CN103885390B - Teaching 3-d laser measurement method and apparatus is exempted from based on reverse Engineering Technology - Google Patents
Teaching 3-d laser measurement method and apparatus is exempted from based on reverse Engineering Technology Download PDFInfo
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- CN103885390B CN103885390B CN201410139980.3A CN201410139980A CN103885390B CN 103885390 B CN103885390 B CN 103885390B CN 201410139980 A CN201410139980 A CN 201410139980A CN 103885390 B CN103885390 B CN 103885390B
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- 238000005516 engineering process Methods 0.000 title claims abstract description 18
- 238000000691 measurement method Methods 0.000 title claims abstract description 12
- 238000003698 laser cutting Methods 0.000 claims abstract description 50
- 230000003287 optical effect Effects 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 9
- 244000062793 Sorghum vulgare Species 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 235000019713 millet Nutrition 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000009987 spinning Methods 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 241000216843 Ursus arctos horribilis Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
Present invention offer is a kind of to exempt from teaching 3-d laser measurement method and apparatus based on reverse Engineering Technology.A process for teaching, but original playback spinning process are generally required for before the cutting of five-axle linkage laser cutting machine not only to waste time and energy, and is difficult accurate control.The present invention fixes an optical measuring instrument on laser cutting head, optical measuring instrument is driven to move together by the kinetic control system of cutting machine, borrowed-machine measuring system is constituted using the digital control system of optical measuring instrument and five-axle linkage laser cutting machine, to complete the measurement of workpiece space point coordinates, obtain its cloud data, then the CAD model of workpiece is reconstructed using reverse engineering software, and then the online planning to laser cutting attitude, track is realized according to the CAD model.The present invention is for the cutting on line to the thin-walleds such as three-dimensional large-sized covering, yielding workpiece.
Description
Technical field
Measurement apparatus are installed on five-axle linkage laser cutting machine the present invention relates to one kind to be reconstructed by reverse engineering software
Its CAD model, realizes the method and apparatus for exempting from teaching laser cutting of complicated sheet material.
Background technology
The original playback spinning process of five-axle linkage laser cutting machine has been come by the vision and manual crawl of operator
Into, whole process not only wastes time and energy, and because the spacing of gauge head and workpiece determines by operator's naked eyes, is difficult standard
Really control;Simultaneously because the limitation of measuring head structure, causes precision to be effectively ensured.How fully using existing
System equipment realizes exempting from teaching cutting, and it is a Practical Project problem in the urgent need to address to become.
The content of the invention
Teaching 3-d laser measurement method and apparatus is exempted from based on reverse Engineering Technology it is an object of the invention to provide a kind of,
Borrowed-machine measuring system is constituted by using the digital control system of optical measuring instrument and five-axle linkage laser cutting machine, three-dimension curved surface is realized
Upper cutting attitude, the automatic planning of track and numerical control programming.
The object of the present invention is achieved like this：
Teaching laser automatic cutting device is exempted from based on reverse Engineering Technology, its composition includes：Five-axle linkage is cut by laser
Machine, described five-axle linkage laser cutting machine connection digital collection hardware and computer, collectively forms the point cloud for obtaining workpiece
The three-dimension measuring system of data, the optical measuring instrument of described digital collection hardware is fixed with laser cutting head, used as workpiece
The measurement apparatus of space point coordinates.
It is a kind of that teaching 3-d laser measurement method is exempted from based on reverse Engineering Technology, a light is fixed on laser cutting head
Measuring instrument is learned, drives optical measuring instrument to move together by the kinetic control system of cutting machine, joined using optical measuring instrument and five axles
The digital control system of dynamic laser cutting machine constitutes borrowed-machine measuring system to complete the measurement of workpiece space point coordinates, obtains its cloud
Data, then reconstruct the CAD model of workpiece, and then realize to laser cutting appearance according to the CAD model using reverse engineering software
State, the online planning of track.
Described exempts from teaching 3-d laser measurement method, optical measuring instrument and laser cutting head based on reverse Engineering Technology
It is fixed together, borrowed-machine measuring system is constituted using the digital control system of five-axle linkage laser cutting machine, measurement and processing is same
Completed in platform equipment, workpiece clamped one time just completes to measure and process, eliminate secondary clamping error.
Described exempts from teaching 3-d laser measurement method based on reverse Engineering Technology, and work is reconstructed using reverse engineering software
Part CAD model, so according to described CAD model and laser cutting require to realize to laser cutting attitude, track in line gauge
Draw, realize that teaching laser cutting is exempted from complex-curved five-axle linkage.
Described exempts from teaching 3-d laser measurement method based on reverse Engineering Technology, by the motion control system of cutting machine
The dynamic optical measuring instrument motion of regiment commander, realizes the scanning motion to workpiece, and optical measuring instrument uses digital fringe projection mode by light
Grizzly bar line projects to testee surface, and CCD cameras are from the stripe pattern on different angle shot testee surface and defeated
Enter to computer；Data processing software on computer goes out each pixel according to the information accurate Analysis obtained in stripe pattern
The space coordinates of correspondence object table millet cake（X、Y、Z）, the three dimensional point cloud on generation testee surface, and data are carried out certainly
Dynamic circuit connector is into the generation complete cloud data of workpiece surface, as the input of reverse engineering software；Complete multiple by reverse engineering software
The pretreatment of miscellaneous type face cloud data, cloud data registering with target surface, cloud data burst, the reconstruct of curve and surface
And CAD model is rebuild；Then according to reconstruct CAD model the characteristics of and laser cutting the characteristics of using trajectory planning software realization
Cutting head attitude and the automatic planning of track, and its G code is exported, teaching is not needed so, it is possible to directly obtain laser
Cutting track.
Beneficial effect：
The present invention has given full play to the function of five-axle linkage laser cutting machine CNC systems by borrowed-machine measuring system, right
Cutting head attitude and track plan that this engineering problem serves effective effect automatically in solving to laser machine.
The invention is particularly suited to the cutting on line to the thin-walleds such as three-dimensional large-sized covering, yielding workpiece, one can be entered
Step reduction equipment preferably meets five-axle linkage laser and cuts to technical requirements, saving process time, the raising processing efficiency of workman
Cut the requirement of processing.The present invention have the advantages that speed soon, it is high precision, workable, can preferably meet five-axle linkage
The requirement of Laser cutting.
The present invention provides a new approaches by reverse Engineering Technology to solve the problem, fixed on laser cutting head
One optical measuring instrument, by cutting machine kinetic control system drive optical measuring instrument move together, using optical measuring instrument with
The digital control system of five-axle linkage laser cutting machine constitutes borrowed-machine measuring system to complete the measurement of workpiece space point coordinates, obtains
Its cloud data, then reconstructs the CAD model of workpiece, and then realize to laser according to the CAD model using reverse engineering software
Cutting attitude, the online planning of track, realize complicated sheet material exempts from teaching laser cutting.
The present invention configures corresponding digital collection hardware and computer software on five-axle linkage laser cutting machine,
Easy three-dimension measuring system is constituted, so as to the effect for reaching small investment, instant effect, get twice the result with half the effort.The measuring system belongs to accurate
On-line measurement system, measurement and processing are completed in same equipment, and workpiece clamped one time just completes to measure and process, time saving
And measurement cost is low, without secondary clamping error.Meanwhile, the system easily realizes the playback spinning programming of automatic control survey,
Compared with the programming of original point operation control playback spinning, there is speed fast, high precision, workable, thus can be with
Preferably meet the requirement of five-axle linkage Laser cutting.
Brief description of the drawings
Fig. 1：It is a kind of that teaching dimension laser cutting method is exempted from based on reverse Engineering Technology；
Fig. 2：It is a kind of that teaching laser cutting machine flow chart of data processing is exempted from based on reverse Engineering Technology.
Specific embodiment
Embodiment 1：
Teaching laser automatic cutting device is exempted from based on reverse Engineering Technology, its composition includes：Five-axle linkage is cut by laser
Machine, described five-axle linkage laser cutting machine connection digital collection hardware and computer, collectively forms the point cloud for obtaining workpiece
The three-dimension measuring system of data, the optical measuring instrument of described digital collection hardware is fixed with laser cutting head, used as workpiece
The measurement apparatus of space point coordinates.
Embodiment 2：
It is a kind of that teaching 3-d laser measurement method is exempted from based on reverse Engineering Technology, a light is fixed on laser cutting head
Measuring instrument is learned, drives optical measuring instrument to move together by the kinetic control system of cutting machine, joined using optical measuring instrument and five axles
The digital control system of dynamic laser cutting machine constitutes borrowed-machine measuring system to complete the measurement of workpiece space point coordinates, obtains its cloud
Data, then reconstruct the CAD model of workpiece, and then realize to laser cutting appearance according to the CAD model using reverse engineering software
State, the online planning of track.
Embodiment 3：
Teaching 3-d laser measurement method is exempted from based on reverse Engineering Technology described in embodiment 2, optical measuring instrument with swash
Light cutting head is fixed together, and borrowed-machine measuring system is constituted using the digital control system of five-axle linkage laser cutting machine, is measured and is added
Work is completed in same equipment, and workpiece clamped one time just completes to measure and process, and eliminates secondary clamping error.
Embodiment 4：
Teaching 3-d laser measurement method is exempted from based on reverse Engineering Technology described in embodiment 3, it is soft using reverse-engineering
Part reconstructs workpiece CAD model, and then requires to realize to laser cutting attitude, track according to described CAD model and laser cutting
Online planning, realize complex-curved five-axle linkage exempt from teaching laser cutting.
Embodiment 5：
Optical measuring instrument is fixed together with laser cutting head, and optical measuring instrument is driven by the kinetic control system of cutting machine
Motion, realizes the scanning motion to workpiece.Optical measuring instrument is projected to grating fringe using digital fringe projection mode tested
Body surface, CCD cameras are input to computer from the stripe pattern on different angle shot testee surface.Computer
On data processing software go out each pixel correspondence object table millet cake according to the information accurate Analysis obtained in stripe pattern
Space coordinates（X、Y、Z）, the three dimensional point cloud on generation testee surface, and data are automatically synthesized, generate workpiece
The complete cloud data in surface, as the input of reverse engineering software.Complex profile cloud data is completed by reverse engineering software
Pretreatment, cloud data registering with target surface, cloud data burst, the reconstruct of curve and surface and CAD model rebuild
Deng.Then according to reconstruct CAD model the characteristics of and laser cutting the characteristics of realize cutting head attitude using trajectory planning software
And the automatic planning of track, and its G code is exported, teaching is not needed so, it is possible to directly obtain the cutting track of laser.
The hardware for wherein using：
(1) optical measuring instrument.The system uses optics binocular Surface scan gauge head, and measurement distance is 800mm-1000mm, point
Resolution is up to 1280*1024, certainty of measurement 0.05mm, single sweep operation time≤5s.
(2) kinetic control system of five-axle linkage laser cutting machine.Including drive system and respective execution mechanisms, by it
Complete the movement instruction that measurement process computer sends.
(3) the Survey Software module in digital control system.The functional realiey of the amount of taking this opportunity system, is heavily dependent on and is
The software of system, it mainly completes gauge head motion control, such as control of optical measuring instrument movement velocity and locus;Hits
According to treatment, lathe is obtained when the locus of first three coordinate.
（4）Special reverse engineering software.Measurement result according to measurement module carries out data processing, curve and surface reconstruct and obtains
Take its CAD model.
（5）Trajectory planning software based on CAD model.The CAD model feature and laser reconstructed according to reverse engineering software
The characteristics of cutting, realize the automatic planning of cutting attitude and track.
The above is only concrete application example of the invention, protection scope of the present invention is not limited in any way, all uses
Equivalents, equivalent transformation and the technical scheme that is formed, within rights protection scope of the present invention.
Claims (1)
1. it is a kind of that teaching 3-d laser measurement method is exempted from based on reverse Engineering Technology, it is characterized in that：It is solid on laser cutting head
A fixed optical measuring instrument, drives optical measuring instrument to move together, using optical measuring instrument by the kinetic control system of cutting machine
Borrowed-machine measuring system is constituted with the digital control system of five-axle linkage laser cutting machine to complete the measurement of workpiece space point coordinates, obtain
Its cloud data is taken, the CAD models of workpiece are then reconstructed using reverse engineering software, and then according to the CAD model realizations pair
Laser cutting attitude, the online planning of track；
Optical measuring instrument is fixed together with laser cutting head, is constituted using the digital control system of five-axle linkage laser cutting machine and taken this opportunity
Measuring system, measurement and processing are completed in same equipment, and workpiece clamped one time just completes to measure and process, and are eliminated secondary
Clamping error；
Workpiece CAD models are reconstructed using reverse engineering software, and then requires to realize according to described CAD models and laser cutting
To laser cutting attitude, the online planning of track, realize that teaching laser cutting is exempted from complex-curved five-axle linkage；
Drive optical measuring instrument to move by the kinetic control system of cutting machine, realize the scanning motion to workpiece, optical measurement
Grating fringe is projected to testee surface by instrument using digital fringe projection mode, and CCD cameras are from different angle shot quilt
The stripe pattern of body surface is surveyed, and is input to computer；Data processing software on computer is according in acquisition stripe pattern
Information accurate Analysis go out the space coordinates of each pixel correspondence object table millet cake（X、Y、Z）, generation testee surface
Three dimensional point cloud, and data are automatically synthesized, the complete cloud data of generation workpiece surface, as reverse engineering software
Input；Complete that the pretreatment of complex profile cloud data, cloud data be registering with target surface, point by reverse engineering software
The reconstruct of the burst, curve and surface of cloud data and CAD Model Reconstructions；Then according to reconstruct CAD models the characteristics of and laser
The characteristics of cutting, realizes the automatic planning of cutting head attitude and track using trajectory planning software, and exports its G code, so
Teaching is not needed, it is possible to directly obtain the cutting track of laser；
Using optics binocular Surface scan gauge head, measurement distance is 800mm-1000mm, and resolution ratio reaches 1280*1024, certainty of measurement
0.05mm, single sweep operation time≤5s；
The kinetic control system of five-axle linkage laser cutting machine includes drive system and respective execution mechanisms, completes measurement process meter
The movement instruction that calculation machine sends；
Survey Software module in digital control system completes gauge head motion control, the control of optical measuring instrument movement velocity and locus
System;Sampled-data processing, obtains lathe when the locus of first three coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410139980.3A CN103885390B (en) | 2014-04-09 | 2014-04-09 | Teaching 3-d laser measurement method and apparatus is exempted from based on reverse Engineering Technology |
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| CN201410139980.3A CN103885390B (en) | 2014-04-09 | 2014-04-09 | Teaching 3-d laser measurement method and apparatus is exempted from based on reverse Engineering Technology |
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| CN103885390A CN103885390A (en) | 2014-06-25 |
| CN103885390B true CN103885390B (en) | 2017-06-20 |
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| CN104259670B (en) * | 2014-07-07 | 2016-07-13 | 河海大学常州校区 | A kind of turbo blade laser cutting system based on machine vision and industrial robot |
| CN107855666A (en) * | 2017-11-16 | 2018-03-30 | 惠州市契贝科技有限公司 | It is cut by laser method, mask plate and the laser cutting device of mask plate |
| CN108230400B (en) * | 2017-12-26 | 2021-10-19 | 常州固高智能控制技术有限公司 | Self-adaptive coordinate reconstruction method suitable for laser cutting machine |
| CN108356828B (en) * | 2018-01-30 | 2021-01-15 | 深圳市圆梦精密技术研究院 | Workpiece coordinate system correction method |
| CN109940290B (en) * | 2019-04-09 | 2020-11-03 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
| CN110244653B (en) * | 2019-06-13 | 2020-10-09 | 深圳市腾浩科技有限公司 | Method for planning machining trajectory of workpiece |
| CN110370076A (en) * | 2019-08-08 | 2019-10-25 | 合肥学院 | Free form surface in-situ measuring method based on machining tool |
| CN110421264B (en) * | 2019-08-20 | 2021-04-13 | 南通大学 | Laser micro-texture processing method |
| CN112620932A (en) * | 2020-09-14 | 2021-04-09 | 江苏玛吉克工业自动化有限公司 | Three-dimensional five-axis laser cutting system based on 3D vision |
| CN112719632A (en) * | 2020-12-21 | 2021-04-30 | 北京航星机器制造有限公司 | Positioning cutting method and device and cutting equipment |
| CN112757057A (en) * | 2021-01-19 | 2021-05-07 | 武汉海默机器人有限公司 | Intelligent manual-teaching-free grinding and polishing method and system integrating visual depth analysis |
| CN113427133A (en) * | 2021-06-16 | 2021-09-24 | 西安交通大学 | Laser equipment and method for guiding automatic processing based on three-dimensional vision online measurement |
| CN113771036B (en) * | 2021-09-24 | 2023-03-28 | 三一建筑机器人(西安)研究院有限公司 | Cutting method, device and cutting equipment |
| CN114413774A (en) * | 2021-12-29 | 2022-04-29 | 国能铁路装备有限责任公司 | Method and device for measuring assembly gap width of bogie to be measured in railway wagon |
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