CN106054814A - Image grayscale-based computer aided machining method - Google Patents

Abstract

The invention belongs to the field of computer-aided robot processing, and specifically relates to a computer-aided processing method based on image grayscale, comprising the following steps: the first step is to obtain a grayscale image that can represent the surface information of the workpiece to be processed; the second step is to obtain a grayscale image according to the workpiece The grayscale image sets the tool mark matrix for workpiece processing; the third step is to select the type of processing tool, and filter and correct the tool mark matrix according to the selected processing tool type; the fourth step is to select the processing path of the processing tool according to the characteristics of the processed workpiece ; The fifth step is to set the processing parameters of the industrial robot based on the data obtained in the above steps, and generate the processing program. The invention can adjust the processing parameters according to the user's processing purpose, and can directly generate the operation program applied to the industrial robot, so as to achieve complete off-line programming, friendly user interface and strong usability.

Description

Computer Aided Processing Method Based on Image Gray Level

technical field

The invention belongs to the field of computer-aided robot processing, and in particular relates to a computer-aided processing method based on image grayscale.

Background technique

With the continuous maturity and improvement of robot technology, robots are widely used in various fields. However, in the occasions of robot engraving, milling, polishing, grinding, surface processing, etc., due to the high complexity of the curved surface and the changeable shape of the large workpiece, in actual operation, it is necessary to program the precise position of each operating point of the robot , if manual programming is used, a programming and debugging operation often takes several days or even longer, which is time-consuming and laborious, and the accuracy cannot be guaranteed.

Research and develop a software algorithm that can use computer-assisted offline programming of complex surfaces to solve the above problems. At present, there are few domestic companies engaged in the research and development of such software algorithms, and the following problems generally exist:

(1) Most of these algorithmic software are based on 3D models, which are not easy to use and have poor scalability;

(2) This kind of algorithm software is mostly suitable for equipment such as CNC machine tools, and does not support industrial robots enough;

(3) Most of such algorithmic software cannot adapt to a variety of processing techniques.

Contents of the invention

In order to solve the above-mentioned technical problems, the purpose of the present invention is to provide a computer-aided processing method based on image grayscale, which can adjust the processing parameters according to the processing purpose of the user, and can directly generate the operation program applied to the industrial robot. From completely offline programming, the user interface is friendly and easy to use.

The technical scheme that the present invention adopts for solving its technical problem is:

The computer-aided processing method based on image grayscale comprises the following steps:

The first step is to obtain a grayscale image that can represent the surface information of the workpiece to be processed;

The second step is to set the tool mark matrix of the workpiece processing according to the grayscale image of the workpiece;

The third step is to select the type of processing tool, and filter and correct the tool mark matrix according to the type of processing tool selected;

The fourth step is to select the machining path of the machining tool according to the characteristics of the machining workpiece;

The fifth step is to set the robot processing parameters based on the data obtained in the above steps, and generate the processing program.

Among them, the preferred scheme is:

The generation process of the knife mark matrix is as follows:

After receiving the grayscale picture described in the first step, analyze the pixel width and height information of the picture, combine the width and height information of the workpiece size set by the user, and according to the "number of pixels of width and height of the picture" and "workpiece The ratio of width to height in millimeters" determines how many "pixels" need to be processed per millimeter of workpiece, that is, how many "tool marks" need to be processed, forming a complete knife mark matrix database.

The filter correction principle in the third step is:

Define the part of the bottom end of the machining tool that can be in contact with the workpiece as the cutting edge, the center of the bottom end of the tool is the tip edge, and the rest is the auxiliary edge. When the tip edge approaches the processing point (X0, Y0, Z0) from top to bottom, X0 and Y0 Characterize the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, calculate the processing point covered by the auxiliary edge, when the tip edge processes (X0, Y0, Z0), the auxiliary edge will damage the original processing point covered by it Processing content, calculate the maximum damage amount of the auxiliary edge to the processing point covered by it, record the damage amount as ΔZ, ΔZ is the difference between Z0 and the minimum processing height of the auxiliary edge currently covering the processing point, if ΔZ≥0, then make correction, after correction The machining point of the cutting edge is (X0, Y0, Z0+ΔZ).

The processing tools include ball-end cutters, flat-end milling cutters and rounded-end flat-end cutters, which are selected according to processing requirements during processing.

The ball nose knife filter correction process is as follows:

The diameter of the shank of the ball-end cutter is D, the radius of the ball-end is r, r=D/2, the part of the bottom end of the ball-end cutter that can be in contact with the workpiece is defined as the cutting edge, the center of the bottom end of the tool is the tip edge, and the rest is Auxiliary edge, when the space coordinate point where the tip edge of the tool is processed is (X0, Y0, Z0), where X0 and Y0 represent the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, and the auxiliary edge The space coordinate point where the processing position is located is (X, Y, Z), and the relationship (1) and relationship (2) must be satisfied at the same time

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\sqrt{{\mathrm{<span\; class="notranslate">\; r</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

The filter correction process of the flat milling cutter is as follows:

The diameter of the shank of the flat end milling cutter is D, and the part of the bottom end of the flat end milling cutter that can be in contact with the workpiece is defined as the cutting edge, the center of the bottom end of the tool is the tip edge, and the rest is the auxiliary edge. When the spatial coordinate point of the tool is (X0, Y0, Z0), X0 and Y0 represent the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, and the spatial coordinate point where the auxiliary edge is processed is (X, Y , Z), need to satisfy the relationship (3) and the relationship (4) at the same time

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Z=Z ₀ (4).

The filter correction process of the rounded flat head knife is as follows:

The diameter of the handle of the rounded flat head knife is D, and the radius of the rounded corner is r. The part that defines the bottom end of the rounded flat head knife that can contact the workpiece is the blade, the center of the bottom end of the tool is the tip edge, and the rest is the auxiliary edge. When the space coordinate point where the machining position of the tip edge of the tool is located is (X0, Y0, Z0), where X0 and Y0 represent the coordinates of the machining point in the plane, Z0 represents the processing height of the tip edge, and the position of the auxiliary edge machining is The space coordinate point is (X, Y, Z), there are two situations below, if X, Y satisfy the equation (5)

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

Then Z satisfies equation (6)

Z = Z ₀ (6)

If X, Y satisfy equation (7)

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ></span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

Then Z satisfies equation (8)

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\sqrt{{\mathrm{<span\; class="notranslate">\; r</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\sqrt{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

The processing path of the processing tool is horizontal processing, vertical processing or oblique processing, and each processing path can eventually cover the entire workpiece to meet different processing and scanning requirements.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention can adjust the processing parameters according to the user's processing purpose, and can directly generate the operation program applied to the industrial robot, so as to achieve complete off-line programming, friendly user interface and strong usability. Using the image grayscale as the data source, the algorithm calculation of the processing trajectory determined by the grayscale image and the tool type is realized, which solves the problem of the existing robots in the fields of engraving, polishing, grinding, deburring, etc. for large workpiece processing on the industrial robot side programming The problem of huge workload and low programming accuracy has improved the production and processing efficiency of products, improved product quality, and can be applied to industrial product processing.

Description of drawings

Fig. 1 is a schematic diagram of the application of the present invention in robot workpiece processing.

Fig. 2 is a processing flowchart of the algorithm of the present invention.

Fig. 3 is a structural schematic diagram of a ball-end cutter, a flat-end milling cutter, and a rounded-end flat-end cutter according to the present invention.

Fig. 4 is a schematic diagram of setting the width and height of the workpiece in millimeters according to the present invention.

Fig. 5 is a schematic diagram of three processing path planning in the present invention.

Fig. 6 is a schematic diagram of the filtering algorithm of the present invention.

In the figure: 1. Industrial robot; 2. Fixture at the end of robot; 3. Processing tool; 4. Workpiece.

detailed description

Embodiments of the present invention are further described below in conjunction with the accompanying drawings:

Example 1:

As shown in Figure 1-2, the described computer-aided processing method based on image grayscale comprises the following steps:

The first step is to obtain a grayscale image that can represent the surface information of the workpiece 4 to be processed;

The second step is to set the tool mark matrix of workpiece 4 processing according to the grayscale image of workpiece 4;

The third step is to select the processing tool 3 type, and filter and correct the tool mark matrix according to the selected processing tool type;

The fourth step is to select the machining path of the machining tool 3 according to the characteristics of the machining workpiece 4;

The fifth step is to set the processing parameters of the industrial robot 1 based on the data obtained in the above steps, and generate a processing program.

In the setting of industrial robot 1 processing parameters, you can set parameters such as the base coordinate number, tool number, processing line speed, robot end fixture 2 pose and other parameters used in the processing of industrial robot 1. The parameters set here can be directly generated in the final It is intuitively reflected in the industrial robot 1 program, and finally the processing program can be generated according to the above settings, and the automatic processing operation can be completed on the industrial robot 1. During processing, the processing tool 3 is fixed on the industrial robot 1 through the end tooling fixture 2 of the robot, and then the tool mark matrix and the processing path of the processing tool 3 on the industrial robot 1 are controlled by the processing program to process the surface of the workpiece 4 .

As shown in Figure 3, the processing tools include ball-end cutters, flat-end milling cutters and rounded-end flat-end cutters, which are selected according to processing requirements during processing.

As shown in Figure 4, the generation process of the knife mark matrix is as follows:

After receiving the grayscale picture described in the first step, analyze the width W and height L information of the pixels of the picture, combine the width A and height B information of the workpiece 4 size set by the user, and according to the "picture width and height pixels The ratio of the "width and height millimeters of the workpiece 4" determines how many "pixels" need to be processed per millimeter of the workpiece 4, that is, how many "tool marks" need to be processed to form a complete knife mark matrix database.

As shown in FIG. 5 , the processing path of the processing tool 3 is horizontal processing, vertical processing or oblique processing, and each processing path can eventually cover the entire workpiece 4 to meet different processing and scanning requirements.

As shown in Figure 6, take the ball-end knife as an example to illustrate the filtering correction principle in the third step:

Define the part of the bottom end of the ball-end cutter that can be in contact with the workpiece 4 as the cutting edge, the center of the bottom end of the ball-end cutter is the tip edge, and the rest is the auxiliary edge. Figure 6-1 is a top view of the XY coordinate plane within the processing range of the ball-end cutter. At this time, the handle of the tool presents a circle. Figure 6-2 is the front view of the processing range of the ball end cutter. At this time, each point to be processed is described as a matrix composed of small line segments in the Z direction, and the processing height of each point is The length of the line segment is different if it is different, and the tip of the ball-end cutter is close to the top of the line segment from top to bottom to complete the processing of the operation point.

Figure 6-3 is a side view of the XZ plane within the processing range of the ball-end cutter. When the tip of the ball-end cutter approaches the processing point P0 (X0, Y0, Z0) from top to bottom, in the X direction, its auxiliary edge will cover To P-2, P-1, P+1, P+2 and other four points (the number of covered points will be different according to the density of the processing points and the diameter of the handle), when actually processing point P0 , P-2, P-1, P+1 three points of the original processing content is damaged by the auxiliary edge of the ball end cutter, which will cause damage to the final processing result, which does not meet the processing requirements. In order to ensure that the auxiliary edge of the tool does not damage the content of the surrounding processing points, it is necessary to calculate the damage amount of all possible points within the range covered by the diameter of the tool holder, that is, the range shown in Figure 6-1. Then do sorting to get the largest damage value. In Figure 6-3, the auxiliary edge of the ball-end knife has the largest damage value to point P+1, and record the damage value as ΔZ.

As shown in Figure 6-4, in order to ensure that no such damage occurs during the actual processing, the current processing point (X0, Y0, Z0) is corrected, and the corrected processing point is (X0, Y0, Z0+ΔZ) , where ΔZ≥0. This filtering operation involves every point in the processing range, and according to the shape of the processing tool 3, the density of processing points, and the diameter of the handle, the final calculation results are also different, and directly affect the final processing of the workpiece 4. The processing effect finally forms a new and complete knife mark matrix.

Among them, the ball nose knife filter correction process is as follows:

Assuming that the diameter of the shank of the ball-end cutter is D, the radius of the ball-end is r, and r=D/2, the part of the bottom end of the ball-end cutter that can be in contact with the workpiece 4 is defined as the cutting edge, the center of the bottom end of the tool is the tip edge, and the rest is Auxiliary edge, when the space coordinate point where the tip edge of the tool is processed is (X0, Y0, Z0), where X0 and Y0 represent the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, and the auxiliary edge The space coordinate point where the processing position is located is (X, Y, Z), and the relationship (1) and relationship (2) must be satisfied at the same time

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\sqrt{{\mathrm{<span\; class="notranslate">\; r</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

The filter correction process of the flat milling cutter is as follows:

The diameter of the shank of the flat end milling cutter is D, and the part that can be in contact with the workpiece 4 at the bottom end of the flat end milling cutter is defined as the blade, the center of the bottom end of the tool is the tip edge, and the rest is the auxiliary edge. When the tip edge of the tool is processed When the spatial coordinate point is (X0, Y0, Z0), X0 and Y0 represent the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, and the spatial coordinate point where the auxiliary edge is processed is (X, Y, Z), need to satisfy relation (3) and relation (4) at the same time

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Z=Z ₀ (4).

The filter correction process of the rounded flat head knife is as follows:

The shank diameter of the rounded flat head knife is D, and the radius of the rounded corner is r. The part that defines the bottom end of the rounded flat head knife that can be in contact with the workpiece 4 is the blade, the center of the bottom end of the tool is the tip edge, and the rest is the auxiliary edge. When the space coordinate point where the tip edge of the tool is processed is (X0, Y0, Z0), where X0 and Y0 represent the coordinates of the processing point in the plane, Z0 represents the processing height of the tip edge, and the position of the auxiliary edge is The spatial coordinate point of is (X, Y, Z), there are two situations below, if X, Y satisfy the equation (5)

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

Then Z satisfies equation (6)

Z = Z ₀ (6)

If X, Y satisfy equation (7)

${<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ></span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

Then Z satisfies equation (8)

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\sqrt{{\mathrm{<span\; class="notranslate">\; r</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; (</span>\sqrt{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

Claims (8)

1. a Computer aided building method based on gradation of image, it is characterised in that comprise the following steps:

The first step, it is thus achieved that the gray scale picture of workpiece to be processed (4) surface information can be characterized；

Second step, sets, according to workpiece (4) gray scale picture, the tool marks matrix that workpiece (4) is processed；

3rd step, chooses process tool type, and is filtered revising to tool marks matrix according to the process tool type chosen；

4th step, according to the machining path of processing workpiece (4) feature selection process tool；

5th step, arranges industrial robot (1) machined parameters based on the data that above-mentioned steps obtains, and generates processor.

Computer aided building method based on gradation of image the most according to claim 1, it is characterised in that described tool marks The generation process of matrix is as follows:

After receiving the gray scale picture described in the first step, analyze the information wide, high of the pixel of this picture, set in conjunction with user The information wide, high of workpiece (4) size, and according to the ratio of " the high pixel count of width of picture " Yu " the high millimeter of width of workpiece (4) ", Determine that the workpiece (4) of every millimeter needs processing how many " pixel ", i.e. need processing how many " tool marks ", form complete tool marks Matrix database.

Computer aided building method based on gradation of image the most according to claim 1, it is characterised in that the described 3rd In step, filter correction principle is:

The part that definition process tool bottom can contact with workpiece (4) is blade, and cutter bottom center is most advanced and sophisticated sword, its remaining part Be divided into auxiliary sword, most advanced and sophisticated sword top-down close to processing stand (X0, Y0, Z0) time, wherein X0 and Y0 characterizes this processing stand in plane In coordinate, Z0 characterizes most advanced and sophisticated sword working height, calculates the processing stand that auxiliary sword is covered, most advanced and sophisticated sword processing (X0, Y0, Z0) point Time, auxiliary sword can damage the original processing content of its processing stand covered, and calculates the auxiliary sword maximum damage to its covering processing stand Wound amount, recording this amount of damage is Δ Z, and Δ Z is the difference that Z0 and auxiliary sword currently cover the minimum working height of processing stand, if Δ Z >=0, then it is modified, revised most advanced and sophisticated sword processing stand is (X0, Y0, Z0+ Δ Z).

Computer aided building method based on gradation of image the most according to claim 1, it is characterised in that described processing Cutter includes ball head knife, flat-end cutter and fillet tack cutter.

Computer aided building method based on gradation of image the most according to claim 4, it is characterised in that described bulb Cutter filter correction process is as follows:

Described ball head knife shank diameter is D, and Probe-radius is r, r=D/2, and definition ball head knife cutter bottom can be with workpiece (4) The part of contact is blade, and cutter bottom center is most advanced and sophisticated sword, and remainder is auxiliary sword, when the position that the most advanced and sophisticated sword of cutter is processed When putting the space coordinates point at place for (X0, Y0, Z0), wherein, X0 and Y0 characterizes this processing stand coordinate in the planes, and Z0 characterizes Most advanced and sophisticated sword working height, the space coordinates point at the place, position of auxiliary sword processing is (X, Y, Z), need to meet relational expression (1) simultaneously With relational expression (2)

${(X-X_0)}^2+{(Y-Y_0)}^2\&le;{\left(\frac{D}{2}\right)}^2---\left(1\right)$

$Z=(Z_0+r)-\sqrt{r^2-{(X-X_0)}^2-{(Y-Y_0)}^2}---\left(2\right).$

Computer aided building method based on gradation of image the most according to claim 4, it is characterised in that described tack Milling cutter filter correction process is as follows:

Described flat-end cutter shank diameter is D, and the part that definition flat-end cutter cutter bottom can contact with workpiece (4) is cutter Sword, cutter bottom center is most advanced and sophisticated sword, and remainder is auxiliary sword, when the space at the place, position that the most advanced and sophisticated sword of cutter is processed is sat When punctuate is (X0, Y0, Z0), wherein X0 and Y0 characterizes this processing stand coordinate in the planes, and Z0 characterizes most advanced and sophisticated sword working height, The space coordinates point at the place, position of auxiliary sword processing is (X, Y, Z), need to meet relational expression (3) and relational expression (4) simultaneously

${(X-X_0)}^2+{(Y-Y_0)}^2\&le;{\left(\frac{D}{2}\right)}^2---\left(3\right)$

Z=Z₀ (4)。

Computer aided building method based on gradation of image the most according to claim 4, it is characterised in that described fillet Tack cutter filter correction process is as follows:

Described fillet tack cutter shank diameter is D, and radius of corner is r, and definition fillet tack cutter cutter bottom can be with workpiece (4) The part of contact is blade, and cutter bottom center is most advanced and sophisticated sword, and remainder is auxiliary sword, when the position that the most advanced and sophisticated sword of cutter is processed When putting the space coordinates point at place for (X0, Y0, Z0), wherein X0 and Y0 characterizes this processing stand coordinate in the planes, and Z0 characterizes Most advanced and sophisticated sword working height, the space coordinates point at the place, position of auxiliary sword processing is (X, Y, Z), there is following two situation, as Really X, Y meet equation (5)

${(X-X_0)}^2+{(Y-Y_0)}^2\&le;{(\frac{D}{2}-r)}^2---\left(5\right)$

Then Z meets equation (6)

Z=Z0 (6)

If X, Y meet equation (7)

${(X-X_0)}^2+{(Y-Y_0)}^2>{(\frac{D}{2}-r)}^2---\left(7\right)$

Then Z meets equation (8)

$Z=(Z_0+r)-\sqrt{r^2-{(\sqrt{{(X-X_0)}^2+{(Y-Y_0)}^2}-(\frac{D}{2}-r\left)\right)}^2}---\left(8\right).$

Computer aided building method based on gradation of image the most according to claim 1, it is characterised in that process tool Machining path be laterally processing, vertical processing or oblique processing.