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

Abstract

The invention relates to an image grayscale-based computer aided machining method and belongs to the computer-aided machining field. The method includes the following steps that: first step, a grayscale picture capable of characterizing the surface information of a workpiece to be machined is obtained; second step, the tool mark matrix of the machining of the workpiece is set according to the grayscale picture of the workpiece; third step, a machining cutting tool type is selected, and filtering correction is carried out on the tool mark matrix according to the selected machining cutting tool type; fourth step, the machining paths of a machining cutting tool are selected according to the features of the machined workpiece; and the machining parameters of an industrial robot are set according to the data obtained through the above steps, so that a machining program can be generated. With the image grayscale-based computer aided machining method of the invention adopted, machining technological parameters can be adjusted according to the machining purpose of a user, and an operating program which applied to the industrial robot can be directly generated, and completely off-line programming can be realized. The method has the advantages of friendly user interface and high usability.

Description

Computer aided building method based on gradation of image

Technical field

The invention belongs to area of computer aided machine people's manufacture field, be specifically related to a kind of computer aided manufacturing based on gradation of image Help processing method.

Background technology

The most ripe and perfect along with robotics, robot is widely used in every field.But, at machine People's engraving, milling, polish, polish, the occasion such as Surface Machining process, due to large-scale workpiece, to have curved surface complexity high, and form is many The features such as change, when actual job, need the exact position of each setting to robot to program, if used manually Programming, it is the most longer that one-time programming Task of Debugging generally requires a couple of days, wastes time and energy and cannot ensure precision.

Research and develop a kind of software algorithm that area of computer aided can be utilized to carry out complex-curved off-line programing, on solving State problem.The most domestic enterprise being engaged in the research and development of this type of software algorithm is less, generally there is a following difficult problem:

(1) this type of algorithm software is mostly based on 3D model, and ease for use is not strong, and autgmentability is poor；

(2) this type of algorithm software is applicable to the equipment such as Digit Control Machine Tool mostly, supports industrial robot not；

(3) this type of algorithm software mostly cannot adaptive multiple processing technique.

Summary of the invention

For solving above-mentioned technical problem, it is an object of the invention to: a kind of area of computer aided based on gradation of image is provided Processing method, can regulate working process parameter according to the processing purpose of user, and can directly generate and be applied to industrial machine The operation routine of device people, accomplishes complete off-line programing, and user interface is friendly, is easily used.

The present invention solves that the technical scheme that its technical problem is used is:

Described Computer aided building method based on gradation of image, comprises the following steps:

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

Second step, sets the tool marks matrix of work pieces process according to workpiece gray scale picture；

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

4th step, selects the machining path of process tool according to processing workpiece features；

5th step, arranges processing of robots parameter based on the data that above-mentioned steps obtains, and generates processor.

Wherein, preferred version is:

The generation process of described tool marks 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 fixed workpiece size, and according to the ratio of " the high pixel count of width of picture " Yu " the high millimeter of width of workpiece ", certainly The workpiece of fixed every millimeter needs processing how many " pixel ", i.e. needs processing how many " tool marks ", forms a complete tool marks matrix Data base.

In described 3rd step, filter correction principle is:

Definition process tool bottom can be blade with the part of absorption surface, and cutter bottom center is most advanced and sophisticated sword, remaining Part is 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 flat Coordinate in face, 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) During point, auxiliary sword can damage the original processing content of its processing stand covered, and calculates and assists sword that it is covered the maximum of processing stand Amount of damage, 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 be modified, and revised most advanced and sophisticated sword processing stand is (X0, Y0, Z0+ Δ Z).

Described process tool includes ball head knife, flat-end cutter and fillet tack cutter, adds man-hour, selects according to process requirements Select.

Described ball head knife 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 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)

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

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

Described flat-end cutter filter correction process is as follows:

Described flat-end cutter shank diameter is D, and definition flat-end cutter cutter bottom can be cutter with the part of absorption surface 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

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

Z=Z₀ (4)。

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 work The part of part contact is blade, and cutter bottom center be most advanced and sophisticated sword, remainder is auxiliary sword, when the most advanced and sophisticated sword processing of cutter When the space coordinates point at place, position is (X0, Y0, Z0), wherein X0 and Y0 characterizes this processing stand coordinate in the planes, Z0 table Levying 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, If X, Y meet equation (5)

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

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)

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

The machining path of described process tool is laterally processing, vertical processing or oblique processing, and each machining path is all Can finally accomplish that full workpiece covers, meet different processing scanning demands.

Compared with prior art, the method have the advantages that

The present invention can regulate working process parameter according to the processing purpose of user, and can directly generate and be applied to work The operation routine of industry robot, accomplishes complete off-line programing, and user interface is friendly, is easily used.By picture gray scale as data Source, it is achieved that determined the algorithm computing of machining locus by gray-scale map, tool types, solve existing robot engraving, The fields such as polishing, polishing, deburring are huge in industrial robot end programing work amount for extreme large and heavy workpiece, program precision not High problem, improves the production and processing efficiency of product, improves product quality, can be applicable to industrial products processing.

Accompanying drawing explanation

Fig. 1 is present invention application schematic diagram in robot work pieces process.

Fig. 2 is the process chart of inventive algorithm.

Fig. 3 is ball head knife of the present invention, flat-end cutter, fillet tack knife structure schematic diagram.

Fig. 4 is the schematic diagram that the present invention sets workpiece width height millimeter.

Fig. 5 is the schematic diagram of three kinds of machining path planning of the present invention.

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

In figure: 1, industrial robot；2, robot end's frock clamp；3, process tool；4, workpiece.

Detailed description of the invention

Below in conjunction with the accompanying drawings the embodiment of the present invention is described further:

Embodiment 1:

As shown in Figure 1-2, described Computer aided building method based on gradation of image, 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 the tool marks matrix of workpiece 4 processing according to workpiece 4 gray scale picture；

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

4th step, according to the machining path of processing workpiece 4 feature selection process tool 3；

5th step, arranges industrial robot 1 machined parameters based on the data that above-mentioned steps obtains, and generates and adds engineering Sequence.

Industrial robot 1 machined parameters arranges link, can arrange industrial robot 1 and add the basis coordinates used man-hour Number, the parameter such as instrument number, processing line speed, robot end's frock clamp 2 pose, the parameter herein arranged can be directly Industrial robot 1 program of rear generation embodies intuitively, the most just can generate processor according to arrangement above, Complete on industrial robot 1 automatically to process operation.Adding man-hour, process tool 3 is fixed on work by robot end's frock clamp 2 In industry robot 1, then controlled tool marks matrix and the machining path of process tool 3 on industrial robot 1 by processor, right Workpiece 4 surface is processed.

As it is shown on figure 3, process tool includes ball head knife, flat-end cutter and fillet tack cutter, add man-hour, according to process requirements Select.

As shown in Figure 4, the generation process of tool marks matrix is as follows:

After receiving the gray scale picture described in the first step, analyze the wide W of the pixel of this picture, high L information, in conjunction with user The wide A of workpiece 4 size set, high B information, and according to " the high pixel count of width of picture " and " the high millimeter of width of workpiece 4 " Ratio, determines that the workpiece 4 of every millimeter needs processing how many " pixel ", i.e. needs processing how many " tool marks ", formed one complete Tool marks matrix database.

As it is shown in figure 5, the machining path of process tool 3 is laterally processing, vertical processing or oblique processing, each processing Path all can finally accomplish that full workpiece 4 covers, and meets different processing scanning demands.

As shown in Figure 6, filter correction principle in the 3rd step is described as a example by ball head knife:

The part that definition ball head knife bottom can contact with workpiece 4 is blade, and ball head knife bottom center is most advanced and sophisticated sword, remaining Part is auxiliary sword, and Fig. 6-1 is the top view of the XY coordinate plane in the ball head knife range of work, and now the handle of a knife of cutter presents one Individual circle, Fig. 6-2 is ball head knife range of work front view, the little line that now each point to be processed is described as in Z-direction The matrix of Duan Zucheng, the length of the different then line segment of the working height of each point is the most different, and the tip of ball head knife is top-down to be connect The top of near line section, completes the processing operation of this setting.

Fig. 6-3 is the side view of XZ plane in the ball head knife range of work, when ball head knife point of a knife top-down close to P0 (X0, Y0, Z0) processing stand time, in the X direction, its auxiliary sword can cover P-2, four points such as P-1, P+1, P+2 are (according to processing stand Density is different, and the diameter of handle of a knife is different, covers the number meeting difference of point), actual when processing P0 point, P-2, P-1, P+1 The original processing content of three points is damaged by the auxiliary sword of ball head knife, so will result in the damage of last processing result, no Meet process requirements.In order to ensure that the auxiliary sword of cutter does not damage the content of the processing stand of surrounding, it is necessary to calculate at handle of a knife In the range of diameter covers, i.e. scope shown in Fig. 6-1, the amount of damage of all possible point.Then do sequence and obtain the one of maximum The value of individual infringement amount, in Fig. 6-3, ball head knife auxiliary sword is maximum to the infringement value of P+1 point, and recording this infringement value is Δ Z.

As shown in Fig. 6-4, in order to ensure not produce this infringement in the actual course of processing, then to current processing stand (X0, Y0, Z0) it is modified, revised processing stand is (X0, Y0, Z0+ Δ Z), wherein Δ Z >=0.This filtering operation relates to processing In the range of each point, and according to the difference of process tool 3 shape, the difference of processing stand density, with the difference of shank diameter, The operation result finally obtained is the most different, and directly affects the effect of the last processing of workpiece 4, eventually form one new complete Tool marks matrix.

Wherein, ball head knife filter correction process is as follows:

Assuming that ball head knife shank diameter is D, Probe-radius is r, r=D/2, and definition ball head knife cutter bottom can be with workpiece The parts of 4 contacts are blade, and cutter bottom center be most advanced and sophisticated sword, remainder is auxiliary sword, when the most advanced and sophisticated sword processing of cutter When the space coordinates point at place, position is (X0, Y0, Z0), wherein, X0 and Y0 characterizes this processing stand coordinate in the planes, Z0 table Levying 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 simultaneously And relational expression (2) (1)

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

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

Described flat-end 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

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

Z=Z₀ (4)。

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 work The part of part 4 contact is blade, and cutter bottom center is most advanced and sophisticated sword, and remainder is auxiliary sword, when the most advanced and sophisticated sword of cutter is processed The space coordinates point at place, position when being (X0, Y0, Z0), wherein X0 and Y0 characterizes this processing stand coordinate in the planes, Z0 Characterizing most advanced and sophisticated sword working height, the space coordinates point at the place, position of auxiliary sword processing is (X, Y, Z), there are following two feelings Condition, if X, Y meet equation (5)

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

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)

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

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)

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

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

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

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

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)

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

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.