step (such as trimming, perforating, chamfering, etc.), until the last stamping process is completed, and the workpiece to be stamped is clamped by the two-side manipulators 200 and moved into the collecting frame 300 to complete the processing.
The manipulator 200 of the present embodiment takes a three-dimensional stamping manipulator 200 as an example: the manipulator 200 is always placed in a three-dimensional measurement space during operation, and the spatial coordinates of any point on the manipulator 200 at each moment can be obtained by measurement, and the three-dimensional stamping manipulator 200 is in the prior art and will not be described herein. In the embodiment, a space rectangular coordinate system is established by taking a straight line in the length direction of a workbench of the punch 100 as an X axis, a straight line in the width direction of the workbench of the punch 100 as a Y axis, a straight line in the height direction of the workbench of the punch 100 as a Z axis and a central point of the upper surface of the workbench of the punch 100 as an origin; taking all output shafts of motors driving each manipulator 200 to move along the X-axis direction as a first driven shaft, taking all output shafts of motors driving each manipulator 200 to move along the Y-axis direction as a second driven shaft, taking all output shafts of motors driving each manipulator 200 to move along the Z-axis direction as a third driven shaft, taking all output shafts of motors driving each punch to move up and down along the Z-axis at a fixed speed as driving shafts of electronic cams, and completing the planning of cam curves by the control device 400 on the basis.
For the convenience of understanding, the driving shaft and the driven shaft of the cam are explained herein:
In the mechanical cam, engineers can realize that the driven shaft follows the motion of the driving shaft to make corresponding motion by designing the shape of the mechanical cam; it can also be understood that, in the rotating process of the driving shaft, the mechanical cam rotating together with the driving shaft pushes the driven shaft after one end of the protrusion contacts the driven shaft, so that the driven shaft makes linear motion, and after one end of the protrusion leaves the driven shaft, the driven shaft loses supporting force and returns to the original position, so that the driving shaft moves at a uniform speed and the driven shaft periodically makes repeated motion (the speed change when the driven shaft makes linear motion can also be controlled by independently designing the shape of one end of the protrusion);
In the electronic cam, the cam is virtual, the concept that the driving shaft drives the driven shaft to move through a solid cam does not exist, and the method for replacing the mechanical cam by the electronic cam is actually as follows: and feeding back the position of the driving shaft originally connected with the mechanical cam, calculating the cam angle corresponding to the current position of the driving shaft (namely the rotating angle of the original mechanical cam at the moment) in real time, calculating the corresponding theoretical positions of all the driven shafts according to the cam angle, and then sending a signal carrying each theoretical position to a servo motor of the corresponding driven shaft so that the servo motor controls the driven shaft to make corresponding movement (move to the corresponding theoretical position).
The following describes the implementation of the curve planning method of the electronic cam for the punch in detail with reference to the punch system:
Referring to fig. 2, another embodiment of the present application provides a curve planning method for an electronic cam for a punching machine, the curve planning method is based on the punching machine system provided in the above embodiment, and the curve planning method includes:
s100, determining a target formula in a preset motion formula library according to a workpiece to be punched;
The motion formula library of the present embodiment includes motion formulas corresponding to different workpiece types one by one, and these motion formulas are stored in the memory 410 of the control device 400 so as to be called at any time, and can be automatically stored when an operator inputs a new motion formula to update the motion formula library.
In view of the fact that different work pieces to be punched have different processing flows (different punching processes or process sequences), S100 specifically includes:
S110, determining the type of a workpiece to be punched on a workbench of the punch 100;
Specifically, the type of the workpiece to be punched can be obtained through manual input, or can be automatically identified through an image identification technology by installing a camera facing the workpiece to be punched on the workbench on one side of the workbench.
S120, taking a motion formula corresponding to the type of the workpiece to be punched in a preset motion formula library as a target formula; wherein the movement formula comprises the number of movement steps, the driven operation parameters of each driven shaft (a first driven shaft, a second driven shaft and a third driven shaft) and the driving operation parameters of the driving shaft in each movement step; in this embodiment, each time the driven shaft is displaced in the same direction or is stationary for a certain period of time, a movement step is considered, for example: the driven shaft moves forward once in the X-axis direction, stops for a period of time, and moves forward once in the Y-axis direction, and the number of moving steps is 3.
S200, obtaining a motion travel and a maximum angle threshold corresponding to each motion step according to the driven operation parameters and the driving operation parameters in the target formula;
The driven operation parameters include a specific position parameter, in this embodiment, the specific position parameter is denoted by a (i,j), i is one of X, Y, Z and j (the number of moving steps) is one of natural numbers 1, 2, 3. The active operating parameters include the start angle and end angle of the cam (original mechanical cam), the start angle of this embodiment is denoted by θ s (j), which refers to the angle of the cam just at the beginning of the jth movement step; the end angle is denoted by θ e (j) and refers to the angle of the cam just after the j-th movement step.
It should be noted that, in this embodiment, the specific position parameter, the start angle and the end angle parameter are all endpoint values of the pre-stored target recipe, and the endpoint values are all obtained by repeated calculation, simulation and optimization according to the production process of the workpieces to be punched in different types, and generally, the input of data is completed manually according to the corresponding punching procedure in advance, and the processor 420 of the control device 400 packages the corresponding data into the movement recipe corresponding to the workpieces to be punched in different types one by one, and sends the movement recipe to the memory 410 for storage for subsequent calling. In this embodiment, the specific position parameter of the driven shaft in the next motion step can be regarded as the distance between the driven shaft and the origin at the end of the current motion step.
Specifically, S200 includes:
S210, establishing a rectangular coordinate system;
The X-axis of the rectangular coordinate system represents the rotation angle of the cam (the deflection angle of one end of the cam protrusion compared with the initial state), and in this embodiment, the cam rotates for one circle, so that the value range of X is 0-360 °, and the Y-axis represents the distance between the driven shaft and the origin in each direction (X-axis, Y-axis, Z-axis).
S220, respectively determining motion change initial folding lines corresponding to driven shafts in all directions on a rectangular coordinate system according to the specific position parameters, the starting angle and the ending angle;
The motion change initial folding line is used for reflecting the change relation between the distance between the driven shaft and the origin and the rotation angle of the cam in all motion steps; the following table is part of the information of a certain exercise formula pre-stored in the memory 410, and the following explanation is given to the step S220 by this table:
the table (including only the data corresponding to the first two motion steps) is shown in table 2.1 below:
TABLE 2.1
Referring to table 2.1, taking the 1 st movement step as an example, during the progress of this step, the follower shaft moving in the X-axis direction moves from a position of 259mm from the origin to a position of 639mm from the origin, and the cam rotates from 320 ° to 40 °; the follower shaft moving in the Y-axis direction moves from a position 100mm from the origin to a position 288mm from the origin, and the cam rotates from 250 ° to 300 °; the follower shaft moving along the Z-axis direction moves from a position 60mm from the origin to a position 100mm from the origin, and the cam rotates from 301 ° to 319 °; by analogy, an initial polyline can ultimately be obtained that varies with the distance between the driven axis and the origin in each direction as x increases from 0 to 360 (37-58, 60-102, 102-250, 250-300, 301-319, 320-40 can form a closed loop).
S230, obtaining a motion stroke of the corresponding driven shaft in each motion step according to the motion change initial folding line corresponding to the driven shaft in each direction;
Each motion change initial broken line consists of a plurality of connecting lines between points (theta e(j),A(i,j+1)), (j is less than or equal to n) and (theta s(j),A(i,j)), namely when i=x, n=3, the motion change initial broken line corresponding to the driven shaft moving along the X-axis direction comprises motion straight line segments corresponding to three motion steps: a straight line in which the point (θ e(1),A(X,2)) and the point (θ s(1),A(X,1)) are connected when j=1, a straight line in which the point (θ e(2),A(X,3)) and the point (θ s(2),A(X,2)) are connected when j=2, and a straight line in which the point (θ e(3),A(X,1)) and the point (θ s(3),A(X,3)) are connected when j=3. (when the number n of motion steps is only 3, it means that every three motion steps is one cycle); specifically, S230 includes:
S231, traversing the motion straight line segments in each motion change initial broken line according to the sequence of the motion steps;
S232, judging whether the current motion straight line segment is a static straight line segment or not;
Each motion straight line segment corresponds to two specific position parameters, namely A (i,j) and A (i,j+1), wherein one is the specific position parameter at the beginning of the motion step, and the other is the distance value between the corresponding driven shaft and the origin at the beginning of the motion step (namely the specific position parameter at the beginning of the next motion step); specifically, if the two specific position parameters are equal, the judgment result is that the current motion straight line segment is a stationary straight line segment; otherwise, the judgment result is that the current motion straight line segment is not a static straight line segment.
S233, if the judgment result is that the current motion straight line segment is not a static straight line segment, obtaining a motion stroke corresponding to the current motion straight line segment according to the specific position parameter;
Specifically, S233 includes:
s2331, judging whether the current motion straight line segment is the last motion straight line segment;
Specifically, the judgment of whether the last motion straight line segment is the last motion straight line segment can carry out numerical comparison on the motion step j corresponding to the current motion straight line segment and the number n (j is less than or equal to n) of the motion steps in the target formula; if j < n, the current motion straight line segment is not the last motion straight line segment, and if j=n, the current motion straight line segment is the last motion straight line segment.
S2332, if the current motion straight line segment is not the last motion straight line segment, the calculation formula of the motion stroke is:
S(i,j)＝A(i,j+1)-A(i,j)；
Wherein S (i,j) represents a motion stroke of the driven shaft along the i-axis direction corresponding to the j-th motion step (current motion straight line segment), and a (i,j+1) represents a specific position parameter corresponding to the motion step corresponding to the next motion straight line segment; a (i,j) represents a specific position parameter corresponding to a motion step corresponding to a current motion straight line segment.
And S2333, if the current motion straight line segment is the last motion straight line segment, the motion travel calculation formula is as follows:
S(i,n)＝A(i,1)-A(i,n)；
Wherein n represents the number of motion steps; s (i,n) represents the motion travel of the driven shaft along the i-axis direction corresponding to the last motion step (the last motion straight line segment), and A (i,1) represents the specific position parameter corresponding to the motion step corresponding to the first motion straight line segment; a (i,n) represents a specific position parameter corresponding to a motion step corresponding to a last motion straight line segment.
And S234, if the judgment result is that the current motion straight line segment is a stationary straight line segment, the motion stroke corresponding to the current motion straight line segment is 0.
S240, determining a maximum angle threshold of the cam in each movement step according to the starting angle and the ending angle of the cam;
Wherein the maximum angle threshold value refers to the total value of the angles of rotation of the cam in one movement step; specifically, S240 includes:
s241, traversing the motion straight line segments in each motion change initial broken line according to the sequence of the motion steps;
s242, calculating a maximum angle threshold value corresponding to each motion straight line segment;
specifically, S242 includes:
S2421, judging whether the current motion straight line segment is a static straight line segment;
Specifically, if the starting angle corresponding to the current motion straight line segment is equal to the ending angle, the corresponding motion straight line segment is regarded as a static straight line segment; otherwise, the corresponding moving straight line segment is not the stationary straight line segment.
S2422, if the current moving straight line segment is not the stationary straight line segment, if the start angle corresponding to the current moving straight line segment (moving step) is greater than the end angle, the calculation formula of the maximum angle threshold is as follows:
θmax(j)＝θe(j)+360°－θs(j)；
Wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment; θ s (j) represents the end angle corresponding to the j-th motion straight line segment;
if the starting angle of the current motion straight line segment is smaller than the ending angle, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θe(j)－θs(j)。
S2423, judging whether the current stationary straight line segment is the last motion straight line segment under the condition that the current motion straight line segment is the stationary straight line segment;
Specifically, the steps of S2423 are the same as those of S2331 above.
S2424, in the case that the current stationary straight line segment is not the last moving straight line segment, if the start angle of the next moving straight line segment is smaller than the end angle of the current stationary straight line segment, the calculation formula of the corresponding maximum angle threshold is as follows:
θmax(j)＝θs(j+1)+360°－θe(j)；
wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ s (j+1) represents the start angle corresponding to the j+1th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment;
If the starting angle of the next moving straight line segment is larger than the ending angle of the current stationary straight line segment, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θs(j+1)－θe(j)。
S2425, in the case that the current stationary straight line segment is the last moving straight line segment, the calculation formula of the maximum angle threshold is as follows:
Wherein, theta max (n) represents the maximum angle threshold corresponding to the last motion straight line segment; θ max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; representing the sum of all maximum angle thresholds corresponding from the 1 st motion straight line segment to the n-1 st motion straight line segment.
It should be noted that, S240 further includes the following steps:
S250, detecting whether the maximum angle threshold corresponding to each motion straight line segment is abnormal or not;
wherein, the judging result comprises the presence of abnormality and the absence of abnormality; in the embodiment, abnormal conditions are judged by judging whether the maximum angle threshold is larger than 0 and whether the sum of all the maximum angle thresholds is 360 degrees; if the maximum angle threshold is smaller than or equal to 0, or the sum of all the maximum angle thresholds is not 360 degrees, judging that abnormality exists; otherwise, judging that no abnormality exists.
S260, if the judgment result is that the abnormality exists, reporting an error and returning to the step S100 to redetermine the target formula.
S300, generating a cam track table based on the motion travel and the maximum angle threshold value corresponding to each motion step;
wherein, the cam track table corresponds to each movement step one by one; specifically, S300 includes:
S310, correcting and planning all the initial folding lines of the motion change according to the corresponding motion travel and the maximum angle threshold value to obtain a plurality of theoretical position parameters corresponding to each initial folding line of the motion change;
The planning and correction of the present embodiment refers to calculating the theoretical positions of numerous nodes actually passing between each endpoint and the corresponding next endpoint through the explicit endpoint values in the motion change initial polyline. Specifically, S310 includes:
S311, determining an initialization angle, and obtaining an offset angle of the initial folding line corresponding to each motion change according to the initialization angle;
In order to simplify the subsequent operation, the initialization angle of the present embodiment is exemplified by 0; specifically, S311 includes:
s3111, when the initialization angle is greater than the start angle of the first motion straight line segment of the current motion change initial polyline, the calculation formula of the offset angle is as follows:
θ Offset of ＝θ Initial initiation -θs(i,1)；
Wherein, θ Offset of represents the offset angle, i.e. the angle at which the initialization angle needs to be offset is converted from the start angle in the target formulation; θ Initial initiation represents an initialization angle; θ s (i, 1) represents the start angle of the 1 st motion straight line segment of the motion change initial folding line corresponding to the driven shaft moving along the i-axis direction.
S3112, when the initialization angle is smaller than the start angle of the first motion straight line segment of the current motion change initial polyline, the calculation formula of the offset angle is as follows:
θ Offset of ＝θ Initial initiation +360°-θs(i,1)；
Wherein, θ Offset of represents the offset angle, i.e. the angle at which the initialization angle needs to be offset is converted from the start angle in the target formulation; θ Initial initiation represents an initialization angle; θ s (i, 1) represents the start angle of the 1 st motion straight line segment of the motion change initial folding line corresponding to the driven shaft moving along the i-axis direction.
S3113, when the initialization angle is equal to the start angle of the first moving straight line segment of the current moving change initialization polyline, the offset angle is 0.
S312, adjusting and planning lines of each motion straight line segment in the corresponding motion change initial broken line according to the offset angle and the maximum angle threshold value to obtain theoretical position parameters;
specifically, S312 includes:
S3121, adjusting the starting angles and the ending angles corresponding to all the moving straight line segments in the corresponding moving change initial folding line according to the offset angles to obtain standard angles;
In this embodiment, the start angle and the end angle corresponding to each motion straight line segment may be expressed (except for the start angle of the first motion straight line segment and the end angle of the last motion straight line segment), and since the start angle of the first motion straight line segment has been adjusted to be the initialization angle, the following mainly indicates the corresponding start angle with the end angle, for example: θ s (i, 2) is represented by θ e (i, 1); specifically, S3121 includes:
S31211, θ standard of (i,j)＝θe(i,j)+360°-θ Offset of when θ Offset of >θe (i, j);
S31212, θ standard of (i,j)＝θe(i,j)-θ Offset of when θ Offset of ≤θe (i, j);
Wherein, θ standard of (i, j) represents the end angle of the jth moving straight line segment (the start angle of the jth+1th moving straight line segment) of the movement change initial folding line corresponding to the driven shaft moving along the i-axis direction.
S3122, calculating theoretical position parameters of the corresponding driven shafts according to standard angles and maximum angle thresholds corresponding to all motion straight line segments in each motion change initial broken line;
wherein, the theoretical position parameter corresponds to the standard angle one by one; specifically, S3122 includes:
s31221, obtaining a displacement curve of the slave axis according to the motion travel corresponding to each motion step;
The formula of the displacement curve of the shaft of the embodiment uses a fitting polynomial of five orders: f (x) =a+bx+cx ζ2+dx ζ3+ex ζ4+fx ζ5, the fitting polynomial being of the prior art, and not described in detail here; in this embodiment, x in the fitting polynomial represents θ e (i, j), and f (x) represents the motion stroke; the displacement curve of the driven shaft is used for reflecting the theoretical change condition of the distance and the end angle between the driven shaft and the original point in the process of rotating along with the driving shaft.
S31222, judging whether each standard angle is positioned on the axial displacement curve;
In this embodiment, the end angle corresponding to the standard angle is substituted into the formula of the displacement curve of the slave axis to determine, and if the obtained f (x) can be equal to the motion stroke corresponding to the end angle, the standard angle corresponding to the f (x) is considered to be located on the displacement curve of the slave axis.
S31223, if the standard angle is positioned on the axial displacement curve, obtaining a theoretical position parameter according to the standard angle; specifically, the calculation formula of the theoretical position parameter is as follows:
Wherein θ standard of (i, j) represents a standard angle; b (i,j) represents a theoretical position parameter, namely the distance between the driven shaft and the origin in the i-axis direction when the angle of the cam is a standard angle, and the distance unit is taken as an example in millimeters; θ max (i, j) represents a maximum angle threshold; s (i,j) denotes a movement stroke of the driven shaft in the i-axis direction in the j-th movement step.
S320, generating a cam track table based on all theoretical position parameters;
the cam table of the present embodiment is of XY type, that is, the rotation angle (standard angle) of the cam and the distance (theoretical position parameter) between the driven shaft and the origin in each axial direction are respectively represented by two-dimensional arrays, and one set of data in the cam table of the present embodiment takes the theoretical positions of the driven shafts of X axis 330mm, y axis 120mm, and z axis 28mm as examples when the standard angle of rotation of the cam is 82 °.
It should be noted that, after the cam track table is generated, the control device 400 will send the theoretical position of each driven shaft in the cam track table to the servo system (the existing structure of the electronic cam system, which is not described in detail in this embodiment) of each driven shaft in a communication manner to execute, so as to achieve strict synchronization of each driven shaft to the driving shaft.
Based on the same inventive concept, the embodiment of the application also discloses a control device, which comprises a memory and a processor, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the curve planning method of the electronic cam for the punch press provided by the embodiment of the method.
Based on the same inventive concept, the embodiment of the application also discloses a computer readable storage medium, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section of program, the code set or the instruction set can be loaded and executed by a processor to realize the curve planning method of the electronic cam for the punch press provided by the embodiment of the method.
It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
Those of ordinary skill in the art will appreciate that all or part of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, where the above mentioned storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory 410 (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.
Claims (10)
1. The curve planning method of the electronic cam for the punch press is characterized by being based on a punch press system, wherein the punch press system comprises a manipulator which is driven by driven shafts in different directions; the curve planning method comprises the following steps:
Determining a target formula in a preset motion formula library according to a workpiece to be punched, wherein the target formula comprises the number of motion steps, driven operation parameters of each driven shaft in each motion step and driving operation parameters of a driving shaft;
obtaining a motion stroke and a maximum angle threshold corresponding to each motion step according to the driven operation parameter and the driving operation parameter in the target formula;
and generating a cam track table based on the motion travel and the maximum angle threshold corresponding to each motion step.
2. The curve planning method of claim 1 wherein the driven operating parameters include position-specific parameters and the driving operating parameters include a start angle and an end angle of a cam; the obtaining the motion travel and the maximum angle threshold corresponding to each motion step according to the driven operation parameter and the driving operation parameter in the target formula comprises the following steps: establishing a rectangular coordinate system;
Respectively determining motion change initial folding lines corresponding to driven shafts in all directions on the rectangular coordinate system according to the specific position parameters, the starting angle and the ending angle;
obtaining the motion travel of the corresponding driven shaft in each motion step according to the motion change initial folding line corresponding to the driven shaft in each direction;
determining a maximum angular threshold of the cam in each of said moving steps from said start angle and said end angle of the cam.
3. The curve planning method according to claim 2, wherein the motion change initial folding line is formed by connecting a plurality of motion straight line segments; the obtaining the motion travel of the corresponding driven shaft in each motion step according to the motion change initial folding line corresponding to the driven shaft in each direction comprises the following steps:
traversing the moving straight line segments in each moving change initial broken line according to the sequence of the moving steps;
Judging whether the current motion straight line segment is a static straight line segment or not;
if the judgment result is that the current motion straight line segment is not a static straight line segment, obtaining a motion stroke corresponding to the current motion straight line segment according to the specific position parameter;
And if the judgment result is that the current motion straight line segment is a stationary straight line segment, the motion travel corresponding to the current motion straight line segment is 0.
4. The curve planning method according to claim 2, wherein if the determination result is that the current motion straight line segment is not a stationary straight line segment, obtaining a motion stroke corresponding to the current motion straight line segment according to the specific position parameter includes:
judging whether the current motion straight line segment is the last motion straight line segment or not;
If the current motion straight line segment is not the last motion straight line segment, the calculation formula of the motion travel is as follows:
S(i,j)＝A(i,j+1)-A(i,j)；
Wherein S (i,j) represents the motion travel of the driven shaft along the i-axis direction corresponding to the j-th motion step, and A (i,j+1) represents the specific position parameter corresponding to the motion step corresponding to the next motion straight line segment; a (i,j) represents a specific position parameter corresponding to a motion step corresponding to the current motion straight line segment;
If the current motion straight line segment is the last motion straight line segment, the motion travel calculation formula is as follows:
S(i,n)＝A(i,1)-A(i,n)；
Wherein n represents the number of motion steps; s (i,n) represents the motion travel of the driven shaft along the i-axis direction corresponding to the last motion step, and A (i,1) represents the specific position parameter corresponding to the motion step corresponding to the first motion straight line segment; a (i,n) represents a specific position parameter corresponding to a motion step corresponding to a last motion straight line segment.
5. The curve planning method of claim 2 wherein said determining a maximum angular threshold for the cam in each of said moving steps based on said start angle and said end angle of the cam comprises:
traversing the moving straight line segments in each moving change initial broken line according to the sequence of the moving steps;
judging whether the current motion straight line segment is a static straight line segment or not;
if the current moving straight line segment is not a stationary straight line segment, if the starting angle corresponding to the current moving straight line segment is larger than the ending angle, the calculation formula of the maximum angle threshold is as follows:
θmax(j)＝θe(j)+360°－θs(j)；
Wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment; θ s (j) represents the end angle corresponding to the j-th motion straight line segment;
If the current starting angle of the moving straight line segment is smaller than the ending angle, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θe(j)－θs(j)；
judging whether the current stationary straight line segment is the last motion straight line segment under the condition that the current motion straight line segment is the stationary straight line segment;
If the current stationary straight line segment is not the last moving straight line segment, if the starting angle of the next moving straight line segment is smaller than the ending angle of the current stationary straight line segment, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θs(j+1)+360°－θe(j)；
wherein, theta max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; θ s (j+1) represents the start angle corresponding to the j+1th motion straight line segment; θ e (j) represents the end angle corresponding to the j-th motion straight line segment;
If the starting angle of the next moving straight line segment is larger than the ending angle of the current stationary straight line segment, the corresponding maximum angle threshold is calculated as follows:
θmax(j)＝θs(j+1)－θe(j)；
in the case that the current stationary straight line segment is the last moving straight line segment, the calculation formula of the maximum angle threshold value is as follows:
Wherein, theta max (n) represents the maximum angle threshold corresponding to the last motion straight line segment; θ max (j) represents a maximum angle threshold corresponding to the j-th motion straight line segment; representing the sum of all maximum angle thresholds corresponding from the 1 st motion straight line segment to the n-1 st motion straight line segment.
6. The curve planning method of claim 5 wherein said step of determining a maximum angular threshold for the cam in each of said moving steps based on said start angle and said end angle of the cam further comprises:
detecting whether the maximum angle threshold value corresponding to each motion straight line segment is abnormal or not;
if the judgment result is that the abnormality exists, reporting an error.
7. The curve planning method of claim 1 wherein said generating a cam track table based on said motion strokes and said maximum angle threshold value for each of said motion steps comprises:
Determining an initialization angle, and obtaining an offset angle of each motion change initial folding line according to the initialization angle; adjusting the starting angles and the ending angles corresponding to all the motion straight line segments in the corresponding motion change initial folding line according to the offset angles to obtain standard angles;
Calculating theoretical position parameters of the corresponding driven shafts according to the standard angles and the maximum angle threshold corresponding to all the motion straight line segments in each motion change initial broken line, wherein the calculation formula of the theoretical position parameters is as follows:
Wherein θ standard of (i, j) represents a standard angle; b (i,j) represents a theoretical position parameter, namely the distance between the driven shaft and the origin in the i-axis direction when the angle of the cam is a standard angle, and the distance unit is taken as an example in millimeters; θ max (i, j) represents a maximum angle threshold; s (i,j) represents the motion travel of the driven shaft in the i-axis direction in the j-th motion step;
And generating a cam track table based on the theoretical position parameter.
8. A control device comprising a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the curve planning method of the electronic cam for a punch according to any one of claims 1 to 7.
9. A punch system, comprising:
a punch (100) for punching a workpiece to be punched;
The control device (400) according to claim 8, wherein the movement track of the manipulator is planned according to the workpiece to be punched, and a corresponding cam track table is obtained;
and the manipulator (200) is used for clamping the workpiece to be punched according to the cam track table and moving the workpiece.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set loaded and executed by a processor to implement the curve planning method of an electronic cam for a punch according to any one of claims 1 to 7.
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